Six-dimensional force sensor calibration weight loading and unloading device and calibration weight loading and unloading method

Abstract

This application relates to the field of sensor calibration technology, and provides a six-dimensional force sensor calibration weight loading and unloading device and method. The six-dimensional force sensor calibration weight loading and unloading device includes: calibration weights, a robotic arm, a connector, and a weight holder. The calibration weights are used to apply a detection force to the six-dimensional force sensor to be tested; the robotic arm is used for mounting the six-dimensional force sensor and adjusting its calibration posture; the connector is connected to the six-dimensional force sensor and detachably connected to the calibration weights to transmit the detection force generated by the calibration weights; the weight holder is used to place the calibration weights. This application embodiment, through the synergistic effect of the various components, enables the robotic arm to drive the connector to cooperate with the calibration weights, achieving automated loading and unloading of the calibration weights. The entire process is completed automatically without manual intervention, which not only improves the efficiency of loading and unloading but also avoids the problem of the calibration weights slipping or being bumped, thus improving the safety of loading and unloading.

Description

Technical Field

[0001] This application relates to the field of sensor calibration technology, and in particular to a calibration weight loading and unloading device and method for a six-dimensional force sensor. Background Technology

[0002] Six-dimensional force sensors can simultaneously detect force information in three-dimensional space, namely three-dimensional force information (Fx, Fy, Fz) and three-dimensional torque information (Mx, My, Mz). They are core sensing devices in high-end manufacturing fields such as industrial robots and precision assembly, and their accuracy directly determines the stability of equipment operation and product qualification rate. Therefore, it is necessary to measure the detection performance and measurement error of the six-dimensional force sensor itself. Typically, the six-dimensional force sensor is mounted on a detection device, and the weights required for calibration are manually added and removed. The weights are then used to apply the required detection force to the six-dimensional force sensor under test. This manual loading and unloading method is time-consuming and inefficient; moreover, slippage and collisions are prone to occur during loading and unloading, resulting in poor safety. Summary of the Invention

[0003] In view of this, the present invention provides a calibration weight loading and unloading device and a calibration weight loading and unloading method for a six-dimensional force sensor, so as to solve the problems of low loading and unloading efficiency and poor safety of the weights.

[0004] To solve the above problems, the technical solution of this application embodiment is implemented as follows: A calibration weight loading and unloading device for a six-dimensional force sensor includes a calibration weight for applying a detection force to the six-dimensional force sensor to be tested; a robotic arm for mounting the six-dimensional force sensor and adjusting its calibration posture; a connector connected to the six-dimensional force sensor, the connector being detachably connected to the calibration weight and used to transmit the detection force generated by the calibration weight to the six-dimensional force sensor; and a weight holder with a receiving cavity in which the calibration weight is placed; wherein the robotic arm drives the connector to connect or disconnect from the calibration weight.

[0005] In some embodiments, the weight holder includes: a base body, the receiving cavity being formed on the base body; and a locking member disposed adjacent to the base body, the locking member being reciprocatingly extending and retracting to move closer to or further away from the calibration weight; wherein, when the connecting member is connected to or separated from the calibration weight, the locking member abuts against the calibration weight to lock the position of the calibration weight.

[0006] In some embodiments, the locking element is a cylinder connected to the base, and the base has a through hole communicating with the receiving cavity; wherein, the telescopic rod of the cylinder is disposed in the through hole to approach or move away from the calibration weight.

[0007] In some embodiments, the calibration weight is provided with a first connecting structure, and the connector is provided with a second connecting structure, wherein the first connecting structure and the second connecting structure are detachably connected; wherein, the six-dimensional force sensor calibration weight loading and unloading device further includes an adjustment component, which is disposed adjacent to the weight holder and can abut against the first connecting structure or the second connecting structure to adjust the mutual locking or unlocking between the first connecting structure and the second connecting structure.

[0008] In some embodiments, either the first connecting structure or the second connecting structure includes a fixing rod, and the other of the first connecting structure and the second connecting structure includes a connecting hole for inserting the fixing rod and a locking cap for clamping the fixing rod; wherein the adjusting component can abut against the locking cap to drive the locking cap to rotate and lock or unlock the fixing rod.

[0009] In some embodiments, the first connecting structure includes the connecting hole and the locking cap, the calibration weight is provided with a connector, the connector is provided with the connecting hole, the locking cap is sleeved on the outer periphery of the connector and a threaded structure is provided therebetween; and / or, the second connecting structure includes the fixing rod, one end of the fixing rod is fixedly connected to the connector, and the other end of the fixing rod is used to insert into the connecting hole.

[0010] In some embodiments, the first connecting structure further includes a pin, and the connector head has a mounting hole communicating with the connecting hole. The pin is movably inserted into the mounting hole, and one end of the pin abuts against the inner wall of the lock cap. The second connecting structure further includes a locking groove, which is disposed on the fixing rod and is used for the pin to be inserted and locked.

[0011] In some embodiments, the adjusting component includes: a roller connected to the lock cap to drive the lock cap to rotate; a driving member connected to the roller, the driving member being used to drive the roller to rotate; and an adjusting member for driving the roller to reciprocate between approaching and moving away from the lock cap, the driving member being mounted on the adjusting member; wherein a transmission structure is provided on the roller or between the roller and the lock cap.

[0012] In some embodiments, the six-dimensional force sensor calibration weight loading and unloading device further includes: a support frame, which is mounted adjacent to the locking cap on the weight holder; a first detection component, which is mounted on the support frame and is used to detect the position of the locking cap in the locked state; and a second detection component, which is mounted on the support frame and located above the first detection component and is used to detect the position of the locking cap in the unlocked state.

[0013] This application also provides a method for loading and unloading calibration weights, used in the operation of a six-dimensional force sensor calibration weight loading and unloading device. The six-dimensional force sensor calibration weight loading and unloading device includes: a calibration weight with a connector, a connecting hole and a mounting hole on the connector, a pin in the mounting hole, and a locking cap connected to the outside of the connector via a threaded structure; a robotic arm for mounting the six-dimensional force sensor and adjusting its calibration detection posture; a connector with a fixing rod and a locking groove; and a weight holder including a base and a locking component, the base having a receiving cavity. The calibration weight is placed in the receiving cavity. The locking member is disposed adjacent to the base and can reciprocate to move closer to or further away from the calibration weight. The adjustment assembly includes a roller, a drive member, and an adjustment member. The roller is connected to the drive member, and the drive member is mounted on the adjustment member. A support frame is mounted on the weight base adjacent to the locking cap. A first detection assembly is mounted on the support frame and is used to detect the position of the locking cap in the locked state. A second detection assembly is mounted on the support frame and located above the first detection assembly. The second detection assembly is used to detect the position of the locking cap in the unlocked state. The calibration weight loading and unloading method includes a loading step and a disassembly step; wherein, the loading step includes: The six-dimensional force sensor to be tested is mounted on the robotic arm, and the connector is connected to the six-dimensional force sensor. The robotic arm moves to align the fixed rod with the connecting hole; The robotic arm moves toward the calibration weight, causing the fixing rod to be inserted into the connecting hole and the locking groove to be aligned with the pin. Activate the locking device to make it abut against the calibration weight, thereby fixing the position of the calibration weight; The adjusting component is activated, causing the roller to move closer to the locking cap and abut against it; The drive unit is activated, which drives the roller to rotate and causes the lock cap to rotate. During the rotation of the lock cap, the pin is pushed into the locking groove, connecting and locking the fixing rod with the calibration weight. At the same time, after the first detection component detects that the lock cap has moved into place, the drive unit is controlled to stop, and the adjusting component is controlled to move in the opposite direction, so that the roller is separated from the lock cap. Reactivate the locking mechanism to separate it from the calibration weight and release the position lock on the calibration weight; The robotic arm moves again to remove the calibration weight from the receiving cavity and moves the calibration weight along a preset path to enter the calibration and testing process. The disassembly steps include: After the calibration and testing process is completed, the robotic arm moves to place the calibration weight into the receiving cavity; Activate the locking device to make it abut against the calibration weight, thereby fixing the position of the calibration weight; The adjusting component is activated, causing the roller to move closer to the locking cap and abut against it; The drive unit is activated, causing the roller to reverse and the lock cap to rotate in the opposite direction. During the reverse rotation of the lock cap, the force resisting the pin is released, causing the pin to exit from the locking groove. The fixing rod and the calibration weight are unlocked. At the same time, after the second detection component detects that the lock cap has reversed to the correct position, the drive unit is controlled to stop, and the adjusting component is controlled to move in the opposite direction, so that the roller separates from the lock cap. The robotic arm moves again to pull the fixing rod out of the connection hole, completing the disassembly of the calibration weight.

[0014] This application provides a six-dimensional force sensor calibration weight loading and unloading device and method. The six-dimensional force sensor calibration weight loading and unloading device includes calibration weights, a robotic arm, a connector, and a weight holder. The calibration weights are used to apply a detection force to the six-dimensional force sensor to be tested; the robotic arm is used to mount the six-dimensional force sensor and move to adjust the orientation of the six-dimensional force sensor for calibration detection; the connector is connected to the six-dimensional force sensor and detachably connected to the calibration weights to transmit the detection force generated by the calibration weights; the weight holder is used to place the calibration weights. This application embodiment achieves automated loading and unloading of calibration weights through the synergistic effect of the calibration weights, robotic arm, connector, and weight holder, and by making the connector and calibration weights detachably connected. The robotic arm drives the connector to cooperate with the calibration weights, thus realizing automated loading and unloading of calibration weights. The entire process is completed automatically without manual intervention, which not only improves the efficiency of loading and unloading but also avoids the problem of calibration weights slipping or being bumped, improving the safety of loading and unloading. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the six-dimensional force sensor calibration weight loading and unloading device provided in this application embodiment, with the calibration weight separated. Figure 2 This is a schematic diagram of the six-dimensional force sensor calibration weight loading and unloading device provided in this application embodiment in the state of being connected to the calibration weight; Figure 3 This is a schematic diagram of the six-dimensional force sensor calibration weight loading and unloading device provided in this application embodiment, in the state of lifting the calibration weight; Figure 4 This is a cross-sectional schematic diagram of the connector and calibration weight provided in the embodiments of this application in the connected state.

[0016] Explanation of reference numerals in the attached figures: 1. Six-dimensional force sensor calibration weight loading and unloading device; 10. Six-dimensional force sensor; 11. Calibration weight; 111. Connector; 1111. Mounting hole; 112. First connecting structure; 1121. Connecting hole; 1122. Locking cap; 1123. Pin; 1124. Spring; 12. Robotic arm; 13. Connecting piece; 131. Second connecting structure; 1311. Fixing rod; 1312. Locking groove; 14. Weight holder; 141. Receiving cavity; 142. Seat body; 1421. Through hole; 143. Locking piece; 15. Adjustment component; 151. Roller; 152. Drive component; 153. Adjustment component; 154. Transmission structure; 16. Support frame; 17. First detection component; 18. Second detection component. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0019] In the following description, the terms “first, second, third, ……” are used only to distinguish similar objects and do not represent a specific ordering of objects. It is understood that “first, second, third, ……” may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0020] It should be understood that the directional descriptions "above", "below", "outside" and "inside" involved in the embodiments of this application refer to the directional descriptions under normal use. The "left" and "right" directions refer to the left and right directions shown in the corresponding schematic diagrams. They can be the left and right directions under normal use or not.

[0021] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0022] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0023] like Figures 1 to 3 As shown in the embodiment of this application, a six-dimensional force sensor calibration weight loading and unloading device 1 is provided. This device automatically loads and unloads calibration weights when calibration testing of the detection performance of a six-dimensional force sensor 10 is required, thereby solving the problems of low loading and unloading efficiency, easy slippage and collision, and poor safety associated with manual loading and unloading of weights. The six-dimensional force sensor calibration weight loading and unloading device 1 includes calibration weights 11, a robotic arm 12, a connector 13, and a weight holder 14. The robotic arm 12 drives the connector 13 to achieve automated loading and separation of the calibration weights 11. Combined with the weight holder 14's precise placement and storage of the calibration weights 11, this ensures the accuracy of each loading and unloading operation by the robotic arm 12, thus replacing manual handling and improving loading and unloading efficiency while ensuring the safety of the six-dimensional force sensor 10 and the calibration weights 11 during the loading and unloading process.

[0024] Specifically, the calibration weight 11 is used to apply the detection force to the six-dimensional force sensor 10 to be tested. Its mass can be selected according to the range required for calibration, such as 0.5kg, 1kg, 2kg, etc. Different specifications can also be used, and different loading forces can be adjusted by stacking multiple standard calibration weights 11. The shape of the calibration weight 11 can be cylindrical, square, or a special shape with a guide structure to facilitate a stable and reliable docking with the connector 13.

[0025] The robotic arm 12 is used to mount the six-dimensional force sensor 10 and can move to adjust the posture of the six-dimensional force sensor 10 during calibration testing. The robotic arm 12 is typically a multi-degree-of-freedom articulated robot, such as a six-axis industrial robot, with a gripper or mounting base at its end for fixing the six-dimensional force sensor 10. The six-dimensional force sensor 10 is fixed on it to achieve position limitation before testing. Through the movement of the robotic arm 12, the six-dimensional force sensor 10 can be precisely moved to the position where it aligns with the calibration weight 11. After the calibration weight 11 is loaded, it drives the calibration weight 11 to move along a preset trajectory and can adjust the posture of the six-dimensional force sensor 10 to simulate the force state in different directions, achieving comprehensive calibration of the six-dimensional force.

[0026] The connector 13 is fixedly connected to the six-dimensional force sensor 10, for example, by means of a threaded connection, flange connection, or snap-fit ​​connection to the force-receiving end of the six-dimensional force sensor 10. The connector 13 is detachably connected to the calibration weight 11. The function of the connector 13 is to transmit the detection force generated by the calibration weight 11 to the six-dimensional force sensor 10 after the calibration weight 11 is connected. The connection between the connector 13 and the calibration weight 11 can be a mechanical hook or plug, or it can be a magnetic suction, pneumatic gripper, or electromagnetic chuck, etc., as long as reliable connection and separation can be achieved, and the gravity of the calibration weight 11 can be accurately transmitted to the six-dimensional force sensor 10 after connection. The mating surfaces of the connector 13 and the calibration weight 11 can be provided with positioning structures, such as conical guides or pin hole fits, to ensure that the relative positions between the two are precisely consistent each time they are mated, thereby ensuring the accurate direction of the applied force.

[0027] The weight holder 14 is provided with a receiving cavity 141, in which the calibration weight 11 is placed. The size and shape of the receiving cavity 141 match the calibration weight 11, which is used to stably store the calibration weight 11 when not in operation, ensuring that the calibration weight 11 is in a stable position and can be accurately docked with the connector 13 when needed. The weight holder 14 is usually fixedly installed on a workbench or a special bracket. The inner wall of its receiving cavity 141 may be provided with a guide slope or a positioning protrusion, so that when the robotic arm 12 drives the connector 13 to dock with the calibration weight 11, the calibration weight 11 can be accurately placed in a predetermined position, or stably pulled out when separated.

[0028] In this embodiment, the robotic arm 12 drives the connector 13 to connect or disconnect from the calibration weight 11. Specifically, during the loading phase, the robotic arm 12 moves its end, which is equipped with the six-dimensional force sensor 10 and the connector 13, above the weight holder 14, aligning the connector 13 with the docking structure on the calibration weight 11 and completing the connection. Subsequently, the robotic arm 12 lifts the connector 13 and the connected calibration weight 11, transferring the gravity of the calibration weight 11 to the six-dimensional force sensor 10 through the connector 13, thus achieving the loading of the detected force. During this process, the robotic arm 12 can also move according to a preset program, changing the spatial orientation of the calibration weight 11 relative to the six-dimensional force sensor 10, thereby generating forces and torques in different directions to achieve multi-directional calibration of the six-dimensional force. During the unloading phase, the robotic arm 12 moves the connector 13 carrying the calibration weight 11 back above the weight holder 14, accurately placing the calibration weight 11 into the receiving cavity 141. Then, the connector 13 is separated from the calibration weight 11, allowing the robotic arm 12 to move away with the six-dimensional force sensor 10, completing one calibration cycle. This automated loading and unloading of the calibration weight 11 avoids the risks of bumps and slippage that may occur during manual handling. The robotic arm 12 docks and separates with precisely controlled speed and a smooth trajectory, without impact or shaking, effectively protecting the six-dimensional force sensor 10 from accidental physical damage and also avoiding the safety hazard of the calibration weight 11 falling and injuring people. Secondly, the entire testing process is automated, requiring no manual intervention, significantly improving loading and unloading efficiency. The loading and unloading time for a single operation can be reduced from tens of seconds or even minutes of manual operation to just a few seconds, and can be repeated continuously, significantly improving the efficiency of calibration testing. Furthermore, automated operation eliminates the uncertainty caused by human factors, ensuring that the position, angle, and speed of each docking remain consistent, thus improving the repeatability of the calibration process and the reliability of the measurement data.

[0029] Specifically, the robotic arm 12, as a component for posture adjustment and motion execution, directly affects the calibration effect due to its control accuracy. In one possible implementation, the robotic arm 12 is a six-axis industrial robot with six degrees of freedom, capable of adjusting the six-dimensional force sensor 10 to any spatial posture. This allows it to simulate multi-posture and complex force conditions in actual work, applying forces and torques in different directions to the six-dimensional force sensor 10. During calibration, the robotic arm 12 can move according to a preset program trajectory, causing the calibration weight 11 on the connector 13 to generate a force vector in a predetermined direction relative to the six-dimensional force sensor 10, achieving one-to-one calibration of the six-dimensional forces. In another possible implementation, the robotic arm 12 can be used in conjunction with a vision system (such as an industrial camera). The industrial camera identifies the precise positions of the calibration weight 11 and the connector 13, guiding the robotic arm 12 to perform high-precision docking, further improving the automation level of loading and unloading.

[0030] In some embodiments, such as Figures 2 to 4As shown, the weight holder 14 includes a base 142 and a locking member 143. A receiving cavity 141 is formed on the base 142, and a rubber shock-absorbing pad can be provided inside the receiving cavity 141 to absorb the impact force on the calibration weight 11. The locking member 143 is disposed adjacent to the base 142, and the locking member 143 can reciprocate to move closer to or further away from the calibration weight 11. When the connecting member 13 is connected to or separated from the calibration weight 11, the locking member 143 extends and abuts against the calibration weight 11 to lock the position of the calibration weight 11; after the loading and unloading operation is completed, the locking member 143 retracts, releasing the lock on the calibration weight 11. This configuration avoids unexpected changes in the position of the calibration weight 11 and eliminates the thrust or vibration interference that the robotic arm 12 may generate on the calibration weight 11 during the docking process. This ensures that the calibration weight 11 maintains a precise positioning posture during the connection or separation process with the connector 13, thereby ensuring the success rate of docking between the connector 13 and the calibration weight 11 and avoiding docking failure or unreliable connection problems caused by the loose position of the calibration weight 11.

[0031] Specifically, the locking element 143 can adopt an electromagnet chuck structure. A magnetic material needs to be placed at the corresponding position of the calibration weight 11. When the electromagnet is energized, the magnetic force generated will attract the calibration weight 11 to the reference surface of the receiving cavity 141, achieving contactless locking. In another possible implementation, the locking element 143 can adopt an elastic clamping structure, such as a spring-driven floating ball or elastic pressure plate on the side wall of the receiving cavity 141. When the weight is placed in, the elastic element automatically clamps it to the reference surface, requiring no additional driving source, resulting in a simple and reliable structure. The number and arrangement of the locking elements 143 can also be optimized according to the shape of the weight. For example, one locking element 143 can be placed on each of the two opposite sides of a rectangular weight to form opposing clamping; or three locking elements 143 can be evenly arranged around the circumference of a circular weight to achieve self-centering locking. Through the design of the locking element 143, the weight holder 14 provides a stable and reliable positioning guarantee for the calibration weight 11 during loading and unloading, forming an efficient, accurate, and safe automated loading and unloading system with the connecting element 13.

[0032] In some embodiments, such as Figure 3 and Figure 4As shown, the locking component 143 is a cylinder connected to the base 142. The base 142 has a through hole 1421 communicating with the receiving cavity 141. The telescopic rod of the cylinder is located in the through hole 1421, and moves closer to or further away from the calibration weight 11 through telescopic movement. By setting the locking component 143 as a cylinder, which uses compressed air as a power source, the cylinder has a fast response speed and sensitive action, which can match the rapid loading and unloading rhythm of the robotic arm 12, avoiding docking waiting caused by locking delay. Moreover, the cylinder drive does not require electricity or lubrication, and will not produce oil or dust pollution, keeping the working area clean. Furthermore, the locking force of the cylinder can be precisely controlled by adjusting the air source pressure, which not only ensures reliable locking of the weight, but also avoids damage to the surface of the weight or positioning deviation caused by excessive locking force. In one possible implementation, the cylinder is a single-acting spring-reset cylinder. Compressed air drives the telescopic rod to extend and lock the weight. When the air supply is interrupted, the spring automatically resets and retracts. This design allows for automatic unlocking in case of an unexpected interruption of the air supply, preventing the calibration weight 11 from getting stuck. In another possible implementation, the cylinder is a double-acting cylinder. The extension and retraction of the telescopic rod are controlled by a solenoid valve, enabling bidirectional controllable movement and meeting the needs of high-frequency loading and unloading scenarios requiring rapid reciprocating motion. Furthermore, a soft pressure head, such as rubber, can be provided at the end of the telescopic rod to increase the contact friction with the calibration weight 11, while also buffering contact impact and preventing indentations on the weight surface. A dustproof sealing ring can be installed between the through hole 1421 and the telescopic rod to prevent external dust from entering the cylinder and extend its service life.

[0033] In some embodiments, such as Figure 1 and Figure 4 As shown, the calibration weight 11 is provided with a first connecting structure 112, and the connector 13 is provided with a second connecting structure 131. The first connecting structure 112 and the second connecting structure 131 are detachably connected. Specifically, the first connecting structure 112 can be a lifting ring or a hanging hole, and the second connecting structure 131 can be a hook or a claw; or the first connecting structure 112 can be a magnetic suction cup, and the second connecting structure 131 can be a magnetically conductive contact surface; quick-connect couplings, threaded connections, or snap-fit ​​connections can also be used to ensure that the first connecting structure 112 and the second connecting structure 131 can be quickly assembled and disassembled.

[0034] like Figure 1 and Figure 4As shown, to further ensure the reliability and controllability of the connection and separation actions, the six-dimensional force sensor calibration weight loading and unloading device 1 also includes an adjustment component 15. The adjustment component 15 is arranged adjacent to the weight holder 14 and can abut against the first connecting structure 112 or the second connecting structure 131 to adjust the mutual locking or unlocking between the first connecting structure 112 and the second connecting structure 131. For example, when the first connecting structure 112 is a hook-type structure, the adjustment component 15 can be a pneumatic push rod or an electromagnet-driven top block. After the robotic arm 12 drives the second connecting structure 131 to dock with the first connecting structure 112, the adjustment component 15 extends and pushes the locking mechanism of the hook to lock it. When separation is required, the adjustment component 15 acts again to open the lock and unlock it. As another example, when a magnetic connection is used, the adjustment component 15 can be a mechanical separation push rod that extends when separation is required to push the calibration weight 11 off the suction cup to help overcome the magnetic force. By setting the adjustment component 15, the robotic arm 12 can be assisted in loading and unloading the calibration weight 11, making the locking and unlocking actions more precise and controllable. This avoids the problem of incomplete docking or separation that may occur due to relying solely on the movement of the robotic arm 12, especially in connection structures that require a large locking force or have self-locking characteristics.

[0035] In one possible implementation, the adjustment component 15 may also be equipped with a position sensor to detect the docking status of the first connecting structure 112 and the second connecting structure 131, and feed the signal back to the control system to ensure the reliability of each loading and unloading operation. The adjustment component 15 may be driven by a cylinder, electric cylinder, or electromagnet, and a flexible pressure head or roller may be provided on the actuator end to reduce impact and wear when in contact with the connecting structure. By setting the adjustment component 15, the connection and separation actions between the calibration weight 11 and the connecting member 13 can be further assisted by control. This, together with the precise positioning of the robotic arm 12 and the stable locking of the locking member 143, constitutes a highly reliable and highly automated six-dimensional force sensor 10 calibration weight 11 loading and unloading system.

[0036] In some embodiments, such as Figure 1 and Figure 4As shown, either the first connecting structure 112 or the second connecting structure 131 includes a fixing rod 1311, and the other of the first connecting structure 112 and the second connecting structure 131 includes a connecting hole 1121 for inserting the fixing rod 1311 and a locking cap 1122 for clamping the fixing rod 1311. For example, the fixing rod 1311 can be provided on the calibration weight 11, and the connecting hole 1121 and the locking cap 1122 can be provided on the connector 13; or conversely, the fixing rod 1311 can be provided on the connector 13, and the connecting hole 1121 and the locking cap 1122 can be provided on the calibration weight 11. The locking cap 1122 is usually a rotating part with an internal thread or a cam clamping structure. When the fixing rod 1311 is inserted into the connecting hole 1121, the locking cap 1122 is rotated to form a threaded engagement with the fixing rod 1311 or to press the fixing rod 1311 with the cam surface, thereby achieving mechanical locking. The adjusting component 15 can abut against the locking cap 1122 to drive the locking cap 1122 to rotate and lock or unlock the fixing rod 1311. For example, the adjusting component 15 may include a rotary drive head (such as a friction wheel driven by a pneumatic or electric motor). When the robotic arm 12 sends the fixing rod 1311 into the connecting hole 1121, the drive head of the adjusting component 15 approaches and presses against the outer periphery of the locking cap 1122, driving the locking cap 1122 to rotate by a predetermined angle through friction or gear meshing, thus locking the fixing rod 1311. When separation is required, the adjusting component 15 rotates the locking cap 1122 in the opposite direction to unlock. The clamping connection of the locking cap 1122 forms a rigid connection, which can reliably transmit the gravity of the calibration weight 11, improving the accuracy of the calibration test. Moreover, the self-locking structure formed by the rotation and locking of the locking cap 1122 ensures that the connection remains even if the air or power supply is unexpectedly interrupted, improving operational safety. Meanwhile, the rotation drive of the adjustment component 15 to the lock cap 1122 enables fully automatic locking and unlocking without manual intervention, improving the efficiency and automation of locking and unlocking operations.

[0037] In one possible implementation, the outer periphery of the locking cap 1122 may be provided with external gears or friction patterns, and the adjusting assembly 15 may be provided with gears or friction wheels that cooperate with them to ensure reliable drive. The locking cap 1122 and the fixing rod 1311 may use trapezoidal or sawtooth threads to ensure both locking force and anti-loosening properties. In another possible implementation, the adjusting assembly 15 may integrate a torque sensor to monitor the locking torque in real time during the locking process. When a preset torque value is reached, rotation automatically stops, ensuring consistency in each connection and avoiding loosening due to insufficient locking force or thread damage due to excessive locking force.

[0038] In some embodiments, such as Figure 1 and Figure 4As shown, the first connecting structure 112 is configured to include a connecting hole 1121 and a locking cap 1122. A connector 111 is provided on the calibration weight 11, and the connector 111 has a connecting hole 1121. The locking cap 1122 is fitted onto the outer periphery of the connector 111, and a threaded structure is provided between them. Simultaneously, the second connecting structure 131 includes a fixing rod 1311. One end of the fixing rod 1311 is fixedly connected to the connector 13, and the other end of the fixing rod 1311 is used to insert into the connecting hole 1121. Specifically, the inner wall of the locking cap 1122 is machined with internal threads, and the outer periphery of the connector 111 is machined with matching external threads, allowing the locking cap 1122 to rotate on the connector 111 and achieve axial movement. When the robotic arm 12 moves the connector 13, the fixed rod 1311 is inserted into the connecting hole 1121 on the calibration weight 11. The adjusting component 15 abuts against the locking cap 1122 and drives the locking cap 1122 to rotate. As the locking cap 1122 is screwed in along the thread, its end face or internal step surface gradually abuts against the positioning surface (such as a step or retaining ring) on ​​the fixed rod 1311, thereby firmly clamping the fixed rod 1311 in the connecting hole 1121 to achieve a locking connection. When separation is required, the adjusting component 15 drives the locking cap 1122 to loosen in the opposite direction, releasing the constraint on the fixed rod 1311, and the fixed rod 1311 can be pulled out from the connecting hole 1121. This locking and unlocking mechanism, achieved through a threaded structure, cleverly utilizes the self-locking property of threads. It is not easily loosened under vibration or accidental impact, ensuring that the calibration weight 11 remains rigidly connected to the connector 13 throughout the movement of the robotic arm 12. This avoids the risk of unstable loading force or the calibration weight 11 falling due to loose connection. Furthermore, by adjusting the component 15 to drive the locking cap 1122 to rotate, fully automatic control of connection and separation is achieved without manual intervention. This works in conjunction with the positioning action of the robotic arm 12, further improving loading and unloading efficiency and operational safety. Moreover, the threaded locking cap 1122 structure has excellent repeatability; after each locking, the relative position height of the fixing rod 1311 and the connecting hole 1121 is consistent, ensuring the directional accuracy of the loading force of the calibration weight 11 and the repeatability of measurement data.

[0039] In one possible implementation, the thread between the locking cap 1122 and the connector 111 is a trapezoidal or rectangular thread, which has higher load-bearing capacity and impact resistance, and is suitable for frequent loading and unloading of calibrating weights 11 with large weights. In another possible implementation, the insertion end of the fixing rod 1311 can be provided with a guide cone surface, which makes it easier for the robotic arm 12 to be smoothly inserted into the connector hole 1121 even when there is a slight positioning deviation, thereby improving the docking fault tolerance rate.

[0040] In some embodiments, such as Figure 1 and Figure 4As shown, the first connecting structure 112 further includes a pin 1123, and the second connecting structure 131 further includes a locking groove 1312. Specifically, the connector 111 of the calibration weight 11 has a mounting hole 1111 that communicates with the connecting hole 1121. The pin 1123 is movably inserted into the mounting hole 1111, and one end of the pin 1123 abuts against the inner wall of the lock cap 1122. The fixing rod 1311 is provided with a locking groove 1312 for the pin 1123 to be inserted and locked. When the adjusting component 15 drives the locking cap 1122 to rotate, the locking cap 1122 moves axially along the thread on the connector 111. Since the inner wall of the locking cap 1122 abuts against the end of the pin 1123, the screwing motion of the locking cap 1122 forces the pin 1123 to move radially along the mounting hole 1111 and gradually insert into the locking groove 1312 on the fixing rod 1311, forming a mechanical interlock, thereby firmly locking the fixing rod 1311 in the connecting hole 1121. When the locking cap 1122 rotates in the opposite direction, the pin 1123 automatically exits the locking groove 1312 under the action of the corresponding mechanism (such as a spring), and the lock is released. This secondary locking mechanism, achieved through the pin 1123 and the locking groove 1312, provides double protection in conjunction with the threaded locking cap 1122. The threaded locking cap 1122 provides axial clamping force, while the pin 1123 provides radial shear resistance. Together, they ensure that the fixed rod 1311 will not loosen or rotate relative to the ground even when subjected to large tensile and torsional forces. This is particularly suitable for situations where the robotic arm 12 generates inertial forces during rapid movement or posture changes, greatly improving the reliability and safety of the connection.

[0041] Specifically, to achieve automatic disengagement of the latch 1123 during unlocking, such as Figure 4 As shown, a spring 1124 can be installed inside the mounting hole 1111. The spring 1124 can be sleeved on the end of the pin 1123 that is inserted into the locking groove 1312, generating a driving force to push the pin 1123 away from the locking groove 1312. The end of the pin 1123 that abuts against the lock cap 1122 is spherical, with a portion protruding outside the mounting hole 1111. The protruding length must ensure that the pin 1123 can be inserted into the locking groove 1312 during the locking operation. In this way, when the lock cap 1122 is loosened, the pin 1123 loses the pressure constraint of the inner wall of the lock cap 1122 and automatically exits from the locking groove 1312 under the elastic force of the spring 1124, achieving quick unlocking. This method of reset via the spring 1124 has a simple and reliable structure and good response sensitivity.

[0042] As another possible implementation, the mounting hole 1111 can be set as a downward-facing inclined hole, with its axis forming a certain angle (e.g., 15 to 30 degrees) with the axis of the connecting hole 1121. Under the action of gravity, the pin 1123 will naturally tend to slide down to the bottom of the mounting hole 1111. When the lock cap 1122 is tightened, the inner wall of the lock cap 1122 overcomes gravity and pushes the pin 1123 into the locking groove 1312; when the lock cap 1122 is loosened, the pin 1123 automatically slides out of the locking groove 1312 under the action of gravity. This gravity-based reset eliminates the need for additional elastic elements, resulting in a simpler structure and avoiding the risk of fatigue failure of the spring 1124.

[0043] Specifically, a tapered mating surface design can be adopted between the connector 111 and the locking cap 1122. That is, an outer tapered surface is provided on the outer periphery of the connector 111, and a matching inner tapered surface is provided on the inner wall of the locking cap 1122. When the locking cap 1122 rotates, the radial component force generated by the tapered mating surface pushes the pin 1123 synchronously and evenly into the locking groove 1312, ensuring that the pin 1123 is inserted in place. The tapered mating surface also has a self-centering function, which can automatically compensate for machining errors, so that the locking cap 1122 and the connector 111 always remain coaxial, avoiding the pin 1123 from getting stuck due to eccentricity.

[0044] Multiple locking slots 1312 can be provided, such as two or more spaced apart along the length of the end into which the fixing rod 1311 is inserted. The pins 1123 can also be symmetrically arranged, for example, one pin 1123 on each radially opposite side of the connector 111, with corresponding mounting holes 1111. This allows each locking slot 1312 to be locked at least on both sides by the symmetrically arranged pins 1123, meaning two pins 1123 are inserted into the same locking slot 1312 from opposite directions, forming opposing clamping, making the locking of the fixing rod 1311 more stable and the force more even. This symmetrical multi-pin 1123 design evenly distributes the radial load of the fixing rod 1311, avoiding the possible skewing or stress concentration caused by unilateral force application, and effectively preventing unilateral wobbling of the calibration weight 11 during multi-posture movements of the robotic arm 12. Of course, it is understandable that the locking groove 1312 can also be set as a circle around the circumference of the fixing rod 1311, and the pins 1123 are evenly distributed in the circumference. When locking, multiple pins 1123 are inserted into the same locking groove 1312 to achieve joint locking, which improves the reliability of locking and meets the reliable locking requirements of the heavy calibration weight 11.

[0045] In some embodiments, such as Figure 1 and Figure 3As shown, the adjustment assembly 15 includes a roller 151, a drive member 152, and an adjusting member 153. The roller 151 is connected to the locking cap 1122 to drive the locking cap 1122 to rotate. The drive member 152 is connected to the roller 151 and provides power for the rotation of the roller 151, for example, using a micro motor or pneumatic motor. The adjusting member 153 drives the roller 151 to reciprocate between approaching and moving away from the locking cap 1122. The drive member 152 is mounted on the adjusting member 153, allowing the roller 151 to move and contact the locking cap 1122 when needed, and to retract after driving, avoiding interference with other actions. A transmission structure 154 is provided on the roller 151 or between the roller 151 and the locking cap 1122 to ensure reliable power transmission.

[0046] As one possible implementation, the transmission structure 154 is a rubber coating layer, such as polyurethane or silicone, disposed on the outer periphery of the roller 151, which utilizes its high coefficient of friction to form a frictional transmission with the outer surface of the lock cap 1122. Moreover, this frictional transmission structure 154 has a buffering effect, which can absorb minor impacts and vibrations, and has a low risk of scratching the surface of the lock cap 1122, reducing the possibility of damage to the lock cap 1122.

[0047] As another possible implementation, the transmission structure 154 is a cooperating gear structure, that is, a driving gear is set on the outer periphery of the roller 151, and a driven gear or gear ring is set on the outer periphery of the lock cap 1122, which meshes with it. Precise angular displacement is achieved through gear meshing. Gear transmission has the advantages of precise transmission ratio, no slippage, and the ability to transmit large torque, and is suitable for occasions that require precise control of the rotation angle of the lock cap 1122. The adjusting component 153 can be driven by a cylinder, electric cylinder, or electromagnet. For example, when the lock cap 1122 needs to be driven, the adjusting component 153 extends so that the roller 151 abuts against the surface of the lock cap 1122, and the driving component 152 starts to drive the roller 151 to rotate, thereby driving the lock cap 1122 to rotate; after locking or unlocking is completed, the adjusting component 153 retracts to separate the roller 151 from the lock cap 1122, making room for the movement of the robotic arm 12. This method of using a movable adjustment component 15 to drive the locking cap 1122 not only avoids interference when loading and unloading the calibration weight 11 on the robotic arm 12, but also allows the flexible contact or gear meshing between the roller 151 and the locking cap 1122 to adapt to certain positional deviations, reducing the positional accuracy requirements of related components, improving the system's fault tolerance, and making it easy to use.

[0048] In some embodiments, such as Figures 1 to 3As shown, to achieve accurate monitoring of the locking and unlocking states of the lock cap 1122 and ensure the controllability and reliability of the loading and unloading process, the six-dimensional force sensor calibration weight loading and unloading device 1 also includes a support frame 16, a first detection component 17, and a second detection component 18. The support frame 16 is mounted adjacent to the lock cap 1122 on the weight base 14, providing a stable mounting foundation for the support frame 16. The first detection component 17 is mounted on the support frame 16 and is used to detect the position of the lock cap 1122 in the locked state. For example, when the lock cap 1122 rotates to the locked position, the first detection component 17 is triggered, sending a locked-in signal. The second detection component 18 is mounted on the support frame 16 and located above the first detection component 17, and is used to detect the position of the lock cap 1122 in the unlocked state. For example, when the lock cap 1122 rotates in the opposite direction to the fully released position, the second detection component 18 is triggered, sending an unlocked-in signal. In this way, through the combined action of the first detection component 17 and the second detection component 18, precise sensing of the extreme positions at both ends of the rotational stroke of the locking cap 1122 is achieved, providing reliable status feedback for the control system. When the robotic arm 12 completes docking and the adjusting component 15 drives the locking cap 1122 to rotate, the control system monitors the signal of the first detection component 17 in real time to ensure that the locking cap 1122 is locked in place before proceeding to the next loading action. When separation is required, the signal of the second detection component 18 is also monitored to confirm that the unlocking is in place before the robotic arm 12 can be withdrawn. This avoids the risk of the calibration weight 11 falling off during loading due to inadequate locking, or the risk of the robotic arm 12 being forcibly withdrawn due to inadequate unlocking, causing damage to the connecting part 13 or the calibration weight 11, significantly improving the safety and reliability of the loading and unloading process.

[0049] Specifically, the configuration of the two detection components can be selected based on detection accuracy and environmental requirements. As one possible implementation, the first detection component 17 and the second detection component 18 employ proximity switches, such as inductive or capacitive proximity sensors. When the detection bump or sensing plate on the lock cap 1122 moves to the sensor's sensing area, the sensor outputs a switching signal. Proximity switches offer advantages such as non-contact operation, fast response, and long lifespan, making them suitable for automated equipment with frequent operations. As another possible implementation, the two detection components can employ photoelectric sensors, detecting the detection marks on the lock cap 1122 through photoelectric beam transmission or reflection, offering advantages such as long detection distance and high accuracy. Of course, it is understandable that the two detection components can also employ Hall effect sensors, in conjunction with a magnet on the lock cap 1122, to achieve non-contact position detection, which can also reliably detect the movement position of the lock cap 1122.

[0050] The installation height of the two detection components can be adjusted according to the stroke of the locking cap 1122 to accommodate the different locking positions of calibration weights 11 of different specifications. The support frame 16 can be integrally formed with the weight holder 14, or it can be machined separately and fixed with screws. Its structure can be L-shaped or gate-shaped to provide suitable installation positions for the two detection components. Through this dual-detection component position feedback design and the precise drive of the adjustment component 15, the automatic loading and unloading of the calibration weights 11 is reliably realized.

[0051] This application embodiment also provides a method for loading and unloading calibration weights, used in the operation of the six-dimensional force sensor calibration weight loading and unloading device 1 in any of the above embodiments. The six-dimensional force sensor calibration weight loading and unloading device 1 includes a calibration weight 11, a robotic arm 12, a connector 13, a weight holder 14, an adjustment assembly 15, a support frame 16, a first detection assembly 17, and a second detection assembly 18. The calibration weight 11 is provided with a connector 111, which has a connection hole 1121 and a mounting hole 1111. A pin 1123 is provided in the mounting hole 1111, and a locking cap 1122 is connected to the outside of the connector 111 via a threaded structure. The robotic arm 12 is used for mounting the six-dimensional force sensor 10 and for adjusting the orientation of the six-dimensional force sensor 10 for calibration detection. The connector 13 is provided with a fixing rod 1311, which has a locking groove 1312. The weight holder 14 includes a base 142 and a locking member 143. The base 142 has a receiving cavity 141, in which the calibration weight 11 is placed. The locking member 143 is adjacent to the base 142 and can reciprocate to move closer to or further away from the calibration weight 11. The adjustment assembly 15 includes a roller 151, a drive member 152, and an adjustment member 153. The roller 151 is connected to the drive member 152, and the drive member 152 is mounted on the adjustment member 153. A support frame 16 is mounted adjacent to the locking cap 1122 on the weight holder 14. A first detection assembly 17 is mounted on the support frame 16 and is used to detect the position of the locking cap 1122 in the locked state. A second detection assembly 18 is mounted on the support frame 16 and located above the first detection assembly 17; the second detection assembly 18 is used to detect the position of the locking cap 1122 in the unlocked state. Specifically, the calibration weight loading and unloading method includes loading and unloading steps. Through the coordinated action of the robotic arm 12, locking component 143, adjustment component 15 and detection component, the fully automatic loading, unloading and locking of the calibration weight 11 is realized.

[0052] The loading steps include: mounting the six-dimensional force sensor 10 to be tested on the robotic arm 12, and fixing the connector 13 to the six-dimensional force sensor 10; moving the robotic arm 12 so that the fixing rod 1311 is precisely aligned with the connection hole 1121 on the connector 111 of the calibration weight 11; then moving the robotic arm 12 toward the calibration weight 11, inserting the fixing rod 1311 into the connection hole 1121, and aligning the locking groove 1312 on the fixing rod 1311 with the pin 1123 in the mounting hole 1111. At this time, the locking component 143 is activated, causing the locking component 143 to extend and abut against the calibration weight 11, firmly fixing the calibration weight 11 in the receiving cavity 141 of the weight holder 14, preventing the calibration weight 11 from shifting during subsequent locking operations. Next, the adjusting component 153 is activated, driving the roller 151 to approach and abut against the locking cap 1122. Then, the driving component 152 is activated, driving the roller 151 to rotate and causing the locking cap 1122 to rotate. During rotation, the locking cap 1122 moves axially along the thread of the connector 111, its inner wall gradually pressing against the pin 1123, pushing the pin 1123 into the locking groove 1312 of the fixing rod 1311, thus achieving mechanical interlocking between the fixing rod 1311 and the calibration weight 11. When the locking cap 1122 rotates to the locked position, the first detection component 17 detects the locking cap 1122's positioning signal. The control system then controls the driving component 152 to stop operating and controls the adjusting component 153 to move in the opposite direction, separating the roller 151 from the locking cap 1122. Then, the locking component 143 is activated again, separating the locking component 143 from the calibration weight 11, releasing the position lock on the calibration weight 11. The robotic arm 12 moves again, removing the calibration weight 11 from the receiving cavity 141 and moving it along a preset path to enter the calibration and testing process. Throughout the loading process, the locking component 143 fixes the calibration weight 11 before the locking operation and releases it after locking, ensuring the stability of the locking action and the smooth removal of the calibration weight 11.

[0053] During the disassembly process, after the calibration and testing procedures are completed, the robotic arm 12 moves to place the calibration weight 11 back into the receiving cavity 141 of the weight holder 14. The locking component 143 is activated, bringing it into contact with the calibration weight 11 and fixing its position again. The adjusting component 153 is activated, driving the roller 151 to approach and contact the locking cap 1122. The driving component 152 is activated, driving the roller 151 to rotate in the opposite direction, causing the locking cap 1122 to rotate in the opposite direction. During the reverse rotation of the locking cap 1122, its inner wall gradually releases the pressure on the pin 1123. Under the elastic force of the spring 1124 or gravity, the pin 1123 automatically exits from the locking groove 1312, and the fixing rod 1311 is unlocked from the calibration weight 11. When the locking cap 1122 is reversed to the unlocked position, the second detection component 18 detects the unlock signal, the control system controls the drive component 152 to stop, and the adjusting component 153 moves in the opposite direction to separate the roller 151 from the locking cap 1122. Finally, the robotic arm 12 moves again to smoothly pull the fixing rod 1311 out of the connecting hole 1121, completing the disassembly of the calibration weight 11.

[0054] During the loading and unloading of the calibration weight 11, the first detection component 17 and the second detection component 18 accurately sense the extreme positions of both ends of the locking cap 1122, and the locking component 143 assists in fixing during the loading and unloading process. This method realizes closed-loop control of the entire process from loading to unloading, ensuring the reliability of each docking and locking, the smoothness of unlocking and separation, and the absolute stability of the weight during the operation. It completely avoids the risks of bumps, slippage, or incomplete locking caused by improper human operation, and significantly improves the automation level, work efficiency, and safety of the calibration and detection of the six-dimensional force sensor 10.

[0055] In some embodiments, during the loading step, the locking member 143 can be controlled to fix the position of the calibration weight 11 first, and then the robotic arm 12 can be controlled to move so that the fixing rod 1311 is aligned with the connecting hole 1121, and then the subsequent loading steps can be performed. During the disassembly step, after the fixing rod 1311 is pulled out of the connecting hole 1121 and the calibration weight 11 is disassembled, the locking member 143 can be activated to separate the locking member 143 from the calibration weight 11, releasing the position lock on the calibration weight 11, so that subsequent related operations can be performed on the calibration weight 11.

[0056] The calibration weight loading and unloading method provided in this embodiment of the application automatically completes all actions such as grasping, docking, locking, releasing, and returning the calibration weight 11 to its original position. No manual contact with the calibration weight 11 or any manual twisting or handling is required, greatly reducing the operational threshold and labor intensity. Furthermore, through the precise positioning of the robotic arm 12, the simultaneous activation of the locking component 143 and the adjusting component 15, the real-time status feedback of the first detection component 17 and the second detection component 18, and the synchronized actions of threaded locking and pin 1123 locking, the entire loading and unloading process is compact, smooth, and seamlessly connected, completely eliminating the waiting, adjustment, and repetitive action time in manual operation, and significantly improving the overall operational efficiency of calibration testing. Furthermore, the robotic arm 12 replaces manual handling, achieving physical isolation between the operator and the calibration weight 11, completely avoiding the risk of the calibration weight 11 slipping and injuring or bumping into people; the locking component 143 locks the position of the calibration weight 11 during loading and unloading, preventing accidental displacement during operation; the double mechanical locking formed by the locking cap 1122 and the pin 1123 ensures that the calibration weight 11 is always rigidly connected to the six-dimensional force sensor 10 during the movement of the robotic arm 12, and will not loosen or fall; the first detection component 17 and the second detection component 18 accurately sense the extreme positions at both ends of the locking cap 1122, preventing equipment damage caused by incomplete locking or unlocking. This multi-layered safety protection reduces the risk of loading and unloading the calibration weight 11, and effectively protects the safety of personnel, equipment, and the six-dimensional force sensor 10.

[0057] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A six-dimensional force sensor calibration weight loading and unloading device, characterized in that, include: Calibration weights are used to apply the detection force to the six-dimensional force sensor to be tested; A robotic arm is used to mount the six-dimensional force sensor and to move and adjust the posture of the six-dimensional force sensor for calibration and detection. A connector is attached to the six-dimensional force sensor. The connector is detachably connected to the calibration weight. The connector is used to transmit the detection force generated by the calibration weight to the six-dimensional force sensor. The weight holder is provided with a receiving cavity, and the calibration weight is placed in the receiving cavity; The calibration weight is provided with a first connecting structure, and the connector is provided with a second connecting structure, wherein the first connecting structure and the second connecting structure are detachably connected; The six-dimensional force sensor calibration weight loading and unloading device further includes an adjustment component. The adjustment component is arranged adjacent to the weight seat and can abut against the first connecting structure or the second connecting structure to adjust the mutual locking or unlocking between the first connecting structure and the second connecting structure. Either the first connecting structure or the second connecting structure includes a fixing rod, and the other of the first connecting structure and the second connecting structure includes a connecting hole for inserting the fixing rod and a locking cap for clamping the fixing rod; wherein, the adjusting component can abut against the locking cap to drive the locking cap to rotate and lock or unlock the fixing rod; The robotic arm drives the connector to connect or disconnect from the calibration weight.

2. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 1, characterized in that, The weight holder includes: The seat body, wherein the receiving cavity is formed on the seat body; A locking element is provided adjacent to the base body. The locking element can reciprocate to extend and retract to move closer to or further away from the calibration weight. When the connector is connected to or separated from the calibration weight, the locking member abuts against the calibration weight to lock the position of the calibration weight.

3. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 2, characterized in that, The locking component is a cylinder and is connected to the base. The base has a through hole that communicates with the receiving cavity. The telescopic rod of the cylinder is disposed in the through hole so as to approach or move away from the calibration weight.

4. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 1, characterized in that, The first connection structure includes the connection hole and the locking cap. The calibration weight is provided with a connector, the connector has the connection hole, and the locking cap is sleeved on the outer periphery of the connector, with a threaded structure between them; and / or, The second connection structure includes the fixing rod, one end of which is fixedly connected to the connector, and the other end of which is used to be inserted into the connection hole.

5. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 4, characterized in that, The first connection structure further includes a pin, and the connector head has a mounting hole that communicates with the connection hole. The pin is movably inserted into the mounting hole, and one end of the pin abuts against the inner wall of the lock cap. The second connection structure further includes a locking groove, which is disposed on the fixing rod and is used for the insertion and locking of the pin.

6. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 1, characterized in that, The adjustment component includes: A roller can be connected to the lock cap to drive the lock cap to rotate; A driving component, connected to the roller, is used to drive the roller to rotate; An adjusting component is used to drive the roller to reciprocate between approaching and abutting against the locking cap and moving away from it; the driving component is mounted on the adjusting component. A transmission structure is provided on the roller or between the roller and the lock cap.

7. The six-dimensional force sensor calibration weight loading and unloading device as described in claim 1, characterized in that, The six-dimensional force sensor calibration weight loading and unloading device also includes: The support frame is mounted adjacent to the locking cap on the weight holder; A first detection component is installed on the support frame, and the first detection component is used to detect the position of the lock cap in the locked state; The second detection component is mounted on the support frame and located above the first detection component. The second detection component is used to detect the position of the lock cap in the unlocked state.

8. A method for loading and unloading calibration weights, used in the operation of a six-dimensional force sensor calibration weight loading and unloading device, characterized in that, The six-dimensional force sensor calibration weight loading and unloading device includes: The calibration weight has a connector, which has a connection hole and a mounting hole. A pin is installed in the mounting hole, and a locking cap is connected to the outside of the connector by a threaded structure. A robotic arm is used to mount the six-dimensional force sensor and to move and adjust the posture of the six-dimensional force sensor for calibration and detection. A connector, wherein a fixing rod is provided on the connector and a locking groove is provided on the fixing rod; A weight holder includes a base body and a locking member. The base body has a receiving cavity, and the calibration weight is placed in the receiving cavity. The locking member is disposed adjacent to the base body and can reciprocate to extend and retract, so as to move closer to or further away from the calibration weight. An adjustment assembly includes a roller, a drive component, and an adjustment component, wherein the roller is connected to the drive component, and the drive component is mounted on the adjustment component; The support frame is mounted adjacent to the locking cap on the weight holder; A first detection component is installed on the support frame, and the first detection component is used to detect the position of the lock cap in the locked state; The second detection component is mounted on the support frame and located above the first detection component. The second detection component is used to detect the position of the lock cap in the unlocked state. The calibration weight loading and unloading method includes a loading step and a disassembly step; wherein, the loading step includes: The six-dimensional force sensor to be tested is mounted on the robotic arm, and the connector is connected to the six-dimensional force sensor. The robotic arm moves to align the fixed rod with the connecting hole; The robotic arm moves toward the calibration weight, causing the fixing rod to be inserted into the connecting hole and the locking groove to be aligned with the pin. Activate the locking device to make it abut against the calibration weight, thereby fixing the position of the calibration weight; The adjusting component is activated, causing the roller to move closer to the locking cap and abut against it; The drive unit is activated, which drives the roller to rotate and causes the lock cap to rotate. During the rotation of the lock cap, the pin is pushed into the locking groove, connecting and locking the fixing rod with the calibration weight. At the same time, after the first detection component detects that the lock cap has moved into place, the drive unit is controlled to stop, and the adjusting component is controlled to move in the opposite direction, so that the roller is separated from the lock cap. Reactivate the locking mechanism to separate it from the calibration weight and release the position lock on the calibration weight; The robotic arm moves again to remove the calibration weight from the receiving cavity and moves the calibration weight along a preset path to enter the calibration and testing process. The disassembly steps include: After the calibration and testing process is completed, the robotic arm moves to place the calibration weight into the receiving cavity; Activate the locking device to make it abut against the calibration weight, thereby fixing the position of the calibration weight; The adjusting component is activated, causing the roller to move closer to the locking cap and abut against it; The drive unit is activated, causing the roller to reverse and the lock cap to rotate in the opposite direction. During the reverse rotation of the lock cap, the force resisting the pin is released, causing the pin to exit from the locking groove. The fixing rod and the calibration weight are unlocked. At the same time, after the second detection component detects that the lock cap has reversed to the correct position, the drive unit is controlled to stop, and the adjusting component is controlled to move in the opposite direction, so that the roller separates from the lock cap. The robotic arm moves again to pull the fixing rod out of the connection hole, completing the disassembly of the calibration weight.

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