A six-dimensional force sensor testing platform

Abstract

The present invention provides a six-dimensional force sensor testing platform, which relates to the field of sensor testing. The six-dimensional force sensor testing platform includes: a workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor, a first power mechanism for applying horizontal force, a second high-precision bidirectional force sensor, and a second power mechanism for applying vertical force. The force or torque generated by the power mechanism is transmitted to the six-dimensional force sensor through the six-dimensional force loading mechanism for calibration, accuracy testing, and dynamic performance testing. The six-dimensional force sensor testing platform of the present invention can accurately load the forces and torques in each direction of the six-dimensional force sensor in turn, and can also realize the accurate loading of nine groups of composite forces and torques, and the compatible rotatable design of the six-dimensional force loading mechanism can resist the errors caused by deformation caused by force loading in cross directions to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of sensor testing, and in particular to a six-dimensional force sensor testing platform. Background Art

[0002] The application scope of industrial robots with force feedback function is expanding year by year, and they are increasingly used in scenes such as grinding, polishing, assembly and handling. By connecting a six-dimensional force sensor in series between the end flange of the robot and the fixture, the force condition of the workpiece can be directly and effectively monitored and analyzed. The six-dimensional force sensor can accurately measure the forces in three orthogonal directions (Fx, Fy, Fz) and the corresponding three moments (Mx, My, Mz). It serves as a closed-loop feedback in the processing system and provides information support for the optimization of parameters such as path and robot posture. Therefore, accurate testing and calibration of the six-dimensional force sensor is the premise and guarantee for the efficient and precise operation of the entire processing system.

[0003] my country started late in the field of force sensors, and a considerable proportion of the force sensors being used or researched are still imported products. At present, there is no complete measurement standard and measurement method for force sensors in China. Due to the influence of working environment, assembly accuracy, sensor power supply and other errors, there may be differences between the output value and the true value of the force sensor. Testing its linearity, anti-cross interference ability and dynamic response ability is an important method to verify the performance of the force sensor. The test of the force sensor is used to determine the difference between the output value and the true value of the force sensor and make corrections. In design processing and actual scene applications, accurate testing technology plays an important role.

[0004] The invention with application number CN201910561744.3 uses parallel manipulators and other equipment to calibrate the sensor, which is very costly. The invention with application number CN201811198678.X uses a combination of pulleys and weights to load force and torque, but cannot perform dynamic performance testing of the sensor. Summary of the invention

[0005] In view of the problems in the background technology, an object of the present invention is to provide a test platform that can accurately calibrate the performance parameters of a six-axis force sensor.

[0006] In order to achieve the above requirements, the present invention provides a testing mechanism for a six-dimensional force sensor under unidirectional and cross-force loading, and the specific technical solution is as follows.

[0007] A six-dimensional force sensor testing platform, comprising: a workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor, a first power mechanism for applying a horizontal force, a second high-precision bidirectional force sensor, and a second power mechanism for applying a vertical force;

[0008] The sensor fixing mechanism is installed on the workbench and is used to load the six-dimensional force sensor to be tested;

[0009] The six-dimensional force loading mechanism includes a horizontally placed connecting disk, a first expansion block, a second expansion block, a first force-bearing column, a second force-bearing column, a first force-bearing seat and a second force-bearing seat; the connecting disk is fixedly connected above the six-dimensional force sensor to be tested, and includes four protruding blocks protruding horizontally in four directions, and the four protruding blocks respectively correspond to the four directions x+, x-, y+, and y- of the six-dimensional force sensor to be tested directly below; the first expansion block can be fixedly connected to any one of the protruding blocks; the second expansion block is fixedly connected above the connecting disk, corresponding to the six-dimensional force sensor to be tested directly below The z-axis of the sensor; the first expansion block is provided with a vertical through hole and a first horizontal through hole at one end away from the connecting disk; the second expansion block is provided with a second horizontal through hole just above the z-axis; the first force-bearing column is connected in series to the vertical through hole; the second force-bearing column is connected in series to the first horizontal through hole or the second horizontal through hole; the first force-bearing seat is sleeved on the first force-bearing column, and the first force-bearing seat can rotate around the axis of the first force-bearing column; the second force-bearing seat is sleeved on the second force-bearing column, and the second force-bearing seat can rotate around the axis of the second force-bearing column;

[0010] One side of the first high-precision bidirectional force sensor is fixedly connected to a side of the first force bearing seat away from the first force bearing column, and the other side is fixedly connected to a force applying end of the first power mechanism;

[0011] One side of the second high-precision bidirectional force sensor is fixedly connected to a side of the second force bearing seat away from the second force bearing column, and the other side is fixedly connected to a force applying end of the second power mechanism;

[0012] The first power mechanism and the second power mechanism are both installed on the workbench.

[0013] Preferably, the force-applying end of the first power mechanism, the first high-precision bidirectional force sensor and the first force-bearing seat are fixedly connected by bolts; the force-applying end of the second power mechanism, the second high-precision bidirectional force sensor and the second force-bearing seat are fixedly connected by bolts.

[0014] Preferably, the end of the first expansion block is expanded into two parallel plates, and the vertical through-holes are arranged on the parallel plates; the first force-bearing column is a bolt, which can fit through the vertical through-holes and be fixed to the first expansion block through nuts; a section of the first force-bearing column located inside the parallel plates is a first smooth cylinder; the first force-bearing seat fits and sleeves on the first smooth cylinder;

[0015] A first cavity with upper and lower openings is provided at the secondary end of the first expansion block, and the first horizontal through-hole is provided on the side wall of the first cavity; a second cavity with upper and lower openings is provided at the second expansion block directly above the z-axis, and the second horizontal through-hole is provided on the side wall of the second cavity; the second force-bearing column is a bolt, which can fit through the first horizontal through-hole and be fixed to the first expansion block by a nut, or can fit through the second horizontal through-hole and be fixed to the second expansion block by a nut; a section of the second force-bearing column located in the first cavity and the second cavity is a second smooth cylinder; the second force-bearing seat fits and is sleeved on the second smooth cylinder.

[0016] Preferably, the workbench includes an upper and a lower table top, and the sensor fixing mechanism and the six-dimensional force loading mechanism are installed on the lower layer; the first power mechanism is installed on the lower layer, and the second power mechanism is installed on the upper layer; the sensor fixing mechanism and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

[0017] Preferably, the first power mechanism is fixed at the position of the lower table, and the force direction is fixed; the lower table is provided with a first station and a second station, and the center line of the first station and the second station is perpendicular to the force direction of the first power mechanism; the sensor fixing mechanism is fixedly installed at the first station or the second station, and can be fixed at the first station or the second station by rotating one direction every 90°, so that the four directions x+, x-, y+, and y- of the six-axis force sensor to be tested are respectively oriented to the position of the first power mechanism;

[0018] When the sensor fixing mechanism is installed at the first workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism facing the second workstation through the first high-precision bidirectional force sensor;

[0019] When the sensor fixing mechanism is installed at the second workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism facing the first power mechanism through the first high-precision bidirectional force sensor;

[0020] The second power mechanism can be moved and connected to the upper part of the first expansion block or the upper part of the second expansion block.

[0021] Preferably, the first power mechanism includes a first servo motor, a first coupling, a first bearing seat, a first gear, a first rack and a first rack fixing bracket; the first servo motor and the first bearing seat are both installed on the lower layer of the workbench; one end of the first coupling is connected to the first servo motor, and the other end passes through the first bearing seat and is connected to the first gear; the first gear and the first rack are meshed for transmission, and the first rack is fixedly connected to a surface of the first high-precision bidirectional force sensor away from the first force-bearing seat; the first rack is arranged on the first rack fixing bracket; the first rack fixing bracket limits the first rack to move in the horizontal direction.

[0022] Preferably, the second power mechanism includes a second servo motor, a second coupling, a second bearing seat, a second gear, a second rack and a second rack fixing bracket; the second servo motor and the second bearing seat are both installed on the upper layer of the workbench; one end of the second coupling is connected to the second servo motor, and the other end passes through the second bearing seat and is connected to the second gear; the second gear and the second rack are meshed for transmission, and the second rack is fixedly connected to a surface of the second high-precision bidirectional force sensor away from the second force bearing seat; the second rack is arranged on the second rack fixing bracket; the second rack fixing bracket limits the second rack to move in the vertical direction.

[0023] Preferably, the first rack and the first rack fixing bracket are connected by a slide rail or a linear bearing.

[0024] Preferably, the second rack and the second rack fixing bracket are connected by a slide rail or a linear bearing.

[0025] The beneficial effects of the present invention are as follows: the six-dimensional force sensor testing platform of the present invention is provided with a power mechanism, a high-precision bidirectional force sensor, a force seat, a force column, an expansion block and a connecting disk which are connected in sequence, and the connecting disk is fixed on the six-dimensional force sensor to be tested, wherein the power mechanism, the high-precision bidirectional force sensor and the force seat are fixedly connected, and the force seat can rotate around the axis of the force column, so that when testing the forces (Fx, Fy, Fz) in three orthogonal directions, the corresponding three moments (Mx, My, Mz) and the intersection of the forces and moments, the force seat, the force column and the expansion block can always form surface contact, and the moment will not change due to the deformation of the device when the force is loaded, thereby ensuring that the magnitude and direction of the forces loaded on the high-precision bidirectional force sensor and the six-dimensional force sensor are consistent, and the high-precision bidirectional force sensor is used to calibrate the force data and dynamic response performance of the six-dimensional force sensor to be tested, so that the linearity of the output value, the anti-cross interference capability and the dynamic response capability of the six-dimensional force sensor can be accurately calibrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the six-dimensional force sensor testing platform of the present invention and the six-dimensional force sensor to be tested loaded thereon;

[0027] Figure 2 It is a structural schematic diagram of the workbench of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the sensor fixing mechanism of the present invention and the loaded six-dimensional force sensor to be tested;

[0029] Figure 4 It is a schematic diagram of the connection structure of the second rack and the second rack bracket of the present invention;

[0030] Figure 5 It is a structural schematic diagram of a cross-connection mode of the six-dimensional force loading mechanism of the present invention;

[0031] Figure 6 It is a structural schematic diagram of another cross-connection mode of the six-dimensional force loading mechanism of the present invention;

[0032] Figure 7 A schematic diagram of the structure of a six-dimensional force sensor testing platform and a six-dimensional force sensor to be tested provided in Embodiments 1 and 2 of the present invention;

[0033] Figure 8 A schematic diagram of the structure of a six-dimensional force sensor testing platform and a six-dimensional force sensor to be tested provided in Example 3 of the present invention;

[0034] Fig. 9 A schematic diagram of the structure of a six-dimensional force sensor testing platform and a six-dimensional force sensor to be tested provided in Embodiments 4 and 5 of the present invention;

[0035] Fig.10 A schematic diagram of the structure of a six-dimensional force sensor testing platform and a six-dimensional force sensor to be tested provided in Example 6 of the present invention;

[0036] Fig.11 A schematic diagram of the structure of a six-axis force sensor testing platform and a six-axis force sensor to be tested provided in Example 7 of the present invention.

[0037] In the figure: 1, workbench; 1-1, lower layer of workbench; 1-2, upper layer of workbench; 2-1, first gear; 2-2, second gear; 3-1, first rack; 3-2, second rack; 4-1, first rack fixing bracket; 4-2, second rack fixing bracket; 5-1, first high-precision bidirectional force sensor; 5-2, second high-precision bidirectional force sensor; 6-1, first force-bearing seat; 6-2, second force-bearing seat; 7, sensor fixing mechanism; 8, six-dimensional force sensor; 9, connecting plate; 10-1, first expansion block; 10-2, second expansion block; 11-1, first force-bearing column; 11-2, second force-bearing column; 12, support rod; 13-1, first servo motor; 13-2, second servo motor; 14-1, first coupling; 14-2, second coupling; 15-1, first bearing seat; 15-2, second bearing seat. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] The overall structure of the present invention is first summarized below.

[0040] like Figure 1 The figure shows a schematic diagram of the structure of a six-dimensional force sensor test platform and important components provided by the present invention. The six-dimensional force sensor test platform of the present invention comprises: a workbench 1, a sensor fixing mechanism 7, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor 5-1, a first power mechanism for applying a horizontal force, a second high-precision bidirectional force sensor 5-2, and a second power mechanism for applying a vertical force.

[0041] The sensor fixing mechanism 7 is installed on the lower layer 1 - 1 of the workbench and is used to load the six-dimensional force sensor 8 to be tested.

[0042] Please also read Figure 5 and Figure 6 The six-dimensional force loading mechanism includes a horizontally placed connecting plate 9, a first expansion block 10-1, a second expansion block 10-2, a first force-bearing column 11-1, a second force-bearing column 11-2, a first force-bearing seat 6-1 and a second force-bearing seat 6-2; the connecting plate 9 is fixedly connected above the six-dimensional force sensor 8 to be tested, and includes four protruding blocks protruding horizontally in four directions, and the four protruding blocks respectively correspond to the four directions of x+, x-, y+, and y- of the six-dimensional force sensor to be tested directly below (such as Figure 3As shown); the first expansion block 10-1 can be fixedly connected to any one of the protruding blocks; the second expansion block 10-2 is fixedly connected above the connecting disk 9, corresponding to the z-axis of the six-dimensional force sensor 8 to be tested directly below; the first expansion block 10-1 is provided with a vertical through hole and a first horizontal through hole at one end away from the connecting disk 9; the second expansion block 10-2 is provided with a second horizontal through hole directly above the z-axis; the first force-bearing column 11-1 is connected in series to the vertical through hole (as shown Figure 5 and Figure 6 ); the second load-bearing column 11-2 is connected in series to the first horizontal through hole (such as Figure 5 ) or the second horizontal perforation (such as Figure 6 ) on; the first force-bearing seat 6-1 is sleeved on the first force-bearing column 11-1, and the first force-bearing seat 6-1 can rotate around the axis of the first force-bearing column 11-1; the second force-bearing seat 6-2 is sleeved on the second force-bearing column 11-2, and the second force-bearing seat 6-2 can rotate around the axis of the second force-bearing column 11-2.

[0043] The first power mechanism and the second power mechanism are both installed on the workbench 1 .

[0044] The force-applying end of the first power mechanism, the first high-precision bidirectional force sensor 5-1 and the first force-bearing seat 6-1 are fixedly connected in sequence by bolts; the force-applying end of the second power mechanism, the second high-precision bidirectional force sensor 5-2 and the second force-bearing seat 6-2 are fixedly connected in sequence by bolts.

[0045] like Figure 5 and 6 As shown, further, the end of the first expansion block 10-1 is expanded into two parallel plates, and the vertical through holes are arranged on the parallel plates; the first force-bearing column 11-1 is a bolt, which can fit through the vertical through holes and be fixed to the first expansion block 10-1 by a nut; a section of the first force-bearing column 11-1 located inside the parallel plates is a first smooth cylinder; the first force-bearing seat 6-1 fits and is sleeved on the first smooth cylinder; the secondary end of the first expansion block 10-1 is provided with a first cavity with upper and lower openings, and the first horizontal through hole is arranged on the side wall of the first cavity; the second expansion block 10-2 is provided with a second cavity with upper and lower openings just above the z-axis, and the second horizontal through hole is arranged on the side wall of the second cavity; the second force-bearing column 11-2 is a bolt, which can fit through the first horizontal through hole and be fixed to the first expansion block 10-1 by a nut (as shown Figure 5 ), or can fit through the second horizontal through hole and be fixed on the second expansion block 10-2 by a nut (as shown Figure 6As shown); a section of the second force-bearing column 11-2 located in the first cavity and the second cavity is a second smooth cylinder; the second force-bearing seat 6-2 is fitted and sleeved on the second smooth cylinder.

[0046] Furthermore, the workbench 1 includes an upper and a lower table top, the sensor fixing mechanism 7 and the six-dimensional force loading mechanism are installed on the lower layer; the first power mechanism is installed on the lower layer, and the second power mechanism is installed on the upper layer; the sensor fixing mechanism 7 and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

[0047] Please also read Figure 2 and Figure 3 , further, the first power mechanism is fixed at the position of the lower table, and the force direction is fixed; the lower table is provided with a first station and a second station, and the center line of the first station and the second station is perpendicular to the force direction of the first power mechanism; the sensor fixing mechanism 7 is fixedly installed at the first station or the second station, and can be fixed at the first station or the second station by rotating one direction every 90°, so that the four directions x+, x-, y+, and y- of the six-dimensional force sensor 8 to be tested are respectively oriented to the position of the first power mechanism:

[0048] (1) When the sensor fixing mechanism 7 is installed at the first workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism toward the second workstation through the first high-precision bidirectional force sensor 5-1;

[0049] (2) When the sensor fixing mechanism is installed at the second workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism toward the first power mechanism through the first high-precision bidirectional force sensor 5-1;

[0050] (3) The second power mechanism can be moved and connected to the top of the first expansion block 10 - 1 or the top of the second expansion block 10 - 2 .

[0051] like Figure 1As shown, further, the first power mechanism includes a first servo motor 13-1, a first coupling 14-1, a first bearing seat 15-1, a first gear 2-1, a first rack 3-1 and a first rack fixing bracket 4-1; the first servo motor 13-1 and the first bearing seat 15-1 are both installed on the lower layer 1-1 of the workbench; one end of the first coupling 14-1 is connected to the first servo motor 13-1, and the other end passes through the first bearing seat 15-1 and is connected to the first gear 2-1; the first gear 2-1 and the first rack 3-1 are meshed for transmission, and the first rack 3-1 is fixedly connected to the side of the first high-precision bidirectional force sensor 5-1 away from the first force-bearing seat 6-1; the first rack 3-1 is arranged on the first rack fixing bracket 4-1, and is connected by a slide rail or a linear bearing; the first rack fixing bracket 4-1 limits the first rack 3-1 to move in the horizontal direction.

[0052] like Figure 1 and Figure 4 As shown, further, the second power mechanism includes a second servo motor 13-2, a second coupling 14-2, a second bearing seat 15-2, a second gear 2-2, a second rack 3-2 and a second rack fixing bracket 4-2; the second servo motor 13-2 and the second bearing seat 15-2 are both installed on the upper layer 1-2 of the workbench; one end of the second coupling 14-2 is connected to the second servo motor 13-2, and the other end passes through the second bearing seat 15-2 and is connected to the second gear 2-2; the second gear 2-2 and the second rack 3-2 are meshed for transmission, and the second rack 3-2 is fixedly connected to the side of the second high-precision bidirectional force sensor 5-2 away from the second force-bearing seat 6-2; the second rack 3-2 is arranged on the second rack fixing bracket 4-2, and is connected by a slide rail or a linear bearing; the second rack fixing bracket 4-2 limits the second rack 3-2 to move in the vertical direction.

[0053] Some of the above components are selected for installation according to test requirements.

[0054] Furthermore, four support rods 12 are used to fix the lower layer 1-1 of the workbench and the upper layer 1-2 of the workbench to each other.

[0055] Definition: When the x+, x-, y+ and y- directions of the six-dimensional force sensor are facing the direction of motor 1, they are recorded as x+ direction, x- direction, y+ direction and y- direction respectively.

[0056] The connection plate 9 and the six-dimensional force sensor 8 are fixed relative to each other, and the first expansion block 10-1 and the second expansion block 10-2 are fixed to the connection plate 9 by bolts in different combinations according to different force loading schemes. The receiving column and the expansion block are fixed relative to each other, and there may be a small amount of rotational offset with the loading of force. The force bearing seat and the force bearing column can generate rotational offset, and the force arm is almost unchanged, which reduces the error caused by the force deformation of the device.

[0057] The specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0058] Example 1

[0059] like Figure 7 As shown, load force in the Fx direction: install the sensor fixing mechanism 7 to the second station of the lower layer 1-1 of the workbench, install the first power mechanism to the lower layer 1-1 of the workbench, connect the six-dimensional force sensor 8 to be tested, the sensor fixing mechanism 7 and the connecting disk 9 in the x+ direction, install the first expansion block 10-1 in the x+ direction of the connecting disk, and the first receiving column 11-1 passes through the vertical perforation of the first expansion block 10-1. Drive the first power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force. After amplification and filtering, it is collected and sent through the data acquisition card and saved to the computer end. At the same time, the real-time pressure collected by the first high-precision bidirectional force sensor 5-1 is recorded, and the force data and the dynamic response performance of the sensor are analyzed and compared. Adjust the six-dimensional force sensor 8 to be tested to the x- direction, install the first expansion block 10-1 in the x- direction of the connecting disk 9, and repeat the above steps.

[0060] Example 2

[0061] like Figure 7 As shown, load force in the Fy direction: install the sensor fixing mechanism 7 to the second station of the lower layer 1-1 of the workbench, install the first power mechanism to the lower layer 1-1 of the workbench, connect the six-dimensional force sensor 8 to be tested, the sensor fixing mechanism 7 and the connecting disk 9 in the y+ direction, install the first expansion block 10-1 in the y+ direction of the connecting disk, and the first receiving column 11-1 passes through the vertical perforation of the first expansion block 10-1. Drive the first power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force. After amplification and filtering, it is collected and sent through the data acquisition card and saved to the computer. At the same time, the real-time pressure collected by the first high-precision bidirectional force sensor 5-1 is recorded, and the force data and the dynamic response performance of the sensor are analyzed and compared. Adjust the six-dimensional force sensor 8 to be tested to the y-direction, install the first expansion block 10-1 in the y-direction of the connecting disk 9, and repeat the above steps.

[0062] Example 3

[0063] like Figure 8As shown, load force in the Fz direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the workbench, install the second power mechanism to the upper layer 1-2 of the workbench, connect the six-dimensional force sensor 8 to be tested with the sensor fixing mechanism 7 and the connecting plate 9 in any direction, install the second expansion block 10-2 in the middle of the connecting plate 9, and install the second receiving column 11-2 in the second horizontal perforation of the second expansion block 10-2. Drive the second power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force, which is amplified and filtered, collected and sent by the data acquisition card, and saved to the computer end. At the same time, the real-time pressure collected by the second high-precision bidirectional force sensor 5-2 is recorded, and the force data and the dynamic response performance of the sensor are analyzed and compared.

[0064] Example 4

[0065] like Fig. 9 As shown, load the torque in the Mx direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the workbench, install the second power mechanism to the upper layer 1-2 of the workbench, connect the six-dimensional force sensor 8 to be tested, the sensor fixing mechanism 7 and the connecting disk 9 in the y+ direction, install the first expansion block 10-1 in the y+ direction of the connecting disk, and install the second receiving column 11-2 in the first horizontal perforation of the first expansion block 10-1. Drive the second power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force. After amplification and filtering, it is collected and sent through the data acquisition card and saved to the computer. At the same time, the real-time pressure collected by the second high-precision bidirectional force sensor 5-2 is recorded, and the torque data and the dynamic response performance of the sensor are analyzed and compared. Adjust the six-dimensional force sensor to be tested to the y-direction, install the first expansion block 10-1 in the y-direction of the connecting disk 9, and repeat the above steps.

[0066] Example 5

[0067] like Fig. 9 As shown, load the torque in the My direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the workbench, install the second power mechanism to the upper layer 1-2 of the workbench, connect the six-dimensional force sensor 8 to be tested, the sensor fixing mechanism 7 and the connecting disk 9 in the x+ direction, install the first expansion block 10-1 in the x+ direction of the connecting disk, and install the second receiving column 11-2 in the first horizontal perforation of the first expansion block 10-1. Drive the second power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force. After amplification and filtering, it is collected and sent through the data acquisition card and saved to the computer. At the same time, the real-time pressure collected by the second high-precision bidirectional force sensor 5-2 is recorded, and the torque data and the dynamic response performance of the sensor are analyzed and compared. Adjust the six-dimensional force sensor to be tested to the x-direction, install the first expansion block 10-1 in the x-direction of the connecting disk 9, and repeat the above steps.

[0068] Example 6

[0069] like Fig.10 As shown, load torque in the Mz direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the workbench, install the first power mechanism to the lower layer 1-1 of the workbench, connect the six-dimensional force sensor 8 to be tested, the sensor fixing mechanism 7 and the connecting disk 9 in the x+ direction, install the first expansion block 10-1 in the y+ direction of the connecting disk, and install the first receiving column 11-1 in the vertical perforation of the first expansion block 10-1. Drive the first power mechanism to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force. After amplification and filtering, it is collected and sent through the data acquisition card and saved to the computer end. At the same time, the real-time pressure collected by the first high-precision bidirectional force sensor 5-1 is recorded, and the torque data and the dynamic response performance of the sensor are analyzed and compared. The six-dimensional force sensor 8 to be tested is adjusted to the y+, x- and y- directions respectively, and the first expansion block 10-1 is fixedly installed on the connecting disk 9 relative to the workbench 1, and the above steps are repeated.

[0070] Example 7

[0071] like Fig.11 As shown, cross force is applied in the Fx and Fz directions: the sensor fixing mechanism 7 is installed to the second station of the lower layer 1-1 of the workbench, the first power mechanism is installed to the lower layer 1-1 of the workbench, the second power mechanism is installed to the upper layer 1-2 of the workbench, the six-dimensional force sensor 8 to be tested is connected to the sensor fixing mechanism 7 and the connecting disk 9 in the x+ direction, the second expansion block 10-2 is installed in the middle of the connecting disk 9, and the second receiving column 11-2 is installed in the second horizontal perforation of the second expansion block 10-2. The first expansion block 10-1 is installed in the x+ direction of the connecting disk, and the first receiving column 11-1 is installed in the vertical perforation of the first expansion block 10-1. The second power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 generates a voltage signal under force, which is amplified and filtered, collected and sent by the data acquisition card, and saved to the computer end. At the same time, the real-time pressure collected by the first high-precision bidirectional force sensor 5-1 and the second high-precision bidirectional force sensor 5-2 is recorded, and the force data and the dynamic response performance of the sensor are analyzed and compared. Adjust the six-dimensional force sensor to be tested to the x-direction, install the first expansion block 10 - 1 in the x-direction of the connection disk, and repeat the above steps.

[0072] Of course, there are other embodiments of the present invention, such as: Fx, Mx; Fx, My; Fy, Fz and other eight groups of cross force modes. The above list is only part of the embodiments of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes and modifications made according to the content of the patent scope of this application, including but not limited to the equivalent deformation combination of the force-bearing seat and the column, the slide rail connection method of the rack and the fixed bracket, the holes on the workbench for fixing purposes are multiple rows of round holes or bars, etc., should all be within the technical scope of the present invention.

Claims

1. A six-dimensional force sensor testing platform, characterized in that: include: A workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor, a first power mechanism for applying a horizontal force, a second high-precision bidirectional force sensor, and a second power mechanism for applying a vertical force; The sensor fixing mechanism is installed on the workbench and is used to load the six-dimensional force sensor to be tested; The six-dimensional force loading mechanism includes a horizontally placed connecting disk, a first expansion block, a second expansion block, a first force-bearing column, a second force-bearing column, a first force-bearing seat and a second force-bearing seat; the connecting disk is fixedly connected above the six-dimensional force sensor to be tested, and includes four protruding blocks protruding horizontally in four directions, and the four protruding blocks respectively correspond to the four directions x+, x-, y+, and y- of the six-dimensional force sensor to be tested directly below; the first expansion block can be fixedly connected to any one of the protruding blocks; the second expansion block is fixedly connected above the connecting disk, corresponding to the six-dimensional force sensor to be tested directly below The z-axis of the sensor; the first expansion block is provided with a vertical through hole and a first horizontal through hole at one end away from the connecting disk; the second expansion block is provided with a second horizontal through hole just above the z-axis; the first force-bearing column is connected in series to the vertical through hole; the second force-bearing column is connected in series to the first horizontal through hole or the second horizontal through hole; the first force-bearing seat is sleeved on the first force-bearing column, and the first force-bearing seat can rotate around the axis of the first force-bearing column; the second force-bearing seat is sleeved on the second force-bearing column, and the second force-bearing seat can rotate around the axis of the second force-bearing column; One side of the first high-precision bidirectional force sensor is fixedly connected to a side of the first force bearing seat away from the first force bearing column, and the other side is fixedly connected to a force applying end of the first power mechanism; One side of the second high-precision bidirectional force sensor is fixedly connected to a side of the second force bearing seat away from the second force bearing column, and the other side is fixedly connected to a force applying end of the second power mechanism; The first power mechanism and the second power mechanism are both installed on the workbench; the force-applying end of the first power mechanism, the first high-precision bidirectional force sensor and the first force-bearing seat are fixedly connected by bolts; the force-applying end of the second power mechanism, the second high-precision bidirectional force sensor and the second force-bearing seat are fixedly connected by bolts; the workbench includes an upper and a lower table top, and the sensor fixing mechanism and the six-dimensional force loading mechanism are installed on the lower layer; the first power mechanism is installed on the lower layer, and the second power mechanism is installed on the upper layer; the sensor fixing mechanism and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

2. The six-dimensional force sensor testing platform according to claim 1, characterized in that: The end of the first expansion block is expanded into two parallel plates, and the vertical through-holes are arranged on the parallel plates; the first force-bearing column is a bolt, which can fit through the vertical through-holes and be fixed to the first expansion block through nuts; a section of the first force-bearing column located inside the parallel plates is a first smooth cylinder; the first force-bearing seat fits and sleeves on the first smooth cylinder; A first cavity with upper and lower openings is provided at the secondary end of the first expansion block, and the first horizontal through-hole is provided on the side wall of the first cavity; a second cavity with upper and lower openings is provided at the second expansion block directly above the z-axis, and the second horizontal through-hole is provided on the side wall of the second cavity; the second force-bearing column is a bolt, which can fit through the first horizontal through-hole and be fixed to the first expansion block by a nut, or can fit through the second horizontal through-hole and be fixed to the second expansion block by a nut; a section of the second force-bearing column located in the first cavity and the second cavity is a second smooth cylinder; the second force-bearing seat fits and is sleeved on the second smooth cylinder.

3. The six-dimensional force sensor testing platform according to claim 1, characterized in that: The first power mechanism is fixed at the position of the lower table, and the force direction is fixed; the lower table is provided with a first station and a second station, and the center line of the first station and the second station is perpendicular to the force direction of the first power mechanism; the sensor fixing mechanism is fixedly installed at the first station or the second station, and can be fixed at the first station or the second station by rotating one direction every 90°, so that the four directions x+, x-, y+, and y- of the six-dimensional force sensor to be tested are respectively oriented to the position of the first power mechanism; When the sensor fixing mechanism is installed at the first workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism facing the second workstation through the first high-precision bidirectional force sensor; When the sensor fixing mechanism is installed at the second workstation, the force-applying end of the first power mechanism can be connected to one end of the six-dimensional force loading mechanism facing the first power mechanism through the first high-precision bidirectional force sensor; The second power mechanism can be moved and connected to the upper part of the first expansion block or the upper part of the second expansion block.

4. The six-dimensional force sensor testing platform according to claim 1, characterized in that: The first power mechanism includes a first servo motor, a first coupling, a first bearing seat, a first gear, a first rack and a first rack fixing bracket; the first servo motor and the first bearing seat are both installed on the lower layer of the workbench; one end of the first coupling is connected to the first servo motor, and the other end passes through the first bearing seat and is connected to the first gear; the first gear and the first rack are meshed for transmission, and the first rack is fixedly connected to a surface of the first high-precision bidirectional force sensor away from the first force-bearing seat; the first rack is arranged on the first rack fixing bracket; the first rack fixing bracket limits the first rack to move in the horizontal direction.

5. The six-dimensional force sensor testing platform according to claim 1, characterized in that: The second power mechanism includes a second servo motor, a second coupling, a second bearing seat, a second gear, a second rack and a second rack fixing bracket; the second servo motor and the second bearing seat are both installed on the upper layer of the workbench; one end of the second coupling is connected to the second servo motor, and the other end passes through the second bearing seat and is connected to the second gear; the second gear and the second rack are meshed for transmission, and the second rack is fixedly connected to a surface of the second high-precision bidirectional force sensor away from the second force-bearing seat; the second rack is arranged on the second rack fixing bracket; the second rack fixing bracket limits the second rack to move in the vertical direction.

6. The six-dimensional force sensor testing platform according to claim 4, characterized in that: The first rack and the first rack fixing bracket are connected by a slide rail or a linear bearing.

7. The six-dimensional force sensor testing platform according to claim 5, characterized in that: The second rack and the second rack fixing bracket are connected by a slide rail or a linear bearing.

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