Gear calibration method of 3D Hall type combination switch

Abstract

The invention discloses a gear calibration method for a 3D Hall type combination switch, and the method comprises the steps: starting an upper computer, notifying a six-axis force control robot and a CAN bus tester to prepare, enabling the robot to insert a test sleeve into a switch driving lever, and calibrating the test sleeve to a switch center; the six-axis force control robot pokes a poking rod to test a first gear, collects a force-angle-time array and X / Y / Z magnetic field data of a 3D Hall sensor, calculates alph and beta angles, constructs a correlation array and sends the correlation array to an upper computer; the upper computer generates a multi-dimensional curve graph, analyzes the maximum operating force F1 and the angle S1, finds out a force control point F3 and an angle S3 which are equivalent to the F1 after the S1, and determines the trigger time T3 and calibration data alpha < ph3 >, beta < 3 >, X3, Y3 and Z3; repeating the steps to obtain calibration data of each gear, and after the upper computer is verified to be qualified, writing a product by the CAN bus tester to complete calibration; and 6, the axial force control robot tests all gears, and the CAN bus tester detects the triggering condition and verifies the calibration effectiveness. Problems of early triggering, delayed triggering and the like of the switch can be avoided, and the gear function is accurately triggered.

Description

Technical Field

[0001] This invention relates to the field of automotive electronic product manufacturing and testing technology, and in particular to a method for calibrating the gear position of a 3D Hall effect combination switch. Background Technology

[0002] The combination switch for new energy vehicles has a very high degree of integration, typically including left and right levers. These levers integrate information such as rear wiper OFF, rear wiper, rear windshield washer, front windshield washer, front wiper OFF, wiper speed control (AUTO, LOW, HIGHT) / knob information, high beam, overtaking lights, left / right lane change, left / right turn signals, column shifter, and some custom functions defined by each automaker. Its working principle is that the combination switch MCU uses a 3D Hall sensor to detect the spatial magnetic field strength and angle information of the magnet inside the lever in real time. The software determines the gear angle position and compares it with the product's preset angle thresholds to generate the corresponding switch signals. These signals are then transmitted in real time to the various controller units in the vehicle body via the CAN bus.

[0003] However, due to the dimensional deviations of parts during the product manufacturing process, individual product dimensions vary. Traditional methods rely on pre-setting the gear angle threshold information in the product software, which causes deviations in the toggle angle of each gear on the combination switch lever. This can easily lead to phenomena such as gear not triggering, false triggering, and gear skipping, resulting in product malfunction. This not only reduces production yield but may also cause defective products to enter the user end, leading to serious complaints.

[0004] Therefore, there is an urgent need for a precise gear calibration method for 3D Hall effect combination switches to correct accumulated component deviations, ensure stable and reliable triggering of each gear function, and guarantee product quality and consistency. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a method for calibrating the gear position of a 3D Hall effect combination switch, so that after the switch product is calibrated by the gear position angle, the gear position function can be accurately triggered, and there are no problems such as early triggering, delayed triggering, no triggering, or gear skipping.

[0006] The technical solution of this invention: A method for calibrating the position of a 3D Hall effect combination switch, implemented using a calibration system. The calibration system includes a host computer, a 6-axis force-controlled robot, and a CAN bus tester. The specific calibration steps are as follows: (1) After the host computer starts, it notifies the 6-axis force control robot and the CAN bus tester to prepare for calibration. The 6-axis force control robot inserts the test sleeve into the combination switch lever and calibrates the test sleeve to the center of the switch through force feedback to eliminate the initial deviation. (2) The 6-axis force control robot simulates the human operating trajectory to move the combination switch lever to perform the first gear shift test and triggers the CAN bus tester to synchronously acquire data with the 6-axis force control robot; further acquire the force-angle-time relationship array of the first gear shift, the magnetic field strength data of the X, Y, and Z directions of the 3D Hall sensor, and calculate the alph and beta angle information, further construct the angle-time relationship array and the magnetic field strength-time relationship array, and send the data to the host computer; Where alph is the angle between the line connecting the center point of the magnetic field of the magnet in the XY plane (X1, Y1) to the origin of the XY plane and the X-axis, and beta is the angle between the line connecting the center point of the magnetic field of the magnet in the XZ plane (X1, Z1) to the origin of the XZ plane and the X-axis. The origin of the XY and XZ planes is generally the center point of the Hall sensor. (3) The host computer generates a multi-dimensional curve diagram for the gear position: force-time relationship curve diagram, force-angle relationship curve diagram, alph-time relationship curve diagram, beta-time relationship curve diagram, and Hall magnetic field strength-time relationship curve diagram for X, Y, and Z channels. The maximum operating force F1 and the corresponding angle S1 are analyzed and obtained. Then, the force control point F3 and the corresponding angle S3 after S1 are found to be equivalent to F1. Then, the trigger time point T3 corresponding to F3 and the calibration data alph3, beta3, X3, Y3, and Z3 corresponding to T3 are further determined. Wherein, F3 is the gear position signal trigger point that simulates human hand feel operation, and T3 is the gear position trigger time that simulates human hand feel operation; (4) According to the calibration logic of steps 2 and 3, obtain the alph3 and beta3 angle data and X3, Y3 and Z3 magnetic field data corresponding to each gear. After the host computer judges that the calibration data of the gear is within the qualified range, write alph3 and beta3 into the product through the CAN bus tester to complete the gear calibration. If it is not qualified, stop the calibration. (5) The 6-axis force control robot simulates operation test of all gears, and the CAN bus tester synchronously detects the gear triggering status to verify the calibration effectiveness.

[0007] The above technical solution utilizes a calibration system comprised of a host computer, a 6-axis force-controlled robot, and a CAN bus tester to achieve precise calibration of all positions of the combination switch. This solution offers significant advantages: First, the high-precision force feedback control of the 6-axis force-controlled robot eliminates initial installation deviations, ensuring precise alignment between the test sleeve and the switch center, thus improving calibration benchmark accuracy. Second, a multi-dimensional data synchronous acquisition strategy simultaneously acquires force-angle-time relationships and three-dimensional magnetic field strength data, providing complete data support for building a high-precision calibration model. Third, by constructing an alph-beta angle analytical model, the three-dimensional magnetic field data is transformed into quantifiable spatial angle parameters, enabling precise calculation of the position's spatial location. Fourth, the host computer employs an intelligent algorithm based on multi-dimensional curve analysis to simulate the force-controlled trigger point of human hand operation characteristics, ensuring that the calibration parameters conform to ergonomic characteristics. Finally, practical simulation testing is conducted immediately after calibration to ensure that the trigger accuracy and reliability of each position meet design requirements. After the 3D Hall effect combination switch product is calibrated for the gear angle, the gear function of the product can be triggered accurately without problems such as early triggering, delayed triggering, no triggering, or gear skipping. It has been verified that this method is stable, reliable, economical and efficient.

[0008] A further setting of the present invention: In step (1), the 6-axis force control robot adjusts the direction of motion through real-time force feedback so that the force and torque in the three directions of spatial coordinates X, Y and Z are all 0, thereby automatically adjusting and calibrating the sleeve to the center of the switch. The test sleeve is in close contact with the combination switch lever and the gap is ≤1mm.

[0009] With the above further settings, the 6-axis force control robot calibrates the sleeve to the center of the switch through real-time force feedback, and the gap between the test sleeve and the lever is ≤1mm, ensuring that the test sleeve and the lever fit accurately, eliminating the influence of the initial position deviation on the subsequent calibration data acquisition, and improving the accuracy of the calibration benchmark.

[0010] A further setting of the present invention: In step (2), the 6-axis force control robot performs an arc-shaped toggle test along the rotation center of the lever and sends a start signal to the CAN bus tester through the IO interface, which can control the start delay of the CAN bus tester and the 6-axis force control robot to be ≤1ms.

[0011] With the above further settings, the 6-axis force-controlled robot moves in an arc along the rotation center of the lever to simulate the actual operation trajectory of a human. The startup delay of the CAN bus tester is controlled by the IO interface to be ≤1ms, while ensuring the synchronization of data acquisition between the two, avoiding curve misalignment and distortion caused by startup delay, and ensuring the accuracy and reliability of calibration data.

[0012] A further setting of the present invention: In step (2), the 6-axis force control robot collects gear force data and angle data at a sampling rate of ≤4ms per point, and forms a force-angle-time relationship array.

[0013] With the above further settings, the 6-axis force control robot collects data at a sampling rate of ≤4ms per point, improving the accuracy and real-time performance of force and angle data acquisition. The resulting force-angle-time relationship array more accurately reflects the gear operation process, further improving calibration accuracy.

[0014] A further setting of the present invention: In step (2), the MCU of the combination switch collects the magnetic field strength data of the 3D Hall sensor in the X, Y and Z directions in real time, and calculates the alph and beta angle information by the following formulas: alph=ATAN2(Y,X) / π*180, beta=ATAN2(Z,X) / π*180.

[0015] By adopting the above further settings, the alph and beta angle information are calculated by explicit formulas, realizing the accurate conversion of magnetic field strength data into angle information. This provides clear and quantitative angle parameters for the host computer to analyze the gear position status, ensuring the standardization and accuracy of calibration data calculation.

[0016] In a further step of the present invention: after the MCU of the CAN bus tester receives the IO interface start signal through the interrupt trigger in step (2), it sends a message to the combination switch through the CAN bus at a period of ≤20ms to request to read data. After receiving the request, the MCU in the combination switch sends the alph and beta angle information and the 3D Hall magnetic field data of the X, Y and Z channels to the CAN bus tester through the CAN bus in real time to form the angle-time relationship array and the magnetic field strength-time relationship array.

[0017] With the above further settings, the CAN bus tester requests data to be read at a cycle of ≤20ms, and the combination switch provides real-time feedback of relevant data, ensuring the real-time and continuous acquisition of magnetic field strength and angle data. The resulting array can completely reflect the data changes during gear operation.

[0018] Further configuration of the present invention: After the 6-axis force control robot completes the data acquisition of the gear in step (2), it sends a stop signal to the CAN bus tester through IO. The CAN bus tester immediately stops testing and acquisition. The 6-axis force control robot and the CAN bus tester respectively send the force-angle-time relationship array, alph, beta angle information, magnetic field strength data of the three channels X, Y, and Z, angle-time relationship array, and magnetic field strength-time relationship array to the host computer.

[0019] By adopting the above further settings, we can ensure that the acquisition cycle of the 6-axis force control robot and the CAN bus tester are completely matched, avoid data redundancy or missing data, ensure the integrity and synchronization of the data uploaded to the host computer, and improve the accuracy of curve analysis.

[0020] The invention further includes the following steps: In step (2), the maximum operating force F1 and the corresponding operating angle S1 of the corresponding gear peak value of the combination switch are found through the force-angle relationship curve. Then, the gear trigger time point T3 corresponding to the force control point F3 on the curve is found through the force-time relationship curve. The calibration data corresponding to T3 are found in the alph-time relationship curve, beta-time relationship curve, and Hall magnetic field strength-time relationship curve of X, Y, and Z channels respectively: alph3, beta3, X3, Y3, Z3.

[0021] By further configuring the above settings, F1, S1, F3, T3 and their corresponding calibration data are accurately located using multi-dimensional curve graphs. This enables precise identification of gear trigger feature points, ensuring that the calibration data matches the gear trigger requirements that simulate human hand feel. This makes the calibrated gear trigger more in line with human operating habits and improves the product user experience.

[0022] A further setting of the present invention: the qualified range of the calibration data in step (4) is obtained based on the batch production limit combination switch product data. If qualified, the alph3 and beta3 data of each position are sent to the CAN bus tester. The CAN bus tester writes the qualified alph3 and beta3 data into the combination switch product in the form of DID writing message.

[0023] By adopting the above further settings, the qualified range is set according to the batch limit product data, and the calibration data is written in the form of DID writing message to achieve accurate screening of calibration data, avoid the calibration of defective products with excessive deviation or missing parts, and at the same time ensure the stability and standardization of calibration data writing, further improving the consistency of product quality.

[0024] A further setting of the present invention: In step (5), the 6-axis force control robot first performs a lever force curve test on the first position of the combination switch, and simultaneously sends a start signal to the CAN bus tester through the IO interface to realize the test start synchronization. The CAN bus tester reads the CAN message and detects the signal trigger status of the first position in real time. If the signal is triggered, the position is determined to be calibrated as qualified. By repeating the above test actions, the calibration qualification test of all lever positions of the combination switch is completed.

[0025] By adopting the above-mentioned further settings, synchronous testing and trigger detection of all gears are carried out to fully verify the calibration effect of each gear, ensure that all gears can be triggered normally, eliminate the situation of calibration failure of a single gear, and further guarantee the reliability and pass rate of the product after calibration. Attached Figure Description

[0026] Figure 1 This is a force-angle-time relationship curve in a specific embodiment of the present invention; Figure 2 This is a graph showing the angle-time relationship of alph in a specific embodiment of the present invention; Figure 3 This is a graph showing the beta angle-time relationship in a specific embodiment of the present invention; Figure 4 This is a graph showing the relationship between the Hall magnetic field strength and time in the X-channel of this invention in a specific embodiment. Figure 5 This is a graph showing the relationship between the Hall magnetic field strength and time in the Y-channel of this invention, in a specific embodiment of the invention. Figure 6 This is a graph showing the relationship between the Hall magnetic field strength and time in the Z-channel of this invention, as shown in a specific embodiment of the invention. Detailed Implementation

[0027] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1-6 As shown, the present invention discloses a method for calibrating the position of a 3D Hall effect combination switch, which is implemented using a calibration system. The calibration system includes a host computer, a 6-axis force-controlled robot, and a CAN bus tester. The specific calibration steps are as follows: (1) Calibration preparation and initial calibration (1.1) After receiving the start command, the host computer notifies the 6-axis force control robot and the CAN bus tester to prepare for calibration via the Ethernet communication interface. (1.2) After receiving the start command from the host computer, the 6-axis force control robot inserts the test sleeve into the combination switch lever. The test sleeve and the lever are tightly fitted together, and the gap between them is ≤1mm. (1.3) The 6-axis force control robot adjusts the motion direction through real-time force feedback, so that the force and torque in the three spatial coordinates X, Y and Z are all 0, thereby automatically calibrating the test sleeve to the switch center and completely eliminating the problem of inconsistent initial position caused by individual product deviations.

[0029] (2) First gear data synchronously collected (2.1) The 6-axis force control robot simulates the human operation trajectory to move the lever, so that the combination switch lever moves along the arc of its rotation center to perform the first gear test. At the same time, it sends a start signal to the CAN bus tester through the IO interface to control the 6-axis force control robot and the CAN bus tester to start synchronous testing and data acquisition, and the start delay of both is ≤1ms. (2.2) The 6-axis force control robot collects the first gear force data and angle data at a sampling rate of ≤4ms per point to form a force-angle-time relationship array; (2.3) The MCU of the combination switch collects the magnetic field strength data of the 3D Hall sensor in the X, Y and Z directions in real time. This data represents the relative coordinates of the magnet inside the product lever relative to the 3D Hall sensor. The two angle information alph and beta are calculated by the formula alph=ATAN2(Y,X) / π*180 and beta=ATAN2(Z,X) / π*180. Alph is the angle between the line connecting the center point of the magnetic field of the magnet in the XY plane (X1,Y1) to the origin of the XY plane and the X axis. Beta is the angle between the line connecting the center point of the magnetic field of the magnet in the XZ plane (X1,Z1) to the origin of the XZ plane and the X axis. The origin of the XY and XZ planes is generally the center point of the Hall sensor. (2.4) After the MCU of the CAN bus tester receives the start signal through the interrupt trigger, it sends a data reading message to the combination switch through the CAN bus at a period of ≤20ms. After the combination switch MCU receives the request, it feeds back the alph and beta angle information and the magnetic field data of the three channels X, Y and Z through the CAN bus in real time, forming an angle-time relationship array and a magnetic field strength-time relationship array. (2.5) After the 6-axis robot completes the acquisition of this gear position, it sends a stop signal to the CAN bus tester through IO. The CAN bus tester immediately stops the acquisition. The 6-axis force control robot and the CAN bus tester respectively send the force-angle-time relationship array, alph and beta angle information, magnetic field strength data of the three channels X, Y and Z, angle-time relationship array, and magnetic field strength-time relationship array to the host computer. (3) Accurate analysis of gear calibration data (3.1) After receiving the data, the host computer generates a multi-dimensional curve diagram for the gear position: force-time relationship curve diagram, force-angle relationship curve diagram, alph-time relationship curve diagram, beta-time relationship curve diagram, and Hall magnetic field strength-time relationship curve diagram for X, Y, and Z channels. The maximum operating force F1 and the corresponding angle S1 for the gear position are found through the force-angle relationship curve diagram. (3.2) Based on the maximum operating force F1 at the peak of the force-angle relationship curve, find the force control point F3 with the same force value as F1 after the operating angle S1 and the corresponding angle S3. This force control point is the gear signal trigger point for simulating human hand feel operation. (3.3) Find the gear trigger time T3 corresponding to the force control point F3 through the force-time relationship curve. This time T3 is the gear trigger time for simulating human hand feel operation in this gear. (3.4) Determine the trigger time T3 corresponding to F3 through the force-time relationship curve. Find the alph and beta angle information corresponding to T3 in the alph-time relationship curve, beta-time relationship curve, and Hall magnetic field strength-time relationship curve of X, Y, and Z channels respectively: alph3, beta3 and the corresponding magnetic field data of the three channels X, Y, and Z: X3, Y3, Z3. The data to be calibrated for this gear has been obtained. (4) Full gear calibration and data writing (4.1) Following the logic of steps 2 and 3, begin acquiring calibration data for the next gear, such as alph3, beta3, X3, Y3, and Z3, until all gear calibration data have been acquired. (4.2) The host computer determines whether alph3, beta3, X3, Y3, and Z3 of each gear position are within the acceptable range to avoid excessive deviation of parts and missing parts leading to defective products being calibrated. The acceptable range is obtained based on the data collection of limit switch products in batch production. If it is acceptable, the alph3 and beta3 data of each gear position are sent to the CAN bus tester. The CAN bus tester writes the corresponding data to the combination switch product through the DID write message to complete the gear position calibration; if it is unacceptable, the calibration is stopped. (5) Verification of calibration validity (5.1) The 6-axis force control robot will simulate the human operating trajectory to operate the lever to the first gear to perform force curve testing, and simultaneously send a start signal to the CAN bus tester through the IO interface to achieve synchronous testing; (5.2) The CAN bus tester reads the CAN message and detects the trigger status of the gear signal in real time. If it can be triggered normally, the gear calibration is deemed qualified. (5.3) Repeat the above actions to complete the trigger test of all positions of the combination switch lever, verify the calibration validity, and ensure that there is no abnormal triggering of any position.

[0030] The 3D Hall effect combination switch was calibrated using the above method. After batch testing, the calibrated combination switch was found to have accurate gear triggering with no premature triggering, delayed triggering, no triggering, or gear skipping.

Claims

1. A gear position calibration method for a 3D Hall type combination switch, characterized by, The calibration system is realized, and the calibration system includes a host computer, a 6-axis force control robot and a CAN bus tester, and the specific calibration steps are as follows: (1) After the host computer is started, the 6-axis force control robot and the CAN bus tester are notified of the calibration preparation, and then the 6-axis force control robot inserts the test sleeve into the combined switch lever, and calibrates the test sleeve to the center of the switch to eliminate the initial deviation; (2) The 6-axis force control robot simulates the human operation trajectory to dial the combined switch lever to perform the first gear dialing test, and triggers the CAN bus tester and the 6-axis force control robot to synchronize data acquisition; further obtain the force-angle-time relationship array of the first gear dialing, the magnetic field intensity data of the X, Y and Z directions of the 3D Hall sensor, and calculate the alph and beta angle information, further construct the angle-time relationship array and the magnetic field intensity-time relationship array, and send the data to the host computer; Wherein alph is the included angle between the line connecting the XY plane coordinate origin and the magnetic field center point coordinate (X1, Y1) of the magnet in the combined switch and the X axis, and beta is the included angle between the line connecting the XZ plane coordinate origin and the magnetic field center point coordinate (X1, Z1) of the magnet in the combined switch and the X axis, and the XY and XZ plane coordinate origin is generally the center point of the Hall sensor; (3) The host computer generates a multi-dimensional curve of the gear: force-time relationship curve, force-angle relationship curve, alph-time relationship curve, beta-time relationship curve, X, Y, Z channel Hall magnetic field intensity-time relationship curve, analyzes to obtain the maximum operating force F1 and the corresponding angle S1, further finds out the force control point F3 and the corresponding angle S3 after S1, and further determines the trigger time point T3 corresponding to F3 and the calibration data alph3, beta3, X3, Y3, Z3 corresponding to T3; Wherein, F3 is the gear signal trigger point simulating the hand feeling operation of the human hand, and T3 is the gear trigger time of the gear simulating the hand feeling operation of the human hand; (4) According to the calibration logic of steps 2 and 3, the alph3, beta3 angle data and X3, Y3, Z3 magnetic field data corresponding to each gear are obtained, and the host computer judges whether the calibration data of the gear is in the qualified range, and then writes alph3, beta3 into the product through the CAN bus tester to complete the gear calibration, if not qualified, the calibration is stopped; (5) The 6-axis force control robot simulates the operation test of all gears, and the CAN bus tester synchronously detects the gear trigger condition to verify the calibration validity.

2. The gear calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (1), the 6-axis force control robot adjusts the motion direction through real-time force feedback, so that the forces and torques in the X, Y and Z directions of the space coordinates are all 0, so that the sleeve is automatically adjusted to calibrate to the center of the switch, and the test sleeve is closely attached to the combined switch lever, and the gap is ≤1mm.

3. The gear position calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (2), the 6-axis force control robot rotates along the center of the lever to perform circular arc dialing test, and sends a start signal to the CAN bus tester through the IO interface, which can control the start delay of the CAN bus tester and the 6-axis force control robot to be ≤1ms.

4. The gear position calibration method of the 3D Hall combined switch according to claim 1, characterized in that, The 6-axis force control robot in step (2) collects the gear force data and angle data at a sampling speed of ≤4 ms per point and forms a force-angle-time relationship array.

5. The gear position calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (2), the MCU of the combination switch collects the X, Y, Z three-direction magnetic field strength data of the 3D Hall sensor in real time, and calculates the alph and beta angle information through the following formula: alph=ATAN2(Y,X) / π*180, beta=ATAN2(Z,X) / π*180.

6. The gear calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (2), the MCU of the CAN bus tester receives the IO interface start signal through interrupt triggering, and sends a message to the combination switch through the CAN bus to request to read data at a period of ≤20 ms. After receiving the request, the MCU in the combination switch sends the alph, beta angle information and the 3D Hall magnetic field data of the X, Y, Z three channels to the CAN bus tester through the CAN bus in real time, forming an angle-time relationship array and a magnetic field strength-time relationship array.

7. The gear position calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (2), after the 6-axis force control robot completes the data collection of the gear, it sends a stop signal to the CAN bus tester through the IO, and the CAN bus tester immediately stops testing and collecting. The 6-axis force control robot and the CAN bus tester send the force-angle-time relationship array, alph, beta angle information, X, Y, Z three-channel magnetic field strength data, angle-time relationship array, and magnetic field strength-time relationship array to the upper computer.

8. The gear calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (2), the maximum operating force F1 and the corresponding operating angle S1 of the combination switch corresponding to the gear are found out through the force-angle relationship curve, and the gear trigger time point T3 corresponding to the force control point F3 on the curve is found out through the force-time relationship curve. The calibration data corresponding to T3 is found out in the alph-time relationship curve, beta-time relationship curve, and X, Y, Z channel Hall magnetic field strength-time relationship curve, respectively: alph3, beta3, X3, Y3, Z3.

9. The method of claim 1, wherein, In step (4), the qualified range of the calibration data is obtained according to the limit combination switch product data of the batch production. If the alph3 and beta3 data of each gear are qualified, the CAN bus tester writes the qualified alph3 and beta3 data into the combination switch product through DID write message.

10. The gear calibration method of the 3D Hall combined switch according to claim 1, characterized in that, In step (5), the 6-axis force control robot first performs the lever force curve test on the first gear of the combination switch, and sends a start signal to the CAN bus tester through the IO interface to realize test start synchronization. The CAN bus tester reads the CAN message in real time to detect the first gear signal trigger state. If the signal is triggered, it is determined that the gear calibration is qualified. Through repeated test actions, the calibration qualification test of all lever gears of the combination switch is completed.

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