Six-dimensional force sensor detection device and detection method

Abstract

This invention discloses a six-dimensional force sensor detection device and method, belonging to the field of sensor testing technology. The six-dimensional force sensor detection device includes a support base, a load-bearing component, and a loading component. The support base has a mounting surface extending vertically, and one end of the six-dimensional force sensor is connected to the mounting surface. The load-bearing component is disposed at the other end of the six-dimensional force sensor and extends away from the mounting surface in a direction perpendicular to the mounting surface. Multiple test positions are provided on the load-bearing component. The loading component is configured to apply external force to the test positions. The six-dimensional force sensor detection method using the above-described six-dimensional force sensor detection device can perform far-field testing, near-field testing, response time testing, zero-drift testing, impact testing, and automated working life testing. It has a simple structure, small size, and can detect multiple performance indicators of a six-dimensional force sensor with a single device, saving costs and time, providing high testing accuracy, and is reusable.

Description

Technical Field

[0001] This invention relates to the field of sensor testing technology, and in particular to a six-dimensional force sensor detection device and detection method. Background Technology

[0002] With the development of artificial intelligence and automation technologies, the performance requirements for sensors in the control field are becoming increasingly stringent. Six-dimensional force sensors can simultaneously measure three force components and three torque components. As an essential tool for implementing six-component force measurement technology, their accuracy and reliability are paramount. Therefore, during the selection process, various performance indicators of six-dimensional force sensors must be tested and verified to ensure they meet the quality expectations and intended use of the sensor product.

[0003] Existing testing methods for six-dimensional force sensors only involve simple manual testing or submission to third-party testing. Simple manual testing has low accuracy. Third-party laboratories can only perform single-item tests, requiring appointments and queuing, and then submitting samples for testing item by item according to various performance requirements. Especially during the selection process, 2-3 samples need to be tested individually, consuming significant resources in terms of materials, manpower, and finances. Furthermore, the testing scope of third-party laboratories is limited, and some performance tests cannot be completed. Summary of the Invention

[0004] The purpose of this invention is to provide a six-dimensional force sensor detection device and detection method to solve the technical problems of low detection accuracy and high detection cost of existing six-dimensional force sensors.

[0005] Based on the above concept, the technical solution adopted by this invention is as follows:

[0006] A six-dimensional force sensor detection device, comprising:

[0007] The support base has a mounting surface extending in a vertical direction, and one end of the six-dimensional force sensor is connected to the mounting surface;

[0008] A load-bearing component is disposed at the other end of the six-dimensional force sensor. The load-bearing component extends away from the mounting surface in a direction perpendicular to the mounting surface, and multiple test positions are provided on the load-bearing component.

[0009] The loading element is configured to apply an external force to the test position.

[0010] The plurality of test positions include at least a far-field test position and a near-field test position, wherein the near-field test position is located between the far-field test position and the six-dimensional force sensor.

[0011] The far-field test positions are provided in multiple ways, and each far-field test position is equidistant from the six-dimensional force sensor. The far-field test positions are arranged at circumferential intervals around the load-bearing component.

[0012] The near-field test positions are provided in multiple ways, and each near-field test position is equidistant from the six-dimensional force sensor. The near-field test positions are arranged at circumferential intervals around the load-bearing component.

[0013] An adapter is provided between the load-bearing component and the six-dimensional force sensor, and the six-dimensional force sensor and the adapter are detachably connected.

[0014] The support base includes a support plate and a mounting plate. The mounting surface is located on one side of the mounting plate. The mounting plate has multiple mounting positions, and the mounting positions are detachably connected to the support plate.

[0015] The support plate is provided with a mounting groove, the mounting position is inserted into the mounting groove, and the mounting plate and the support plate are locked together by a first locking component.

[0016] A six-dimensional force sensor detection method, employing the aforementioned six-dimensional force sensor detection device, includes the following steps for performing far-field and near-field tests:

[0017] Step 11: Connect the six-dimensional force sensor to the test module for communication;

[0018] Step 12: Select a test position as the first test position, place a loading component with a first set weight at the first test position, compare the value M1 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then proceed to step 13.

[0019] Step 13: Along the extension direction of the load-bearing component, select the test position adjacent to the first test position as the second test position, place the loading component with the first set weight at the second test position, compare the value M2 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then proceed to step 14.

[0020] Step 14: Compare the value M1 read by the test module in Step 12 with the value M2 read by the test module in Step 13. If the difference between the two is within the second set range, it is judged as qualified.

[0021] A six-dimensional force sensor detection method, employing the aforementioned six-dimensional force sensor detection device, includes the following steps during response time testing:

[0022] Step 21: Connect the six-dimensional force sensor to the test module for communication;

[0023] Step 22: Place the second set weight loading component at the corresponding test position and record time T1. When the data in the test module is stable, record time T2. The time difference between T2 and T1 is the data stabilization time.

[0024] Step 23: Calculate the average value as the response time T3 by recording the data stability time multiple times;

[0025] Step 24: If the response time T3 is within the set response time range, it is considered qualified.

[0026] A six-dimensional force sensor detection method, employing the aforementioned six-dimensional force sensor detection device, includes the following steps during zero-drift testing:

[0027] Step 31: Connect the six-dimensional force sensor to the test module for communication;

[0028] Step 32: Record the no-load value M0 in the test module;

[0029] Step 33: Place the third set weight loading component at the corresponding test position, hold for the first set duration, remove the loading component and record the value M1 of the test module;

[0030] Step 34: Compare the value M1 with the no-load value M0. If the difference between the two is within the second set range, it is judged as qualified.

[0031] A six-dimensional force sensor detection method, employing the aforementioned six-dimensional force sensor detection device, includes the following steps during impact testing:

[0032] Step 41: Connect the six-dimensional force sensor to the test module for communication;

[0033] Step 42: Record the no-load value M0 in the test module;

[0034] Step 43: Select the fourth set weight loading component and release it at the first set height, so that the loading component impacts the corresponding test position in free fall motion, and record the value M1 of the test module after impact.

[0035] Step 44: Compare the value M1 with the no-load value M0. If the difference between the two is within the third set range, it is judged as qualified.

[0036] A six-dimensional force sensor detection method, employing the aforementioned six-dimensional force sensor detection device, includes the following steps during automated service life testing:

[0037] Step 51: Connect the six-dimensional force sensor to the test module for communication;

[0038] Step 52: Record the no-load value M0 in the test module;

[0039] Step 53: According to the test content, repeatedly press the loading component on the test position and record the value M1 of the test module;

[0040] Step 54: Compare the value M1 with the no-load value M0. If the difference between the two is within the fourth set range, it is judged as qualified.

[0041] The beneficial effects of this invention are:

[0042] The six-dimensional force sensor detection device proposed in this invention uses a support base for support. A vertically extending mounting surface is used to mount the six-dimensional force sensor and a load-bearing component. The load-bearing component extends away from the mounting surface in a direction perpendicular to it. Therefore, the external force applied to the load-bearing component by the loading component can act on the six-dimensional force sensor. Multiple test positions are provided on the load-bearing component, and the loading component is configured to apply external force to these test positions, facilitating multiple tests. This six-dimensional force sensor detection device has a simple structure, small size, and can be used for testing on a desktop. Different loading components can be adjusted as required. Multiple performance indicators of the six-dimensional force sensor can be tested with a single device, saving cost and time, providing high testing accuracy, and allowing for repeated use. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the six-dimensional force sensor detection device provided in an embodiment of the present invention;

[0044] Figure 2 This is an exploded structural diagram of the six-dimensional force sensor detection device provided in an embodiment of the present invention;

[0045] Figure 3 This is a cross-sectional view of the six-dimensional force sensor detection device provided in an embodiment of the present invention.

[0046] In the picture:

[0047] 100. Six-dimensional force sensor;

[0048] 10. Support base; 11. Support plate; 111. Mounting groove; 112. Slot; 12. Mounting plate; 121. Mounting surface; 122. Positioning groove;

[0049] 20. Load-bearing component; 21. Far-field test position; 22. Near-field test position; 23. Connecting plate; 231. Third mounting hole;

[0050] 30. First locking assembly; 31. Pressure plate;

[0051] 40. Adapter; 41. First mounting hole; 42. Second mounting hole. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0056] See Figures 1 to 3 This invention provides a six-dimensional force sensor detection device, including a support base 10, a load-bearing member 20, and a loading member. The support base 10 has a mounting surface 121 extending vertically, and one end of the six-dimensional force sensor 100 is connected to the mounting surface 121. The load-bearing member 20 is disposed at the other end of the six-dimensional force sensor 100, and extends away from the mounting surface 121 in a direction perpendicular to the mounting surface 121. Multiple test positions are provided on the load-bearing member 20, and the loading member is configured to apply external force to the test positions. The loading member can be a loading member, a robotic arm, or other components capable of applying external force.

[0057] The support base 10 plays a supporting role. By providing a mounting surface 121 extending in the vertical direction, it is used to mount the six-axis force sensor 100 and the load-bearing member 20. The load-bearing member 20 extends away from the mounting surface 121 in a direction perpendicular to the mounting surface 121. Therefore, an external force applied to the load-bearing member 20 can act on the six-axis force sensor 100. Multiple test positions are provided on the load-bearing member 20, and the loading member is arranged to apply an external force to the test positions, facilitating multiple tests. The above six-axis force sensor detection device has a simple structure, a small volume, and can be placed on a table for testing. Different loading members can be adjusted as required. Multiple performance indicators of the six-axis force sensor 100 can be detected by one device, saving costs and time, having high test accuracy, and being recyclable.

[0058] The multiple test positions at least include a far-field test position 21 and a near-field test position 22. The near-field test position 22 and the far-field test position 21 are arranged in sequence in a direction away from the six-axis force sensor 100. That is to say, the near-field test position 22 is closer to the six-axis force sensor 100 than the far-field test position 21. When performing far-field and near-field tests, the loading member is placed at the far-field test position 21 or the near-field test position 22. Not only is it necessary to test whether each far-field test position 21 and each near-field test position 22 meet the requirements, but also the test difference between the corresponding far-field test position 21 and near-field test position 22 needs to be tested to see the algorithm ability of the six-axis force sensor 100.

[0059] In one embodiment, when performing far-field and near-field tests, it includes: communicatively connecting the six-axis force sensor 100 to the test module; placing a loading member with a first set weight at the far-field test position 21; comparing the value M1 read by the test module with the weight value G1 of the loading member. If the difference between the two is within the first set range, then place a loading member with a first set weight at the near-field test position 22; compare the value M2 read by the test module with the weight value G1 of the loading member. If the difference between the two is within the first set range, then compare M1 with M2. If the difference between the two is within the second set range, it is judged as qualified.

[0060] In another embodiment, when performing far-field and near-field tests, it includes: communicatively connecting the six-axis force sensor 100 to the test module; placing a loading member with a first set weight at the near-field test position 22; comparing the value M1 read by the test module with the weight value G1 of the loading member. If the difference between the two is within the first set range, then place a loading member with a first set weight at the far-field test position 21; compare the value M2 read by the test module with the weight value G1 of the loading member. If the difference between the two is within the first set range, then compare M1 with M2. If the difference between the two is within the second set range, it is judged as qualified.

[0061] Multiple far-field test positions 21 are provided, each equidistant from the six-dimensional force sensor 100, and spaced circumferentially around the load-bearing component 20. Multiple near-field test positions 22 are also provided, each equidistant from the six-dimensional force sensor 100, and spaced circumferentially around the load-bearing component 20. During far-field testing, all far-field test positions 21 need to be tested. During near-field testing, all near-field test positions 22 need to be tested.

[0062] In this embodiment, the number of far-field test positions 21 and near-field test positions 22 are the same, and the far-field test positions 21 and near-field test positions 22 correspond one-to-one along the extension direction of the load-bearing member 20. That is, after the load-bearing member 20 is positioned, the far-field test position 21 and its adjacent near-field test position 22 extend along a straight line along the extension direction of the load-bearing member 20.

[0063] After performing a far-field test on a certain far-field test position, it is necessary to test the adjacent near-field test position 22, and then compare the test difference between the far-field test position 21 and the near-field test position 22.

[0064] When testing a certain far-field test position 21, to facilitate the placement of the loading component, the far-field test position 21 is located on top of the load-bearing component 20. After completing the test of the far-field test position 21, it is necessary to test other far-field test positions 21. This requires rotating the six-dimensional force sensor 100 and the load-bearing component 20 so that the other far-field test positions 21 to be tested are located on top of the load-bearing component 20. To avoid frequent disassembly of the six-dimensional force sensor 100 and the load-bearing component 20, in this embodiment, the support base 10 is set as a split structure, allowing for the installation of a portion of the six-dimensional force sensor 100 in a changeable position.

[0065] Specifically, the support base 10 includes a support plate 11 and a mounting plate 12. The mounting surface 121 is located on one side of the mounting plate 12, and the mounting plate 12 has multiple mounting positions, which are detachably connected to the support plate 11. After testing a certain far-field test position 21, the mounting plate 12 is removed, so that another mounting position of the mounting plate 12 is connected to the support plate 11, thereby enabling the rotation of the six-dimensional force sensor 100 and the load-bearing component 20 without frequent disassembly of the six-dimensional force sensor 100 and the load-bearing component 20.

[0066] In this embodiment, the support plate 11 extends horizontally, and the mounting plate 12 is disposed perpendicular to the support plate 11. Since there are four far-field test positions 21 and four near-field test positions 22, the mounting plate 12 has four mounting positions.

[0067] The mounting position is detachably connected to the support plate 11, which can be a snap-fit, magnetic, or threaded connection. In this embodiment, the support plate 11 is provided with a mounting groove 111, the mounting position is inserted into the mounting groove 111, and the mounting plate 12 and the support plate 11 are locked together by a first locking assembly 30. By operating the first locking assembly 30, the mounting plate 12 and the support plate 11 can be locked and disassembled. The mounting groove 111 facilitates the positioning of the mounting plate 12, thus accurately defining the direction of the test position and facilitating the placement of the loading component. The first locking assembly 30 can be a snap-fit, a magnet, or a bolt.

[0068] In this embodiment, the first locking assembly 30 includes a pressure plate 31 and a first locking member. The support plate 11 has a slot 112 communicating with the mounting groove 111. The pressure plate 31 is inserted into the slot 112 and abuts against the mounting plate 12. The first locking member locks the pressure plate 31 and the support plate 11. The first locking member can be a screw or a bolt.

[0069] A positioning groove 122 is provided on the mounting plate 12, and one end of the six-dimensional force sensor 100 is inserted into the positioning groove 122. The positioning groove 122 positions the six-dimensional force sensor 100, facilitating assembly. The six-dimensional force sensor 100 and the mounting plate 12 can be connected by bolts.

[0070] The load-bearing component 20 and the six-dimensional force sensor 100 can be directly connected. To facilitate installation and disassembly, an adapter 40 is provided between the load-bearing component 20 and the six-dimensional force sensor 100. Both the six-dimensional force sensor 100 and the adapter 40 are detachably connected. By providing the adapter 40, on the one hand, it facilitates the disassembly and replacement of the load-bearing component 20, avoiding damage to the six-dimensional force sensor 100; on the other hand, it facilitates the adaptation of the dimensions of the load-bearing component 20 and the six-dimensional force sensor 100, allowing for a smooth connection between the two.

[0071] The adapter 40 has a first mounting area and a second mounting area. The second mounting area is arranged around the outer periphery of the first mounting area. The first mounting area is connected to the six-dimensional force sensor 100, and the second mounting area is connected to the load-bearing component 20. By dividing the adapter 40 into two mounting areas, the connections between the load-bearing component 20 and the adapter 40, and between the six-dimensional force sensor 100 and the adapter 40, do not interfere with each other.

[0072] In this embodiment, the diameter of the adapter 40 is larger than the diameter of the six-dimensional force sensor 100. After the first mounting area is connected to the six-dimensional force sensor 100, the second mounting area will not be blocked by the six-dimensional force sensor 100, which facilitates connection with the load-bearing component 20.

[0073] Specifically, the end of the load-bearing component 20 is provided with a connecting plate 23, which is connected to the adapter 40. The six-dimensional force sensor 100 itself has a threaded hole, and a first mounting hole 41 is provided in the first mounting area. The bolt passes through the first mounting hole 41 and connects to the threaded hole. A second mounting hole 42 is provided in the second mounting area, and a third mounting hole 231 is provided on the connecting plate 23. The bolt passes through the second mounting hole 42 and the third mounting hole 231 and is then locked with a nut.

[0074] This invention also provides a method for detecting a six-dimensional force sensor, using the aforementioned six-dimensional force sensor detection device, including far-field testing, near-field testing, response time testing, zero-drift testing, impact testing, and automated working life testing. Multiple performance indicators of the six-dimensional force sensor 100 can be detected by a single device, saving costs and time, providing high testing accuracy, and allowing for repeated use.

[0075] When conducting far-field and near-field tests, the following are included:

[0076] Step 11: Connect the six-dimensional force sensor 100 to the test module for communication;

[0077] Step 12: Select a test position as the first test position, place a loading component with a first set weight at the first test position, compare the value M1 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then proceed to step 13.

[0078] Step 13: Along the extension direction of the load-bearing component 20, select the test position adjacent to the first test position as the second test position, place the loading component with the first set weight at the second test position, compare the value M2 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then execute step 14.

[0079] Step 14: Compare the value M1 read by the test module in Step 12 with the value M2 read by the test module in Step 13. If the difference between the two is within the second set range, it is judged as qualified.

[0080] The communication connection between the six-dimensional force sensor 100 and the testing module includes connecting the six-dimensional force sensor 100 to a computer and opening the six-dimensional force sensor testing software on the computer. The six-dimensional force sensor 100 itself has a built-in cable that can connect to the computer to achieve data acquisition and transmission functions, which is a conventional technology. The six-dimensional force sensor testing software is conventional software and can be automatically / manually set to zero, therefore the weight of the load-bearing component 20 and the adapter 40 does not need to be considered. Current six-dimensional force sensor testing software uses data in the ±X, ±Y, and ±Z axis directions to calibrate the force magnitude; the principle of the testing software will not be elaborated here.

[0081] In step 12, one of the selected test positions can be the far-field test position 21 or the near-field test position 22. If the far-field test position 21 is selected as the first test position in step 12, then the adjacent near-field test position 22 is selected as the second test position in step 13.

[0082] Among them, the first set weight, the first set range, and the second set range can be set according to requirements.

[0083] For each test position, multiple tests need to be carried out to ensure the accuracy of the test results. The weights of the loading parts placed in each test are different. In one embodiment, during far-field testing and near-field testing, a 0.5g standard weight is placed at a far-field test position 21, and the value M1 read by the test module is compared with the weight value G1 of the standard weight. If the difference between the two is within the first set range, then a 0.5g standard weight is placed at the adjacent near-field test position 22, and the value M2 read by the test module is compared with the weight value G1 of the standard weight. If the difference between the two is within the first set range, then M1 and M2 are compared. If the difference between the two is within the second set range, it is judged as qualified. After that, the 0.5g standard weight is replaced with a 1g standard weight and the above tests are carried out again; after that, the 1g standard weight is replaced with a 2g standard weight and the above tests are carried out again.

[0084] When performing the response time test, it includes:

[0085] Step 21: Communicate and connect the six-axis force sensor 100 with the test module;

[0086] Step 22: Place a loading part with the second set weight at the corresponding test position, and record the time T1. When the data in the test module is stable, record the time T2. The time difference between T2 and T1 is the data stability duration;

[0087] Step 23: Calculate the average value as the response time T3 by recording the data stability duration multiple times;

[0088] Step 24: If the response time T3 is within the set response time range, it is judged as qualified.

[0089] Regarding the response time test, several of the test positions can be selected for testing, or each test position can be tested. Multiple tests need to be carried out to ensure the accuracy of the test results. The weights of the loading parts placed in each test can be the same or different. In one embodiment, one far-field test position 21 and one near-field test position 22 are selected for testing. A 1g standard weight is placed at the far-field test position 21 and the near-field test position 22 respectively, and then the data stability duration is read from the test module, and the test is repeated 10 times. Among them, the second set weight and the response time range can be set according to requirements. <0000

[0090] When conducting zero-drift tests, the following are included:

[0091] Step 31: Connect the six-dimensional force sensor 100 to the test module for communication;

[0092] Step 32: Record the no-load value M0 in the test module;

[0093] Step 33: Place the third set weight loading component at the corresponding test position, hold for the first set duration, remove the loading component and record the value M1 of the test module;

[0094] Step 34: Compare the value M1 with the no-load value M0. If the difference between the two is within the second set range, it is judged as qualified.

[0095] Regarding zero-drift testing, several test positions can be selected for testing, or each test position can be tested. Multiple tests are required to ensure the accuracy of the test results. The weight of the loading component placed in each test can be the same or different. In one embodiment, a far-field test position 21 and a near-field test position 22 are selected for testing. A 2kg standard weight is placed at both the far-field test position 21 and the near-field test position 22, and maintained for 24 hours. The standard weight is then removed, and the value M1 of the test module is recorded. The third set weight, the first set duration, and the second set range can be set according to requirements.

[0096] During impact testing, the following are included:

[0097] Step 41: Connect the six-dimensional force sensor 100 to the test module for communication;

[0098] Step 42: Record the no-load value M0 in the test module;

[0099] Step 43: Select the fourth set weight loading component and release it at the first set height, so that the loading component impacts the corresponding test position in free fall motion, and record the value M1 of the test module after impact.

[0100] Step 44: Compare the value M1 with the no-load value M0. If the difference between the two is within the third set range, it is judged as qualified.

[0101] Regarding impact testing, several test positions can be selected for testing, or each test position can be tested. Multiple tests are required to ensure the accuracy of the test results. The weight of the loading component placed in each test can be the same or different. In one embodiment, a far-field test position 21 and a near-field test position 22 are selected for testing. A 1g weight is selected and subjected to free fall from a height of 5cm, ensuring that the weight falls accurately onto the test position, and the value M1 of the test module is recorded.

[0102] When conducting automated operational life testing, the following are included:

[0103] Step 51: Connect the six-dimensional force sensor 100 to the test module for communication;

[0104] Step 52: Record the no-load value M0 in the test module;

[0105] Step 53: According to the test content, repeatedly press the loading component on the test position and record the value M1 of the test module;

[0106] Step 54: Compare the value M1 with the no-load value M0. If the difference between the two is within the fourth set range, it is judged as qualified.

[0107] Regarding automated service life testing, you can select several test positions for testing, or you can test each test position. Multiple tests are necessary to ensure the accuracy of the test results.

[0108] The process involves repeatedly pressing the test position with a loading device, which can be achieved by repeatedly pressing the test position with the end of a program-controlled robotic arm. The angle, force, and number of presses of the robotic arm can be adjusted. The robotic arm has a conventional structure and will not be described in detail here.

[0109] The aforementioned six-dimensional force sensor detection device has a simple structure, small footprint, and can be placed on a desktop for testing, making it suitable for use in laboratories, production lines, office buildings, and other similar environments. It can reduce testing errors and improve accuracy. It is reusable and can also be used as an inspection fixture on production lines after mass production. Installation is simple; once the six-dimensional force sensor 100 is fixed in place, frequent disassembly and replacement are unnecessary.

[0110] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-dimensional force sensor detection device, characterized in that, Capable of performing far-field testing, near-field testing, response time testing, zero-drift testing, impact testing, and automated service life testing, including: The support base (10) has a mounting surface (121) extending in a vertical direction, and one end of the six-dimensional force sensor (100) is connected to the mounting surface (121); A load-bearing component (20) is disposed at the other end of the six-dimensional force sensor (100). The load-bearing component (20) extends away from the mounting surface (121) in a direction perpendicular to the mounting surface (121). The load-bearing component (20) is provided with multiple test positions. The loading element is configured to apply external force to the test position; The plurality of test positions include at least a far-field test position (21) and a near-field test position (22), wherein the near-field test position (22) and the far-field test position (21) are arranged sequentially in a direction away from the six-dimensional force sensor (100); A connector (40) is provided between the load-bearing component (20) and the six-dimensional force sensor (100). The support base (10) includes a support plate (11) and a mounting plate (12). The mounting surface (121) is located on one side of the mounting plate (12). The mounting plate (12) has multiple mounting positions, which are detachably connected to the support plate (11).

2. The six-dimensional force sensor detection device according to claim 1, characterized in that, Multiple far-field test positions (21) are provided, and each far-field test position (21) is at the same distance from the six-dimensional force sensor (100). Each far-field test position (21) is arranged at circumferential intervals around the load-bearing member (20).

3. The six-dimensional force sensor detection device according to claim 1, characterized in that, Multiple near-field test positions (22) are provided, and each near-field test position (22) is at the same distance from the six-dimensional force sensor (100). Each near-field test position (22) is arranged at circumferential intervals around the load-bearing member (20).

4. The six-dimensional force sensor detection device according to claim 1, characterized in that, The six-dimensional force sensor (100) is detachably connected to the adapter (40), and the load-bearing component (20) is detachably connected to the adapter (40).

5. The six-dimensional force sensor detection device according to claim 1, characterized in that, The support plate (11) is provided with an installation groove (111), the installation position is inserted into the installation groove (111), and the installation plate (12) and the support plate (11) are locked together by a first locking component (30).

6. A six-dimensional force sensor detection method, characterized in that, The six-dimensional force sensor detection device according to any one of claims 1-5, when performing far-field and near-field tests, includes: Step 11: Connect the six-dimensional force sensor (100) to the test module; the test module includes a computer and test software installed in the computer; Step 12: Select a test position as the first test position, place a loading component with a first set weight at the first test position, compare the value M1 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then proceed to step 13. Step 13: Along the extension direction of the load-bearing component (20), select the test position adjacent to the first test position as the second test position, place the loading component with the first set weight at the second test position, compare the value M2 read by the test module with the weight value G1 of the loading component, and if the difference between the two is within the first set range, then execute step 14. Step 14: Compare the value M1 read by the test module in Step 12 with the value M2 read by the test module in Step 13. If the difference between the two is within the second set range, it is judged as qualified.

7. A six-dimensional force sensor detection method, characterized in that, The six-dimensional force sensor detection device according to any one of claims 1-5, when performing response time testing, includes: Step 21: Connect the six-dimensional force sensor (100) to the test module; the test module includes a computer and test software installed in the computer; Step 22: Place the second set weight loading component at the corresponding test position and record time T1. When the data in the test module is stable, record time T2. The time difference between T2 and T1 is the data stabilization time. Step 23: Calculate the average value as the response time T3 by recording the data stability time multiple times; Step 24: If the response time T3 is within the set response time range, it is considered qualified.

8. A six-dimensional force sensor detection method, characterized in that, The six-dimensional force sensor detection device according to any one of claims 1-5, when performing zero-drift testing, includes: Step 31: Connect the six-dimensional force sensor (100) to the test module; the test module includes a computer and test software installed in the computer; Step 32: Record the no-load value M0 in the test module; Step 33: Place the third set weight loading component at the corresponding test position, hold for the first set duration, remove the loading component and record the value M1 of the test module; Step 34: Compare the value M1 with the no-load value M0. If the difference between the two is within the second set range, it is judged as qualified.

9. A six-dimensional force sensor detection method, characterized in that, The six-dimensional force sensor detection device according to any one of claims 1-5, when performing an impact test, includes: Step 41: Connect the six-dimensional force sensor (100) to the test module; the test module includes a computer and test software installed in the computer; Step 42: Record the no-load value M0 in the test module; Step 43: Select the fourth set weight loading component and release it at the first set height, so that the loading component impacts the corresponding test position in free fall motion, and record the value M1 of the test module after impact. Step 44: Compare the value M1 with the no-load value M0. If the difference between the two is within the third set range, it is judged as qualified.

10. A six-dimensional force sensor detection method, characterized in that, The six-dimensional force sensor detection device according to any one of claims 1-5, when performing automated working life testing, includes: Step 51: Connect the six-dimensional force sensor (100) to the test module; the test module includes a computer and test software installed in the computer; Step 52: Record the no-load value M0 in the test module; Step 53: According to the test content, repeatedly press the loading component on the test position and record the value M1 of the test module; Step 54: Compare the value M1 with the no-load value M0. If the difference between the two is within the fourth set range, it is judged as qualified.

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