Six-dimensional force loading device for microminiature multi-dimensional force sensor

Abstract

A six-axis combined loading device for a microminiature multi-dimensional force sensor comprises a lower-layer frame, a middle-layer frame and an upper-layer frame, and a single-pulley reversing mechanism is installed at the center position of a horizontal truss of each of the lower-layer frame and the upper-layer frame and used for direction conversion of a weight standard force source when surface external force and torque are loaded; a three-pulley reversing mechanism is mounted in the center of each horizontal truss on the outer side of the middle-layer frame and is used for converting the direction of a weight standard force source when in-plane force and torque are loaded; the center of the middle-layer frame is connected with a loading mechanism; when the microminiature multi-dimensional force sensor is calibrated, force and moment load in a specific direction are applied to the sensor through a load transmission path of a standard weight, a tension line, a pulley reversing mechanism, a loading needle, a loading stand column and the sensor; according to the invention, independent loading of forces / moments in all six directions of the microminiature multi-dimensional force sensor is realized, combined loading of any two forces or moments can be realized, and the device has the advantages of simple and compact structure, high accuracy and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical quantity sensor calibration and demarcation, and in particular relates to a six-dimensional force loading device for a miniature multi-dimensional force sensor. Background Art

[0002] Multi-dimensional force sensors are the core sensing components of force control technology and are widely used in aerospace, industrial automation, intelligent robots and biomedicine. An important part of the development of multi-dimensional force sensors is calibration and calibration. The type of loading method that can be achieved by the multi-dimensional force loading device and its accuracy directly affect the integrity and reliability of the calibration and calibration data, and are the basic guarantee for the development of high-precision, low-crosstalk multi-dimensional force sensors.

[0003] At present, the loading devices with excellent performance are mainly aimed at the large-volume, high-precision, low-crosstalk commercial multi-dimensional force sensors prepared by traditional machining methods. Such loading devices are often a complex system involving mechanical structure, electrical control and hydraulic drive, with a large volume, and it is difficult to load the miniature multi-dimensional force sensor. Some loading devices for miniaturized multi-dimensional force sensors, such as the patent application named "A three-dimensional force loading calibration device and method for a three-dimensional force sensor" (publication number: CN114279632A), the patent application named "Three-dimensional force loading device for electric spindle" (publication number: CN113375849A), and the patent application named "A multi-dimensional force loading mechanism for the end of a robot" (publication number: CN209878351U), can only realize the loading of force / torque in a single or specific direction, but not in all six directions. Therefore, it is not possible to fully evaluate the coupling error characteristics of the miniature multi-dimensional force sensor, nor is it suitable for the calibration and calibration of multi-dimensional force sensors with higher detection dimensions such as six-dimensional force. Some other micro-multi-dimensional force sensor loading devices, such as the patent application entitled “A multi-component force sensor calibration device” (publication number: CN117553969A), the patent application entitled “Calibration device and calibration method for large deformation six-dimensional force sensor” (publication number: CN117109804A), and the patent application entitled “A six-dimensional micro force / torque sensor static calibration device” (publication number: CN113820066A), etc., although they can realize the loading of forces / torques in all six directions, they cannot realize the combined loading of different forces / torques, and therefore cannot evaluate the coupling error characteristics of the micro-six-dimensional force sensor within the full range.

[0004] The development of loading devices for miniature multi-dimensional force sensors, especially devices that can achieve six-dimensional force combined with high-precision loading, is of great value in improving the detection dimension and detection accuracy of miniaturized multi-dimensional force sensors, and realizing high-precision force feedback and compliant force control of intelligent robot fingertips and minimally invasive surgery end effectors. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a six-dimensional force loading device for a miniature multi-dimensional force sensor, which uses standard weights as a standard force source to ensure the accuracy of loading; uses standard weights, tension lines and multiple pulley reversing mechanisms arranged in layers, and through the combined use of different pulleys, not only can the loading of forces / torques in six directions be realized, but also the combined loading of different forces / torques can be realized to ensure the number of loading dimensions; a truss is used to build an upper, middle and lower three-layer frame structure, and a pulley reversing mechanism is installed at different positions thereof, which has the advantages of simple structure, easy operation, multiple loading dimensions and high accuracy.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A six-dimensional force loading device for a miniature multi-dimensional force sensor, comprising a lower frame 1, a middle frame 2 and an upper frame 3 connected from bottom to top;

[0008] The lower frame 1 comprises a first vertical truss 12, the top of the first vertical truss 12 is connected to a first outer horizontal truss 13, the inner side of the first outer horizontal truss 13 is connected to a single pulley reversing mechanism 16 facing the center, the inner side of the first outer horizontal truss 13 is connected to a first inner horizontal truss 14, the two first inner horizontal trusses 14 are parallel along the y-axis, the first inner horizontal short trusses 15 are connected between the first inner horizontal trusses 14, and the two first inner horizontal short trusses 15 are parallel along the x-axis; the first inner horizontal trusses 14 and the first inner horizontal short trusses 15 are connected to a single pulley reversing mechanism 16 facing upward;

[0009] The intermediate layer frame 2 includes a second vertical truss 21, the bottom of the second vertical truss 21 is respectively fixedly connected to the top of the first vertical truss 12, the top of the second vertical truss 21 is connected to the second outer horizontal truss 22, the second outer horizontal truss 22 is parallel to the second inner horizontal truss 23 along the y-axis, the second inner horizontal truss 23 is horizontally arranged with two second inner horizontal short trusses 24 along the x-axis, and a three-pulley reversing mechanism 25 is installed at the center of the inner side of the second outer horizontal truss 22; the second inner horizontal short truss 24 and the second inner horizontal truss 23 are connected to the loading mechanism 26;

[0010] The upper frame 3 includes a third vertical truss 31, the bottom of the third vertical truss 31 is fixedly connected to the top of the second vertical truss 21, the top of the third vertical truss 31 is connected to the third outer horizontal truss 32, the third outer horizontal truss 32 has two third inner horizontal trusses 33 arranged parallel to the y-axis, the two third inner horizontal trusses 33 have two third inner horizontal short trusses 34 arranged parallel to the x-axis, a single pulley reversing mechanism 16 facing downwards is installed at the center of the lower surface of the third outer horizontal truss 32; a single pulley reversing mechanism 16 facing downwards is installed at the center of the lower surface of the two third inner horizontal trusses 33 and the two third inner horizontal short trusses 34.

[0011] The bottom of the first vertical truss 12 is connected to the foot base 11 . The foot base 11 includes a bottom plate 111 and a square groove 112 connected thereto. The square groove 112 is cooperatively connected to the first vertical truss 12 .

[0012] The single pulley reversing mechanism 16 comprises a single pulley mounting plate 161 and a first fixed pulley 162 connected thereto, and is fixedly connected to the corresponding truss via a through hole on the single pulley mounting plate 161 .

[0013] The three-pulley reversing mechanism 25 comprises a three-pulley mounting plate 251 and three second fixed pulleys 252 connected thereto, and is fixedly connected to the corresponding trusses via through holes on the three-pulley mounting plate 251 .

[0014] The loading mechanism 26 includes a sensor mounting plate 261, which is connected to the second inner horizontal truss 23 and the second inner horizontal short truss 24. The center of the sensor mounting plate 261 is connected to the micro-multi-dimensional force sensor 262, and the center of the micro-multi-dimensional force sensor 262 is connected to the loading column 263. The loading column 263 is provided with a horizontal through hole structure along the x-axis and the y-axis. The horizontal through hole structure of the loading column 263 is connected to the loading needle 264. The loading needle 264 and the loading column 263 transfer the external load applied by the tension line to the micro-multi-dimensional force sensor 262.

[0015] The lower frame 1, the upper frame 3 and the single-pulley reversing mechanism 16 installed thereon realize the loading of the out-of-plane force Fz, the out-of-plane moment Mx and the out-of-plane moment My; the middle frame 2 and the three-pulley reversing mechanism 25 thereon realize the loading of the in-plane force Fx, the in-plane force Fy and the in-plane moment Mz.

[0016] When the out-of-plane force, out-of-plane moment, in-plane force and in-plane moment are loaded, standard weights are used as standard force sources.

[0017] The lower frame 1, the middle frame 2 and the upper frame 3 are constructed using aluminum profiles and their connectors.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention uses standard weights as standard force sources, and can ensure the accuracy of applied loads; the present invention transmits the standard force source provided by the standard weights through tension lines, fixed pulleys, loading needles and loading columns, and utilizes the combined design of upper, middle and lower three-layer frames and the multi-layer symmetrical arrangement of multiple fixed pulleys to achieve loading of forces / torques in six directions, thereby ensuring the number of dimensions of multi-dimensional force loading; the present invention has a simple and compact structure, can be constructed using lightweight aluminum profiles and their connectors, and has a low manufacturing cost; the present invention configures the connection between the tension line and the loading column or the loading needle through a pulley reversing mechanism, and can achieve loading of six-dimensional forces by hanging standard weights, and the operation method is simple and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the loading device of the embodiment.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the lower frame of the embodiment.

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the foot base of the embodiment.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the single pulley reversing mechanism of the embodiment.

[0024] Figure 5 Schematic diagram of the three-dimensional structure of the middle layer frame in the embodiment.

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the pulley reversing mechanism of Example 3.

[0026] Figure 7 It is a schematic diagram of a loading mechanism consisting of a sensor mounting plate, a miniature multi-dimensional force sensor, a loading column and a loading needle according to an embodiment.

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the upper frame of the embodiment.

[0028] Fig. 9 (a) is a schematic diagram of the loading principle of the internal force Fx in the embodiment; Fig. 9 (b) is a schematic diagram of the loading principle of the in-plane moment Mz of the embodiment.

[0029] Fig.10 (a) is a schematic diagram of the loading principle of the external force Fz of the embodiment; Fig.10 (b) is a schematic diagram of the loading principle of the out-of-plane force My of the embodiment.

[0030] Fig.11(a) is a schematic diagram of the combined loading principle of the surface internal force Fx and the surface internal force Fy of the embodiment; Fig.11 (b) is a schematic diagram of the combined loading principle of the in-plane force Fx and the in-plane moment Mz of the embodiment.

[0031] Fig.12 (a) is a schematic diagram of the combined loading principle of the in-plane force Fx and the out-of-plane force Fz of the embodiment; Fig.12 (b) is a schematic diagram of the combined loading principle of the in-plane force Fx and the out-of-plane moment Mx of the embodiment; Fig.12 (c) is a schematic diagram of the combined loading principle of the in-plane force Fx and the out-of-plane moment My of the embodiment.

[0032] Fig.13 (a) is a schematic diagram of the combined loading principle of the in-plane moment Mz and the out-of-plane force Fz of the embodiment; Fig.13 (b) is a schematic diagram of the combined loading principle of the in-plane moment Mz and the out-of-plane moment My of the embodiment.

[0033] Fig.14 (a) is a schematic diagram of the combined loading principle of the out-of-plane force Fz and the out-of-plane moment Mx in the embodiment; Fig.14 (b) is a schematic diagram of the combined loading principle of the out-of-plane moment My and the out-of-plane moment Mx of the embodiment. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the embodiments and drawings.

[0035] Reference Figure 1 , a six-dimensional force loading device for a miniature multi-dimensional force sensor, comprising a lower frame 1, a middle frame 2 and an upper frame 3 connected from bottom to top;

[0036] Reference Figure 2The lower frame 1 includes a foot seat 11, a first vertical truss 12, a first outer horizontal truss 13, a first inner horizontal truss 14, a first inner horizontal short truss 15 and a single pulley reversing mechanism 16; the bottoms of the four first vertical trusses 12 are connected to the foot seat 11, the tops of the first vertical trusses 12 are connected to the first outer horizontal trusses 13, the four first outer horizontal trusses 13 are centrally symmetrically arranged to form a square, and are connected at the corners of the square through the four first vertical trusses 12 and fixed by bolts; the inner side of the first outer horizontal truss 13 is connected to the center-facing single pulley reversing mechanism 16, and the four single pulley reversing mechanisms 16 are respectively installed at the center positions of the inner sides of the four first outer horizontal trusses 13, which play a role in converting the vertical tension of the weight into an inclined tension; the first outer horizontal A first inner horizontal truss 14 is connected to the inner sides of a group of opposite sides of the truss 13. The two first inner horizontal trusses 14 are parallel to and symmetrically arranged along the y-axis at both sides of the center of the two first outer horizontal trusses 13, and are fixed by bolts; the first inner horizontal short trusses 15 are connected between the first inner horizontal trusses 14. The two first inner horizontal short trusses 15 are parallel to and symmetrically arranged along the x-axis at both sides of the center of the two first inner horizontal trusses 14, and are fixed by bolts; the first inner horizontal trusses 14 and the first inner horizontal short trusses 15 are connected to a single pulley reversing mechanism 16 facing upward. Four single pulley reversing mechanisms 16 are respectively installed at the center position of the upper surface of the two first inner horizontal trusses 14 and the two first inner horizontal short trusses 15, so as to convert the inclined tension of the tension line into vertical tension.

[0037] Reference Figure 3 The foot base 11 includes a bottom plate 111 and a square groove 112 connected thereto. The bottom plates 111 of the four foot bases 11 are in horizontal contact with the ground, playing the role of a balancing and stabilizing loading device, and are provided with four through holes, through which the foot base 11 can be fixed to the ground by fastening bolts passing therethrough; the square grooves 112 of the four foot bases 11 are respectively connected to the four first vertical trusses 12, and the sides of the square grooves 112 are provided with through holes, through which the foot base 11 can be fixed to the first vertical trusses 12 by fastening bolts passing therethrough.

[0038] Reference Figure 4 The single pulley reversing mechanism 16 includes a single pulley mounting plate 161 and a first fixed pulley 162 connected thereto, and is fixedly connected to the corresponding truss by bolts through the through holes on the single pulley mounting plate 161.

[0039] Reference Figure 5The middle layer frame 2 includes a second vertical truss 21, a second outer horizontal truss 22, a second inner horizontal truss 23, a second inner horizontal short truss 24, a three-pulley reversing mechanism 25, and a loading mechanism 26; similar to the connection method of the lower frame 1, the bottoms of the four second vertical trusses 21 are respectively fixedly connected to the tops of the four first vertical trusses 12 on the lower frame 1, the tops of the four second vertical trusses 21 are connected to the four second outer horizontal trusses 22, and the four second outer horizontal trusses 22 are centrally symmetrically arranged to form a square, and are interconnected at the corners of the square through the four second vertical trusses 21. And fixed by bolts; two second inner horizontal trusses 23 are arranged parallel and symmetrically along the y-axis on both sides of the center of the two second outer horizontal trusses 22, and fixed by bolts; two second inner horizontal short trusses 24 are arranged horizontally and symmetrically along the x-axis on both sides of the center of the two second inner horizontal trusses 23, and fixed by bolts; four three-pulley reversing mechanisms 25 are installed at the center of the inner side surfaces of the four second outer horizontal trusses 22, which play the role of converting the vertical tension of the weight into the horizontal tension of the tension line; the second inner horizontal short trusses 24 and the second inner horizontal trusses 23 are connected to the loading mechanism 26.

[0040] Reference Figure 6 The three-pulley reversing mechanism 25 includes a three-pulley mounting plate 251 and three second fixed pulleys 252 connected thereto, and is fixedly connected to the corresponding truss by bolts through the through holes on the three-pulley mounting plate 251.

[0041] Reference Figure 7 The loading mechanism 26 includes a sensor mounting plate 261, a loading column 263 and a loading needle 264. The sensor mounting plate 261 is placed at the center of the square area surrounded by the second inner horizontal truss 23 and the second inner horizontal short truss 24, and is fixedly connected to the truss by bolts through the through holes thereon; the micro-multi-dimensional force sensor 262 is fixedly installed at the center position of the sensor mounting plate 261; the loading column 263 is fixed to the center position of the micro-multi-dimensional force sensor 262 by means of strong glue or the like, and a horizontal through-hole structure along the x-axis and the y-axis is provided on the loading column 263, and the horizontal through-hole structure of the loading column 263 is connected to the loading needle 264, and the loading needle 264 and the loading column 263 play the role of transmitting the tension of the tension line, and transmitting the external load applied by the tension line to the micro-multi-dimensional force sensor 262.

[0042] Reference Figure 8The upper frame 3 includes a third vertical truss 31, a third outer horizontal truss 32, a third inner horizontal truss 33, and a third inner horizontal short truss 34. Similar to the connection method of the lower frame 1, the bottoms of the four third vertical trusses 31 are respectively fixedly connected to the tops of the four second vertical trusses 21 on the middle frame 2, and the tops of the four third vertical trusses 31 are connected to the third outer horizontal trusses 32. The four third outer horizontal trusses 32 are centrally symmetrically arranged to form a square. The four third vertical trusses 31 are interconnected at the corners of the square and fixed by bolts; at the positions on both sides of the center of the two third outer horizontal trusses 32, the third inner horizontal trusses 33 are connected to the third outer horizontal trusses 32 along the y-axis. Two third inner horizontal trusses 33 are arranged in a row and symmetrically, and fixed by bolts; two third inner horizontal short trusses 34 are arranged parallel to and symmetrically along the x-axis on both sides of the center of the two third inner horizontal trusses 33, and fixed by bolts; a single pulley reversing mechanism 16 facing downward is installed at the center of the lower surface of the four third outer horizontal trusses 32, which plays a role in converting the vertical tension of the weight into the horizontal tension of the tension line; a single pulley reversing mechanism 16 facing downward is installed at the center of the lower surface of the two third inner horizontal trusses 33 and the two third inner horizontal short trusses 34, which plays a role in converting the horizontal tension of the tension line into vertical tension.

[0043] The function of the lower frame 1, the upper frame 3 and the 16 single-pulley reversing mechanisms 16 installed thereon is to realize the loading of the out-of-plane force Fz, the out-of-plane moment Mx and the out-of-plane moment My; the function of the middle frame 2 and the four three-pulley reversing mechanisms 25 installed thereon is to realize the loading of the in-plane force Fx, the in-plane force Fy and the in-plane moment Mz; standard weights are used as standard force sources during loading.

[0044] The lower frame 1, the middle frame 2 and the upper frame 3 are constructed using aluminum profiles and their connectors.

[0045] The following table shows 36 loading modes that can be achieved by the loading device of the embodiment, including 6 single-dimensional force / torque loadings at diagonal positions and 30 combined force / torque loadings at non-diagonal positions; based on the symmetry of the six-dimensional force and its loading device, the loading principles of 13 different loading types are illustrated with drawings.

[0046]

[0047] Reference Fig. 9(a) Loading of the in-plane force Fx: First, according to the height of the micro-miniature multi-dimensional force sensor 262 to be loaded, the thickness of the sensor mounting plate 261 is configured or the mounting height of the middle fixed pulley of the three-pulley reversing mechanism 25 is adjusted, so that the tension action point on the loading column 263 bonded to the micro-miniature multi-dimensional force sensor 262 and the tangent point of the top of the fixed pulley rail of the three-pulley reversing mechanism 25 are at the same horizontal height; then, the micro-miniature multi-dimensional force sensor 262 bonded with the loading column 263 is passed through the sensor mounting plate 261. Fixed at the center position of the middle layer frame 2, one end of the tension line is sleeved on the tension action point of the loading column 263 and extended horizontally along the x-axis direction, and then vertically droops after passing the middle fixed pulley of the three-pulley reversing mechanism 25; finally, a standard weight is hung at the vertically drooping end of the tension line, and the gravity of the standard weight can be converted into a horizontal tension of the tension line along the x-axis direction through the three-pulley reversing mechanism 25, and act on the miniature multi-dimensional force sensor 262 through the loading column 263, thereby realizing the loading of the in-plane force Fx.

[0048] According to symmetry, the loading method of the surface internal force Fy is similar to the loading method of the surface internal force Fx, and will not be repeated here.

[0049] Reference Fig. 9 (b) Loading of the in-plane force moment Mz: First, according to the height of the micro-multi-dimensional force sensor 262, configure the thickness of the sensor mounting plate 261 or adjust the mounting height of the two side fixed pulleys of the three-pulley reversing mechanism 25, so that the loading needle 264 fixedly connected to the loading column 263 and the intersection point of the top of the fixed pulley rail of the three-pulley reversing mechanism 25 are at the same horizontal height; then, the micro-multi-dimensional force sensor 262 bonded with the loading column 263 is fixed to the center position of the middle layer frame 2 through the sensor mounting plate 261, the loading needle 264 is passed horizontally through the through hole on the loading column 263 along the y-axis and fixed, one end of a tension line is sleeved on the tension action point at the upper end of the loading needle 264 and extended horizontally along the positive direction of the x-axis to bypass The upper fixed pulley of the right three-pulley reversing mechanism 25 hangs down vertically, and one end of another tension line is sleeved on the tension action point at the lower end of the loading needle 264 and extends horizontally along the negative direction of the x-axis, bypassing the lower fixed pulley of the left three-pulley reversing mechanism 25 and then hanging down vertically; finally, standard weights of the same weight are hung at the ends of the two tension lines that hang down vertically at the same time, and the gravity of the standard weights on the left and right sides can be converted into horizontal tension along the positive and negative directions of the x-axis respectively through the three-pulley reversing mechanism 25. Since the two horizontal tensions act symmetrically and eccentrically on the loading needle 264, the two horizontal tensions can be converted into pure torques acting on the miniature multi-dimensional force sensor 262 through the loading needle 264 and the loading column 263, realizing the loading of the in-plane torque Mz. Fig. 9(b) is a schematic diagram of the positive direction loading of the in-plane moment Mz. Similarly, by replacing the fixed pulleys used in the three-pulley reversing mechanisms 25 on the left and right sides, the negative direction loading of the in-plane moment Mz can also be achieved. According to the symmetry, the loading of the in-plane moment Mz can also be achieved by using the upper and lower three-pulley reversing mechanisms 25 and the loading needle 264 installed along the x-axis direction.

[0050] Reference Fig.10 (a) Loading of the out-of-plane force Fz: First, the miniature multi-dimensional force sensor 262 bonded with the loading column 263 is fixed at the center of the middle frame 2 through the sensor mounting plate 261, and the loading needle 264 is passed horizontally through the through hole on the loading column 263 along the x-axis and fixed; then, one end of a tension line is sleeved on the right side of the loading needle 264 and extended vertically downward along the z-axis, and then passes through the single pulley reversing mechanism 16 arranged inside and outside the lower frame 1 in turn and then hangs vertically. Similarly, one end of another tension line is sleeved on the left side of the loading needle 264 and extended vertically downward along the z-axis, and then the loading needle 264 is inserted into the loading needle 264 and extends vertically downward along the z-axis. After passing through the left single pulley reversing mechanism 16 installed on the inner side of the lower frame 1 and the left single pulley reversing mechanism 16 installed on the outer side, the two tension lines are vertically drooped; finally, standard weights of the same weight are simultaneously hung at one end of the two tension lines that are vertically drooped, and the gravity of the standard weights on the left and right sides can be converted into a vertical pulling force along the z-axis downward through the single pulley reversing mechanism 16 arranged on the left and right sides of the lower frame 1. The force acts on the left and right symmetrical positions of the loading needle 264, and the two vertical pulling forces act on the miniature multi-dimensional force sensor 262 through the loading needle 264 and the loading column 263, realizing the loading of the out-of-plane force Fz. Fig.10 (a) is a schematic diagram of the positive direction loading of the out-of-plane force Fz. Similarly, the negative direction loading of the in-plane force Fz can also be achieved by using the single pulley reversing mechanism 16 arranged on the left and right of the upper frame 3. According to symmetry, the loading of the out-of-plane force Fz can also be achieved by using the single pulley reversing mechanism 16 arranged on the front and rear of the lower frame 1 or the upper frame 3 and the loading needle 264 installed along the y-axis direction.

[0051] Reference Fig.10(b) Loading of the out-of-plane moment My: First, the miniature multi-dimensional force sensor 262 bonded with the loading column 263 is fixed at the center of the middle frame 2 through the sensor mounting plate 261, and the loading needle 264 is passed horizontally through the through hole on the loading column 263 along the x-axis and fixed; then, one end of a tension line is sleeved on the left side of the loading needle 264 and extended vertically downward along the z-axis, bypassing the single pulley reversing mechanism 16 arranged on the inner and outer sides of the lower frame 1 in turn and then hanging down vertically; similarly, one end of another tension line is sleeved on the right side of the loading needle 264 and extended vertically upward along the z-axis, bypassing the single pulley reversing mechanism 16 arranged on the inner and outer sides of the upper frame 1 in turn; The single pulley reversing mechanism 16 on the inside and outside of the frame 3 hangs vertically; finally, standard weights of the same weight are hung at one end of the two tension lines that hang vertically, and the gravity of the standard weights on the left and right sides can be converted into vertical pulling forces downward and upward along the z-axis through the single pulley reversing mechanism 16 on the lower frame 1 and the upper frame 3, respectively, and act on the left and right symmetrical positions of the loading needle 164. Since the two vertical pulling forces act symmetrically and eccentrically on the loading needle 264, the two vertical pulling forces can be converted into pure torques through the loading needle 264 and the loading column 263 to act on the micro multi-dimensional force sensor 262, thereby realizing the loading of the out-of-plane torque My. Fig.10 (b) is a schematic diagram of the positive direction loading of the out-of-plane moment My. Similarly, by using the single pulley reversing mechanism 16 arranged on the left side of the upper frame 3 and the right side of the lower frame 1, the negative direction loading of the out-of-plane moment My can also be achieved.

[0052] According to symmetry, the loading method of the out-of-plane moment Mx is similar to the loading method of the out-of-plane moment My, and will not be repeated here.

[0053] Fig. 9 (a) Fig. 9 (b) Fig.10 (a) and Fig.10 (b) shows the uniaxial loading principles of four different types of forces / torques. In addition to the uniaxial loading of six-dimensional forces, the loading device of the present invention can also realize the joint loading of any two forces / torques. According to symmetry, 9 different types of multi-dimensional force joint loading principles are described below in conjunction with the accompanying drawings.

[0054] Reference Fig.11 (a), combined loading of surface internal force Fx and surface internal force Fy: using Fig. 9 The loading method in (a) uses the middle fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the middle layer frame 2 to load the surface force Fx; at the same time, Fig. 9 The loading method in (a) uses the middle fixed pulley of the three-pulley switching mechanism 25 arranged on the upper side or the lower side of the middle layer frame 2 to load the in-plane force Fy.

[0055] Reference Fig.11(b) Combined loading of in-plane force Fx and in-plane moment Mz: Fig. 9 In the method (a), the internal force Fx is loaded by using the middle fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the middle frame 2; at the same time, Fig. 9 The method in (b) uses the fixed pulleys on both sides of the three-pulley switching mechanism 25 arranged on the left and right sides of the middle layer frame 2 to load the in-plane moment Mz.

[0056] Reference Fig.12 (a), combined loading of internal force Fx and external force Fz: Fig. 9 The method in (a) uses the middle fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the middle layer frame 2 to load the surface force Fx; at the same time, referring to Fig.10 The loading method in (a) uses a single pulley reversing mechanism 16 arranged on the front and rear sides of the lower frame 1 or the upper frame 3 to load the out-of-plane force Fz.

[0057] Reference Fig.12 (b), combined loading of in-plane force Fx and out-of-plane moment Mx: Fig. 9 The method in (a) uses the middle fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the middle layer frame 2 to load the surface force Fx; at the same time, referring to Fig.10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged at the rear side of the upper frame 3 and the front side of the lower frame 1 (or the front side of the upper frame 3 and the rear side of the lower frame 1) to load the out-of-plane moment Mx.

[0058] Reference Fig.12 (c) Combined loading of in-plane force Fx and out-of-plane moment My: Fig. 9 In the method (a), the internal force Fx is loaded by using the middle fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the middle frame 2; at the same time, Fig.10 The loading method in (b) uses a single pulley reversing mechanism (16) arranged on the left side of the lower frame 1 and the right side of the upper frame 3 (or the right side of the lower frame 1 and the left side of the upper frame 3) to load the out-of-plane moment My.

[0059] Reference Fig.13 (a), combined loading of in-plane moment Mz and out-of-plane force Fz: Fig. 9 The loading method in (b) uses the fixed pulleys on both sides of the three-pulley reversing mechanism 25 arranged on the left and right sides of the middle layer frame 2 to load the in-plane moment Mz; at the same time, Fig.10 The loading method in (a) uses the single pulley reversing mechanism 16 arranged on the left and right sides of the lower frame 1 or the upper frame 3 to load the out-of-plane force Fz.

[0060] Reference Fig.13 (b) Combined loading of in-plane moment Mz and out-of-plane moment My: Fig. 9 The loading method in (b) uses the fixed pulleys on both sides of the three-pulley reversing mechanism 25 arranged on the left and right sides of the middle layer frame 2 to load the in-plane moment Mz; at the same time, Fig.10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged on the left side of the lower frame 1 and the right side of the upper frame 3 (or the right side of the lower frame 1 and the left side of the upper frame 3) to load the out-of-plane moment My.

[0061] Reference Fig.14 (a), combined loading of out-of-plane force Fz and out-of-plane moment Mx: Fig.10 The loading method in (a) uses a single pulley reversing mechanism 16 arranged on the left and right sides of the lower frame 1 or the upper frame 3 to load the out-of-plane force Fz. Fig.10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged at the rear side of the upper frame 3 and the front side of the lower frame 1 (or the front side of the upper frame 3 and the rear side of the lower frame 1) to load the out-of-plane moment Mx.

[0062] Reference Fig.14 (b) Combined loading of out-of-plane moment My and out-of-plane moment Mx: Fig.10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged on the left side of the lower frame 1 and the right side of the upper frame 3 (or the right side of the lower frame 1 and the left side of the upper frame 3) to load the out-of-plane moment My; at the same time, referring to Fig.10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged at the rear side of the upper frame 3 and the front side of the lower frame 1 (or the front side of the upper frame 3 and the rear side of the lower frame 1) to load the out-of-plane moment Mx.

[0063] Fig.13 (a) Fig.13 (b) Fig.14 (a) and Fig.14 The four combined loading methods in (b) require the use of two loading needles 264, which are passed through the through holes of the loading column 263 horizontally along the x-axis and the y-axis and fixed, and the two loads are applied through different loading needles 264 respectively.

Claims

1. A six-dimensional force loading device for a miniature multi-dimensional force sensor, characterized in that: It comprises a lower frame (1), a middle frame (2) and an upper frame (3) connected from bottom to top; The lower frame (1) comprises a first vertical truss (12), the top of the first vertical truss (12) is connected to a first outer horizontal truss (13), the inner side of the first outer horizontal truss (13) is connected to a single pulley reversing mechanism (16) facing the center, the inner side of the first outer horizontal truss (13) is connected to a first inner horizontal truss (14), the two first inner horizontal trusses (14) are parallel along the y-axis, the first inner horizontal trusses (14) are connected to a first inner horizontal short truss (15), and the two first inner horizontal short trusses (15) are parallel along the x-axis; the first inner horizontal trusses (14) and the first inner horizontal short trusses (15) are connected to a single pulley reversing mechanism (16) facing upward; The intermediate layer frame (2) comprises a second vertical truss (21), the bottom of the second vertical truss (21) is fixedly connected to the top of the first vertical truss (12), the top of the second vertical truss (21) is connected to the second outer horizontal truss (22), the second outer horizontal truss (22) is arranged parallel to the second inner horizontal truss (23) along the y-axis, the second inner horizontal truss (23) is horizontal along the x-axis and two second inner horizontal short trusses (24) are arranged, and a three-pulley reversing mechanism (25) is installed at the center of the inner side of the second outer horizontal truss (22); the second inner horizontal short truss (24) and the second inner horizontal truss (23) are connected to the loading mechanism (26); The upper frame (3) comprises a third vertical truss (31), the bottom of the third vertical truss (31) is fixedly connected to the top of the second vertical truss (21), the top of the third vertical truss (31) is connected to the third outer horizontal truss (32), the third outer horizontal truss (32) has two third inner horizontal trusses (33) arranged in parallel along the y-axis, the two third inner horizontal trusses (33) have two third inner horizontal short trusses (34) arranged in parallel along the x-axis, a single pulley reversing mechanism (16) facing downwards is installed at the center position of the lower surface of the third outer horizontal truss (32); a single pulley reversing mechanism (16) facing downwards is installed at the center position of the lower surface of the two third inner horizontal trusses (33) and the two third inner horizontal short trusses (34).

2. The six-dimensional force loading device according to claim 1, characterized in that: The bottom of the first vertical truss (12) is connected to a foot base (11), and the foot base (11) comprises a bottom plate (111) and a square groove (112) connected thereto, and the square groove (112) is cooperatively connected to the first vertical truss (12).

3. The six-dimensional force loading device according to claim 1, characterized in that: The single pulley reversing mechanism (16) comprises a single pulley mounting plate (161) and a first fixed pulley (162) connected thereto, and is fixedly connected to a corresponding truss via a through hole on the single pulley mounting plate (161).

4. The six-dimensional force loading device according to claim 1, characterized in that: The three-pulley reversing mechanism (25) comprises a three-pulley mounting plate (251) and three second fixed pulleys (252) connected thereto, and is fixedly connected to the corresponding trusses via through holes on the three-pulley mounting plate (251).

5. The six-dimensional force loading device according to claim 1, characterized in that: The loading mechanism (26) includes a sensor mounting plate (261), the sensor mounting plate (261) is connected to the second inner horizontal truss (23) and the second inner horizontal short truss (24), the center of the sensor mounting plate (261) is connected to the micro-sized multi-dimensional force sensor (262), the center of the micro-sized multi-dimensional force sensor (262) is connected to the loading column (263), the loading column (263) is provided with a horizontal through hole structure along the x-axis and the y-axis, the horizontal through hole structure of the loading column (263) is connected to the loading needle (264), and the loading needle (264) and the loading column (263) transfer the external load applied by the tension line to the micro-sized multi-dimensional force sensor (262).

6. The six-dimensional force loading device according to claim 1, characterized in that: The lower frame (1), the upper frame (3) and the single-pulley reversing mechanism (16) installed thereon realize the loading of the out-of-plane force Fz, the out-of-plane moment Mx and the out-of-plane moment My; the middle frame (2) and the three-pulley reversing mechanism (25) thereon realize the loading of the in-plane force Fx, the in-plane force Fy and the in-plane moment Mz.

7. The six-dimensional force loading device according to claim 6, characterized in that: When the out-of-plane force, out-of-plane moment, in-plane force and in-plane moment are loaded, standard weights are used as standard force sources.

8. The six-dimensional force loading device according to claim 1, characterized in that: The lower frame (1), the middle frame (2) and the upper frame (3) are constructed using aluminum profiles and their connecting parts.

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