A six-dimensional force sensor calibration device

Abstract

This invention discloses a six-dimensional force sensor calibration device, relating to the field of six-dimensional force sensor technology. It includes a mounting platform, a sensor mounting base, a lever loading device, a pulley loading device, a rope, and weights. The sensor mounting base is fixed to the mounting platform. One end of the six-dimensional force sensor to be calibrated is mounted on the sensor mounting base, and the other end is connected to the loading end of the pulley loading device. The pulley loading device is connected to the lever loading device. The pulley loading device and the lever loading device apply a load to the six-dimensional force sensor to be calibrated via a rope connected to weights. The lever loading device includes a lever, an upper lever mounting base, a lower lever mounting base, a loading base, a constant lever arm structure, a loading rod, a loading frame, a load-bearing frame, and a loading ball. The advantage of this invention is that it enables adjustment of the loading range of Fz and improves the calibration accuracy in the Fz direction.

Description

Technical Field

[0001] This invention relates to the field of six-dimensional force sensor technology, specifically a six-dimensional force sensor calibration device. Background Technology

[0002] Six-dimensional force sensors are used to detect forces (Fx, Fy, Fz) and torques (Mx, My, Mz) in three-dimensional space. As humanoid robots are increasingly used in complex applications, more stringent requirements are being placed on the overall performance of these sensors. Humanoid robots frequently interact with their environment during task execution, especially when walking at high speeds or moving dynamically in rugged terrain, often facing challenges such as high foot impact, high risk of falls, and high probability of collisions. Furthermore, in tasks such as heavy-duty handling, they must withstand significant external loads. Specifically, when the feet contact the ground or when using the wrists to mitigate the impact of a fall, the measurement range of conventional six-dimensional force sensors can easily exceed the range. Therefore, six-dimensional force sensors require high range and accuracy. Thus, constructing a high-precision, mid-range six-dimensional force sensor calibration device is crucial to ensuring the performance of six-dimensional force sensors.

[0003] Chinese invention patent document CN117268628A discloses a calibration device and method for a six-dimensional force sensor. The calibration device includes a support frame, a horizontal platform, a fixed base, calibration components, multiple pulley assemblies, a steel wire rope, and calibration weights. The horizontal platform is fixed to the middle of the support frame; the fixed base is installed in the middle of the horizontal platform to fix the elastic body of the six-dimensional force sensor; the calibration components are installed on the central column of the elastic body; multiple pulley assemblies are respectively installed on the horizontal platform or the top plate of the support frame; the steel wire rope is wound around any one or more pulley assemblies, and the calibration components are connected to the calibration weights via the steel wire rope. This invention, through the combination of multiple pulley assemblies, steel wire rope, and calibration weights, can achieve the loading of a single force or torque in three directions. It is simple to use, low in cost, and provides accurate and reliable calibration. Although this device reduces the difficulty of manual operation, its loading range of Fz is fixed and cannot be adjusted.

[0004] CN119245925A discloses a combined device and method for rapid on-site calibration of a multi-dimensional force sensor. The device includes a worktable and a top plate. Connecting components are located at the top of the worktable and the bottom of the top plate. A standard force sensor is connected to the connecting components, and the standard force sensor is connected to a steel wire rope. Both steel wire ropes are connected to a loading component. When the end effector of the industrial robot under test moves along the X-axis or Y-axis, or when the end effector rotates, the loaded steel wire rope forms an angle with the unloaded steel wire rope. The device also includes an angle recognition component. The multi-dimensional force sensor of the industrial robot under test is loaded and calibrated through the movement of the end effector. Although this device can achieve omnidirectional force loading and simplify calibration, the motion error of the robotic arm and the cumulative error of the installation of other components on the calibration platform are relatively large, resulting in low final calibration accuracy. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to adjust the loading range of Fz and improve the calibration accuracy.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A six-dimensional force sensor calibration device includes a mounting platform, a sensor mounting base, a lever loading device, a pulley loading device, a rope, and weights. The sensor mounting base is fixed on the mounting platform. One end of the six-dimensional force sensor to be calibrated is mounted on the sensor mounting base, and the other end is connected to the loading end of the pulley loading device. The pulley loading device is connected to the lever loading device. The pulley loading device and the lever loading device apply a load to the six-dimensional force sensor to be calibrated through a rope with weights attached. The lever loading device includes a lever, an upper lever fixing seat, a lower lever fixing seat, a loading seat, a constant lever arm structure, a loading rod, a loading frame, a load-bearing frame, and a loading ball. The upper lever fixing seat and the loading seat are fixed on the horizontally arranged lever. The lever can suspend weights. The upper lever fixing seat is connected to the lower lever fixing seat fixed on the pulley loading device. The loading seat is connected to the constant lever arm structure fixed on the pulley loading device. The end of the constant lever arm structure away from the loading seat is connected to the loading frame through the loading rod. The load-bearing frame is provided with a loading ball socket to accommodate the loading ball. The connection between the loading frame and the loading ball ensures that the contact surface between the loading frame and the loading ball is always parallel to the loading end of the pulley loading device. The end of the load-bearing frame away from the loading frame is connected to the loading end of the pulley loading device.

[0007] This invention adjusts the loading range of Fz by changing the position of the loading force on the lever, allowing the lever arm to be adjusted as needed. The point contact between the loading frame and the loading ball ensures the loading force on the loading frame remains constant, and the parallelism between the loading frame and the loading end of the pulley loading device guarantees the loading force is always perpendicular to the loading end of the pulley loading device, improving loading accuracy and thus enhancing calibration accuracy in the Fz direction. The constant lever arm structure ensures adaptive offset of the connected loading rod, maintaining its posture. Combined with the point contact loading condition between the loading frame and the loading ball, this constant lever arm effect improves both the flexibility and accuracy of lever loading.

[0008] Preferably, the constant lever arm structure includes a slide rail, a frame slider, and a linear bearing. The slide rail is fixed on the pulley loading device, the frame slider is slidably mounted on the slide rail, and the linear bearing is located at the center of the frame slider and connected to the loading rod.

[0009] Preferably, the linear bearing is coaxially arranged with the loading rod.

[0010] Preferably, the pulley loading device includes a loading disk assembly, an upper fixed frame, a lower fixed frame, and a pulley frame. One end of the loading disk assembly is connected to the six-dimensional force sensor to be calibrated, and the other end is connected to the load-bearing frame. The upper and lower fixed frames, which are perpendicular to each other, are both fixed on the mounting platform. The upper fixed frame is positioned above the lower fixed frame. The pulley frame, which surrounds the loading disk assembly, is horizontally fixed on the upper and lower fixed frames. The lower lever fixing seat and the slide rail are fixed on the upper fixed frame. The contact surface between the loading frame and the loading ball is always parallel to the loading disk assembly.

[0011] Preferably, the loading disk assembly includes a loading disk, horizontal bars, a first vertical pulley, a first horizontal pulley, a second vertical pulley, a second horizontal pulley, a third vertical pulley, a third horizontal pulley, a fourth vertical pulley, and a fourth horizontal pulley. The loading disk is fixed to the top of the six-dimensional force sensor to be calibrated. Four sets of horizontal bars are evenly arranged along the radial direction on the circumferential side of the loading disk. The first vertical pulley and the first horizontal pulley are set on the first set of horizontal bars, the second vertical pulley and the second horizontal pulley are set on the second set of horizontal bars, the third vertical pulley and the third horizontal pulley are set on the third set of horizontal bars, and the fourth vertical pulley and the fourth horizontal pulley are set on the fourth set of horizontal bars. The load-bearing frame is connected to the center of the top surface of the loading disk.

[0012] Preferably, the upper fixed frame includes a first column, an upper horizontal frame, and a fifth vertical pulley. Two sets of first columns are vertically fixed at both ends of the installation platform in the horizontal direction. The upper horizontal frame is fixed between the two sets of first columns and above the lower fixed frame. Multiple fifth vertical pulleys are provided on the upper horizontal frame. The lower lever fixing seat and slide rail are fixed on the upper horizontal frame.

[0013] Preferably, the lower fixed frame includes a second column, a lower horizontal frame, and a sixth vertical pulley. Two sets of second columns are vertically fixed at both ends in the longitudinal direction of the installation platform. The lower horizontal frame is fixed between the two sets of second columns and below the upper fixed frame. Multiple sixth vertical pulleys are provided on the lower horizontal frame. The loading rod passes through the lower horizontal frame and is connected to the loading frame.

[0014] Preferably, the pulley frame includes a pulley frame body and a fifth horizontal pulley. The pulley frame body, which is in the form of a frame, is fixed on the upper fixed frame and the lower fixed frame and is arranged around the periphery of the loading disk assembly. Multiple fifth horizontal pulleys are provided on the pulley frame body.

[0015] Preferably, the pulley loading device further includes a first vertical fixed pulley, a second vertical fixed pulley, and a column pulley fixed on the mounting platform.

[0016] Preferably, both ends of the lever are provided with through holes, through which weights can be suspended by ropes or directly.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention adjusts the loading range of Fz by changing the position of the loading force on the lever, allowing the lever arm to be adjusted as needed. The point contact between the loading frame and the loading ball ensures the loading force on the loading frame remains constant, and the parallelism between the loading frame and the loading end of the pulley loading device guarantees the loading force is always perpendicular to the loading end of the pulley loading device, improving loading accuracy and thus enhancing calibration accuracy in the Fz direction. The constant lever arm structure ensures adaptive offset of the connected loading rod, maintaining its posture. Combined with the point contact loading condition between the loading frame and the loading ball, this constant lever arm effect improves both the flexibility and accuracy of lever loading.

[0018] 2. The pulley loading device can amplify the loading force in the Fx, Fy, Mx, My and Mz directions, reduce the weight of manually handled weights, reduce calibration costs and improve calibration efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the constant lever arm structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the loading disk assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the Mx direction calibration structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the Mz direction calibration structure according to an embodiment of the present invention. Detailed Implementation

[0020] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0021] In this application, unless otherwise expressly 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 application according to the specific circumstances.

[0022] In this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically limited.

[0023] See Figure 1 This embodiment discloses a six-dimensional force sensor calibration device, including a mounting platform 1, a sensor fixing base 2, a lever loading device 3, a pulley loading device 4, a rope 5, and a weight 6.

[0024] In this embodiment, the installation platform 1 is a frame structure platform, the sensor mounting base 2 is fixed at the center of the top surface of the installation platform 1, the six-dimensional force sensor to be calibrated is horizontally installed on the sensor mounting base 2, the top surface of the six-dimensional force sensor to be calibrated is connected to the loading end of the pulley loading device 4, the pulley loading device 4 is connected to the lever loading device 3, and the pulley loading device 4 and the lever loading device 3 apply load to the six-dimensional force sensor to be calibrated through the rope 5 connected with the weight 6.

[0025] The lever loading device 3 includes a lever 31, an upper lever fixing seat 32, a loading seat 33, a lower lever fixing seat 34, a constant lever arm structure 35, a loading rod 36, a loading frame 37, a load-bearing frame 38, and a loading ball 39. The upper lever fixing seat 32 and the loading seat 33 are fixed on the horizontally arranged lever 31. The lever 31 can suspend a weight 6. Both ends of the lever 31 are provided with through holes 311. The position of the through holes 311 on the lever 31 can be determined according to design requirements and is mainly used for lever arm adjustment. The weight 6 can be suspended through the through holes 311 by rope 5 or directly by suspending the weight 6 to apply force. In this embodiment, the weight 6 is suspended through rope 5, and then the pulley loading device 4 generates tension or pressure on the six-dimensional force sensor to be calibrated. The lever arm provided by the lever 31 can be adjusted according to requirements, thereby realizing the adjustment of the loading range of Fz; for example, changing the position of the through hole 311 to realize the adjustability of the lever arm, or adding an adjustable slider to the lever 31 to realize the adjustability of the lever arm.

[0026] The upper lever fixing seat 32 is connected to the lower lever fixing seat 34 fixed on the pulley loading device 4. The loading seat 33 is connected to the lever arm constant structure 35 fixed on the pulley loading device 4. The end of the lever arm constant structure 35 away from the loading seat 33 is connected to the loading frame 37 through the loading rod 36. The load-bearing frame 38 is provided with a loading ball socket (not shown in the figure) to accommodate the loading ball 39. The connection between the loading frame 37 and the loading ball 39 makes the contact surface between the loading frame 37 and the loading ball 39 always parallel to the loading end of the pulley loading device 4. The end of the load-bearing frame 38 away from the loading frame 37 is connected to the loading end of the pulley loading device 4.

[0027] Specifically, in this embodiment, the loading force acting on the loading frame 37 remains unchanged by the point contact between the loading frame 37 and the loading ball 39, and the parallelism between the loading frame 37 and the loading end of the pulley loading device 4 ensures that the loading force is always perpendicular to the loading end of the pulley loading device 4, thereby improving the loading accuracy and thus improving the calibration accuracy in the Fz direction.

[0028] See Figure 2The constant lever arm structure 35 includes a slide rail 351, a frame slider 352, and a linear bearing 353. The slide rail 351 is fixed to the pulley loading device 4 by multiple screws. The frame slider 352 is slidably mounted on the slide rail 351. The linear bearing 353 is located at the center of the frame slider 352 and is coaxially connected to the loading rod 36. Since it is difficult to ensure that the lever 31 is in a horizontal state during installation, the actual lever arm will be different from the theoretical lever arm. In this embodiment, the lever arm constant structure 35 can adaptively adjust the lever arm size. When the lever 31 is at a certain angle to the horizontal plane, the actual lever arm length will be reduced. However, as long as the ratio of the distance from the weight 6 to the loading seat 33 to the distance from the loading seat 33 to the lower lever fixing seat 34 remains unchanged, the actual loading force can remain unchanged. The frame slider 352 moves on the slide rail 351 to ensure that the loading rod 36 connected to it produces an adaptive offset, ensuring that the posture of the loading rod 36 remains unchanged. At the same time, the point contact loading condition between the loading frame 37 and the loading ball 39 is combined to achieve the lever arm constant effect. On the one hand, it can improve the flexibility of the lever 31 loading, and on the other hand, it can improve the loading accuracy of the lever 31.

[0029] See also Figure 1 The pulley loading device 4 includes a loading disk assembly 41, an upper fixed frame 42, a lower fixed frame 43, a pulley frame 44, and multiple first vertical fixed pulleys 45, second vertical fixed pulleys 46, and column pulleys 47 fixed on the mounting platform 1. One end of the loading disk assembly 41 is connected to the six-dimensional force sensor to be calibrated, and the center of the other end is connected to the load-bearing frame 38. The upper fixed frame 42 and the lower fixed frame 43, which are perpendicular to each other, are both fixed on the mounting platform 1. The upper fixed frame 42 is set on the lower fixed frame 38. Above the frame 43, a pulley frame 44 surrounding the loading disk assembly 41 is horizontally fixed to the upper fixed frame 42 and the lower fixed frame 43. The lower lever fixing seat 34 and the slide rail 351 are fixed to the upper fixed frame 42 by screws. The contact surface between the loading frame 37 and the loading ball 39 is always parallel to the loading disk assembly 41. The first vertical fixed pulley 45 is arranged circumferentially around the mounting platform 1. The second vertical fixed pulley 46 and the column pulley 47 are arranged on the mounting platform 1 inside the pulley frame 44.

[0030] See Figure 3The loading disk assembly 41 includes a loading disk 411, a horizontal rod (not labeled in the figure), a first vertical pulley 412, a first horizontal pulley 413, a second vertical pulley 414, a second horizontal pulley 415, a third vertical pulley 416, a third horizontal pulley 417, a fourth vertical pulley 418, and a fourth horizontal pulley 419. The loading disk 411 is a disc-shaped disk with an open bottom. The loading disk 411 is fastened to the top of the six-dimensional force sensor to be calibrated. The circumferential side of the loading disk 411... Four sets of horizontal bars are evenly arranged along the radial direction of the surface. The first vertical pulley 412 and the first horizontal pulley 413 are set on the first set of horizontal bars, the second vertical pulley 414 and the second horizontal pulley 415 are set on the second set of horizontal bars, the third vertical pulley 416 and the third horizontal pulley 417 are set on the third set of horizontal bars, and the fourth vertical pulley 418 and the fourth horizontal pulley 419 are set on the fourth set of horizontal bars. The load-bearing frame 38 is connected to the center of the top surface of the loading disk 411.

[0031] The upper fixed frame 42 includes a first column 421, an upper horizontal frame 422, and a fifth vertical pulley 423. Two sets of first columns 421 are vertically fixed at both ends of the installation platform 1 in the horizontal direction. The upper horizontal frame 422 is fixed between the two sets of first columns 421 and above the lower fixed frame 43. Multiple fifth vertical pulleys 423 are provided on the upper horizontal frame 422. The lower lever fixing seat 34 and the slide rail 351 are fixed to the upper horizontal frame 422 by screws.

[0032] The lower fixed frame 43 includes a second column 431, a lower horizontal frame 432, and a sixth vertical pulley 433. Two sets of second columns 431 are vertically fixed at both ends in the longitudinal direction of the installation platform 1. The lower horizontal frame 432 is fixed between the two sets of second columns 431 and below the upper horizontal frame 422. Multiple sixth vertical pulleys are provided on the lower horizontal frame 432. The loading rod 36 passes through the lower horizontal frame 432 and is connected to the loading frame 37.

[0033] The pulley frame 44 includes a pulley frame body 441 and a fifth horizontal pulley 442. The pulley frame body 441, which has a frame structure, is fixed on the first column 421 and the second column 431 and is arranged around the outer periphery of the loading disk assembly 41. Multiple fifth horizontal pulleys 442 are arranged on the pulley frame body 441.

[0034] In this embodiment, the rope 5 suspends the weight 6 via the boom 7.

[0035] The working principle of this embodiment is as follows: See Figure 1For the calibration of the six-dimensional force sensor in the Fz direction: by suspending a weight 6 on the lever 31, the applied force is amplified by the lever arm of the lever 31 and transmitted to the loading frame 37 through the loading rod 36. Then, through the loading frame 37, it is transmitted to the receiving frame 38 through the loading ball 39, thereby realizing the loading of the force in the Fz direction. Under normal circumstances, the lever 31 and the loading disk 411 have an angle. Therefore, the lever 31 will drive the loading rod 36 and the loading frame 37 to move along the slide rail 351, thereby adaptively adjusting the lever arm to keep it constant.

[0036] Combination Figure 1 For the calibration of the Fx direction of the six-dimensional force sensor to be calibrated: when calibrating the Fx direction, one end of the rope 5 is connected to the rod 7, and the other end is successively fixed to the column pulley 47 via the first vertical fixed pulley 45, the first horizontal pulley 413, the two fifth horizontal pulleys 442 and the third horizontal pulley 417. The calibration of the Fx direction is achieved by loading weights 6 on the rod 7 step by step.

[0037] The calibration in the Fy direction is similar to that in the Fx direction.

[0038] See Figure 4 For the Mx direction calibration of the six-dimensional force sensor to be calibrated: one end of the rope 5 is connected to the boom 7, and the other end is sequentially fixed on the installation platform 1 via the fifth vertical pulley 423, the first vertical pulley 412, the fifth vertical pulley 423, the second vertical fixed pulley 46, and the third vertical pulley 416 on the upper horizontal frame 422. The Mx direction calibration is achieved by loading weights 6 on the boom 7 step by step.

[0039] The calibration of the My direction is similar to that of the Mx direction.

[0040] See Figure 5 For the calibration of the Mz direction of the six-dimensional force sensor to be calibrated: one end of the rope 5 is connected to the rod 7, and the other end is successively passed through the first vertical fixed pulley 45, the first horizontal pulley 413, multiple fifth horizontal pulleys 442, the third horizontal pulley 417, and multiple fifth horizontal pulleys 442 before finally being fixed on the column pulley 47. The calibration of the Mz direction is achieved by loading weights 6 on the rod 7 step by step.

[0041] In this embodiment, by setting horizontal and vertical pulleys on the horizontal bar, the pulley loading device 4 can amplify the loading force in the Fx, Fy, Mx, My and Mz directions, reduce the weight of manually handled weights, reduce calibration costs, and improve calibration efficiency.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0043] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A six-dimensional force sensor calibration device, characterized in that: The system includes an installation platform, a sensor mounting base, a lever loading device, a pulley loading device, ropes, and weights. The sensor mounting base is fixed on the installation platform. One end of the six-dimensional force sensor to be calibrated is mounted on the sensor mounting base, and the other end is connected to the loading end of the pulley loading device. The pulley loading device is connected to the lever loading device. The pulley loading device and the lever loading device apply loads to the six-dimensional force sensor to be calibrated through a rope with weights attached. The lever loading device includes a lever, an upper lever fixing seat, a lower lever fixing seat, a loading seat, a constant lever arm structure, a loading rod, a loading frame, a load-bearing frame, and a loading ball. The upper lever fixing seat and the loading seat are fixed on the horizontally arranged lever. The lever can suspend weights. The upper lever fixing seat is connected to the lower lever fixing seat fixed on the pulley loading device. The loading seat is connected to the constant lever arm structure fixed on the pulley loading device. The end of the constant lever arm structure away from the loading seat is connected to the loading frame through the loading rod. The load-bearing frame is provided with a loading ball socket to accommodate the loading ball. The connection between the loading frame and the loading ball ensures that the contact surface between the loading frame and the loading ball is always parallel to the loading end of the pulley loading device. The end of the load-bearing frame away from the loading frame is connected to the loading end of the pulley loading device.

2. The six-dimensional force sensor calibration device according to claim 1, characterized in that: The constant lever arm structure includes a slide rail, a frame slider, and a linear bearing. The slide rail is fixed on the pulley loading device, the frame slider is slidably mounted on the slide rail, and the linear bearing is located at the center of the frame slider and connected to the loading rod.

3. The six-dimensional force sensor calibration device according to claim 2, characterized in that: The linear bearing is coaxially mounted with the loading rod.

4. A six-dimensional force sensor calibration device according to claim 2, characterized in that: The pulley loading device includes a loading disk assembly, an upper fixed frame, a lower fixed frame, and a pulley frame. One end of the loading disk assembly is connected to the six-dimensional force sensor to be calibrated, and the other end is connected to the load-bearing frame. The upper and lower fixed frames, which are perpendicular to each other, are fixed on the mounting platform. The upper fixed frame is positioned above the lower fixed frame. The pulley frame, which surrounds the loading disk assembly, is horizontally fixed on the upper and lower fixed frames. The lower lever fixing seat and the slide rail are fixed on the upper fixed frame. The contact surface between the loading frame and the loading ball is always parallel to the loading disk assembly.

5. A six-dimensional force sensor calibration device according to claim 4, characterized in that: The loading disk assembly includes a loading disk, horizontal bars, a first vertical pulley, a first horizontal pulley, a second vertical pulley, a second horizontal pulley, a third vertical pulley, a third horizontal pulley, a fourth vertical pulley, and a fourth horizontal pulley. The loading disk is fixed to the top of the six-dimensional force sensor to be calibrated. Four sets of horizontal bars are evenly arranged along the radial direction on the circumferential side of the loading disk. The first vertical pulley and the first horizontal pulley are set on the first set of horizontal bars, the second vertical pulley and the second horizontal pulley are set on the second set of horizontal bars, the third vertical pulley and the third horizontal pulley are set on the third set of horizontal bars, and the fourth vertical pulley and the fourth horizontal pulley are set on the fourth set of horizontal bars. The load-bearing frame is connected to the center of the top surface of the loading disk.

6. A six-dimensional force sensor calibration device according to claim 4, characterized in that: The upper fixed frame includes a first column, an upper horizontal frame, and a fifth vertical pulley. Two sets of first columns are vertically fixed at both ends of the installation platform in the horizontal direction. The upper horizontal frame is fixed between the two sets of first columns and above the lower fixed frame. Multiple fifth vertical pulleys are provided on the upper horizontal frame. The lower lever fixing seat and slide rail are fixed on the upper horizontal frame.

7. A six-dimensional force sensor calibration device according to claim 4, characterized in that: The lower fixed frame includes a second column, a lower horizontal frame, and a sixth vertical pulley. Two sets of second columns are vertically fixed at both ends of the installation platform in the longitudinal direction. The lower horizontal frame is fixed between the two sets of second columns and below the upper fixed frame. Multiple sixth vertical pulleys are provided on the lower horizontal frame. The loading rod passes through the lower horizontal frame and is connected to the loading frame.

8. A six-dimensional force sensor calibration device according to claim 4, characterized in that: The pulley frame includes a pulley frame body and a fifth horizontal pulley. The pulley frame body, which is in the form of a frame, is fixed on the upper fixed frame and the lower fixed frame, and is arranged around the outer perimeter of the loading disk assembly. Multiple fifth horizontal pulleys are provided on the pulley frame body.

9. A six-dimensional force sensor calibration device according to claim 4, characterized in that: The pulley loading device also includes a first vertical fixed pulley, a second vertical fixed pulley, and a column pulley, all fixed on the mounting platform.

10. A six-dimensional force sensor calibration device according to claim 1, characterized in that: Both ends of the lever have through holes, through which weights can be suspended by ropes or directly.

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