Self-detection method for elasticity recession of elastomer of six-dimensional force sensor

Abstract

The invention discloses a six-dimensional force sensor elastomer elasticity recession self-detection method, which comprises the following steps of: longitudinally placing a six-dimensional force sensor to be detected on an inner ring of a detection ring, and enabling a circular side surface of the six-dimensional force sensor to be in contact with the inner ring; the detection ring is controlled to rotate to enable the six-dimensional force sensor to repeatedly roll to the lowest point of the inner ring, then the contact point of the six-dimensional force sensor and the inner ring is adjusted, and stress data in the X-axis direction and the Y-axis direction of the six-dimensional force sensor are collected in real time; the maximum first stress data on the X axis and the maximum second stress data on the Y axis are obtained respectively; judging whether the maximum first stress data is matched with the standard self-gravity of the X axis or not, and if yes, judging that the elastic body corresponding to the X axis has no elastic recession condition; if not, judging that the elastic body corresponding to the X axis has an elastic recession condition; and the Y axis is similar. According to the invention, the elastic recession of the elastomer is self-detected, the elastic recession condition of the elastomer can be timely found and remedied, and the subsequent measurement accuracy is ensured.

Description

Technical Field

[0001] The invention relates to the field of six-dimensional force sensors, and in particular to a six-dimensional force sensor elastic body elastic decay self-detection method. Background Art

[0002] A multi-dimensional force sensor refers to a force sensor that can simultaneously measure force and torque components in more than two directions. In the Cartesian coordinate system, force and torque can be decomposed into three components each. Therefore, the most complete form of multi-dimensional force is a six-dimensional force / torque sensor, that is, a sensor that can simultaneously measure three force components and three torque components. The widely used multi-dimensional force sensor is this type of sensor. The six-dimensional force sensor can be used as a basic component for precision assembly, precision operation, precision control, and human-computer interaction control because it can simultaneously detect three-dimensional forces and three-dimensional torques in space. At the same time, the six-dimensional force sensor is also a guarantee for robots to complete contact operations. For example, space detection technology, space manipulator force control, industrial robots, and underwater robot remote control operations all require a large range of high-precision six-dimensional force sensors.

[0003] The six-axis force sensor is likely to have measurement errors in long-term use. The main reason is that the elastomer material may age over time, causing the corresponding stiffness of the elastomer to change. The instability of the elastic stiffness will affect the deformation of the elastomer under the same external force, thereby affecting the output signal of the strain gauge and the measurement accuracy of the sensor. This situation is generally called elastic decay. Timely and rapid detection of the elastic decay of the six-axis force sensor and corresponding processing of the elastic decay can extend the service life of the six-axis force sensor. However, the existing technology rarely effectively detects and compensates for the elastic decay of the elastomer. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a self-detection method for elastic degradation of the elastomer of a six-dimensional force sensor, which aims to perform self-detection of the elastic degradation of the elastomer, so as to timely discover the elastic degradation of the elastomer and remedy it, thereby ensuring the accuracy of subsequent measurements.

[0005] To achieve the above object, the present invention provides a six-dimensional force sensor elastic body elastic decay self-detection method, the method comprising: Step S1, obtaining a six-dimensional force sensor to be detected, and placing the six-dimensional force sensor longitudinally on the inner ring of a detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring; wherein the plane on which the detection ring is placed is parallel to the ground, and when the six-dimensional force sensor is placed on the inner ring, the plane where the X-axis and Y-axis dimensions measured by the six-dimensional force sensor are located is perpendicular to the ground; Step S2, controlling the detection ring to rotate so that the six-axis force sensor repeatedly rolls to the lowest point of the inner ring, thereby adjusting the contact point between the six-axis force sensor and the inner ring; during the rotation of the detection ring, collecting the force data of the six-axis force sensor in the X-axis and Y-axis directions in real time; Step S3, in response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, judging that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, judging that the X-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum second force data; Step S4, determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

[0006] Optionally, after step S4, the method further includes: In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes where the X-axis and Y-axis dimensions are located are parallel to the ground, and the current first force data on the X-axis is set to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis; In response to elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the plane where the X-axis and Y-axis dimensions are located is parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

[0007] Optionally, a rubber band is laid on the inner ring of the detection ring, and the rubber band is used to increase the friction between the inner ring and the circular side surface of the six-dimensional force sensor.

[0008] Optionally, before step S1, the method further includes: An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

[0009] Optionally, the six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to a background server through the wireless communication module.

[0010] Optionally, a limiting slide is provided on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-axis force sensor from tipping over.

[0011] Optionally, in step S3, the first force data and the second force data are both absolute values.

[0012] Optionally, the self-detection process environment temperature corresponding to step S1 to step S4 is normal room temperature, specifically 20°C-25°C.

[0013] Optionally, in step S2, the force data comes from the effect of the deadweight of the six-axis force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

[0014] Optionally, the X-axis standard self-gravity is the X-axis force data of the six-axis force sensor under inelastic decay, and the Y-axis standard self-gravity is the Y-axis force data of the six-axis force sensor under inelastic decay.

[0015] Beneficial effects of the present invention: 1. The present invention is based on the principle that the six-dimensional force sensor is placed vertically so that its elastic body will be deformed by its own weight and thus produce force data. Since the self-weight of the six-dimensional force sensor is fixed, the same external force (i.e., self-weight) that remains unchanged can be used to determine whether the force data of the elastic body has changed and whether the elastic body has experienced elastic decay. In this way, the present invention can achieve self-detection of elastic decay of the elastic body without adding other measuring instruments, and can timely discover and remedy the elastic decay of the elastic body, thereby ensuring the accuracy of subsequent measurements. 2. The present invention can ensure accurate acquisition of the elastic body force data corresponding to when the X-axis is perpendicular to the ground and the elastic body force data corresponding to when the Y-axis is perpendicular to the ground through the setting of the detection ring, so as to ensure that the two can be accurately compared with the standard data, thereby determining whether elastic decay occurs. The detection ring of the present invention cooperates with the detection step to effectively solve the problem of not being able to accurately obtain the force data when the X-axis and the Y-axis are perpendicular to the ground. 3. In response to the elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the present invention places the six-axis force sensor horizontally so that the plane where the X-axis and Y-axis dimensions are located is parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically with the X-axis parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis. The same applies to the Y-axis. The present invention can recalibrate the elastic decay and then achieve compensation, so that the six-axis force sensor can measure accurately again, thereby extending the service life of the six-axis force sensor.

[0016] In summary, the present invention can perform self-detection on elastic degradation of the elastomer, can timely discover and remedy the elastic degradation of the elastomer, and ensure the accuracy of subsequent measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a method for self-detecting elastic decay of an elastic body of a six-dimensional force sensor provided by a specific embodiment of the present invention; Figure 2 It is a schematic diagram of the force deformation of the elastic body of the six-dimensional force sensor provided by a specific embodiment of the present invention in the X-axis dimension; Figure 3 It is a structural schematic diagram of a detection ring and a six-dimensional force sensor provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention discloses a six-dimensional force sensor elastic body elastic decay self-detection method. Those skilled in the art can refer to the content of this article and appropriately improve the technical details. It is particularly important to point out that all similar replacements and modifications are obvious to those skilled in the art, and they are all considered to be included in the present invention. The method and application of the present invention have been described through preferred embodiments, and relevant personnel can obviously modify or appropriately change and combine the methods and applications described herein without departing from the content, spirit and scope of the present invention to implement and apply the technology of the present invention.

[0019] The applicant has found through research that the six-dimensional force sensor is likely to have measurement errors in long-term use. The main reason is that the elastomeric material may age over time, causing the corresponding stiffness of the elastomer to change. The instability of the elastic stiffness will affect the deformation of the elastomer under the same external force, thereby affecting the output signal of the strain gauge and the measurement accuracy of the sensor. This situation is generally referred to as elastic decay. Timely and rapid detection of the elastic decay of the six-dimensional force sensor and corresponding processing of the elastic decay can extend the service life of the six-dimensional force sensor. However, the existing technology rarely performs effective detection and compensation for the elastic decay of the elastomer.

[0020] Therefore, the embodiment of the present invention provides a six-dimensional force sensor elastic body elastic decay self-detection method, such as Figure 1 As shown, the method includes: Step S1, obtain a six-dimensional force sensor to be detected, and place the six-dimensional force sensor longitudinally on the inner ring of the detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring.

[0021] Among them, the plane on which the detection ring is placed is parallel to the ground. When the six-axis force sensor is placed on the inner ring, the plane on which the X-axis and Y-axis dimensions measured by the six-axis force sensor are located is perpendicular to the ground.

[0022] It should be noted that the embodiment of the present invention is based on the fact that when the six-dimensional force sensor is placed vertically, its constant deadweight will cause the elastic body to deform, thereby generating force data. Then, by comparing whether the force data matches the standard, it is determined whether the elastic body has elastic decay.

[0023] Specifically, the elastic body structure can be as follows Figure 2 As shown, Figure 2 The middle elastic body is a cross structure corresponding to the X-axis elastic body 201 and the Y-axis elastic body 202 (the elastic body can also be called an elastic beam in the industry). Figure 2 In the figure, the Y-axis is perpendicular to the ground, and the X-axis direction is deformed by the weight of the six-dimensional force sensor, and the X-axis elastic body 201 is deformed.

[0024] In this specific embodiment, the six-dimensional force sensor is placed longitudinally on the detection ring, as shown in the schematic diagram of the corresponding structure. Figure 3 As shown, Figure 3 The middle six-dimensional force sensor is 301, the detection ring is 302, the inner ring is 303, and the rubber band is 304. The detection ring will slowly rotate to make the six-dimensional force sensor roll slowly to the lowest point, and finally realize the vertical relationship between the two elastic bodies and the ground. The detection ring is set to prevent the six-dimensional force sensor from being affected by external forces and its self-weight data, and avoid the influence of external factors that make self-detection too complicated (such as directly rotating the six-dimensional force sensor by external force, its elastic beam is not only affected by its own weight but also by other external forces).

[0025] Step S2, control the detection ring to rotate so that the six-dimensional force sensor repeatedly rolls to the lowest point of the inner ring, and then adjusts the contact point between the six-dimensional force sensor and the inner ring; during the rotation of the detection ring, collect the force data of the six-dimensional force sensor in the X-axis and Y-axis directions in real time.

[0026] It should be noted that the rotation of the detection ring will cause the six-dimensional force sensor to rotate with the inertia of the detection ring, and the six-dimensional force sensor will roll to the lowest point due to gravity. The rotation speed of the detection ring is set according to demand, which is generally very slow, and can be one sixtieth of a turn per second in specific applications.

[0027] Step S3, in response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, judge that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtain the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, judge that the X-axis of the six-axis force sensor is perpendicular to the ground and obtain the maximum second force data.

[0028] It should be noted that the first force data and the second force data are generally zero when they reach their minimum. When the Y-axis is perpendicular to the ground, the weight of the six-dimensional force sensor is basically borne by the X-axis and its corresponding force data reaches its maximum. When the X-axis is perpendicular to the ground, the weight of the six-dimensional force sensor is basically borne by the Y-axis and its corresponding force data reaches its maximum.

[0029] Step S4, determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

[0030] In this specific embodiment, the X-axis standard self-gravity is the X-axis force data under the condition of inelastic decay of the six-dimensional force sensor, and the Y-axis standard self-gravity is the Y-axis force data under the condition of inelastic decay of the six-dimensional force sensor.

[0031] It should be noted that, because the standard self-gravity of the X-axis and the standard self-gravity of the Y-axis are standard data under no elastic decay, when the first force data and the second force data do not match the standard self-gravity of the X-axis and the standard self-gravity of the Y-axis without the influence of other interference factors, it indicates that the stiffness of the corresponding elastic body changes and elastic decay occurs.

[0032] In this specific embodiment, after step S4, the method further includes: In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the plane where the X-axis and Y-axis dimensions are located is parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis; In response to the elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

[0033] It should be noted that when the six-axis force sensor is placed horizontally, the two elastic bodies are not affected by their own weight and the standard force data is zero, so the zeroing operation is adopted. Then the plane where the X-axis and Y-axis dimensions are located is parallel to the ground, and the corresponding elastic body with elastic decay is parallel to the ground. The force data is reset to the corresponding standard self-gravity, and a straight line is determined based on the two points, and the accurate six-axis force sensor measurement function is recalibrated.

[0034] In this specific embodiment, Figure 3 As shown, a rubber band 304 is laid on the inner ring of the detection ring, and the rubber band 304 is used to increase the friction between the inner ring 303 and the circular side surface of the six-dimensional force sensor 301.

[0035] It should be noted that increasing the friction force can achieve slow gradual adjustment and can also use the friction force to consume the kinetic energy of the six-dimensional force sensor 301 to prevent it from continuing to rise after reaching the lowest point.

[0036] In this specific embodiment, before step S1, the method further includes: An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

[0037] It should be noted that regular testing can ensure that elasticity decline is discovered in a timely manner.

[0038] In this specific embodiment, the six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to the background server through the wireless communication module.

[0039] It should be noted that the setting of the wireless communication module avoids the setting of the outlet, making the six-dimensional force sensor more symmetrical and the measurement more accurate. In the embodiment of the present invention, the influence of the outlet on the rolling of the six-dimensional force sensor can be avoided.

[0040] In this specific embodiment, a limiting slide is provided on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-axis force sensor from tipping over.

[0041] In this specific embodiment, in step S3, the first force data and the second force data are both absolute values.

[0042] In this specific embodiment, the self-test process environment temperature corresponding to step S1 to step S4 is normal room temperature, specifically 20°C-25°C.

[0043] It should be noted that the room temperature is used to eliminate the influence of temperature on the elastomer and strain gauge, and to eliminate other factors, so as to make the elastic decay detection more accurate.

[0044] In this specific embodiment, in step S2, the force data comes from the effect of the deadweight of the six-axis force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

[0045] The embodiment of the present invention is based on the principle that the six-dimensional force sensor is placed longitudinally so that the elastic body is deformed by its own weight and thus produces force data. Since the weight of the six-dimensional force sensor is fixed, the same external force (i.e., its own weight) can be used to determine whether the force data of the elastic body has changed and whether the elastic body has experienced elastic decay. In this way, the embodiment of the present invention can realize self-detection of elastic decay of the elastic body without adding other measuring instruments, and can timely discover and remedy the elastic decay of the elastic body, thereby ensuring the accuracy of subsequent measurements.

[0046] The embodiment of the present invention can ensure accurate acquisition of elastic body force data corresponding to when the X-axis is perpendicular to the ground and elastic body force data corresponding to when the Y-axis is perpendicular to the ground by setting the detection ring, so as to ensure that the two can be accurately compared with the standard data, thereby determining whether elasticity decay occurs. The detection ring of the embodiment of the present invention cooperates with the detection step to effectively solve the problem of being unable to accurately obtain force data when the X-axis and the Y-axis are perpendicular to the ground.

[0047] In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the embodiment of the present invention places the six-axis force sensor horizontally so that the planes where the X-axis and Y-axis dimensions are located are parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically with the X-axis parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis. The same is true for the Y-axis. The embodiment of the present invention can recalibrate the elastic decay and then compensate for it, so that the six-axis force sensor can measure accurately again, thereby extending the service life of the six-axis force sensor.

[0048] In summary, the embodiments of the present invention can perform self-detection on elastic degradation of the elastomer, and can timely discover and remedy the elastic degradation of the elastomer, thereby ensuring the accuracy of subsequent measurements.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0051] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A six-dimensional force sensor elastic body elastic decay self-detection method, characterized in that: The method comprises: Step S1, obtaining a six-dimensional force sensor to be detected, and placing the six-dimensional force sensor longitudinally on the inner ring of a detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring; wherein the plane on which the detection ring is placed is parallel to the ground, and when the six-dimensional force sensor is placed on the inner ring, the plane where the X-axis and Y-axis dimensions measured by the six-dimensional force sensor are located is perpendicular to the ground; Step S2, controlling the detection ring to rotate so that the six-axis force sensor repeatedly rolls to the lowest point of the inner ring, thereby adjusting the contact point between the six-axis force sensor and the inner ring; during the rotation of the detection ring, collecting the force data of the six-axis force sensor in the X-axis and Y-axis directions in real time; Step S3, in response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, judging that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, judging that the X-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum second force data; Step S4, determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

2. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: After step S4, the method further includes: In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes where the X-axis and Y-axis dimensions are located are parallel to the ground, and the current first force data on the X-axis is set to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis; In response to elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the plane where the X-axis and Y-axis dimensions are located is parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

3. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: A rubber band is laid on the inner ring of the detection ring, and the rubber band is used to increase the friction between the inner ring and the circular side surface of the six-dimensional force sensor.

4. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: Before step S1, the method further includes: An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

5. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to the background server through the wireless communication module.

6. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: A limiting slide is arranged on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-dimensional force sensor from tipping over.

7. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: In step S3, the first force data and the second force data are both absolute values.

8. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The self-test process environment temperature corresponding to step S1 to step S4 is normal room temperature, specifically 20° C.-25° C.

9. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: In step S2, the force data comes from the effect of the deadweight of the six-axis force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

10. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The X-axis standard self-gravity is the X-axis force data of the six-axis force sensor under the condition of inelastic decay, and the Y-axis standard self-gravity is the Y-axis force data of the six-axis force sensor under the condition of inelastic decay.

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