Multi-dimensional force sensing sensor detection device

Abstract

The application discloses a multi-dimensional force perception sensor detection device, which comprises a cabinet, one side of the top end of the cabinet is connected with a cross frame through a lifting mechanism, the top end of the cross frame is connected with a ring through a Z-axis rotating mechanism, and the inside of the ring is provided with an XY-axis adjusting mechanism; the XY-axis adjusting mechanism comprises two arc-shaped track penetrating grooves which are penetratingly connected with the ring, the two arc-shaped track penetrating grooves are arranged at the bottom ends of two moving frames, and the two moving frames are both provided with a strip-shaped groove on one side; the multi-dimensional force perception sensor detection device is characterized in that the device adopts a structure design of double loaders which are synchronously rotated and cross moved on the annular track, precise loading and detection of six components of a six-dimensional force sensor, namely Fx, Fy, Fz, Mx, My and Mz, are realized, compared with a structure of a traditional multi-loader which is dispersedly arranged, the scheme significantly simplifies the system complexity and improves the space utilization.

Description

Technical Field

[0001] This invention relates to a sensing sensor detection device, and more particularly to a multi-dimensional force sensing sensor detection device. Background Technology

[0002] A multidimensional force sensor testing device is a specialized instrument for calibrating and evaluating the performance of six-dimensional force / torque sensors. This device can apply forces (Fx, Fy, Fz) in the X, Y, and Z directions, as well as torques (Mx, My, Mz) about the X, Y, and Z axes, individually or in combination. By precisely controlling the movement and output of the loader, it can detect key performance parameters of the sensor, such as range, sensitivity, linearity, repeatability, zero-point drift, and coupling error. The device typically consists of a mechanical loading system, a standard force sensor, a data acquisition system, a control system, and a software interface. It is widely used in the research, development, quality inspection, and metrological calibration of multidimensional force sensors in fields such as robotics, aerospace, and automation. Traditional testing devices typically have a separate loader for each force / torque component, with each loader distributed at different locations on the testing platform. This results in a complex and bulky overall structure, which is not conducive to installation and maintenance. Furthermore, when applying torque in the Mx, My, and Mz directions, traditional devices rely on two oppositely positioned loaders to achieve symmetrical loading. However, due to mechanical layout limitations and installation errors, it is often difficult to ensure loading symmetry, which affects the accuracy of pure torque loading.

[0003] It should be noted that the above content falls within the inventor's technical knowledge and does not necessarily constitute prior art. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a multidimensional force sensing sensor detection device.

[0005] To achieve the above objectives, the present invention proposes a multi-dimensional force sensing sensor detection device, including a cabinet: One side of the top of the cabinet is connected to the horizontal frame via a lifting mechanism, and the top of the horizontal frame is connected to the ring via a Z-axis rotation mechanism. The ring is equipped with an XY-axis adjustment mechanism inside. The XY axis adjustment mechanism includes two arc-shaped track slots that intersect with the ring. The two arc-shaped track slots are opened at the bottom of the two moving frames. Each of the two moving frames has a strip-shaped slot on one side. The top and bottom of the inner walls of the two strip-shaped slots are rotatably connected to the two ends of the corresponding first gears. Both first gears mesh with an annular internal rack. The annular internal rack is fixedly installed on the inner wall of the ring. Each of the two moving frames has a first servo motor fixedly installed on one side of the bottom end. The output ends of the two first servo motors are fixedly connected to the bottom ends of the first gears. Each of the two moving frames has a force torque switching mechanism fixedly installed at the top end.

[0006] In one example, the lifting mechanism includes two sliding rods fixedly mounted on the other side of the top of the cabinet. The two sliding rods are interlocked with a crossbar. The bottom end of the crossbar is fixedly connected to the telescopic end of a first electric telescopic rod, which is fixedly mounted inside the cabinet.

[0007] In one example, the Z-axis rotation mechanism includes an L-shaped fixed frame fixedly disposed at the middle position on one side of the crossbeam. A second servo motor is fixedly disposed at the top of the L-shaped fixed frame. The output end of the second servo motor is fixedly connected to one end of a second gear. The second gear meshes with a third gear. A connecting shaft is fixedly disposed at one end of the third gear. One end of the connecting shaft passes through the L-shaped fixed frame and is fixedly connected to one end of the side frame. The side frame is fixedly disposed on one side of the bottom end of the ring.

[0008] In one example, the force-torque switching mechanism includes two shaft seats fixedly and symmetrically arranged at the top of the movable frame. The two sides of the inner walls of the two shaft seats are rotatably connected to the two ends of the lead screw. The lead screw is threadedly connected to the movable frame. The bottom end of the movable frame is slidably connected to the middle position of the top of the movable frame. A loader is fixedly provided at the top of the movable frame, and a front detection head is fixedly provided at one end of the loader.

[0009] In one example, a third servo motor is fixedly mounted on one end of one of the bearings, and the output end of the third servo motor is fixedly connected to one end of the lead screw.

[0010] In one example, a sensor limiting and fixing mechanism is provided on one side of the cabinet. The sensor limiting and fixing mechanism includes a Z-shaped extension frame fixedly installed on one side of the cabinet. One end of the Z-shaped extension frame is fixedly connected to one side of the top frame. Four sets of slide rails are evenly distributed on the top of the top frame. U-shaped slide frames are slidably installed on each of the four sets of slide rails. L-shaped support frames are fixedly installed on the top of each of the four U-shaped slide frames. A slot is opened on one side of each of the four L-shaped support frames. The two sides of the inner walls of the four slots are rotatably connected to the top of the two sides of the connecting plates. The bottom ends of the two sides of the four connecting plates are connected to the corresponding U-shaped support frames. The four U-shaped support frames are evenly distributed and fixedly installed on the top of the base frame. An electric cylinder is fixedly installed at the middle position of the bottom end of the top frame. The telescopic end of the electric cylinder is at the middle position of the top of the base frame.

[0011] In one example, each of the four L-shaped support frames is fixedly equipped with an L-shaped clamping frame at its top, and each of the four L-shaped clamping frames has a circular slot on one side, the size of which matches the size of the front detection head.

[0012] In one example, the inner walls of all four L-shaped clamps are fixedly equipped with rubber cushioning pads.

[0013] In one example, the outer wall of the ring and the top of one side of each of the two movable frames are provided with scales.

[0014] In one example, a switch panel is fixedly installed on the side wall of the cabinet. The surface of the switch panel is respectively fixed with a first servo motor switch, a second servo motor switch, a third servo motor switch, a first electric telescopic rod switch, an electric cylinder switch, and a loader switch. The first servo motor, the second servo motor, the third servo motor, the first electric telescopic rod, the electric cylinder, and the loader are electrically connected to an external power supply through the first servo motor switch, the second servo motor switch, the first electric telescopic rod switch, the electric cylinder switch, and the loader switch, respectively.

[0015] The multi-dimensional force sensing sensor detection device proposed in this invention can bring the following beneficial effects: This device employs a structure design with two loaders rotating synchronously and moving crosswise on a circular track. This enables precise loading and detection of the six components (Fx, Fy, Fz and Mx, My, Mz) of a six-dimensional force sensor. Compared to the traditional structure with multiple loaders distributed in a dispersed manner, this scheme significantly simplifies system complexity and improves space utilization. By loading the two loaders in opposite directions at symmetrical positions, force loading in the X, Y, and Z directions can be achieved. Furthermore, by adjusting the symmetrical distance between the loaders and the central scale, pure torque in the Mx, My, and Mz directions can be generated, effectively improving loading accuracy and repeatability. The circular track, combined with an internal gear drive mechanism, allows for angle switching in 90° units. This design is convenient to operate, provides accurate positioning, and facilitates rapid switching between multi-directional detection. The system uses servo motors and precision lead screws for control, exhibiting excellent position control capabilities and automation potential. It also boasts advantages such as high precision, visualization, and modularity. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the force-torque switching mechanism of the present invention; Figure 3 This is a schematic diagram of the XY axis adjustment mechanism of the present invention; Figure 4 This is a schematic diagram of the Z-axis rotation mechanism of the present invention; Figure 5 This is a schematic diagram of the sensor limiting and fixing mechanism of the present invention; Figure 6 This is a schematic diagram of the top frame structure of the present invention; Figure 7 This is a schematic diagram of the connection structure of the connecting plate and the U-shaped support frame of the present invention.

[0017] In the diagram: 1. Cabinet; 2. Lifting mechanism; 201. Sliding rod; 202. First electric telescopic rod; 3. Crossbar; 4. Z-axis rotation mechanism; 401. L-shaped fixed frame; 402. Second servo motor; 403. Second gear; 404. Third gear; 405. Base frame; 5. Ring; 6. XY-axis adjustment mechanism; 601. Arc-shaped track slot; 602. Moving frame; 603. Strip slot; 604. First gear; 605. Annular internal rack; 606. First servo motor; 7. Force and torque switching mechanism; 701. Shaft seat; 702. Lead screw; 703. Moving frame; 704. Loader; 705. Front detection head; 706. Second servo motor; 8. Sensor limiting and fixing mechanism; 801. Z-shaped extension frame; 802. Top frame; 803. Slide rail; 804. U-shaped sliding frame; 805. L-shaped support frame; 806. Slot; 807. Connecting plate; 808. U-shaped support frame; 809. Base frame; 810. Electric cylinder; 811. L-shaped clamping frame; 812. Circular hole slot; 813. Rubber buffer pad. Detailed Implementation

[0018] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0019] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] like Figures 1 to 7 As shown, an embodiment of the present invention proposes a multi-dimensional force sensing sensor detection device, including a cabinet 1: One side of the top of the cabinet 1 is connected to the cross frame 3 via a lifting mechanism 2. The top of the cross frame 3 is connected to the ring 5 via a Z-axis rotation mechanism 4. An XY-axis adjustment mechanism 6 is provided inside the ring 5. The XY axis adjustment mechanism 6 includes two arc-shaped track grooves 601 that are intersected and connected to the ring 5. The two arc-shaped track grooves 601 are opened at the bottom ends of the two moving frames 602. Each of the two moving frames 602 has a strip-shaped slot 603 on one side. The top and bottom ends of the inner walls of the two strip-shaped slots 603 are rotatably connected to the two ends of the corresponding first gears 604. Both first gears 604 mesh with an annular internal rack 605. The annular internal rack 605 is fixedly installed on the inner wall of the ring 5. Each of the two moving frames 602 has a first servo motor 606 fixedly installed on one side of the bottom end. The output ends of the two first servo motors 606 are fixedly connected to the bottom ends of the first gears 604. Each of the two moving frames 602 has a force torque switching mechanism 7 fixedly installed at the top end.

[0024] Specifically, the lifting mechanism 2 includes two sliding rods 201 fixedly installed on the other side of the top of the cabinet 1. The two sliding rods 201 are interlocked with the crossbar 3. The bottom end of the crossbar 3 is fixedly connected to the telescopic end of the first electric telescopic rod 202. The first electric telescopic rod 202 is fixedly installed inside the cabinet 1.

[0025] Specifically, the Z-axis rotation mechanism 4 includes an L-shaped fixed frame 401 fixedly disposed at the middle position on one side of the cross frame 3. A second servo motor 402 is fixedly disposed at the top of the L-shaped fixed frame 401. The output end of the second servo motor 402 is fixedly connected to one end of a second gear 403. The second gear 403 meshes with a third gear 404. A connecting shaft is fixedly disposed at one end of the third gear 404. One end of the connecting shaft passes through the L-shaped fixed frame 401 and is fixedly connected to one end of a side frame 405. The side frame 405 is fixedly disposed on one side of the bottom end of the ring 5.

[0026] Specifically, the force-torque switching mechanism 7 includes two bearing seats 701 symmetrically arranged at the top of the movable frame 602. The two sides of the inner wall of the two bearing seats 701 are rotatably connected to the two ends of the lead screw 702. The lead screw 702 is threadedly connected to the movable frame 703. The bottom end of the movable frame 703 is slidably connected to the middle position of the top of the movable frame 602. The top end of the movable frame 703 is fixedly provided with a loader 704. One end of the loader 704 is fixedly provided with a front detection head 705.

[0027] Specifically, one end of one of the bearing seats 701 is fixedly provided with a third servo motor 706, and the output end of the third servo motor 706 is fixedly connected to one end of the lead screw 702.

[0028] Specifically, a sensor limiting and fixing mechanism 8 is provided on one side of the cabinet 1. The sensor limiting and fixing mechanism 8 includes a Z-shaped extension frame 801 fixedly installed on one side of the cabinet 1. One end of the Z-shaped extension frame 801 is fixedly connected to one side of the top frame 802. Four sets of slide rails 803 are evenly distributed on the top of the top frame 802. U-shaped sliding frames 804 are slidably mounted on each of the four sets of slide rails 803. L-shaped support frames 804 are fixedly mounted on the top of each of the four U-shaped sliding frames 804. 5. A slot 806 is provided on one side of each of the four L-shaped support frames 805. The two sides of the inner wall of the four slots 806 are rotatably connected to the top of the two sides of the connecting plate 807. The bottom of the two sides of the four connecting plates 807 are connected to the corresponding U-shaped support frames 808. The four U-shaped support frames 808 are evenly distributed and fixedly installed on the top of the base frame 809. An electric cylinder 810 is fixedly installed at the middle position of the bottom of the top frame 802. The telescopic end of the electric cylinder 810 is at the middle position of the top of the base frame 809.

[0029] Specifically, each of the four L-shaped support frames 805 is fixedly provided with an L-shaped clamping frame 811 at its top, and each of the four L-shaped clamping frames 811 is provided with a circular hole groove 812 on one side, the size of the four circular hole grooves 812 being matched with the size of the front detection head 705.

[0030] Specifically, the inner walls of the four L-shaped clamps 811 are all fixedly provided with rubber buffer pads 813.

[0031] Specifically, the outer wall of the ring 5 and the top of one side of the two movable frames 602 are provided with scales.

[0032] Specifically, a switch panel is fixedly provided on the side wall of the cabinet 1. The surface of the switch panel is respectively fixed with a first servo motor switch, a second servo motor switch, a third servo motor switch, a first electric telescopic rod switch, an electric cylinder switch, and a loader switch. The first servo motor 606, the second servo motor 402, the third servo motor 706, the first electric telescopic rod 202, the electric cylinder 810, and the loader 704 are electrically connected to an external power supply through the first servo motor switch, the second servo motor switch, the third servo motor switch, the first electric telescopic rod switch, the electric cylinder switch, and the loader switch, respectively.

[0033] Working principle: First, the sensing sensor is placed in the middle of the four L-shaped clamping frames 811. Then, the electric cylinder switch is turned on. The telescopic end of the electric cylinder 810 drives the base frame 809 to move downward. During the downward movement of the base frame 809, since the rotating connecting plates 807 inside the four U-shaped support frames 808 on the base frame 809 are rotatably connected to the slots 806 inside the L-shaped support frames 805, the four L-shaped support frames 805, along with the U-shaped sliding frames 804 and L-shaped clamping frames 811 fixedly connected to them, can move synchronously towards the center of the top frame 802, thereby fixing and limiting the sensing sensor; the first electric telescopic rod 202 When the horizontal frame 3 is lowered to the lowest limit position or moved upward along the slide rod 201, it completes the Z-axis reset. The horizontal frame 3 is connected to the top of the cabinet 1 by the slide rod 201 to achieve a smooth linear descent. The two first servo motors 606 start working, driving the first gear 604 at their output end to rotate. The first gear 604 meshes with the annular internal rack 605 fixed on the inner wall of the ring 5, driving the two moving frames 602 to rotate synchronously along the arc track through the slot 601 and return to the initial reference scale "0" position. At this time, the two moving frames 602 are in the center symmetrical position of the ring 5, and the two loaders 704 are facing the X-axis direction of the sensing sensor. The loader 704 is in its initial position; the third servo motor 706 is started, driving the lead screw 702 to rotate. The rotation of the lead screw 702 causes the moving frame 703 to move linearly to its initial position in the middle slide groove at the top of the moving frame 602. The front detection head 705 is ready to enter the sensor contact range. Loading in the Fx direction: The moving frame 602 is symmetrically arranged and located in the horizontal direction (0°) of the ring 5. The loader 704 is symmetrically positioned at the center and faces the center point of the X-axis of the sensor. The third servo motor 706 is started, driving the lead screw 702 to rotate, causing the moving frame 703 to push the loader 704 closer to the center. The two loaders 704 apply force (in the Fx direction) to the sensor symmetrically from opposite sides. The front detection head 705 contacts the sensor to collect static or dynamic loading data.

[0034] Loading in the Fy direction: The first servo motor 606 actuates, driving the first gear 604 to mesh with the annular internal rack 605, causing the two moving frames 602 to rotate synchronously 90° along the arc track, moving to the vertical direction (90°). The scale on the moving frame 602 helps to determine the rotation angle, ensuring that the loader 704 remains symmetrical about the center. The third servo motor 706 drives the lead screw 702 again, pushing the moving frame 703 to retract the loader 704 towards the center. The two loaders 704 apply force symmetrically in the Y-axis direction (Fy direction). The front detection head 705 contacts the sensor Y-axis surface to complete the detection. Torque loading process (torque application) in the Mx / My / Mz directions: The moving frame 703 moves crosswise, the third servo motor 706 controls the lead screw 702 in the opposite direction, causing the two moving frames 703 to slide in opposite directions simultaneously. The two loaders 704 move away from the center point and move to symmetrical sides, generating torque arms. Through scale positioning, the distance between the loaders 704 and the center point is precisely controlled to be consistent, forming pure torque; torque in different directions is applied; the current ring 5 is kept in the X direction: Mx is applied; the moving frame 602 rotates 90°, and the loaders 704 are located in the Y-axis direction: My is applied. If Mz needs to be applied: the second servo motor 402 drives the second gear 403 to rotate; the second gear 403 meshes with the third gear 404; the third gear 404 drives the side frame 405 and the ring 5 to rotate 90° as a whole through the connecting shaft, realizing the Z-axis switching; the loader 704 switches from planar action to vertical force application, forming a torque (Mz) around the Z-axis; Z-axis rotation switching: the second servo motor 402 starts again, controlling the ring 5 to rotate to any desired direction (0°, 90°, 180°, 270°), realizing rapid switching of force / torque loading between various directions.

[0035] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0036] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A multi-dimensional force sensing sensor detection device, including a cabinet (1): The top side of the cabinet (1) is connected to the cross frame (3) via a lifting mechanism (2), and the top of the cross frame (3) is connected to the ring (5) via a Z-axis rotation mechanism (4). The ring (5) is equipped with an XY-axis adjustment mechanism (6). Its features are: The XY axis adjustment mechanism (6) includes two arc-shaped track slots (601) that are interlocked with the ring (5). The two arc-shaped track slots (601) are opened at the bottom of the two moving frames (602). A strip-shaped slot (603) is opened on one side of each of the two moving frames (602). The top and bottom of the inner wall of the two strip-shaped slots (603) are rotatably connected to the two ends of the corresponding first gear (604). The two first gears (604) are meshed with the annular inner rack (605). The annular inner rack (605) is fixedly installed on the inner wall of the ring (5). A first servo motor (606) is fixedly installed on one side of the bottom of each of the two moving frames (602). The output end of the two first servo motors (606) is fixedly connected to the bottom end of the first gear (604). A force torque switching mechanism (7) is fixedly installed at the top of each of the two moving frames (602).

2. The multidimensional force sensing sensor detection device according to claim 1, characterized in that: The lifting mechanism (2) includes two sliding rods (201) fixedly installed on the other side of the top of the cabinet (1). The two sliding rods (201) are interlocked with the crossbar (3). The bottom end of the crossbar (3) is fixedly connected to the telescopic end of the first electric telescopic rod (202). The first electric telescopic rod (202) is fixedly installed inside the cabinet (1).

3. The multidimensional force sensing sensor detection device according to claim 2, characterized in that: The Z-axis rotation mechanism (4) includes an L-shaped fixed frame (401) fixedly installed in the middle of one side of the cross frame (3). A second servo motor (402) is fixedly installed at the top of the L-shaped fixed frame (401). The output end of the second servo motor (402) is fixedly connected to one end of the second gear (403). The second gear (403) meshes with a third gear (404). A connecting shaft is fixedly installed at one end of the third gear (404). One end of the connecting shaft passes through the L-shaped fixed frame (401) and is fixedly connected to one end of the side frame (405). The side frame (405) is fixedly installed on one side of the bottom of the ring (5).

4. The multidimensional force sensing sensor detection device according to claim 3, characterized in that: The force-torque switching mechanism (7) includes two shaft seats (701) fixedly and symmetrically arranged at the top of the movable frame (602). The two sides of the inner wall of the two shaft seats (701) are rotatably connected to the two ends of the lead screw (702). The lead screw (702) is threadedly connected to the movable frame (703). The bottom end of the movable frame (703) is slidably connected to the middle position of the top of the movable frame (602). The top end of the movable frame (703) is fixedly provided with a loader (704). One end of the loader (704) is fixedly provided with a front end detection head (705).

5. The multidimensional force sensing sensor detection device according to claim 4, characterized in that: One of the bearing seats (701) is fixedly provided with a third servo motor (706) at one end, and the output end of the third servo motor (706) is fixedly connected to one end of the lead screw (702).

6. The multidimensional force sensing sensor detection device according to claim 5, characterized in that: A sensor limiting and fixing mechanism (8) is provided on one side of the cabinet (1). The sensor limiting and fixing mechanism (8) includes a Z-shaped extension frame (801) fixedly installed on one side of the cabinet (1). One end of the Z-shaped extension frame (801) is fixedly connected to one side of the top frame (802). Four sets of slide rails (803) are evenly distributed on the top of the top frame (802). U-shaped slide frames (804) are slidably installed on each of the four sets of slide rails (803). L-shaped support frames (805) are fixedly installed on the top of each of the four U-shaped slide frames (804). Each of the four L-shaped support frames (805) has a slot (806) on one side. The two sides of the inner wall of the four slots (806) are rotatably connected to the top of the two sides of the connecting plate (807). The bottom of the two sides of the four connecting plates (807) are connected to the corresponding U-shaped support frame (808). The four U-shaped support frames (808) are evenly distributed and fixedly installed on the top of the base frame (809). An electric cylinder (810) is fixedly installed at the middle position of the bottom of the top frame (802). The telescopic end of the electric cylinder (810) is at the middle position of the top of the base frame (809).

7. The multidimensional force sensing sensor detection device according to claim 6, characterized in that: Each of the four L-shaped support frames (805) is fixed with an L-shaped clamping frame (811) at its top. Each of the four L-shaped clamping frames (811) has a circular hole groove (812) on one side. The size of the four circular hole grooves (812) matches the size of the front detection head (705).

8. The multidimensional force sensing sensor detection device according to claim 7, characterized in that: The inner walls of the four L-shaped clamps (811) are all fixed with rubber buffer pads (813).

9. The multidimensional force sensing sensor detection device according to claim 5, characterized in that: The outer wall of the ring (5) and the top of one side of the two movable frames (602) are all provided with scales.

10. The multidimensional force sensing sensor detection device according to claim 6, characterized in that: The side wall of the cabinet (1) is fixedly provided with a switch panel. The surface of the switch panel is respectively fixed with a first servo motor switch, a second servo motor switch, a third servo motor switch, a first electric telescopic rod switch, an electric cylinder switch and a loader switch. The first servo motor (606), the second servo motor (402), the third servo motor (706), the first electric telescopic rod (202), the electric cylinder (810) and the loader (704) are electrically connected to an external power supply through the first servo motor switch, the second servo motor switch, the first electric telescopic rod switch, the electric cylinder switch and the loader switch respectively.

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