A six-dimensional force loading device for miniature multidimensional force sensors

Abstract

A six-axis combined loading device for a miniature multidimensional force sensor includes a lower frame, a middle frame, and an upper frame. A single pulley reversing mechanism is installed at the center of the horizontal trusses of both the lower and upper frames for reversing the direction of the standard force source of the weights during out-of-plane force and torque loading. A three-pulley reversing mechanism is installed at the center of the horizontal trusses on the outer side of the middle frame for reversing the direction of the standard force source of the weights during in-plane force and torque loading. The loading mechanism is connected to the center of the middle frame. When calibrating the miniature multidimensional force sensor, a specific direction of force and torque load is applied to the sensor through a load transfer path of standard weights – tension line – pulley reversing mechanism – loading pin – loading column – sensor. This invention enables individual loading of all six directions of force / torque on the miniature multidimensional force sensor, and can also achieve combined loading of any two forces or torques. It has the advantages of simple and compact structure and high accuracy.

Description

Technical Field

[0001] This invention belongs to the field of mechanical quantity sensor calibration and standardization technology, specifically relating to a six-dimensional force loading device for micro-miniature multi-dimensional force sensors. Background Technology

[0002] Multidimensional force sensors are the core sensing components of force control technology and are widely used in aerospace, industrial automation, intelligent robotics and biomedical fields. A crucial step in the development of multidimensional force sensors is calibration and standardization. The types of loading methods that multidimensional force loading devices can achieve and their accuracy directly affect the integrity and reliability of calibration and standardization data, and are the fundamental guarantee for the development of high-precision, low-crosstalk multidimensional force sensors.

[0003] Currently, high-performance loading devices are mainly designed for large-volume, high-precision, low-crosstalk commercial multidimensional force sensors fabricated using traditional machining methods. These loading devices are often complex systems involving mechanical structures, electrical control, and hydraulic drives, resulting in a large size that makes them unsuitable for loading miniature multidimensional force sensors. Some loading devices for miniaturized multidimensional force sensors, such as patent applications titled "A Three-Dimensional Force Sensor Three-Dimensional Force Loading Calibration Device and Method" (Publication No.: CN114279632A), "Electric Spindle Three-Dimensional Force Loading Device" (Publication No.: CN113375849A), and "A Robot End-Finger Multidimensional Force Loading Mechanism" (Publication No.: CN209878351U), can only achieve force / torque loading in a single or a few specific directions. They cannot achieve force / torque loading in all six directions. Therefore, they cannot fully evaluate the coupling error characteristics of miniature multidimensional force sensors, nor are they suitable for the calibration and standardization of multidimensional force sensors with higher detection dimensions such as six-dimensional force. Other micro-miniature multi-dimensional force sensor loading devices, such as the patent application entitled "A Multi-Component Force Sensor Calibration Device" (Publication No.: CN117553969A), the patent application entitled "A Calibration Device and Calibration Method for a Large Deformation Six-Dimensional Force Sensor" (Publication No.: CN117109804A), and the patent application entitled "A Static Calibration Device for a Six-Dimensional Miniature Force / Torque Sensor" (Publication No.: CN113820066A), can achieve force / torque loading in all six directions, but cannot achieve joint loading of different forces / torques. Therefore, they cannot evaluate the coupling error characteristics of micro-miniature six-dimensional force sensors across the entire range.

[0004] Developing loading devices for miniature multidimensional force sensors, especially devices capable of high-precision loading of six-dimensional forces, is of great value for improving the detection dimensions and accuracy of miniaturized multidimensional force sensors and realizing high-precision force feedback and compliant force control of intelligent robot fingertips and minimally invasive surgical end effectors. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention aims to provide a six-dimensional force loading device for micro-sized multi-dimensional force sensors. It employs standard weights as the standard force source to ensure loading accuracy. Using standard weights, tension lines, and multiple pulley reversing mechanisms arranged in layers, the device combines different pulleys to achieve not only loading of force / torque in six directions but also joint loading of different forces / torques, ensuring the number of loading dimensions. The device is constructed using a truss structure consisting of upper, middle, and lower three-layer frames, with pulley reversing mechanisms installed at different positions. This design offers advantages such as simple structure, convenient operation, multiple loading dimensions, and high accuracy.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

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

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

[0009] The intermediate frame 2 includes a second vertical truss 21, the bottom of which 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 parallel to the y-axis with a second inner horizontal truss 23. The second inner horizontal truss 23 is horizontally arranged with two second inner horizontal short trusses 24 along the x-axis. 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 trusses 24 and the second inner horizontal truss 23 are connected to a loading mechanism 26.

[0010] The upper frame 3 includes a third vertical truss 31, the bottom of which 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. Two third inner horizontal trusses 33 are arranged parallel to the y-axis on the third outer horizontal truss 32. Two third inner horizontal short trusses 34 are arranged parallel to the x-axis on the two third inner horizontal trusses 33. A downward-facing single pulley reversing mechanism 16 is installed at the center of the lower surface of the third outer horizontal truss 32. The downward-facing single pulley reversing mechanism 16 is also installed at the center of the lower surfaces 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 a foot 11, which includes a base plate 111 and a square groove 112 connected thereto. The square groove 112 is engaged with the first vertical truss 12.

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

[0013] The three-pulley reversing mechanism 25 includes a three-pulley mounting plate 251 and three second fixed pulleys 252 connected thereto, which are fixedly connected to the corresponding truss through 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. A miniature multidimensional force sensor 262 is connected to the center of the sensor mounting plate 261, and a loading column 263 is connected to the center of the miniature multidimensional force sensor 262. The loading column 263 is provided with horizontal through-hole structures along the x-axis and y-axis. The horizontal through-hole structures of the loading column 263 are connected to a loading needle 264. The loading needle 264 and the loading column 263 transmit the external load applied by the tension line to the miniature multidimensional 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 out-of-plane force Fz, out-of-plane moment Mx, and out-of-plane moment My; the middle frame 2 and the three pulley reversing mechanism 25 thereon realize the loading of in-plane force Fx, in-plane force Fy, and in-plane moment Mz.

[0016] When applying the out-of-plane force, out-of-plane moment, in-plane force, and in-plane moment, a standard weight is used as the standard force source.

[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 beneficial effects of the present invention are as follows:

[0019] This invention uses standard weights as the standard force source, ensuring the accuracy of the applied load. It transmits the standard force source provided by the standard weights through a tension line, fixed pulleys, a loading pin, and a loading column. Utilizing a three-layer frame design (upper, middle, and lower) and a multi-layered symmetrical arrangement of multiple fixed pulleys, it can achieve force / torque loading in six directions, ensuring the number of dimensions for multi-dimensional force loading. The invention has a simple and compact structure, can be constructed using lightweight aluminum profiles and connectors, and has low manufacturing costs. By configuring the connection between the tension line and the loading column or loading pin through a pulley reversing mechanism, and by suspending the standard weights, six-dimensional force loading can be achieved; the operation method is simple and effective. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the loading device in an embodiment.

[0021] Figure 2 This is a three-dimensional structural diagram of the lower frame in an embodiment.

[0022] Figure 3 This is a three-dimensional structural diagram of the foot bracket in the embodiment.

[0023] Figure 4 This is a three-dimensional structural diagram of the single pulley reversing mechanism in an embodiment.

[0024] Figure 5 This is a three-dimensional structural diagram of the intermediate layer frame in the embodiment.

[0025] Figure 6 This is a three-dimensional structural diagram of the pulley reversing mechanism in Embodiment 3.

[0026] Figure 7 This 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 pin, as shown in the embodiment.

[0027] Figure 8 This is a three-dimensional structural diagram of the upper frame of the embodiment.

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

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

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

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

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

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

[0034] The present invention will now be described in detail with reference to the embodiments and accompanying drawings.

[0035] Reference Figure 1 A six-dimensional force loading device for micro-miniature multi-dimensional force sensors includes 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 feet 11, first vertical trusses 12, first outer horizontal trusses 13, first inner horizontal trusses 14, first inner horizontal short trusses 15, and single pulley reversing mechanisms 16. The bottoms of the four first vertical trusses 12 are connected to the feet 11, and 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 arranged symmetrically in a square, connected at the corners of the square by bolts. The inner side of the first outer horizontal trusses 13 is connected to the center-facing single pulley reversing mechanisms 16. The four single pulley reversing mechanisms 16 are respectively installed at the center of the inner side of the four first outer horizontal trusses 13, serving to convert the vertical tension of the weight into an inclined tension. A set of trusses 13 are connected to the inner sides of a first inner horizontal truss 14. The two first inner horizontal trusses 14 are arranged parallel and symmetrically along the y-axis on both sides of the center of the two first outer horizontal trusses 13 and are fixed with bolts. The first inner horizontal trusses 14 are connected to the first inner horizontal short trusses 15. The two first inner horizontal short trusses 15 are arranged parallel and symmetrically along the x-axis on both sides of the center of the two first inner horizontal trusses 14 and are fixed with bolts. The first inner horizontal trusses 14 and the first inner horizontal short trusses 15 are connected to upward-facing single pulley reversing mechanisms 16. The four single pulley reversing mechanisms 16 are respectively installed at the center of the upper surface of the two first inner horizontal trusses 14 and the two first inner horizontal short trusses 15, which serve to convert the inclined tension of the tension line into a vertical tension.

[0037] Reference Figure 3 The foot 11 includes a base plate 111 and a square groove 112 connected thereto. The base plate 111 of the four foot 11 is in horizontal contact with the ground, which serves to balance and stabilize the loading device. It has four through holes, through which fastening bolts can be used to fix the foot 11 to the ground. The square groove 112 of the four foot 11 is respectively connected to the four first vertical trusses 12. The side of the square groove 112 has through holes, through which fastening bolts can be used to fix the foot 11 to the first vertical truss 12.

[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. It is fixed to the corresponding truss by bolting through the through hole on the single pulley mounting plate 161.

[0039] Reference Figure 5The intermediate 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 fixedly connected to the tops of the four first vertical trusses 12 on the lower frame 1, and the tops of the four second vertical trusses 21 are connected to the four second outer horizontal trusses 22. The four second outer horizontal trusses 22 are arranged symmetrically in a central shape to form a square, and are interconnected at the corners of the square by the four second vertical trusses 21. And fixed with 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 with 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 with bolts; four three-pulley reversing mechanisms 25 are installed at the center of the inner side of the four second outer horizontal trusses 22 to convert 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. It is fixed to the corresponding truss by bolting 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 pin 264. The sensor mounting plate 261 is placed at the center of the square area enclosed by the second inner horizontal truss 23 and the second inner horizontal short truss 24, and is fixed to the truss by bolts through the through holes on it. A miniature multidimensional force sensor 262 is fixedly installed at the center of the sensor mounting plate 261. The loading column 263 is fixed at the center of the miniature multidimensional force sensor 262 by strong adhesive or other means. The loading column 263 is provided with horizontal through hole structures along the x-axis and y-axis. The horizontal through hole structures of the loading column 263 are connected to the loading pin 264. The loading pin 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 miniature multidimensional 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 lower frame 1, the bottoms of the four third vertical trusses 31 are fixedly connected to the tops of the four second vertical trusses 21 on the middle frame 2. 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 arranged symmetrically in a central shape to form a square, interconnected at the corners of the square by the four third vertical trusses 31 and fixed with bolts. The y-axis is horizontally aligned with the center of each of the two third outer horizontal trusses 32. Two third inner horizontal trusses 33 are arranged symmetrically and fixed with 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 with bolts; a downward-facing single pulley reversing mechanism 16 is installed at the center of the lower surface of the four third outer horizontal trusses 32, which serves to convert the vertical tension of the weight into the horizontal tension of the tension line; a downward-facing single pulley reversing mechanism 16 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 serves to convert the horizontal tension of the tension line into the vertical tension.

[0043] The lower frame 1, the upper frame 3, and the 16 single pulley reversing mechanisms 16 installed on them are used to load the out-of-plane force Fz, out-of-plane torque Mx, and out-of-plane torque My; the middle frame 2 and the four three-pulley reversing mechanisms 25 installed on it are used to load the in-plane force Fx, in-plane force Fy, and in-plane torque Mz; a standard weight is used as the standard force source 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 table below shows 36 loading methods that the loading device of the embodiment can achieve, including 6 single-dimensional force / torque loadings at the diagonal position and 30 combined force / torque loadings at the off-diagonal position; based on the symmetry of the six-dimensional force and the loading device, the loading principles of 13 different loading types are illustrated with figures.

[0046]

[0047] Reference Figure 9(a) Loading of in-plane force Fx: First, based on the height of the micro-multidimensional force sensor 262 to be loaded, configure the thickness of the sensor mounting plate 261 or adjust the installation height of the middle fixed pulley of the three-pulley reversing mechanism 25 so that the point of application of the tension on the loading column 263 bonded to the micro-multidimensional force sensor 262 is at the same horizontal height as the tangent point at the top of the fixed pulley rail of the three-pulley reversing mechanism 25; then, place the micro-multidimensional force sensor 262 with the loading column 263 bonded to it through the sensor mounting plate 261. Fixed at the center of the intermediate frame 2, one end of the tension line is attached to the tension application point of the loading column 263 and extends horizontally along the x-axis, passing over the middle fixed pulley of the three-pulley reversing mechanism 25 and then hanging vertically downwards; finally, a standard weight is suspended at the vertically hanging end of the tension line, so that the gravity of the standard weight can be converted into a horizontal tension along the x-axis of the tension line through the three-pulley reversing mechanism 25, and then applied to the micro-miniature multidimensional force sensor 262 through the loading column 263 to realize the loading of the in-plane force Fx.

[0048] Due to symmetry, the loading method of in-plane force Fy is similar to that of in-plane force Fx, and will not be described again here.

[0049] Reference Figure 9 (b) Loading of in-plane torque Mz: First, based on the height of the miniature multidimensional force sensor 262, configure the thickness of the sensor mounting plate 261 or adjust the installation height of the two side fixed pulleys of the three-pulley reversing mechanism 25 so that the loading pin 264 fixed to the loading column 263 and the top tangent point of the fixed pulley rail of the three-pulley reversing mechanism 25 are at the same horizontal height; then, fix the miniature multidimensional force sensor 262 with the loading column 263 bonded to it to the center position of the intermediate frame 2 through the sensor mounting plate 261, pass the loading pin 264 horizontally through the through hole on the loading column 263 along the y-axis and fix it, attach one end of a tension line to the tension application point at the upper end of the loading pin 264 and extend it horizontally along the positive x-axis, bypassing... The upper fixed pulley of the right-side three-pulley reversing mechanism 25 hangs vertically downwards. One end of another tension line is attached to the tension application point at the lower end of the loading needle 264 and extends horizontally along the negative x-axis, passing over the lower fixed pulley of the left-side three-pulley reversing mechanism 25 before hanging vertically downwards. Finally, standard weights of the same weight are simultaneously suspended at the vertically hanging ends of the two tension lines. The gravity of the standard weights on the left and right sides can be converted into horizontal tensions along the positive and negative x-axis directions 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 micro-miniature multi-dimensional force sensor 262 through the loading needle 264 and the loading column 263, realizing the loading of in-plane torque Mz. Figure 9(b) is a schematic diagram of the positive direction loading of the in-plane torque Mz. Similarly, by changing the fixed pulleys used in the three-pulley reversing mechanism 25 on the left and right sides, the negative direction loading of the in-plane torque Mz can also be achieved. According to the symmetry, the loading of the in-plane torque Mz can also be achieved by using the upper and lower three-pulley reversing mechanisms 25 and the loading pin 264 installed along the x-axis.

[0050] Reference Figure 10 (a) Loading of out-of-plane force Fz: First, the miniature multidimensional force sensor 262, to which the loading column 263 is bonded, is fixed to the center of the intermediate frame 2 via the sensor mounting plate 261. The loading pin 264 is then horizontally passed through the through hole on the loading column 263 along the x-axis and fixed. Then, one end of a tension wire is attached to the right side of the loading pin 264 and extends vertically downward along the z-axis, passing through the single pulley reversing mechanism 16 arranged inside and outside the lower frame 1 before hanging vertically downward. Similarly, one end of another tension wire is attached to the left side of the loading pin 264 and extends vertically downward along the z-axis. After bypassing the left-side single pulley reversing mechanism 16 installed inside and outside the lower frame 1, the wires hang vertically downwards. Finally, standard weights of the same weight are simultaneously suspended at the vertically hanging ends of the two tension lines. The gravity of the standard weights on the left and right sides is converted into a vertical tension force along the z-axis of the tension lines by the single pulley reversing mechanisms 16 arranged on the left and right sides of the lower frame 1, and acts on the left and right symmetrical positions of the loading needle 264. The two vertical tension forces are then applied to the micro-miniature multidimensional force sensor 262 through the loading needle 264 and the loading column 263, realizing the loading of the out-of-plane force Fz. Figure 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 sides of the upper frame 3. Due to symmetry, the loading of the out-of-plane force Fz can also be achieved by using the single pulley reversing mechanism 16 arranged in the front and rear of the lower frame 1 or the upper frame 3 and the loading pin 264 installed along the y-axis.

[0051] Reference Figure 10(b) Loading of out-of-plane torque My: First, the miniature multidimensional force sensor 262, to which the loading column 263 is bonded, is fixed to the center of the intermediate frame 2 via the sensor mounting plate 261. The loading pin 264 is horizontally passed through the through hole on the loading column 263 along the x-axis and fixed. Then, one end of a tension wire is sleeved on the left side of the loading pin 264 and extends vertically downward along the z-axis, passing through the single pulley reversing mechanism 16 arranged inside and outside the lower frame 1 before hanging vertically downward. Similarly, one end of another tension wire is sleeved on the right side of the loading pin 264 and extends vertically upward along the z-axis, passing through the single pulley reversing mechanism 16 arranged inside and outside the upper frame 1 before hanging vertically downward. The single pulley reversing mechanism 16 on the inner and outer sides of frame 3 hangs vertically downwards. Finally, standard weights of the same weight are simultaneously suspended at the vertically downward ends of the two tension lines. The gravity of the standard weights on the left and right sides can be converted into vertical tension forces along the z-axis downwards and upwards by 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 tension forces act symmetrically and eccentrically on the loading needle 264, the two vertical tension forces can be converted into pure torques acting on the micro-miniature multidimensional force sensor 262 through the loading needle 264 and the loading column 263, realizing the loading of the out-of-plane torque My. Figure 10 (b) is a schematic diagram of the positive direction loading of the out-of-plane torque My. Similarly, the negative direction loading of the out-of-plane torque My can also be achieved 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.

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

[0053] Figure 9 (a) Figure 9 (b) Figure 10 (a) and Figure 10 (b) Four different types of uniaxial loading principles for force / torque are demonstrated. In addition to uniaxial loading of six-dimensional force, the loading device of this invention can also achieve combined loading of any two forces / torques. Based on symmetry, the principles of combined multidimensional force loading of nine different types are explained below with reference to the accompanying drawings.

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

[0055] Reference Figure 11(b) Combined loading of in-plane force Fx and in-plane moment Mz: using Figure 9 The method in (a) uses the intermediate fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the intermediate frame 2 to apply the in-plane force Fx; at the same time, it employs... Figure 9 The method in (b) uses fixed pulleys on both sides of the three-pulley reversing mechanism 25 arranged on the left and right sides of the intermediate layer frame 2 to apply the in-plane torque Mz.

[0056] Reference Figure 12 (a) Combined loading of in-plane force Fx and out-of-plane force Fz: using Figure 9 The method in (a) uses the intermediate fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the intermediate layer frame 2 to apply the in-plane force Fx; at the same time, it draws on the method described in (a). Figure 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 Figure 12 (b) Combined loading of in-plane force Fx and out-of-plane moment Mx: using Figure 9 The method in (a) uses the intermediate fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the intermediate layer frame 2 to apply the in-plane force Fx; at the same time, it draws on the method described in (a). Figure 10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged on 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 apply the out-of-plane torque Mx.

[0058] Reference Figure 12 (c) Combined loading of in-plane force Fx and out-of-plane moment My: using Figure 9 The method in (a) uses the intermediate fixed pulley of the three-pulley reversing mechanism 25 arranged on the left or right side of the intermediate frame 2 to apply the in-plane force Fx; at the same time, it employs... Figure 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 torque My.

[0059] Reference Figure 13 (a) Combined loading of in-plane moment Mz and out-of-plane force Fz: using Figure 9 The loading method in (b) uses fixed pulleys on both sides of the three-pulley reversing mechanism 25 arranged on the left and right sides of the intermediate frame 2 to load the in-plane torque Mz; at the same time, it employs... Figure 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 Figure 13 (b) Joint loading of in-plane moment Mz and out-of-plane moment My: using Figure 9 The loading method in (b) uses fixed pulleys on both sides of the three-pulley reversing mechanism 25 arranged on the left and right sides of the intermediate frame 2 to load the in-plane torque Mz; at the same time, it employs... Figure 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 torque My.

[0061] Reference Figure 14 (a) Combined loading of out-of-plane force Fz and out-of-plane moment Mx: using Figure 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. Meanwhile, it draws on... Figure 10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged on 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 apply the out-of-plane torque Mx.

[0062] Reference Figure 14 (b) Joint loading of out-of-plane moment My and out-of-plane moment Mx: using Figure 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 torque My; at the same time, it draws on the... Figure 10 The loading method in (b) uses a single pulley reversing mechanism 16 arranged on 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 apply the out-of-plane torque Mx.

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

Claims

1. A six-dimensional force loading device for micro-miniature multi-dimensional force sensors, characterized in that: It includes a lower frame (1), a middle frame (2), and an upper frame (3) connected from bottom to top; The lower frame (1) includes a first vertical truss (12), the top of which is connected to a first outer horizontal truss (13), the inner side of which is connected to a single pulley reversing mechanism (16) facing the center, the inner side of which is connected to a first inner horizontal truss (14), the two first inner horizontal trusses (14) being parallel along the y-axis, and a first inner horizontal short truss (15) connecting the two first inner horizontal trusses (14), the two first inner horizontal short trusses (15) being parallel along the x-axis; the single pulley reversing mechanism (16) facing upward is connected to the first inner horizontal truss (14) and the first inner horizontal short truss (15). The intermediate frame (2) includes a second vertical truss (21), the bottom of which is fixedly connected to the top of the first vertical truss (12), the top of which is connected to the second outer horizontal truss (22), the second outer horizontal truss (22) is parallel to the y-axis with a second inner horizontal truss (23), the second inner horizontal truss (23) is horizontal along the x-axis with two second inner horizontal short trusses (24), 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 trusses (24) and the second inner horizontal truss (23) are connected to a loading mechanism (26); The upper frame (3) includes a third vertical truss (31), the bottom of which is fixedly connected to the top of the second vertical truss (21), the top of which 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 downward-facing single pulley reversing mechanism (16) is installed at the center of the lower surface of the third outer horizontal truss (32); the two third inner horizontal trusses (33) and the two third inner horizontal short trusses (34) have downward-facing single pulley reversing mechanisms (16) 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); The bottom of the first vertical truss (12) is connected to a foot (11), which includes a base plate (111) and a square groove (112) connected thereto. The square groove (112) is connected to the first vertical truss (12). 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 a miniature multidimensional force sensor (262), and the center of the miniature multidimensional force sensor (262) is connected to a loading column (263). The loading column (263) is provided with a horizontal through-hole structure along the x-axis and y-axis. The horizontal through-hole structure of the loading column (263) is connected to a loading needle (264). The loading needle (264) and the loading column (263) transmit the external load applied by the tension line to the miniature multidimensional force sensor (262). The lower frame (1), upper frame (3) and the single pulley reversing mechanism (16) installed thereon realize the loading of out-of-plane force Fz, out-of-plane moment Mx and out-of-plane moment My; the middle frame (2) and the three pulley reversing mechanism (25) on it realize the loading of in-plane force Fx, in-plane force Fy and in-plane moment Mz.

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

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

4. The six-dimensional force loading device according to claim 1, characterized in that: When applying the out-of-plane force, out-of-plane moment, in-plane force, and in-plane moment, a standard weight is used as the standard force source.

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

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