Six-component sensor detection device, detection system and detection method

Abstract

The invention relates to the technical field of testing, in particular to a six-component sensor detection device, system and method, and the device comprises a plurality of groups of rod bodies, each group of rod bodies comprises a first supporting rod and a second supporting rod; the lower end of the supporting seat is of a disc structure, the disc structure is connected with the multiple sets of rod bodies, the upper end of the supporting seat is of a cylinder structure, and the cylinder structure is fixedly connected with the inner ring of the six-component sensor; a round hole is formed in the middle of the loading disc, the six-component sensor penetrates through the round hole, and the round hole is fixedly connected with an outer ring of the six-component sensor; and the plurality of actuators are fixedly connected with the lower end of the loading disc and apply loads in different directions to the six-component sensor. Therefore, the detection of the six-component sensor can be realized, the correctness of the test data of the six-component sensor is further ensured, the sensor can be further ensured to normally and accurately work in the vehicle load spectrum data acquisition and test process, and the vehicle load spectrum data acquisition and test device is simple in structure and convenient to use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of testing, in particular to a six-component force sensor detection device, a detection system and a detection method. BACKGROUND

[0002] The wheel six-component force sensor is mainly used for measuring the three axial forces and torques of the wheel in the vehicle development test stage. By accurately measuring the forces and torques of the wheel during driving, the key performance indicators such as the traction force, braking force, lateral stability and rolling resistance of the vehicle can be comprehensively evaluated, which provides a scientific basis for the vehicle chassis tuning. At the same time, the six-component force sensor can also provide data support for bench test and simulation analysis. In the bench test, the wheel six-component force can be simulated and iterated, and the vibration state of the vehicle or suspension assembly can be reproduced. In the simulation analysis, the wheel six-component force data can be used for load decomposition to each component for CAE calculation and analysis.

[0003] As a precision instrument, the sensor needs to be detected regularly to ensure the accuracy of the sensor detection value. However, for the six-component force sensor, there is still a lack of effective calibration equipment and calibration method, which makes it difficult to ensure the correctness of the test data of the six-component force sensor to a great extent. SUMMARY

[0004] The present application provides a six-component force sensor detection device, a detection system and a detection method, which can realize the detection of the six-component force sensor, thereby ensuring the correctness of the test data of the six-component force sensor, and further ensuring that the sensor can work normally and accurately in the vehicle load spectrum data acquisition test process, and the structure is simple and convenient to use.

[0005] The first aspect of the present application provides a six-component force sensor detection device, which comprises: a plurality of rod bodies, each rod body comprising a first support rod and a second support rod; a support seat, the lower end of the support seat being provided as a disc structure, the disc structure being connected with the plurality of rod bodies, the upper end of the support seat being provided as a cylindrical structure, the cylindrical structure being connected and fixed with the inner ring of the six-component force sensor; a loading disc, a circular hole being provided in the middle of the loading disc, the circular hole being provided for the six-component force sensor to pass through, the circular hole being connected and fixed with the outer ring of the six-component force sensor; a plurality of actuators connected and fixed with the lower end of the loading disc, the actuators applying different direction loads to the six-component force sensor.

[0006] Optionally, the first support rod and the second support rod each comprise an upper support rod and a lower support rod, the upper support rod being connected with the disc structure of the support seat, and the lower support rod being fixed to the ground.

[0007] Optionally, a force sensor is arranged between the upper support rod and the lower support rod.

[0008] Optionally, the first support rod and the second support rod are telescopic support rods.

[0009] The second aspect embodiment of the present application provides a six-component force sensor detection system, comprising: the six-component force sensor detection device of the above-mentioned embodiment; a collection component configured to collect the included angle between the first and second supporting rods of each group of rod bodies and the lower end of the supporting seat, the force of the force sensor on the first and second supporting rods of each group of rod bodies, and the load signal output by the six-component force sensor to be detected; and a controller configured to control at least one actuator based on a target instruction, calculate the actual load signal of the six-component force sensor to be detected based on the included angle and the force, and generate the detection result of the six-component force sensor to be detected based on the load signal output by the six-component force sensor to be detected and the actual load signal, wherein the actuator applies loads in different directions to the six-component force sensor to be detected based on the target instruction.

[0010] The third aspect embodiment of the present application provides a six-component force sensor detection method, which is implemented based on the six-component force sensor detection system of the above-mentioned embodiment, and comprises the following steps: controlling at least one actuator based on a target instruction, wherein the actuator applies loads in different directions to the six-component force sensor to be detected based on the target instruction; obtaining the included angle between the first and second supporting rods of each group of rod bodies and the lower end of the supporting seat; obtaining the force of the force sensor under different direction loads and the load signal output by the six-component force sensor to be detected under different direction loads; calculating the actual load signal of the six-component force sensor to be detected under the corresponding direction load based on the included angle and the force, and generating the detection result of the six-component force sensor to be detected based on the load signal output by the six-component force sensor to be detected under the corresponding direction load and the actual load signal.

[0011] Optionally, before the at least one actuator is controlled based on the target instruction, the following steps are further included: taking the geometric center of the six-component force sensor to be detected as the origin of the coordinate system; taking the plane of the disc structure perpendicular to the lower end of the supporting seat as the reference, and defining the direction perpendicular to the plane as the positive direction of the Z axis; constructing the orthogonal X axis and Y axis in the plane perpendicular to the Z axis; optionally, one direction is the positive direction of the X axis, and the positive direction of the Y axis is defined based on the right-hand screw rule; and constructing the coordinate system based on the origin, the X axis, the Y axis, the Z axis, and the corresponding positive directions.

[0012] Optionally, the load signal includes the force and the torque, and the direction of the load includes the X axis direction, the Y axis direction, and the Z axis direction; the actual load signal of the six-component force sensor to be detected under the corresponding direction load is calculated based on the included angle and the force, including: obtaining the first distance and the second distance between the connecting point of each group of rod bodies and the supporting seat and the X axis and the Y axis of the coordinate system, respectively; calculating the supporting force of each group of rod bodies on the supporting seat based on the included angle and the force; calculating the force of the six-component force sensor to be detected based on the supporting force; and calculating the torque of the six-component force sensor to be detected based on the supporting force, the first distance, and the second distance.

[0013] Optionally, the actual load signal of the to-be-detected six-component force sensor under the load in the corresponding direction is calculated based on the included angle and the force, including: obtaining a calculation formula corresponding relationship table of the direction of the load and the support force, the stress, and the torque; determining a target calculation formula based on the direction of the load and the calculation formula corresponding relationship table; and calculating the actual load signal of the to-be-detected six-component force sensor under the load in the corresponding direction based on the target calculation formula.

[0014] Optionally, the target instruction includes a first instruction and a second instruction, and the detection result of the to-be-detected six-component force sensor is generated based on the load signal and the actual load signal output by the to-be-detected six-component force sensor under the load in the corresponding direction, including: obtaining the load signal and the actual load signal output by the to-be-detected six-component force sensor under the load in the corresponding direction corresponding to the first instruction, generating a first result based on the load signal and the actual load signal output by the to-be-detected six-component force sensor corresponding to the first instruction; obtaining the load signal and the actual load signal output by the to-be-detected six-component force sensor under the load in the corresponding direction corresponding to the second instruction, generating a second result based on the load signal and the actual load signal output by the to-be-detected six-component force sensor corresponding to the second instruction; and generating the detection result of the to-be-detected six-component force sensor based on the first result and the second result.

[0015] Therefore, the present application has at least the following beneficial effects: The embodiment of the present application constructs a six-component force sensor detection device, which includes multiple groups of rod bodies, support seats, loading discs, and actuators. Different directions of loads are applied to the six-component force sensor by the actuators to realize periodic detection of the six-component force sensor, thereby ensuring the correctness of the test data of the six-component force sensor, and further ensuring that the sensor can work normally and accurately in the vehicle load spectrum data acquisition test process. The structure is simple and convenient to use.

[0016] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description of the application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description of embodiments, taken in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of a six-component force sensor detection device according to an embodiment of the present application; Figure 2 A schematic diagram of a support rod and support seat structure according to an embodiment of the present application; Figure 3 A schematic diagram of a six-component force sensor detection system according to an embodiment of the present application; Figure 4A schematic diagram of the component relationship connection between the six-component force sensor detection system provided according to the embodiment of the present application is shown in FIG. 1. Figure 5 A flowchart of the six-component force sensor detection method provided according to the embodiment of the present application is shown in FIG. 2. Figure 6 A complete execution flowchart of the six-component force sensor detection method provided according to the embodiment of the present application is shown in FIG. 3. Figure 7 A schematic diagram of the system feedback signal and the six-component force output signal provided according to the embodiment of the present application is shown in FIG. 4. DETAILED DESCRIPTION

[0018] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar notations used throughout the drawings and the specification denote the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0019] Before describing the solutions of the embodiments of the present application, some related contents involved in the solutions of the present application are introduced to assist in understanding the solutions.

[0020] As a kind of precision instrument, sensor is the basis of detection, control and adjustment process. The correctness, accuracy and reliability of sensor play a key role in research and development quality. However, with the increase of sensor use frequency and use time, sensor may have signal abnormality or inaccurate test value and other problems. And the data of sensor test has important role for vehicle development, to ensure the accuracy of sensor equipment and test value, generally, for sensor instrument equipment, it needs to be calibrated regularly, to ensure that sensor is in normal use state. At the same time, sensor calibration is an important link in quality management system, which helps to improve product quality of enterprise Sensor calibration process is to detect and compare sensor using corresponding detection device, to determine whether the performance of sensor meets the specified accuracy and precision. The result of calibration is to judge the accuracy and stability of sensor by comparing the difference between the output value of sensor and standard value.

[0021] However, for six-component force sensor, there is still lack of effective calibration equipment and calibration method, which makes it difficult to ensure the correctness of six-component force sensor test data to a great extent.

[0022] The lack of a six-component force sensor calibration device and method results in the six-component force sensor being unable to be calibrated regularly, and the accuracy of the data collected by the six-component force sensor cannot be guaranteed. In order to calibrate the six-component force sensor, the six-component force sensor detection device, detection system and detection method provided by the present application can efficiently and accurately calibrate the three axial forces and torques of the six-component force sensor, ensure the accuracy of the sensor values, and further ensure that the sensor can work normally during vehicle load spectrum data acquisition testing.

[0023] Specifically, Figure 1 A schematic diagram of a six-component force sensor detection device provided by an embodiment of the present application.

[0024] As Figure 1 shown, the six-component force sensor detection device includes a plurality of rod bodies 11, a support seat 2, a loading disc 4 and a plurality of actuators 5.

[0025] Each group of rod bodies 11 includes a first support rod and a second support rod. The lower end of the support seat 2 is provided in a disc structure, the disc structure is connected to the plurality of rod bodies 11, and the upper end of the support seat 2 is provided in a cylindrical structure, the cylindrical structure is connected and fixed to the inner ring of the six-component force sensor. The loading disc 4 has a circular hole in the middle, the circular hole is for the six-component force sensor to pass through, and the circular hole is connected and fixed to the outer ring of the six-component force sensor. The plurality of actuators 5 are connected and fixed to the lower end of the loading disc 4, and the actuators 5 apply loads in different directions to the six-component force sensor.

[0026] It can be understood that the embodiment of the present application constructs a six-component force sensor detection device, which includes a plurality of rod bodies, a support seat, a loading disc and actuators. Different directions of loads are applied to the six-component force sensor by the actuators to realize regular detection of the six-component force sensor, thereby ensuring the correctness of the test data of the six-component force sensor, and further ensuring that the sensor can work normally and accurately during vehicle load spectrum data acquisition testing. The structure is simple and convenient to use.

[0027] The actuators of the present application can be hydraulic or electromagnetic actuators.

[0028] In addition, it should be noted that the size and connecting hole of the support seat and the loading disc of the embodiment of the present application can be changed based on the size and model of the six-component force sensor to improve the applicability of the detection device.

[0029] Further, in the embodiment of the present application, the first support rod and the second support rod each include an upper support rod and a lower support rod. The upper support rod is connected to the disc structure of the support seat, and the lower support rod is fixed to the ground.

[0030] It is understood that the first and second supports in the embodiments of this application both include an upper support and a lower support. The upper support is connected to the disc structure of the support base, and the lower support is fixed to the ground. The specific structural diagram of the support and the support base is shown below. Figure 2 As shown, Figure 2 It includes the lower support rod 1.1 and the upper support rod 1.3.

[0031] Each set of rods in this application embodiment includes a first support rod and a second support rod, both of which can be referred to as fixed support rods.

[0032] Furthermore, in an embodiment of this application, a force sensor is provided between the upper support rod and the lower support rod.

[0033] It is understood that a force sensor is provided between the upper and lower support rods in this embodiment of the application, such as... Figure 2 As shown, Figure 2 It includes a force sensor 1.2, which can measure the force between the upper and lower support rods, that is, the supporting force provided by each fixed support rod can be measured and output.

[0034] Furthermore, in the embodiments of this application, the first support rod and the second support rod are telescopic support rods.

[0035] It is understood that the first and second support rods in the embodiments of this application are telescopic support rods, which can flexibly adjust the height of the support base to adapt to six-component force sensors of different heights.

[0036] Specifically, the specific structure of the six-component force sensor detection device in this application embodiment is as follows: Figure 1 As shown, it includes: fixed support rods 1 (each pair of fixed support rods forms a group of rods), support base 2, six-component force sensor 3, loading disk 4, and actuator 5, wherein, The fixed support rod 1 consists of a lower support rod 1.1, a force sensor 1.2, and an upper support rod 1.3, as detailed below. Figure 2 As shown, a force sensor 1.2 is connected between the upper support rod 1.1 and the lower support rod 1.3. The lower end of the lower support rod 1.3 is fixed to the ground, and the upper end of the upper support rod 1.1 is connected to the support base 2. There are a total of six fixed support rods 1 providing support. The force sensor 1.2 can measure the force between the upper support rod 1.1 and the lower support rod 1.3, that is, the supporting force provided by each fixed support rod 1 can be measured and output. The lower part of the support base 2 is a disc structure, and the lower end face of the disc is connected to the fixed support rod 1. The upper part of the support base 2 is a cylindrical structure, and the upper end face has a threaded hole. It is connected and fixed to the inner ring of the six-part force sensor 3 by bolts, providing support for the six-part force sensor 3. The loading disk 4 has a round hole in the middle for the six-part force sensor 3 to pass through, and the inner ring of the loading disk 4 can just match the outer ring of the six-part force sensor 3. The loading disk 4 is connected to the outer ring of the six-part force sensor 3 by bolts. The loading disk 3 is used to connect the six-part force sensor 4 and transfer the load of the actuator 5 to the six-part force sensor 3. The actuator 5 should preferably be a hydraulic or electromagnetic actuator. There are six actuators 5 in total, which are connected and fixed to the lower part of the loading plate 4. The actuators 5 provide the applied load for the six component force sensors 4. At the same time, by controlling the magnitude of the force applied by each actuator 5, the force and torque corresponding to different directions can be applied to the six component force sensors 3 respectively.

[0037] In addition, it should be noted that the connection and fixing methods of different models of six-component force sensors are different, but the above-mentioned six-component force sensor detection device can be adapted to suit different models of six-component force sensors.

[0038] The six-component force sensor detection device proposed in the embodiments of this application includes multiple sets of rods, support bases, loading disks, and actuators. The actuators apply loads in different directions to the six-component force sensor to achieve periodic detection of the six-component force sensor, thereby ensuring the accuracy of the test data of the six-component force sensor and further ensuring that the sensor can work normally during the vehicle load spectrum data acquisition and testing process.

[0039] Next, the six-component force sensor detection system proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0040] Figure 3 This is a block diagram of a six-component force sensor detection system according to an embodiment of this application.

[0041] like Figure 3 As shown, the six-component force sensor detection system 20 includes: a six-component force sensor detection device 10, a data acquisition component 21, and a controller 22.

[0042] The acquisition component 21 is used to acquire the angle between the first and second supports of the multiple sets of rods 11 and the lower end of the support base, the force of the force sensor on the first and second supports of the multiple sets of rods 11, and the load signal output by the six-component force sensor to be tested; the controller 22 is used to control at least one actuator based on the target command, calculate the actual load signal of the six-component force sensor to be tested based on the angle and the force, and generate the detection result of the six-component force sensor to be tested based on the load signal output by the six-component force sensor to be tested and the actual load signal, wherein the actuator applies loads in different directions to the six-component force sensor to be tested based on the target command.

[0043] It is understood that the embodiments of this application construct a six-component force sensor detection system 20, which uses a controller 22 to control the actuator to apply loads in different directions to the six-component force sensor to be detected, and generates the detection result of the six-component force sensor to be detected based on the load signal fed back by the six-component force sensor to be detected and the calculated actual load signal, so as to realize the detection of the six-component force sensor to be detected.

[0044] Specifically, the component relationships between the six-component force sensor detection systems in this application embodiment are as follows: Figure 4 As shown, Figure 4 The data acquisition unit is equivalent to the acquisition component, the parameter calculation unit is equivalent to the controller, and the calibration bench is equivalent to the six-component force sensor detection device. The six-component force sensor detection device has been described above and will not be repeated here. The data acquisition unit is used to acquire the force value of the force sensor on the fixed support rod and the force and torque output by the six-component force sensor, and transmit the above data to the parameter calculation unit. The parameter calculation unit receives load signals, namely the supporting force of the fixed support rod and the force and torque of the six-component force sensor. The supporting force of the fixed support rod, combined with the corresponding support angle, is analyzed and calculated to obtain the actual X, Y, and Z-axis forces and torques experienced by the six-component force sensor. The calculated forces and torques are then compared and analyzed with the forces and torques output by the six-component force sensor to verify the output signal of the six-component force sensor.

[0045] It should be noted that the foregoing explanation of the six-component force sensor detection device embodiment also applies to the six-component force sensor detection system of this embodiment, and will not be repeated here.

[0046] The verification system of this application has a simple structure and is easy to use. During the verification process, there is no need to adjust the orientation of the test bench and the six-component force sensor. It can effectively and accurately verify the force and torque of the six-component force sensor in each axis. For six-component force sensors of different sizes and models, the size of the support base and loading plate and the connection hole position can be changed to facilitate the application of different types of six-component force sensors and improve the applicability of the verification system. It can make the force on the six-component force sensor balanced, with small measurement error and higher accuracy.

[0047] According to the six-component force sensor detection system proposed in this application, the controller controls the actuator to apply loads in different directions to the six-component force sensor to be detected, and generates the detection result of the six-component force sensor to be detected based on the load signal fed back by the six-component force sensor to be detected and the calculated actual load signal, so as to realize the detection of the six-component force sensor to be detected.

[0048] This application also provides a method for detecting a six-component force sensor.

[0049] Figure 5This is a flowchart of a six-component force sensor detection method provided according to an embodiment of this application.

[0050] like Figure 5 As shown, the six-component force sensor detection method includes the following steps: In step S101, at least one actuator is controlled based on the target instruction, wherein the actuator applies loads in different directions to the six-component force sensor to be detected based on the target instruction.

[0051] The target instruction includes a first instruction and a second instruction. The first instruction is a static value verification instruction, and the second instruction is a dynamic signal verification instruction.

[0052] In this embodiment of the application, before controlling at least one actuator based on the target command, the method further includes: using the geometric center of the six-component force sensor to be detected as the origin of the coordinate system; using the plane of the disk structure perpendicular to the lower end of the support as a reference, defining the direction perpendicular to the plane as the positive direction of the Z-axis; constructing an orthogonal X-axis and Y-axis in the plane perpendicular to the Z-axis; arbitrarily selecting one direction as the positive direction of the X-axis, and defining the positive direction of the Y-axis based on the right-hand screw rule; and constructing a coordinate system based on the origin, X-axis, Y-axis, Z-axis, and the corresponding positive directions.

[0053] It is understood that the embodiments of this application construct a coordinate system to facilitate the application of loads in different directions to the six-component force sensor to be detected.

[0054] Furthermore, it should be noted that the coordinate system in this application is based on the coordinate axes of the six-component force sensor detection system, rather than the coordinate axes of the six-component force sensor itself. An example of the constructed coordinate system is shown below. Figure 1 As shown.

[0055] In step S102, the angle between the first and second support rods of the multiple sets of rods and the lower end of the support base is obtained.

[0056] The included angle can be obtained based on the acquisition component.

[0057] In step S103, the force of the force sensor under load in different directions and the load signal output by the six-part force sensor to be detected under load in different directions are acquired.

[0058] The load signal includes force and torque, and the load direction includes the X-axis, Y-axis and Z-axis directions.

[0059] In step S104, the actual load signal of the six-component force sensor under the corresponding directional load is calculated based on the included angle and force. Based on the load signal output by the six-component force sensor under the corresponding directional load and the actual load signal, the detection result of the six-component force sensor under the test is generated.

[0060] It is understood that the embodiments of this application can calculate the actual load signal (i.e., standard value) of the six-component force sensor under the corresponding directional load based on the included angle and force, and determine the detection result of the six-component force sensor under the test based on the difference between the load signal (i.e., output value) output by the six-component force sensor under the test and the standard value.

[0061] In this embodiment of the application, the actual load signal of the six-component force sensor under corresponding directional load is calculated based on the included angle and force, including: obtaining the first distance and the second distance of the connection point between each group of rods and the support base from the X-axis and Y-axis of the coordinate system, respectively; calculating the supporting force of each group of rods on the support base based on the included angle and force; calculating the force on the six-component force sensor under test based on the supporting force; and calculating the torque of the six-component force sensor under test based on the supporting force, the first distance and the second distance.

[0062] It is understood that the embodiments of this application can calculate the supporting force of each group of rods on the support base by means of the included angle and force, calculate the force on the six-component force sensor to be tested based on the supporting force, and then calculate the torque of the six-component force sensor to be tested based on the supporting force, the first distance and the second distance, so as to obtain the output value of the six-component force sensor to be tested.

[0063] In this embodiment, the calculation of the actual load signal of the six-component force sensor under the corresponding directional load based on the included angle and force includes: obtaining a table of correspondences between the load direction and the calculation formulas corresponding to the supporting force, the applied force, and the torque; determining the target calculation formula by querying the calculation formula table based on the load direction; and calculating the actual load signal of the six-component force sensor under the corresponding directional load based on the target calculation formula.

[0064] Since the relevant data calculations for loads in different directions are different, this application embodiment can determine the corresponding calculation formula by looking up the formula relationship table based on the load direction, and calculate the actual load signal of the six-component force sensor under the load in the corresponding direction based on the calculation formula.

[0065] In this embodiment, the detection result of the six-component force sensor under test is generated based on the load signal and actual load signal output by the six-component force sensor under test under load in the corresponding direction. This includes: acquiring the load signal and actual load signal output by the six-component force sensor under test corresponding to the first instruction under load in the corresponding direction; generating a first result based on the load signal and actual load signal output by the six-component force sensor under test corresponding to the first instruction; acquiring the load signal and actual load signal output by the six-component force sensor under test corresponding to the second instruction under load in the corresponding direction; generating a second result based on the load signal and actual load signal output by the six-component force sensor under test corresponding to the second instruction; and generating the detection result of the six-component force sensor under test based on the first result and the second result.

[0066] It is understood that the embodiments of this application require static value verification and dynamic signal verification of the six-component force sensor to be tested, which is the same as the actual application scenario, to improve the comprehensiveness and accuracy of the verification of the six-component force sensor to be tested. Based on the results of static value verification and dynamic signal verification, the detection result of the six-component force sensor to be tested is comprehensively determined.

[0067] Specifically, the complete execution flow of the six-component force sensor detection method in this application embodiment is as follows: Figure 6 As shown, it includes the following steps: Step S1: Connect and fix the fixed support rod, support base and six-component force sensor, and keep the six-component force plate horizontal. Connect and fix the actuator and loading plate. Do not connect the loading plate and the six-component force sensor for the time being.

[0068] Step S2: Connect the six-part force sensor signal cable and clear the output value of the six-part force sensor to zero. Connect the force sensor signal cable and clear the output value of the force sensor to zero.

[0069] Step S3: Keep the loading plate in a stationary horizontal state. Use the actuator displacement control to slowly lift the loading plate and align it with the connecting hole on the outer ring of the six-part force sensor, so that it just makes contact with the six-part force sensor. Use bolts to connect and fix the loading plate to the six-part force sensor.

[0070] Step S4: Static value verification.

[0071] Six actuators work together to apply a load to the loading disk, which then transmits the load to the six force sensors.

[0072] The data acquisition system collects the load values ​​from the force sensors on the fixed supports. The parameter calculation unit calculates the load feedback values ​​of the system in each axis based on the load of the force sensors on each fixed support and the installation angle of the fixed supports.

[0073] Step S4.1: Apply force along the X-axis of the system.

[0074] An X-axis load is applied to the six-component force sensor, with the load applied in five levels: -5kN, -3kN, 1kN, 3kN, and 5kN. When the system feedback load value calculated by the fixed support reaches the target value, the system X-axis load feedback value Fx and the output value of the six-component force sensor in the system X-axis force at this time are recorded.

[0075] Step S4.2: Apply force along the Y-axis of the system.

[0076] A Y-axis load is applied to the six-component force sensor, with the load applied in five levels: -10kN, -5kN, 1kN, 5kN, and 10kN. When the system feedback load value calculated by the fixed support reaches the target value, the system Y-axis load feedback value Fy and the output value of the six-component force sensor in the system Y-axis force at this time are recorded.

[0077] Step S4.3: Apply Z-axis force to the system.

[0078] A Z-axis load is applied to the six-component force sensor, with the load applied in five levels: -5kN, -3kN, 1kN, 3kN, and 5kN. When the system feedback load value calculated by the fixed support reaches the target value, the system Z-axis load feedback value Fz and the output value of the six-component force sensor in the system Z-axis force at this time are recorded.

[0079] Step S4.4: Apply torque to the X-axis of the system.

[0080] An X-axis torque is applied to the six-component force sensor, with the load applied in four levels: -2 kN∙m, -1 kN∙m, 1 kN∙m, and 2 kN∙m. When the system feedback torque value calculated by the fixed support reaches the target value, the system X-axis torque feedback value Mx and the output value of the six-component force sensor in the system X-axis torque at this time are recorded.

[0081] Step S4.5: Apply torque to the Y-axis of the system.

[0082] A Y-axis torque is applied to the six-component force sensor, with the load applied in four levels: -2kN∙m, -1kN∙m, 1kN∙m, and 2kN∙m. When the system feedback torque value calculated by the fixed support reaches the target value, the system Y-axis torque feedback value My and the output value of the six-component force sensor in the system Y-axis torque at this time are recorded.

[0083] Step S4.6: Apply torque to the Z-axis of the system.

[0084] A Z-axis torque is applied to the six-component force sensor, with the load applied in four levels: -2kN∙m, -1kN∙m, 1kN∙m, and 2kN∙m. When the system feedback torque value calculated by the fixed support reaches the target value, the system Z-axis torque feedback value Mz and the output value of the six-component force sensor in the system Z-axis torque at this time are recorded.

[0085] The system feedback load value is calculated as follows: The supporting forces provided by the six fixed supports are f1, f2, f3, f4, f5, and f6, respectively. The angle between the six fixed supports and the lower plate of the support base is α. Then, the method for calculating the supporting force of the fixed supports on the Z-axis of the system is as follows: ; Among them, F zn f represents the supporting force of the nth fixed support rod on the Z-axis of the system; n This represents the force value output by the force sensor on the nth fixed support rod; The method for calculating the force on the six-component force sensor along the Z-axis of the system is as follows: ; The angles between the projections of the axial support forces of each fixed support rod onto the horizontal plane and the X-axis are β1, β2, β3, β4, β5, and β6, respectively. Therefore, the support force of each fixed support rod on the X-axis of the system is: ; Among them, F xn This represents the supporting force exerted by the nth fixed support rod on the X-axis of the system. The method for calculating the force of the six-component force sensor on the X-axis of the system is as follows: ; The supporting force of each fixed support rod on the Y-axis of the system is: ; Among them, F yn This represents the supporting force exerted by the nth fixed support rod on the Y-axis of the system.

[0086] The method for calculating the force of the six-component force sensor on the Y-axis of the system is as follows: ; The distance from the connection point of each fixed support rod to the support base to the X-axis of the system is l. x1 l x2 l x3 l x4 l x5 l x6 The method for calculating the torque of the six-component force sensor along the X-axis of the system is as follows: ; The distance from the connection point of each fixed support rod to the support base to the Y-axis of the system is l. y1 l y2 l y3 l y4 l y5 l y6 The method for calculating the torque of the six-component force sensor along the Y-axis of the system is as follows: ; The method for calculating the torque along the Z-axis of the system using a six-component force sensor is as follows: .

[0087] Step S5: Compare the recorded axial system load feedback values ​​with the static output values ​​of the six-component force sensors to see if they are within the allowable error range, thus completing the static value verification.

[0088] Step S6: Dynamic signal verification.

[0089] The actuator applies a dynamic load, and the loading disk applies force or torque to the six-part force sensor. Dynamic force and torque are applied to the six-part force sensor in the X-axis, Y-axis, and Z-axis directions, respectively. Preferably, the applied dynamic load is a sinusoidal signal.

[0090] Step S6.1: Apply force along the X-axis of the system.

[0091] An X-axis sinusoidal load force signal is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the X-axis sinusoidal load force signal is 2kN and the frequency is 1Hz.

[0092] Step S6.2: Apply force along the Y-axis of the system.

[0093] A sinusoidal load force signal along the Y-axis is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the sinusoidal load force signal along the Y-axis is 3kN and the frequency is 1Hz.

[0094] Step S6.3: Apply Z-axis force to the system.

[0095] A Z-axis sinusoidal load force signal is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the Z-axis sinusoidal load force signal is 2kN and the frequency is 1Hz.

[0096] Step S6.4: Apply torque to the X-axis of the system.

[0097] An X-axis sinusoidal torque signal is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the X-axis sinusoidal torque signal is 1 kN and the frequency is 1 Hz.

[0098] Step S6.5: Apply torque to the Y-axis of the system.

[0099] A sinusoidal torque signal along the Y-axis is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the sinusoidal torque signal along the Y-axis is 1 kN and the frequency is 1 Hz.

[0100] Step S6.6: Apply torque to the Z-axis of the system.

[0101] A Z-axis sinusoidal torque signal is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are acquired and stored. Preferably, the amplitude of the Z-axis sinusoidal torque signal is 1 kN and the frequency is 1 Hz.

[0102] Step S7: Compare the load feedback signals of each axial system with the dynamic output signals of the six-component force sensor, observe whether the signals are within the allowable error range, and complete the dynamic signal verification.

[0103] Step S8: Determine the verification result of the six-component force sensor based on the static value verification and dynamic signal verification results.

[0104] The solution of this application will be described below through specific embodiments.

[0105] Example 1: Taking the calibration of a certain six-component force sensor as an example, the static value of the X-axis force of the system is calibrated using the above-mentioned six-component force sensor detection system and the above-mentioned six-component force sensor detection method.

[0106] Static value calibration of the X-axis force of the six-component force sensor was performed. With an X-axis load of 5 kN, the measured force sensor output values ​​were: 1.836 kN on fixed support rod 1, 1.786 kN on fixed support rod 2, 0.102 kN on fixed support rod 3, 0.105 kN on fixed support rod 4, 1.865 kN on fixed support rod 5, and 1.863 kN on fixed support rod 6. The data acquisition unit then collected this data and output it to the parameter calculation unit.

[0107] The angle between the fixed support rod and the lower plate of the support base is 38°; the angle between the projection of fixed support rod 1 on the horizontal plane and the X-axis is 30°, the angle between the projection of fixed support rod 2 on the horizontal plane and the X-axis is 30°, the angle between the projection of fixed support rod 3 on the horizontal plane and the X-axis is 90°, the angle between the projection of fixed support rod 4 on the horizontal plane and the X-axis is 90°, the angle between the projection of fixed support rod 5 on the horizontal plane and the X-axis is 30°, and the angle between the projection of fixed support rod 6 on the horizontal plane and the X-axis is 30°. These parameters are input into the parameter calculation unit, which performs the calculations using the method described in Example 2.

[0108] The calculated support forces of each fixed support rod decomposed into the X-axis are as follows: ; ; ; ; ; ; The actual force on the six-component force sensor along the X-axis is calculated to be F. x =5.02kN, at which point the output value of the six-component force sensor is 5.06kN, and the error between the two is within the required range.

[0109] When the load error at each level is within the required range, it can be determined that the sensor meets the usage requirements in that axial direction.

[0110] When the static values ​​of force and torque in each axis of the six-component force sensor meet the usage requirements, the static value calibration of the sensor is qualified.

[0111] Example 2: Taking the calibration of a certain six-component force sensor as an example, the dynamic signal calibration of the Z-axis force of the system is carried out using the above-mentioned six-component force sensor detection system and the above-mentioned six-component force sensor detection method.

[0112] A sinusoidal load signal along the Z-axis is applied to the six-component force sensor. After the system load feedback signal and the six-component force output signal stabilize, the system feedback signal and the six-component force output signal are as follows: Figure 7 As shown.

[0113] By comparing the dynamic output signals, it can be seen that the dynamic signal of the Z-axis force of the six-component force sensor meets the error requirement range.

[0114] When the dynamic signals of force and torque in each axis of the six-part force sensor meet the usage requirements, the dynamic signal calibration of the sensor is qualified.

[0115] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0118] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0119] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A six-component force sensor detection device, characterized in that, include: Multiple sets of rods, each set of rods includes a first support rod and a second support rod; The support base has a lower end configured as a disc structure, which is connected to the multiple sets of rods. The upper end of the support base is configured as a cylindrical structure, which is connected and fixed to the inner ring of the six-component force sensor. A loading disk has a circular hole in the center for the six-component force sensor to pass through, and the circular hole is connected and fixed to the outer ring of the six-component force sensor; Multiple actuators are fixedly connected to the lower end of the loading disk, and the actuators apply loads in different directions to the six-component force sensor.

2. The six-component force sensor detection device according to claim 1, characterized in that, Both the first support rod and the second support rod include an upper support rod and a lower support rod. The upper support rod is connected to the disc structure of the support base, and the lower support rod is fixed to the ground.

3. The six-component force sensor detection device according to claim 2, characterized in that, A force sensor is installed between the upper support rod and the lower support rod.

4. The six-component force sensor detection device according to claim 1, characterized in that, The first support rod and the second support rod are telescopic support rods.

5. A six-component force sensor detection system, characterized in that, include: The six-component force sensor detection device as described in any one of claims 1-4; The acquisition component is used to acquire the angle between the first and second supports of multiple sets of rods and the lower end of the support base, the force of the force sensor on the first and second supports of multiple sets of rods, and the load signal output by the six-part force sensor to be detected. A controller is configured to control at least one actuator based on a target instruction, calculate the actual load signal of the six-component force sensor to be detected based on the included angle and the force, and generate a detection result of the six-component force sensor to be detected based on the load signal output by the six-component force sensor to be detected and the actual load signal, wherein the actuator applies loads in different directions to the six-component force sensor to be detected based on the target instruction.

6. A method for detecting a six-component force sensor, characterized in that, The method is implemented based on the six-component force sensor detection system as described in claim 5, and includes the following steps: At least one actuator is controlled based on a target instruction, wherein the actuator applies loads in different directions to the six-component force sensor to be detected based on the target instruction; Obtain the angle between the first and second supports of multiple sets of rods and the lower end of the support base; The force of the force sensor under load in different directions and the load signal output by the six-part force sensor to be detected under load in different directions are obtained. Based on the included angle and the force, the actual load signal of the six-component force sensor under the corresponding directional load is calculated, and based on the load signal output by the six-component force sensor under the corresponding directional load and the actual load signal, the detection result of the six-component force sensor under the test is generated.

7. The six-component force sensor detection method according to claim 6, characterized in that, Before controlling at least one actuator based on the target instruction, the method further includes: The origin of the coordinate system is the geometric center of the six-component force sensor to be tested. Using the plane of the disk structure perpendicular to the lower end of the support as a reference, the direction perpendicular to the plane is defined as the positive direction of the Z-axis; Construct orthogonal X-axis and Y-axis in a plane perpendicular to the Z-axis; Choose any direction as the positive X-axis and define the positive Y-axis based on the right-hand screw rule; A coordinate system is constructed based on the origin, the X-axis, the Y-axis, the Z-axis, and the corresponding positive directions.

8. The six-component force sensor detection method according to claim 7, characterized in that, The load signal includes force and torque, and the load direction includes the X-axis, Y-axis, and Z-axis directions; the calculation of the actual load signal of the six-component force sensor under the corresponding directional load based on the included angle and the force includes: Obtain the first and second distances from the connection point between each rod and the support base to the X and Y axes of the coordinate system, respectively. Calculate the supporting force of each group of rods on the support base based on the included angle and the force; The force on the six-component force sensor to be detected is calculated based on the supporting force; The torque of the six-component force sensor to be detected is calculated based on the supporting force, the first distance, and the second distance.

9. The six-component force sensor detection method according to claim 8, characterized in that, The calculation of the actual load signal of the six-component force sensor under corresponding directional load based on the included angle and the force includes: Obtain a table showing the correspondence between the direction of the load and the calculation formulas for the supporting force, the applied force, and the torque; The target calculation formula is determined by querying the calculation formula relationship table based on the direction of the load. The actual load signal of the six-component force sensor under the corresponding direction is calculated based on the target calculation formula.

10. The six-component force sensor detection method according to claim 7, characterized in that, The target instruction includes a first instruction and a second instruction. The step of generating the detection result of the six-component force sensor under test based on the load signal output by the sensor under test under load in the corresponding direction and the actual load signal includes: Obtain the load signal output by the six-component force sensor to be detected corresponding to the first instruction under the load in the corresponding direction and the actual load signal, and generate a first result based on the load signal output by the six-component force sensor to be detected corresponding to the first instruction and the actual load signal; Obtain the load signal output by the six-component force sensor to be detected corresponding to the second instruction under the load in the corresponding direction and the actual load signal, and generate a second result based on the load signal output by the six-component force sensor to be detected corresponding to the second instruction and the actual load signal; The detection results of the six-component force sensor to be tested are generated based on the first result and the second result.

Images