Testing device and testing method

Abstract

The invention discloses a testing device and a testing method, the testing device and the testing method are used for testing force sensors, the force sensors comprise a first force sensor and a second force sensor, and the testing device comprises a first plate body, a second plate body and a third plate body; the second plate body, the first force sensor, the first plate body, the second force sensor and the third plate body are sequentially stacked, and the centers of the first plate body, the second plate body, the third plate body, the first force sensor and the second force sensor are all arranged on a first axis; wherein the force sensor is fixedly arranged relative to the first plate body, the second plate body and the third plate body, at least one of the first plate body, the second plate body and the third plate body is configured to be applied with an acting force or a couple, and the force sensor is used for detecting data reflecting the acting force or the couple. According to the invention, through the laminated plate body structure, the two force sensors can be tested at the same time, so that the test efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of force sensor testing, and in particular to a testing device and testing method. Background Technology

[0002] Before a force sensor leaves the factory, it needs to be tested, such as calibrated, to check its accuracy. Force sensors include three-dimensional force sensors and six-dimensional force sensors. Taking a six-dimensional force sensor as an example, it is used to simultaneously measure the force and torque acting on an object in three directions.

[0003] However, traditional testing equipment can only test a single force sensor, making it difficult to meet the testing requirements of testing two or more force sensors simultaneously, thus reducing testing efficiency. Summary of the Invention

[0004] The embodiments of this application provide a testing device and a testing method capable of simultaneously testing two force sensors.

[0005] In a first aspect, embodiments of this application provide a testing device for testing a force sensor. The force sensor includes a first force sensor and a second force sensor. The testing device includes a first plate, a second plate, and a third plate. The second plate, the first force sensor, the first plate, the second force sensor, and the third plate are stacked sequentially, and the centers of the first plate, the second plate, the third plate, the first force sensor, and the second force sensor are all located on a first axis. The force sensor is fixedly disposed relative to the first plate, the second plate, and the third plate. At least one of the first plate, the second plate, and the third plate is configured to be subjected to a force or a force couple. The force sensor is used to detect data reflecting the force or the force couple.

[0006] In some embodiments, the testing apparatus further includes a first driving mechanism and a second driving mechanism, wherein the side of the second plate away from the first force sensor is connected to the first driving mechanism; the side of the third plate away from the second force sensor is connected to the second driving mechanism; wherein the first driving mechanism is used to drive the second plate to move toward the first force sensor to apply a force to the second plate along the first axis; and / or, the second driving mechanism is used to drive the third plate to move toward the second force sensor to apply a force to the third plate along the first axis.

[0007] In some embodiments, the first plate body is provided with a second axis, which is perpendicular to and intersects the first axis; the first plate body is also provided with a first side surface, which is disposed perpendicular to the second axis; a first groove is provided on the first side surface, and the center of the opening of the first groove is located on the second axis; the testing device further includes a third driving mechanism, which is provided with a first protrusion corresponding to the first groove; the third driving mechanism is used to drive the first protrusion to move in a direction parallel to the second axis, so that the first protrusion abuts against the inner wall of the first groove, thereby applying a force along the second axis to the first plate body on the first side surface.

[0008] In some embodiments, the first plate further comprises a second side surface, the first side surface and the second side surface being disposed relative to the second axis, and the second side surface being disposed perpendicular to the first axis; the first side surface comprises at least one second groove, the second side surface comprises at least one third groove, the second groove and the third groove being disposed on opposite sides relative to the second axis; the third driving mechanism comprises a second protrusion corresponding to the second groove; the testing device further comprises a fourth driving mechanism, the fourth driving mechanism comprising a third protrusion corresponding to the third groove; wherein, the third driving mechanism is used to drive the second protrusion to move in a direction parallel to the second axis, and the fourth driving mechanism is used to drive the third protrusion to move in a direction parallel to the second axis, so that the second protrusion abuts against the inner wall of the second groove, and the third protrusion abuts against the inner wall of the third groove, thereby applying a force couple parallel to the second axis to the first plate, so that the first plate tends to rotate around the first axis.

[0009] In some embodiments, the first side and the second side together form a side group, and the first plate is provided with at least two side groups to apply at least two force couples parallel to the second axis to the first plate, thereby causing the first plate to tend to rotate about the first axis.

[0010] In some embodiments, the first driving mechanism is further configured to drive the second plate to rotate around the first axis, and the second driving mechanism is further configured to drive the third plate to rotate around the first axis, wherein the first driving mechanism, the second driving mechanism and the third driving mechanism cooperate to cause the first plate, the second plate and the third plate to have a tendency to rotate together around the first axis in the same direction.

[0011] In some embodiments, the first driving mechanism is further configured to drive the second plate to rotate about the first axis, and the second driving mechanism is further configured to drive the third plate to rotate about the first axis, so that the second plate and the third plate tend to rotate in the same direction relative to the first plate about the first axis.

[0012] In some embodiments, the first plate further comprises a third side surface, which is perpendicular to the first axis; the third side surface comprises at least one fourth groove, the projection of the center of the opening of the fourth groove on the third side surface coincides with the second axis, and the projection of the fourth groove on the third side surface does not coincide with the projection of the force sensor on the third side surface; the testing device further comprises a fifth driving mechanism, which comprises a fourth protrusion corresponding to the fourth groove; the fifth driving mechanism is used to drive the fourth protrusion to move in a direction parallel to the first axis, so that the fourth protrusion abuts against the inner wall of the fourth groove, thereby applying a force parallel to the first axis to the first plate on the third side surface, so that the first plate tends to rotate around the second axis.

[0013] In some embodiments, the first plate further comprises a fourth side surface, the third side surface and the fourth side surface being disposed relative to the second axis, and the fourth side surface being disposed perpendicular to the first axis; at least one fifth groove is provided on the fourth side surface, the projection of the center of the opening of the fifth groove on the fourth side surface coincides with the second axis, and the projection of the fifth groove on the fourth side surface does not coincide with the projection of the force sensor on the fourth side surface; and at least one set of the fourth groove and the fifth groove are located on opposite sides of the first axis; the testing device further comprises a sixth driving mechanism, the sixth driving mechanism having a fifth protrusion corresponding to the fifth groove; the sixth driving mechanism is used to drive the fifth protrusion to move in a direction parallel to the first axis, so that the fifth protrusion abuts against the inner wall of the fifth groove; wherein, the sixth driving mechanism cooperates with the fifth driving mechanism to apply a force couple parallel to the first axis and intersecting the second axis on the first plate, so that the first plate tends to rotate about the second axis.

[0014] Secondly, embodiments of this application provide a testing method using the testing device described above, further comprising the following steps: applying the force or the torque to at least one of the first plate, the second plate, and the third plate according to the original parameters; the force sensor detecting the force and / or the torque generated by the force on the first plate, the second plate, and the third plate, and sending the detection result to the control system; the control system outputting an analysis result based on the difference between the detection result and the original parameters.

[0015] The beneficial effect of this application is that it improves testing efficiency by using a stacked plate structure to simultaneously test two force sensors. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram illustrating the application of force Fz by the testing device in some embodiments of this application; Figure 2 This is a schematic diagram illustrating the application of forces Fx and Fy by the testing apparatus in some embodiments of this application; Figure 3 These are schematic diagrams of the test apparatus structure in some embodiments of this application; Figure 4 This is a schematic diagram of the torque Mz applied by the test apparatus in some embodiments of this application; Figure 5 This is a schematic diagram of the application of multiple torques Mz by the test apparatus of some embodiments of this application; Figure 6 This is a schematic diagram of the torque Mz applied by the test apparatus in some other embodiments of this application; Figure 7 This is a schematic diagram of the torque Mz applied by the test apparatus in some embodiments of this application; Figure 8 This is a schematic diagram illustrating the application of torque Mx and torque My in the test apparatus of some embodiments of this application; Figure 9 These are schematic diagrams of the test apparatus structure of some other embodiments of this application; Figure 10 This is a schematic diagram illustrating the application of torque Mx and torque My in the test apparatus of some other embodiments of this application; Figure 11This is a flowchart of the testing method for some embodiments of this application.

[0018] Explanation of reference numerals in the attached figures: 10. First plate; 11. First side surface; 111. First groove; 112. Second groove; 12. Second side surface; 121. Third groove; 13. Third side surface; 131. Fourth groove; 14. Fourth side surface; 141. Fifth groove; 20. Second plate; 30. Third plate; 40. Mounting hole; 50. Force sensor; 51. First force sensor; 52. Second force sensor; X, X-axis; Y, Y-axis; Z, Z-axis. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] This application first introduces force sensors, including three-dimensional force sensors and six-dimensional force sensors. Taking six-dimensional force sensors as an example, they are widely used in robotics, precision manufacturing, and aerospace fields to simultaneously measure forces and torques acting on an object in three directions. During research and development and production, force sensors require precise calibration and performance testing to ensure their measurement accuracy and reliability.

[0021] In some embodiments, a single force sensor is tested independently, with only one force sensor tested at a time. Therefore, multiple tests are required to complete the testing of multiple force sensors. In these embodiments, this method is time-consuming and inefficient.

[0022] In some embodiments, a series testing method is used, in which multiple force sensors are installed in series and tested together. In these embodiments, the forces applied to each force sensor are inconsistent, which makes it impossible to guarantee the synchronization of test conditions.

[0023] In some embodiments, a multi-point loading test method is used, applying force through multiple loading points for testing. In these embodiments, it is not possible to guarantee simultaneous testing of multiple force sensors, and the structure of the loading device is relatively complex.

[0024] As can be seen from the above embodiments, although there are various testing methods for force sensors, the following problems still exist: 1) Low testing efficiency: Only one force sensor can be processed in a single test, resulting in a long testing cycle; 2) Inconsistent test conditions: The test environment and loading conditions of different force sensors differ, affecting the comparability of test results; 3) Poor reliability of test data: It is impossible to obtain the response data of two force sensors under the same loading conditions at the same time, making it difficult to make lateral comparisons; 4) High testing costs: The need to repeatedly load and collect data increases the cost of testing equipment and manpower.

[0025] To address the aforementioned problems, this application provides some embodiments to offer feasible solutions.

[0026] Please refer to the following. Figure 1 Some embodiments of this application provide a testing apparatus for testing a force sensor 50, which includes a first force sensor 51 and a second force sensor 52. In these embodiments, it should be noted that 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 indicated technical features. Furthermore, the testing apparatus of this application can simultaneously test two force sensors 50; in other words, the testing apparatus of this application can simultaneously test two force sensors 50 under the same loading conditions, ensuring the consistency of the testing conditions.

[0027] In some embodiments, the testing apparatus includes a first plate 10, a second plate 20, and a third plate 30. The second plate 20, a first force sensor 51, the first plate 10, a second force sensor 52, and the third plate 30 are stacked sequentially, with the centers of the first plate 10, the second plate 20, the third plate 30, the first force sensor 51, and the second force sensor 52 all located on a first axis (refer to the reference numeral Z in the figures). In these embodiments, due to the stacked structure, the first force sensor 51 can contact the first plate 10 and the second plate 20 respectively to sense the applied force or torque generated by the force on the first plate 10 and the second plate 20. Similarly, the second force sensor 52 contacts the first plate 10 and the third plate 30 respectively to sense the applied force or torque generated by the force on the first plate 10 and the third plate 30. Furthermore, since the centers of each plate and sensor are all located on the same axis, the consistency of the testing conditions is ensured.

[0028] In some embodiments, the first plate 10 is tightly fitted to the first force sensor 51 and the second force sensor 52 on opposite sides along a first axis (refer to the designation Z in the drawings). In some embodiments, the second plate 20 is tightly fitted to the first force sensor 51 on the side closest to the first force sensor 51. In some embodiments, the third plate 30 is tightly fitted to the second force sensor 52 on the side closest to the second force sensor 52. In these embodiments, the tight fit improves the stability of the contact between the force sensor 50 and the plate, thereby improving the accuracy of the force sensor 50.

[0029] In some embodiments, the testing apparatus can simultaneously acquire data from two force sensors 50. Specifically, the same force can be applied to the second plate 20 and the third plate 30 to ensure that the two force sensors 50 can be tested simultaneously under the same conditions. Since the first plate 10 can contact both force sensors 50 simultaneously, it can ensure that the two force sensors 50 are tested under the same conditions.

[0030] In some embodiments, the testing apparatus of this application can also test only one force sensor 50, that is, apply force only to one of the second plate 20 and the third plate 30 and the first plate 10, or provide only one force sensor 50 on the side of the first plate 10 close to the second plate 20 or the third plate 30, that is, only one force sensor 50 can be tested.

[0031] In some embodiments, the force sensor 50 is fixedly disposed relative to the first plate 10, the second plate 20, and the third plate 30. This arrangement allows the force sensor 50 to be fixed independently, rather than fixed to these three plates, thereby ensuring the stability of the force sensor 50 and preventing the state of the plates themselves from affecting the position of the sensor 50, thus ensuring the stability of the test conditions.

[0032] In some embodiments, the fixing method of the force sensor 50 is described. For example, when detecting Fx, Fy, Mx, My, and Mz, the force sensor 50 can be sandwiched between two plates (e.g., between the first plate 10 and the second plate 20, or between the first plate 10 and the third plate 30) so that the force sensor 50 can contact and be fixed to the plates. As another example, when detecting Fz, the force sensor 50 can be fixed to the first plate 10, for example, by means of bolts, which also ensures that the force sensor 50 contacts and is fixed to the plate.

[0033] In some embodiments, at least one of the first plate 10, the second plate 20, and the third plate 30 is configured to be subjected to a force or couple, and the force sensor 50 is used to detect data reflecting the force or couple. The data reflecting the force or couple includes the force or torque applied to the second plate 20, and the force applied to the first plate 10, the torque generated by the force applied to the first plate 10, the couple applied to the first plate 10, and the couple torque generated by the couple applied to the first plate 10. Furthermore, the force sensor 50 can detect data reflecting the force or couple on the plate it contacts. In these embodiments, the structure consisting of three plates allows for simultaneous testing of two force sensors 50, has a simple overall structure, is easy to assemble, reduces testing costs, and improves testing efficiency.

[0034] Taking the six-dimensional force sensor 50 as an example, the testing device of this application tests forces including Fx, Fy, and Fz, and torques including Mx, My, and Mz. Fx, Fy, and Fz are forces acting along the X, Y, and Z axes, respectively, while Mx, My, and Mz are torques rotating around the X, Y, and Z axes, respectively. These forces and torques are identified by the corresponding letters in the accompanying drawings. The testing methods for these forces are described below using some embodiments.

[0035] In some embodiments, it may be understood that the first axis (refer to the designation Z in the accompanying drawings) may be the axis of the Z-axis. The second axis (refer to the designation X or Y in the accompanying drawings) may be the axis of the X-axis or the Y-axis.

[0036] In some embodiments, it can be understood that the second plate 20, the first force sensor 51, the first plate 10, the second force sensor 52, and the third plate 30 are stacked sequentially along the Z-axis direction.

[0037] Please refer to Figure 1In some embodiments, the driving part of the testing device can cooperate with the second plate 20 and the third plate 30 to test the force Fz. Specifically, the testing device also includes a first driving mechanism and a second driving mechanism (not shown in the figure). The side of the second plate 20 away from the first force sensor 51 is connected to the first driving mechanism; the side of the third plate 30 away from the second force sensor 52 is connected to the second driving mechanism. In these embodiments, the second plate 20 may be provided with multiple mounting holes 40, through which the first driving mechanism can be connected. Similarly, the third plate 30 may also be provided with multiple mounting holes 40, through which the second driving mechanism can be connected. In this case, by controlling the first driving mechanism or the second driving mechanism, one force sensor 50 can be detected, or by simultaneously controlling the first driving mechanism and the second driving mechanism, two force sensors 50 can be detected simultaneously.

[0038] In some embodiments, the first driving mechanism drives the second plate 20 to move toward the first force sensor 51, thereby applying a force Fz to the second plate 20 along a first axis (refer to the reference numeral Z in the figures). The first driving mechanism can drive the second plate 20 to abut against the side of the first force sensor 51 opposite to the first plate 10, thereby bringing the first force sensor 51 into contact with the second plate 20. In this configuration, referring to the foregoing embodiments, the first driving mechanism can also apply pressure to the second plate 20 along the first axis (refer to the reference numeral Z in the figures), thereby generating a force Fz on the first plate 10.

[0039] In some embodiments, the second drive mechanism is used to drive the third plate to move toward the second force sensor 52, so as to apply a force to the third plate 30 in a direction along the first axis (refer to the reference numeral Z in the figures). In these embodiments, the second drive mechanism can drive the third plate 30 to abut against the side of the second force sensor 52 opposite to the first plate 10, thereby causing the second force sensor 52 to contact the third plate 30. In this configuration, referring to the foregoing embodiments, the second drive mechanism can also apply pressure to the third plate 30 along the first axis (refer to the reference numeral Z in the figures) (Z-axis), thereby generating a force Fz on the third plate 30.

[0040] In these embodiments, the first axis (refer to the designation Z in the accompanying drawings) is the Z-axis, and both the second plate 20 and the third plate 30 can be used to apply a force Fz. Applying a force along the Z-axis to the second plate 20 and the third plate 30 ensures consistency of the test conditions for the two force sensors 50.

[0041] In these embodiments, the second plate 20 can move back and forth along the direction of the first axis (refer to the reference numeral Z in the figure) via the first drive mechanism, and the third plate 30 can move back and forth along the direction of the first axis (refer to the reference numeral Z in the figure) via the second drive mechanism, so that multiple force sensors 50 can be replaced one by one during testing.

[0042] In some embodiments, the drive portion of the testing device can cooperate with the first plate 10 to test the forces Fx and Fy. For details, please refer to... Figure 1 and Figure 2 The first plate 10 has a second axis (refer to the X or Y symbol in the attached drawing), which is perpendicular to and intersects the first axis (refer to the Z symbol in the attached drawing). The first plate 10 also has a first side surface 11, which is perpendicular to the second axis (refer to the X or Y symbol in the attached drawing). A first groove 111 is provided on the first side surface 11, and the center of the opening of the first groove 111 is located on the second axis (refer to the X or Y symbol in the attached drawing). This arrangement ensures that a force along the X or Y axis is generated on the first plate 10.

[0043] In some embodiments, the testing apparatus further includes a third driving mechanism (not shown in the figures), which has a first protrusion corresponding to the first groove 111. The third driving mechanism is used to drive the first protrusion to move in a direction parallel to the second axis (refer to the reference numerals X or Y in the figures), so that the first protrusion abuts against the inner wall of the first groove 111, thereby applying a force along the second axis (refer to the reference numerals X or Y in the figures) to the first plate 10 from the first side surface 11. In these embodiments, referring to the description of the previous embodiments, the second axis (refer to the reference numerals X or Y in the figures) is the X-axis or the Y-axis. Therefore, the first side surface 11 can be a side surface perpendicular to the X-axis or the Y-axis. At this time, the third driving mechanism drives the first protrusion to apply a force to the first groove 111, the center of its opening of which is located on the X-axis or the Y-axis, thereby generating a force Fx corresponding to the X-axis or a force Fy corresponding to the Y-axis on the first plate 10.

[0044] Understandably, when the first plate 10 is in contact with only one force sensor 50 located along the first axis (refer to the reference Z in the attached figure), the force of only one force sensor 50 can be tested. However, when the first plate 10 is in contact with force sensors 50 located on opposite sides along the first axis (refer to the reference Z in the attached figure), two force sensors 50 can be tested simultaneously.

[0045] In some embodiments, the first groove 111 is a straight groove so that the first protrusion abuts against the bottom wall of the first groove 111, ensuring the accuracy of the applied force.

[0046] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The driving part of the testing device can cooperate with the first plate 10 to test the torque Mz. Specifically, the first plate 10 also has a second side surface 12. The first side surface 11 and the second side surface 12 are arranged relative to the second axis (refer to the reference numerals X or Y in the figure), and the second side surface 12 is arranged perpendicular to the first axis (refer to the reference numeral Z in the figure). The first side surface 11 has at least one second groove 112, and the second side surface 12 has at least one third groove 121. The second groove 112 and the third groove 121 are located on both sides relative to the second axis (refer to the reference numerals X or Y in the figure). With this arrangement, a force couple that is accurately applied to the center of the first plate 10 can be generated, ensuring the accuracy of the test results. In these embodiments, referring to the description of the previous embodiments, the second axis (refer to the reference numerals X or Y in the figure) is the X-axis or the Y-axis, and the first axis (refer to the reference numeral Z in the figure) is the Z-axis. Therefore, the first side surface 11 and the second side surface 12 can be a pair of sides arranged relative to the Z-axis and perpendicular to the X-axis or the Y-axis.

[0047] In some embodiments, the third driving mechanism is provided with a second protrusion corresponding to the second groove 112; the testing device further includes a fourth driving mechanism (not shown in the figure), which is provided with a third protrusion corresponding to the third groove 121. The third driving mechanism is used to drive the second protrusion to move in a direction parallel to the second axis (refer to the reference numerals X or Y in the figure), and the fourth driving mechanism is used to drive the third protrusion to move in a direction parallel to the second axis (refer to the reference numerals X or Y in the figure), so that the second protrusion abuts against the inner wall of the second groove 112 and the third protrusion abuts against the inner wall of the third groove 121, thereby applying a force couple parallel to the second axis (refer to the reference numerals X or Y in the figure) to the first plate 10, so that the first plate 10 tends to rotate about the first axis (refer to the reference numeral Z in the figure). With this configuration, a couple parallel to the second axis (see reference to X or Y in the attached figure) and not intersecting with the first axis (see reference to Z in the attached figure) is applied to the first plate 10. This couple forms two lever arms with the first axis (see reference to Z in the attached figure), causing the first plate 10 to tend to rotate about the first axis (see reference to Z in the attached figure), thereby forming a torque Mz on the first plate 10.

[0048] For example, the first axis (refer to the label Z in the attached figure) is the Z-axis, and the second axis (refer to the label X or Y in the attached figure) is the Y-axis or X-axis. A pair of couples parallel to the Y-axis or X-axis and not intersecting the Z-axis are applied to the first plate 10. With this arrangement, a torque Mz rotating about the Z-axis can be generated in the first plate 10.

[0049] In some embodiments, the drive portion of the testing device can cooperate with the first plate 10 to apply multiple force couples to detect the torque Mz. For details, please refer to... Figure 5 The first side 11 and the second side 12 together form a side group. The first plate 10 is provided with at least two side groups to apply at least two force couples parallel to the second axis (refer to the reference numerals X or Y in the figures) to the first plate 10, thereby causing the first plate 10 to tend to rotate about the first axis (refer to the reference numeral Z in the figures). In these embodiments, referring to the description of the previous embodiment, these embodiments differ in that force couples can be applied simultaneously to a pair of sides perpendicular to the X-axis and perpendicular to the Y-axis to cause the first plate 10 to tend to rotate about the Z-axis, thereby generating two force couple moments on the first plate 10 that can drive the first plate 10 to rotate about the Z-axis. With this arrangement, a torque Mz can also be generated on the first plate 10.

[0050] In some embodiments, the second groove 112 and the third groove 121 are located at the edge of the first plate 10. This arrangement can improve the rotational effect of the first plate 10 about the first axis (see reference to the symbol Z in the figures).

[0051] In some embodiments, the drive portion of the testing device can cooperate with the first plate 10, the second plate 20, and the third plate 30 to detect the torque Mz. For details, please refer to... Figure 6The first drive mechanism is also used to drive the second plate 20 to rotate about the first axis (refer to the reference numeral Z in the accompanying drawings), and the second drive mechanism is also used to drive the third plate 30 to rotate about the first axis (refer to the reference numeral Z in the accompanying drawings). The first, second, and third drive mechanisms cooperate to cause the first plate 10, the second plate 20, and the third plate 30 to rotate in the same direction about the first axis (refer to the reference numeral Z in the accompanying drawings). In these embodiments, referring to the description of the foregoing embodiments, the first axis (refer to the reference numeral Z in the accompanying drawings) is the Z-axis, and the second axis (refer to the reference numerals X or Y in the accompanying drawings) is the X-axis or the Y-axis. These embodiments differ from the previous embodiment in that the first, second, and third drive mechanisms can operate simultaneously, and the second plate 20 and the third plate 30 can generate torques under identical conditions for rotation about the Z-axis. Furthermore, the first plate 10 can transmit the same torque to the force sensors 50 on both sides through at least one pair of force couples. Therefore, in these embodiments, the two force sensors 50 can also test the torque Mz under the same test conditions. This method differs from the previous embodiment in that it uses three plates to simultaneously perform Mz testing on two force sensors 50. In these embodiments, the three plates tend to rotate in the same direction to avoid generating opposing torques that would cancel each other out and affect the accuracy of the test results. In these embodiments, the three plates rotate in the same direction so that the two force sensors 50 are tested under the same conditions.

[0052] In some embodiments, the drive portion of the testing device can cooperate with the second plate 20 and the third plate 30 to detect the torque Mz. For details, please refer to... Figure 7 The first driving mechanism is also used to drive the second plate 20 to rotate about the first axis (refer to the reference numeral Z in the figure), and the second driving mechanism is also used to drive the third plate 30 to rotate about the first axis (refer to the reference numeral Z in the figure), so that the second plate 20 and the third plate 30 tend to rotate in the same direction relative to the first plate 10 about the first axis (refer to the reference numeral Z in the figure). In these embodiments, the first plate 10 can be fixed, while the second plate 20 and the third plate 30 generate the same rotational tendency about the Z-axis. With this setting, the second plate 20 and the third plate 30 can generate the same condition Mz for rotation about the Z-axis, thereby enabling the first force sensor 51 and the second force sensor 52 to be tested under the same test conditions.

[0053] It should be noted that during the test, the first plate 10, the second plate 20, or the third plate 30 will not rotate, but will only have a tendency to rotate through the drive mechanism.

[0054] In some embodiments, the drive portion of the testing device can cooperate with the first plate 10 to detect torque Mx and torque My by means of applied force. For details, please refer to... Figure 1 and Figure 8 The first plate 10 also has a third side surface 13, which is perpendicular to the first axis (refer to the reference numeral Z in the accompanying drawings). The third side surface 13 has at least one fourth groove 131. The projection of the center of the opening of the fourth groove 131 onto the third side surface 13 coincides with the second axis (refer to the reference numerals X or Y in the accompanying drawings), and the projection of the fourth groove 131 onto the third side surface 13 does not coincide with the projection of the force sensor 50 onto the third side surface 13. In these embodiments, referring to the description of the foregoing embodiments, the first axis (refer to the reference numeral Z in the accompanying drawings) is the Z-axis, and the second axis (refer to the reference numerals X or Y in the accompanying drawings) is the X-axis or the Y-axis. Furthermore, the fourth groove 131 allows the first plate 10 to tend to rotate around the X-axis or the Y-axis.

[0055] In some embodiments, the testing apparatus further includes a fifth driving mechanism (not shown in the figure), which has a fourth protrusion corresponding to the fourth groove 131. The fifth driving mechanism is used to drive the fourth protrusion to move in a direction parallel to the first axis (refer to the reference numeral Z in the figure), so that the fourth protrusion abuts against the inner wall of the fourth groove 131, thereby applying a force parallel to the first axis (refer to the reference numeral Z in the figure) to the first plate 10 on the third side 13, so that the first plate 10 tends to rotate about the second axis (refer to the reference numerals X or Y in the figure). In these embodiments, when the fifth driving mechanism drives the fourth protrusion to abut against the inner wall of the fourth groove 131, so that the first plate 10 applies a force at the position of the fourth groove 131, the line of action of the center of the force can form a lever arm between the force and the Z-axis, so that the first plate 10 tends to rotate about the X-axis or Y-axis, thereby generating a torque Mx or a torque My on the first plate 10.

[0056] For example, please refer to Figure 8 The first axis (refer to the label Z in the attached drawing) is the Z-axis, and the second axis (refer to the label X or Y in the attached drawing) is the X-axis. The first plate 10 is subjected to a force parallel to the Z-axis and intersecting the X-axis through the fourth groove 131. The line of action of the force and the line connecting them form a lever arm. With this arrangement, a torque My can be generated in the first plate 10 to rotate around the Y-axis.

[0057] For another example, please refer to Figure 8The first axis (refer to the label Z in the attached drawing) is the Z-axis, and the second axis (refer to the label X or Y in the attached drawing) is the Y-axis. The first plate 10 is subjected to a force parallel to the Z-axis and intersecting the Y-axis through the fourth groove 131. The line of action of the force and the line connecting them form a lever arm. With this arrangement, a torque Mx can be generated in the first plate 10 to rotate around the X-axis.

[0058] Understandably, in these embodiments, a single force is applied to the first plate 10 by the fifth drive mechanism to generate a lever arm capable of driving the first plate 10 to rotate about the X-axis or Y-axis, thereby generating a torque Mx or a torque My on the first plate 10.

[0059] In these embodiments, the fourth protrusion can move in a direction parallel to the first axis (see reference to the Z in the figure) through the positional design of the fourth groove 131, without interfering with the force sensor 50 that is in contact with the first plate 10, so that multiple force sensors 50 can be replaced one by one for testing during testing.

[0060] In some embodiments, the fourth groove 131 is a straight groove so that the fourth protrusion abuts against the bottom wall of the fourth groove 131, ensuring the accuracy of the applied force.

[0061] In some embodiments, the drive portion of the testing device can cooperate with the first plate 10 to detect torques Mx and My via a force couple. For details, please refer to... Figure 8 , Figure 9 and Figure 10 The first plate 10 also has a fourth side surface 14. The third side surface 13 and the fourth side surface 14 are arranged relative to the second axis (refer to the reference numerals X or Y in the accompanying drawings), and the fourth side surface 14 is arranged perpendicular to the first axis (refer to the reference numeral Z in the accompanying drawings). At least one fifth groove 141 is provided on the fourth side surface 14. The projection of the center of the opening of the fifth groove 141 onto the fourth side surface 14 coincides with the second axis (refer to the reference numerals X or Y in the accompanying drawings), and the projection of the fifth groove 141 onto the fourth side surface 14 does not coincide with the projection of the force sensor 50 onto the fourth side surface 14. Furthermore, at least one set of fourth grooves 131 and fifth grooves 141 are located on opposite sides of the first axis (refer to the reference numeral Z in the accompanying drawings). In these embodiments, referring to the description of the foregoing embodiments, the first axis (refer to the reference numeral Z in the accompanying drawings) is the Z-axis, and the second axis (refer to the reference numerals X or Y in the accompanying drawings) is the X-axis or the Y-axis. Further, the combination of the fourth groove 131 and the fifth groove 141 allows the first plate 10 to tend to rotate around the X-axis or the Y-axis.

[0062] In some embodiments, the testing apparatus further includes a sixth driving mechanism (not shown in the figures), which has a fifth protrusion corresponding to the fifth groove 141. The sixth driving mechanism is used to drive the fifth protrusion to move in a direction parallel to the first axis (refer to the reference numeral Z in the figures) so that the fifth protrusion abuts against the inner wall of the fifth groove 141. In these embodiments, the sixth driving mechanism can also apply a force to the first plate 10. The sixth driving mechanism can operate independently or in conjunction with the fifth driving mechanism.

[0063] In some embodiments, the sixth drive mechanism cooperates with the fifth drive mechanism to apply a couple parallel to the first axis (refer to the reference numeral Z in the figures) and intersecting the second axis (refer to the reference numerals X or Y in the figures) on the first plate 10, so that the first plate 10 tends to rotate about the second axis (refer to the reference numerals X or Y in the figures). It is understood that a couple is a pair of parallel forces of equal magnitude, opposite direction, and not collinear acting on the same rigid body. In these embodiments, the fifth drive mechanism can cooperate with the sixth drive mechanism to make the fourth protrusion engage with the fourth groove 131 and the fifth protrusion engage with the sixth groove, thereby applying a force couple parallel to the first axis (refer to the reference numeral Z in the figure) and the second axis (refer to the reference numeral X or Y in the figure) to the first plate 10, so that the first plate 10 tends to rotate about the second axis (refer to the reference numeral X or Y in the figure). With this arrangement, the lines of action of a pair of forces of the force couple can respectively form lever arms with the first axis (refer to the reference numeral Z in the figure), thereby causing the first plate 10 to generate a torque Mx or My that rotates about the second axis (refer to the reference numeral X or Y in the figure).

[0064] For example, please refer to Figure 10 The first axis (refer to the label Z in the attached drawing) is the Z-axis, and the second axis (refer to the label X or Y in the attached drawing) is the Y-axis. A couple parallel to the Z-axis and intersecting the Y-axis is applied to the first plate 10. With this arrangement, a torque Mx rotating about the X-axis can be generated in the first plate 10.

[0065] For another example, please refer to Figure 10 The first axis (refer to the label Z in the attached drawing) is the Z-axis, and the second axis (refer to the label X or Y in the attached drawing) is the X-axis. A couple parallel to the Z-axis and intersecting the X-axis is applied to the first plate 10. With this arrangement, a torque My can be generated in the first plate 10 to rotate about the Y-axis.

[0066] In these embodiments, through the positional design of the fifth groove 141, the fifth protrusion can move in a direction parallel to the first axis (see the reference numeral Z in the figure) and does not interfere with the force sensor 50 that is in contact with the first plate 10, so that multiple force sensors 50 can be replaced one by one for testing during testing.

[0067] In some embodiments, the fourth groove 131 and the fifth groove 141 are located at the edge of the first plate 10.

[0068] In some embodiments, the fifth groove 141 is a straight groove so that the fifth protrusion abuts against the bottom wall of the fifth groove 141, ensuring the accuracy of the applied force.

[0069] In some embodiments, the first groove 111, the second groove 112, the third groove 121, the fourth groove 131, and the fifth groove 141 are arc-shaped grooves. It is understood that the arc-shaped groove has a reference point with the largest curvature. This configuration allows the force to be concentrated towards this reference point, thereby ensuring the accuracy of the applied force.

[0070] In some embodiments, the first groove 111, the second groove 112, the third groove 121, the fourth groove 131, and the fifth groove 141 are hemispherical grooves. The hemispherical grooves help to eliminate interference from forces acting in other directions.

[0071] In some embodiments, multiple testing devices are used in combination to simultaneously detect more force sensors 50, thereby improving detection efficiency.

[0072] In some embodiments, the drive mechanism described above can refer to the description of the prior art, such as a motor device with a telescopic shaft or a motor device with a rotating shaft, and the corresponding protrusion can be a protrusion structure at the end of the drive mechanism, which will not be described in detail here.

[0073] Please refer to Figure 11 This application also provides a testing method, which uses the testing apparatus described in the above embodiments and further includes the following steps: Step S10: Apply a force or couple to at least one of the first plate 10, the second plate 20, and the third plate 30 according to the original parameters. The method of applying the force or couple in step S10 can be referred to the description in the previous embodiments, and will not be repeated here.

[0074] Step S20: Force sensor 50 detects the forces and / or torques generated by the forces on the first plate 10, the second plate 20, and the third plate 30, and sends the detection results to the control system. In step S20, the forces and / or torques generated by the forces can be referred to the description in the previous embodiments, and will not be repeated here. Furthermore, this control system can be a control system internal to the testing device, or it can be a general control system integrated into the entire testing process, connected to each testing device.

[0075] Step S30: The control system outputs analysis results based on the difference between the detection results and the original parameters. In step S30, a target difference range can be set. When the detected difference is within the target difference range, the force sensor 50 is judged to be qualified; when the detected difference is outside the target difference range, the force sensor 50 is judged to be unqualified, thereby completing the calibration test of the force sensor 50.

[0076] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A testing device for testing force sensors, characterized in that, The force sensor includes a first force sensor and a second force sensor, and the testing device includes a first plate, a second plate, and a third plate. The second plate, the first force sensor, the first plate, the second force sensor, and the third plate are stacked sequentially, and the centers of the first plate, the second plate, the third plate, the first force sensor, and the second force sensor are all located on the first axis. The force sensor is fixedly disposed relative to the first plate, the second plate, and the third plate. At least one of the first plate, the second plate, and the third plate is configured to be subjected to a force or a couple. The force sensor is used to detect data reflecting the force or the couple.

2. The testing apparatus according to claim 1, characterized in that, The testing device further includes a first driving mechanism and a second driving mechanism, wherein the side of the second plate away from the first force sensor is connected to the first driving mechanism; and the side of the third plate away from the second force sensor is connected to the second driving mechanism. The first driving mechanism is used to drive the second plate to move toward the direction of the first force sensor, so as to apply a force to the second plate along the first axis. And / or, the second drive mechanism is used to drive the third plate to move toward the direction of the second force sensor, so as to apply a force to the third plate along the first axis.

3. The testing apparatus according to claim 2, characterized in that, The first plate is provided with a second axis, which is perpendicular to and intersects the first axis; The first plate also has a first side surface, which is perpendicular to the second axis; the first side surface has a first groove, and the center of the opening of the first groove is located on the second axis. The testing device further includes a third driving mechanism, which has a first protrusion corresponding to the first groove. The third driving mechanism is used to drive the first protrusion to move in a direction parallel to the second axis so that the first protrusion abuts against the inner wall of the first groove, thereby applying a force along the second axis to the first plate on the first side.

4. The testing apparatus according to claim 3, characterized in that, The first plate also has a second side surface, the first side surface and the second side surface are arranged relative to the second axis, and the second side surface is arranged perpendicular to the first axis; the first side surface has at least one second groove, the second side surface has at least one third groove, and the second groove and the third groove are arranged on both sides relative to the second axis. The third driving mechanism is provided with a second protrusion corresponding to the second groove; The testing device further includes a fourth driving mechanism, which has a third protrusion corresponding to the third groove; The third driving mechanism is used to drive the second protrusion to move in a direction parallel to the second axis, and the fourth driving mechanism is used to drive the third protrusion to move in a direction parallel to the second axis, so that the second protrusion abuts against the inner wall of the second groove and the third protrusion abuts against the inner wall of the third groove, thereby applying a force couple parallel to the second axis to the first plate, so that the first plate tends to rotate around the first axis.

5. The testing apparatus according to claim 4, characterized in that, The first side and the second side together form a side group. The first plate has at least two side groups to apply at least two force couples parallel to the second axis to the first plate, thereby causing the first plate to tend to rotate around the first axis.

6. The testing apparatus according to claim 4, characterized in that, The first driving mechanism is further configured to drive the second plate to rotate around the first axis, and the second driving mechanism is further configured to drive the third plate to rotate around the first axis. The first drive mechanism, the second drive mechanism, and the third drive mechanism work together to cause the first plate, the second plate, and the third plate to rotate in the same direction around the first axis.

7. The testing apparatus according to claim 2, characterized in that, The first driving mechanism is further configured to drive the second plate to rotate around the first axis, and the second driving mechanism is further configured to drive the third plate to rotate around the first axis, so that the second plate and the third plate tend to rotate in the same direction relative to the first plate around the first axis.

8. The testing apparatus according to claim 3, characterized in that, The first plate also has a third side surface, which is perpendicular to the first axis. The third side is provided with at least one fourth groove, the projection of the center of the opening of the fourth groove on the third side coincides with the second axis, and the projection of the fourth groove on the third side does not coincide with the projection of the force sensor on the third side. The testing device further includes a fifth driving mechanism, which has a fourth protrusion corresponding to the fourth groove. The fifth driving mechanism is used to drive the fourth protrusion to move in a direction parallel to the first axis, so that the fourth protrusion abuts against the inner wall of the fourth groove, thereby applying a force parallel to the first axis to the first plate on the third side, so that the first plate tends to rotate around the second axis.

9. The testing apparatus according to claim 8, characterized in that, The first plate also has a fourth side surface, the third side surface and the fourth side surface are arranged relative to the second axis, and the fourth side surface is arranged perpendicular to the first axis. At least one fifth groove is provided on the fourth side surface. The projection of the center of the opening of the fifth groove on the fourth side surface coincides with the second axis, and the projection of the fifth groove on the fourth side surface does not coincide with the projection of the force sensor on the fourth side surface. Furthermore, at least one set of the fourth groove and the fifth groove are located on opposite sides of the first axis. The testing device further includes a sixth driving mechanism, which has a fifth protrusion corresponding to the fifth groove; the sixth driving mechanism is used to drive the fifth protrusion to move in a direction parallel to the first axis so that the fifth protrusion abuts against the inner wall of the fifth groove. The sixth driving mechanism cooperates with the fifth driving mechanism to apply a force couple parallel to the first axis and intersecting the second axis on the first plate, so that the first plate tends to rotate about the second axis.

10. A testing method, characterized in that, The testing apparatus described in any one of 1-9 above further includes the following steps: The force or the couple is applied to at least one of the first plate, the second plate, and the third plate according to the original parameters; The force sensor detects the forces and / or the torques generated by the forces on the first plate, the second plate, and the third plate, and sends the detection results to the control system. The control system outputs analysis results based on the difference between the detection results and the original parameters.

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