Loading device for on-site rapid calibration of multi-dimensional force sensor

Abstract

The utility model provides a loading device for on-site rapid calibration of a multi-dimensional force sensor, which comprises a workbench, a loading chassis, a loading connecting piece, a top plate, a vertical loading mechanism and a horizontal loading mechanism, and is characterized in that the loading chassis is rotatably connected with the workbench, and the loading connecting piece is fixed at the top of the detected multi-dimensional force sensor; the vertical loading mechanism comprises a first lead screw loading assembly and a first sliding block, the first sliding block is connected with a first standard force sensor, and the first standard force sensor is connected with a first loading piece; the horizontal loading mechanism comprises a second lead screw loading assembly and a second sliding block, the second sliding block is connected with a second standard force sensor, and the second standard force sensor is connected with a second loading piece. The loading force applied to the loading connecting piece by the first loading piece and the second loading piece is changed along with continuous operation of the three motors, and the change of the loading force is continuous, so that continuous loading of any force is realized, and the loading precision is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of sensor calibration, in particular to a loading device for rapid on-site calibration of a multi-dimensional force sensor. Background Art

[0002] In the field of industrial robots, a multi-dimensional force sensor is an effective tool for directly measuring the force condition of an industrial robot under dynamic conditions. It can real-time output the multi-dimensional force or torque of the interaction between the industrial robot and the target object, and can be used for precision assembly, material handling, welding, grinding and other process operations. Usually, a loading calibration experiment needs to be carried out before using the multi-dimensional force sensor to determine the input-output relationship of the sensor. Therefore, the loading calibration device is very important in the process of sensor calibration.

[0003] For example, Chinese Patent Application No. CN201510232268.2 discloses a calibration method for a six-dimensional force sensor. In this method, a calibration device for a six-dimensional force sensor is adopted. The device includes a workbench, a short bracket, a rotary workbench, a sensor lower chuck, a six-dimensional force sensor to be calibrated, a sensor loading disc, a cross beam and a support column; the workbench is provided with mutually perpendicular sliding grooves along the longitudinal and transverse directions near the four sides and the middle; there are four short brackets and they are respectively installed in the middle of the four sides of the workbench; the rotary workbench is installed in the middle of the workbench; support columns are vertically installed in a pair of diagonal directions of the workbench, and the cross beam is horizontally installed on the top of the support columns; the sensor lower chuck is installed on the rotary workbench, the six-dimensional force sensor is installed on the sensor lower chuck, and the sensor loading disc is installed on the six-dimensional force sensor; horizontal tie rods are respectively arranged on the four sides of the sensor loading disc, and a vertical tie rod is arranged on the top of the sensor loading disc; the short bracket includes a base, a vertical support plate and a short fixture, the base is fixed on the workbench and is slidably matched with the sliding groove, the vertical support plate is vertically fixed on the base, and the short fixture is horizontally arranged on the vertical support plate and is slidably matched with the vertical support plate in the vertical direction; a fixed pulley I and a fixed pulley II are arranged near the outer end of one side of the short fixture, the fixed pulley II is located obliquely above the fixed pulley I, and a fixed pulley III is arranged near the outer end of the other side of the short fixture; a fixed pulley IV is arranged on the cross beam and directly above the vertical tie rod, and a fixed pulley V is arranged near the outer end of the cross beam.

[0004] At present, the existing calibration device uses a pulley to guide the weight loading and adjusts the angle between the load transfer rope and the horizontal plane to change the direction of the load. However, there are certain measurement errors in its angle, and there is also a certain friction force between the pulley and the rope, which will affect the calibration accuracy. The calibration device of this method is very large in volume (especially when the multi-dimensional force sensor to be tested has a large range), has poor operation flexibility, can only be calibrated at a fixed location, and it is time-consuming and laborious to manually carry the weights. In addition, the method of loading with weights cannot achieve continuous loading of arbitrary forces and cannot meet the actual production requirements. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a loading device for on-site rapid calibration of a multi-dimensional force sensor, which can realize continuous adjustment of the loading force and moment and has high loading accuracy.

[0006] The present invention is realized as follows:

[0007] In a first aspect, the present invention provides a loading device and method for on-site rapid calibration of a multi-dimensional force sensor, including a workbench, a loading chassis for fixing the multi-dimensional force sensor to be tested, a loading connecting piece, a top plate, a vertical loading mechanism, and a horizontal loading mechanism. The loading chassis is rotatably connected to the workbench, the top plate is arranged above the workbench through a support column, and the loading connecting piece is fixed on the top of the multi-dimensional force sensor to be tested;

[0008] The vertical loading mechanism is connected to the top plate. The vertical loading mechanism includes a first screw rod loading assembly and a first slider connected to the lower end of the first screw rod loading assembly. The first slider is connected to a first standard force sensor, and the first standard force sensor is connected to a first loading piece;

[0009] The horizontal loading mechanism is connected to the upper surface of the workbench. The horizontal loading mechanism includes a second screw rod loading assembly and a second slider connected to the end of the second screw rod loading assembly. The second slider is connected to a second standard force sensor, and the second standard force sensor is connected to a second loading piece;

[0010] There are two horizontal loading mechanisms. One of the horizontal loading mechanisms is arranged along the X-axis direction of the multi-dimensional force sensor to be tested, and the other horizontal loading mechanism is arranged along the Y-axis direction of the multi-dimensional force sensor to be tested; during loading, the loading connecting piece is loaded by any one of the three, namely the vertical loading mechanism and the two horizontal loading mechanisms, alone; or the loading connecting piece is simultaneously coupled and loaded by any combination of the three, namely the vertical loading mechanism and the two horizontal loading mechanisms.

[0011] Further, the loading connecting member includes a connecting portion connected to the multi-dimensional force sensor to be tested, the connecting portion is connected with a loading portion, the loading portion is composed of two horizontal loading units and one vertical loading unit, wherein one of the horizontal loading units extends in the X-axis direction of the multi-dimensional force sensor to be tested, and the other horizontal loading unit extends in the Y-axis direction of the multi-dimensional force sensor to be tested;

[0012] Each of the horizontal loading units includes a first loading end and a second loading end. The first loading end and the second loading end in the same horizontal loading unit are respectively located on both sides of the connecting portion. Each first loading end is provided with a first groove and a notch. When the first loading member is located in the first groove, the first screw rod loading assembly drives the first loading member to move in the vertical direction to realize the loading of the moment ±M around the X-axis direction of the multi-dimensional force sensor to be tested X or the loading of the moment ±M around the Y-axis direction Y ;

[0013] When the second loading member is located in the notch, the second screw rod loading assembly drives the second loading member to move in the horizontal direction to realize the loading of the moment ±M around the Z-axis direction of the multi-dimensional force sensor to be tested Z ;

[0014] Each second loading end is provided with a second groove. When the second loading member is located in the second groove, the second screw rod loading assembly drives the second loading member to move in the horizontal direction to realize the loading of the force ±F in the X-axis direction or the force ±F in the Y-axis direction of the multi-dimensional force sensor to be tested X ; Y ;

[0015] The vertical loading unit extends in the Z-axis direction of the multi-dimensional force sensor to be tested. The vertical loading unit is provided with a third groove, and the center line of the third groove coincides with the Z-axis of the multi-dimensional force sensor to be tested. An avoidance groove communicated with the third groove is arranged on the side wall of the vertical loading unit. When the first loading member is located in the third groove, the first screw rod loading assembly drives the first loading member to move in the vertical direction to realize the loading of the force ±F in the Z-axis direction of the multi-dimensional force sensor to be tested Z ;

[0016] Further, the first loading member includes a vertical rod, a first loading ball, a second loading ball and a connecting rod. The vertical rod is connected with the first standard force sensor. The first loading ball is connected to the lower end of the vertical rod. The upper end of the connecting rod is connected with the first loading ball, and the lower end of the connecting rod is connected with the second loading ball;

[0017] The second loading member includes a cross bar, a U-shaped block with a U-shaped cross section, and a third loading ball. The cross bar is connected to the second standard force sensor. The U-shaped block is connected to the cross bar, and the opening of the U-shaped block faces away from one end of the cross bar. The third loading ball is arranged at the opening of the U-shaped block, and the third loading ball is fixedly connected to the U-shaped block through two fixing rods.

[0018] Further, the first lead screw loading assembly includes a first motor, a vertical lead screw, a moving bracket, an L-shaped bracket, a guide rod, and a connecting plate. The moving bracket, the L-shaped bracket, and the guide rod are all connected to the top plate. The lower end of the guide rod penetrates through the L-shaped bracket and extends below the L-shaped bracket. The connecting plate is located below the L-shaped bracket and is slidably connected to the guide rod.

[0019] The upper end of the vertical lead screw is rotatably connected to the moving bracket. The first motor is connected to the vertical lead screw through a transmission assembly. The first slider is connected to the outer wall of the vertical lead screw and is connected to the connecting plate. When the first loading member is located in the first groove or the third groove, as the first motor continues to operate, the first slider still has a tendency to move vertically upward or downward, so that the loading force applied by the first loading member to the loading connecting member gradually increases, and the change of the loading force is continuous, realizing the continuous loading of any force. Moreover, the method of driving the loading member by the vertical lead screw has higher loading accuracy compared with the method of using weights in the prior art.

[0020] Further, the transmission assembly includes a driving bevel gear and a driven bevel gear meshed with the driving bevel gear. The driving bevel gear is connected to the outer wall of the first motor, and the driven bevel gear is connected to the outer wall of the vertical lead screw.

[0021] Further, the top plate is provided with a first chute. The top of the moving bracket is connected with a guiding block. The cross section of the guiding block is T-shaped, and the guiding block is slidably connected in the first chute. The connecting plate is provided with a second chute, and the first slider is slidably connected in the second chute. A guide groove is arranged on the side wall of the second chute, and the length of the guide groove matches the length of the second chute. A sliding piece is arranged on the outer wall of the first slider, and the sliding piece is slidably connected to the guide groove.

[0022] The moving bracket moves along the first chute to change the force application position of the first loading member to the loading connecting member, so as to calibrate the moment about the X-axis or the Y-axis.

[0023] Furthermore, the second screw rod loading assembly includes a second motor, a horizontal screw rod, and a fixing plate. The fixing plate is disposed on the surface of the workbench. The second motor is connected to the horizontal screw rod. The second slider is connected to the outer wall of the horizontal screw rod, and the second slider is slidably connected to the fixing plate. When the second loading member is located in the notch or the second groove, as the second motor continues to operate, the second slider still has a tendency to move horizontally, such that the loading force applied by the second loading member to the loading connection member gradually increases, and the change in the loading force is continuous, realizing continuous loading of any force. Moreover, by using the method of driving the loading member with a horizontal screw rod, the loading accuracy is higher compared to the method of using weights in the prior art.

[0024] Furthermore, the second screw rod loading assembly further includes a sliding plate. The second motor is fixedly connected to the sliding plate. The sliding plate is slidably connected to the fixing plate, and the sliding direction of the sliding plate along the fixing plate is perpendicular to the sliding direction of the second slider along the fixing plate. The sliding plate slides along the fixing plate to change the force application position of the second loading member to the loading connection member, thereby calibrating the moment about the Z axis.

[0025] Furthermore, a buckle is provided on the periphery of the loading chassis. An installation groove is provided at the top of the workbench. The installation grooves are distributed on the periphery of the loading chassis. A lock is connected to the side wall of the installation groove. The loading chassis is fixed on the surface of the workbench through the buckle and the lock.

[0026] Furthermore, a display instrument and a computer are further included. The display instrument is connected to the computer. The computer is connected to the multi-dimensional force sensor to be tested, the vertical loading mechanism, and the two horizontal loading mechanisms.

[0027] In a second aspect, the present invention provides a loading method for on-site rapid calibration of a multi-dimensional force sensor. Based on the loading device for on-site rapid calibration of a multi-dimensional force sensor in the first aspect, the loading method includes:

[0028] Calibrating the loading force ±F in the Z-axis direction Z When calibrating, move the moving bracket to move the first loading member into the third groove. The first screw rod loading assembly drives the first loading member to move in the vertical direction. When the first loading member moves vertically downward, the first standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force -F in the Z-axis direction Z and -F Z '. When the first loading member moves vertically upward, the first standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force +F in the Z-axis direction Z and +F Z '. The collected loading forces -F in the Z-axis direction Z 、+F Z 、-F Z ' and +FZ 'Transmitted to a computer for processing to complete the calibration of the loading force in the Z-axis direction of the multi-dimensional force sensor to be tested;

[0029] Calibrate the loading moment ±M about the Z-axis direction Z When calibrating, first move the sliding plate to the left limit position, turn the notch on one of the horizontal loading units to a position aligned with the second loading member, and the second screw rod loading assembly drives the second loading member to move horizontally. The second standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force F 1 and the loading moment +M Z ';

[0030] Then move the sliding plate to the right limit position, turn the notch on the other horizontal loading unit to a position aligned with the second loading member, and the second screw rod loading assembly drives the second loading member to move horizontally. The second standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force F 1 and the loading moment -M Z '; Transmit the collected loading force F 1 and the loading moment ±M Z ' to a computer for processing to complete the calibration of the loading moment in the Z-axis direction of the multi-dimensional force sensor to be tested;

[0031] When calibrating the loading force in the X-axis direction, rotate the horizontal loading unit along the X-axis direction of the multi-dimensional force sensor to be tested to the position of the horizontal loading mechanism arranged in the X-axis direction of the multi-dimensional force sensor to be tested, and make the second loading end close to the horizontal loading mechanism. Move the sliding plate to the middle position to make the second loading member move into the second groove. When the second loading member moves away from the loading connecting member, the second standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force +F X and +F X ', when the second loading member moves towards the loading connecting member, the second standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force -F X and -F X ', and transmit the collected loading forces +F X , -F X , +F X ' and -F X ' to a computer for processing to complete the calibration of the loading force in the X-axis direction of the multi-dimensional force sensor to be tested;

[0032] On the basis of calibrating the loading force in the X-axis direction, when calibrating the loading moment about the X-axis direction, move the moving bracket to the left limit position, rotate the loading chassis and move the first loading member to make the first loading member move into the first groove. When the first loading member rises, the first standard force sensor and the multi-dimensional force sensor to be tested respectively collect the loading force +F 2 and the loading moment +M X', when the first loading member descends, the first standard force sensor and the multi-dimensional force sensor under test respectively collect the loading force -F 2 and the loading torque -M X ', and transmit the collected +F 2 , -F 2 , the loading torque +M X ' and -M X ' to the computer for processing, and complete the calibration of the loading torque in the X-axis direction of the multi-dimensional force sensor under test;

[0033] When calibrating the loading force in the Y-axis direction, rotate the horizontal loading unit along the Y-axis direction of the multi-dimensional force sensor under test to the position of the horizontal loading mechanism set in the Y-axis direction of the multi-dimensional force sensor under test, and make the second loading end close to the horizontal loading mechanism. Move the sliding plate to the middle position, and move the second loading member into the second groove. When the second loading member moves away from the loading connecting member, the second standard force sensor and the multi-dimensional force sensor under test respectively collect the loading force +F Y and +F Y ', when the second loading member moves closer to the loading connecting member, the second standard force sensor and the multi-dimensional force sensor under test respectively collect the loading force -F Y and -F Y ', and transmit the collected loading force +F Y , -F Y , +F Y ' and -F Y ' to the computer for processing, and complete the calibration of the loading force in the Y-axis direction of the multi-dimensional force sensor under test;

[0034] On the basis of calibrating the loading force in the Y-axis direction, when calibrating the loading torque around the Y-axis direction, rotate the loading chassis by 90°, move the moving bracket, align the first loading member with the first groove, move the first loading member, and move the first loading member into the first groove. When the first loading member rises, the first standard force sensor and the multi-dimensional force sensor under test respectively collect the loading force +F 3 and +M Y ', when the first loading member descends, the first standard force sensor and the multi-dimensional force sensor under test respectively collect the loading force -F 3 and -M Y ', and transmit the collected +F 3 , -F 3 and the loading torque +M Y ', -M Y ' to the computer for processing, and complete the calibration of the loading torque in the Y-axis direction of the multi-dimensional force sensor under test;

[0035] During loading, the connecting piece is loaded in any one of the three methods of using the vertical loading mechanism or the two horizontal loading mechanisms alone; or it is loaded by any combination of the vertical loading mechanism and the two horizontal loading mechanisms simultaneously and coupledly on the loading connecting piece.

[0036] The advantages of the present utility model are as follows: after the first loading piece and the second loading piece come into contact with the loading connecting piece, as the three motors continue to operate, the loading forces exerted by the first loading piece and the second loading piece on the loading connecting piece also change, and the change of the loading force is continuous, realizing continuous loading of any force. Moreover, the method of driving the loading piece by a lead screw has higher loading accuracy compared with the method of using weights in the prior art.

[0037] In addition, the structure of the present device is compact, and assembly and debugging are convenient, and the calibration work can be carried out at the working site of the industrial robot. There are different mounting holes on the loading chassis, making it have good versatility and being applicable to the calibration of multi-dimensional force sensors for various specifications of industrial robots. Description of the Drawings

[0038] The following further describes the present utility model with reference to the accompanying drawings in conjunction with embodiments.

[0039] Figure 1 It is a schematic structural diagram of a loading device for on-site rapid calibration of a multi-dimensional force sensor of the present utility model.

[0040] Figure 2 It is Figure 1 a partial structural schematic diagram of the device shown.

[0041] Figure 3 It is a schematic structural diagram of the connection between the vertical lead screw and the second slider of the present utility model.

[0042] Figure 4 It is Figure 1 a partial three-dimensional Figure 1 .

[0043] Figure 5 It is a schematic structural diagram of the connection between the second loading piece, the second standard force sensor and the second slider of the present utility model.

[0044] Figure 6 It is a schematic structural diagram when the first loading piece of the present utility model is moved into the first groove.

[0045] Figure 7 It is Figure 1 a partial three-dimensional of another perspective of the structure shown Figure 2 .

[0046] Figure 8 It is a schematic structural diagram of the loading connecting piece of the present utility model.

[0047] Figure 9 The structural schematic diagram when the first loading member of the present utility model is moved into the third groove.

[0048] Figure 10 The structural schematic diagram when the loading connecting member of the present utility model is displaced from the working position.

[0049] Figure 11 The structural schematic diagram of the position where the first loading member is located when calibrating the moment of the X axis of the present utility model.

[0050] Figure 12 The structural schematic diagram of the position where the first loading member is located when calibrating the moment of the Y axis after the loading connecting member of the present utility model rotates counterclockwise by 90°.

[0051] Figure 13 The structural schematic diagram of the position where the first loading member is located when calibrating the moment of the Y axis after the loading connecting member of the present utility model rotates clockwise by 90°.

[0052] Description of the reference numerals in the figure:

[0053] 1. Workbench; 2. Multidimensional force sensor to be detected; 3. Loading chassis; 31. Buckle; 4. Loading connecting member; 41. Connecting part; 42. Horizontal loading unit; 421. First loading end; 4211. First groove; 4212. Notch; 422. Second loading end; 4221. Second groove; 43. Vertical loading unit; 431. Third groove; 432. Avoidance groove; 5. Top plate; 51. First chute; 6. Vertical loading mechanism; 61. First screw rod loading assembly; 611. First motor; 612. Vertical screw rod; 613. Moving bracket; 614. L-shaped bracket; 615. Guide rod; 616. Connecting plate; 6161. Second chute; 61611. Guide groove; 617. Driving bevel gear; 618. Driven bevel gear; 619. Guide block; 62. First slider; 621. Sliding piece; 63. First standard force sensor; 64. First loading member; 641. Vertical rod; 642. First loading ball; 643. Second loading ball; 644. Connecting rod; 7. Horizontal loading mechanism; 71. Second screw rod loading assembly; 711. Second motor; 712. Horizontal screw rod; 713. Fixed plate; 714. Sliding plate; 72. Second slider; 73. Second standard force sensor; 74. Second loading member; 741. Cross bar; 742. U-shaped block; 743. Third loading ball; 75. Press head bracket; 8. Support column; 9. Lock; 10. Display instrument; 11. Computer. Detailed implementation manners

[0054] Embodiment 1

[0055] Please refer to Figures 1 to 13, the present utility model provides a loading device for on-site rapid calibration of a multi-dimensional force sensor, including a workbench 1, a loading chassis 3 for fixing the multi-dimensional force sensor 2 to be inspected, a loading connecting piece 4, a top plate 5, a vertical loading mechanism 6 and a horizontal loading mechanism 7. The loading chassis 3 is rotatably connected to the workbench 1. There is a bearing on the workbench 1, and the loading chassis 3 is installed on the bearing. In the active state, the loading connecting piece 4 and the multi-dimensional force sensor 2 to be inspected rotate around the Z direction together with the loading chassis 3. The rotation of the loading chassis 3 drives the multi-dimensional force sensor 2 to be inspected to rotate, so as to change the relative positions of the X-axis and the Y-axis, which can reduce the human error caused by repeated disassembly and installation of parts and accelerate the calibration efficiency.

[0056] The loading chassis 3 has mounting holes of different specifications, and each specification of hole matches a different multi-dimensional force sensor 2 to be inspected, so that the device has good versatility and is suitable for the calibration of multi-dimensional force sensors for industrial robots of various specifications. The top plate 5 is arranged above the workbench 1 through a pillar 8, and the loading connecting piece 4 is fixedly connected to the top of the multi-dimensional force sensor 2 to be inspected in a detachable manner;

[0057] The vertical loading mechanism 6 is slidably connected to the top plate 5. The vertical loading mechanism 6 includes a first screw rod loading assembly 61 and a first slider 62 connected to the lower end of the first screw rod loading assembly 61. The first slider 62 is connected to a first standard force sensor 63, and the first standard force sensor 63 is connected to a first loading piece 64. During loading, the first screw rod loading assembly 61 drives the first slider 62 to move in the vertical direction. On the premise that the first loading piece 64 is located in the first groove 4211 or the third groove 431, as the first screw rod loading assembly 61 continues to operate, the loading force applied by the first loading piece 64 to the loading connecting piece 4 also changes, and the change of the loading force is continuous. Moreover, the loading of the first screw rod loading assembly 61 is driven by a servo motor, and the loading force and the magnitude of the loading torque are controlled by the torque fed back by the servo motor.

[0058] The horizontal loading mechanism 7 is slidably connected to the upper surface of the workbench 1. The horizontal loading mechanism 7 includes a second screw rod loading assembly 71 and a second slider 72 connected to the end of the second screw rod loading assembly 71. The second slider 72 is connected with a second standard force sensor 73, and the second standard force sensor 73 is connected with a second loading member 74. More specifically, a pressure head bracket 75 is arranged on the top of the second slider 72, and the second standard force sensor 73 is connected above the second slider 72 through the pressure head bracket 75; on the premise that the second loading member 74 is located in the notch 4212 or the second groove 4221, as the second screw rod loading assembly 71 continues to operate, the loading force applied by the second loading member 74 to the loading connecting member 4 also changes, and the change of the loading force is continuous. Moreover, the loading of the second screw rod loading assembly 71 is driven by a servo motor, and the torque fed back by the servo motor is used to control the magnitudes of the loading force and the loading torque.

[0059] Two horizontal loading mechanisms 7 are provided, one of the horizontal loading mechanisms 7 is arranged along the X-axis direction of the multi-dimensional force sensor 2 to be tested, and the other horizontal loading mechanism 7 is arranged along the Y-axis direction of the multi-dimensional force sensor 2 to be tested; during loading, the loading connecting member is loaded in a manner of any one of the three, namely the vertical loading mechanism 6 and the two horizontal loading mechanisms 7, being loaded alone. Or the loading connecting member 4 is simultaneously and coupledly loaded in any combination of the vertical loading mechanism 6 and the two horizontal loading mechanisms 7, that is, the three loading mechanisms, namely the vertical loading mechanism 6 and the two horizontal loading mechanisms 7, can be simultaneously and coupledly loaded on the loading connecting member 4, or the two horizontal loading mechanisms can be simultaneously and coupledly loaded on the loading connecting member, or the horizontal loading mechanism 7 arranged along the X-axis direction and the vertical loading mechanism 6 are simultaneously and coupledly loaded on the loading connecting member, or the horizontal loading mechanism 7 arranged along the Y-axis direction and the vertical loading mechanism 6 are simultaneously and coupledly loaded on the loading connecting member.

[0060] Specifically, the loading connecting member 4 includes a connecting portion 41 connected to the multi-dimensional force sensor 2 to be tested. The connecting portion 41 is connected with a loading portion, and the loading portion is composed of two groups of horizontal loading units 42 and one group of vertical loading units 43. One of the horizontal loading units 42 extends in the X-axis direction of the multi-dimensional force sensor 2 to be tested, and the other horizontal loading unit 42 extends in the Y-axis direction of the multi-dimensional force sensor 2 to be tested;

[0061] Each of the horizontal loading units 42 includes a first loading end 421 and a second loading end 422. The first loading end 421 and the second loading end 422 within the same horizontal loading unit 42 are respectively located on both sides of the connecting portion 41. Each first loading end 421 is provided with a first groove 4211 and a notch 4212. When the first loading member 64 is located within the first groove 4211, the first screw rod loading assembly 61 drives the first loading member 64 to move in the vertical direction to apply a moment of ±M to the multi-dimensional force sensor 2 under test about the X-axis direction. X or apply a moment of ±M to the multi-dimensional force sensor 2 under test about the Y-axis direction. Y for loading;

[0062] When the second loading member 74 is located within the notch 4212, the second screw rod loading assembly 71 drives the second loading member 74 to move in the horizontal direction to apply a moment of ±M to the multi-dimensional force sensor 2 under test about the Z-axis direction. Z for loading;

[0063] Each second loading end 422 is provided with a second groove 4221. When the second loading member 74 is located within the second groove 4221, the second screw rod loading assembly 71 drives the second loading member 74 to move in the horizontal direction to apply a force of ±F to the multi-dimensional force sensor 2 under test in the X-axis direction X or a force of ±F to the multi-dimensional force sensor 2 under test in the Y-axis direction. Y for loading;

[0064] The vertical loading unit 43 extends in the Z-axis direction of the multi-dimensional force sensor 2 under test. The vertical loading unit 43 is provided with a third groove 431. The center line of the third groove 431 coincides with the Z-axis of the multi-dimensional force sensor under test. A relief groove 432 communicating with the third groove 431 is provided on the side wall of the vertical loading unit 43. The relief groove 432 communicates with the third groove 431. The first loading member 64 can be moved into or out of the third groove 431 through the relief groove 432. When the first loading member 64 is located within the third groove 431, the first screw rod loading assembly 61 drives the first loading member 64 to move in the vertical direction to apply a force of ±F to the multi-dimensional force sensor 2 under test in the Z-axis direction. Z for loading.

[0065] Specifically, the first loading member 64 includes a vertical rod 641, a first loading ball 642, a second loading ball 643, and a connecting rod 644. The diameter of the connecting rod 644 is smaller than the apertures of the first groove and the third groove. The vertical rod 641 is connected to the first standard force sensor 63. The first loading ball 642 is connected to the lower end of the vertical rod 641. The upper end of the connecting rod 644 is connected to the first loading ball 642, and the lower end of the connecting rod 644 is connected to the second loading ball 643. During loading, the contact between the first loading ball 642 or the second loading ball 643 and the loading connecting member 4 is a point contact, which is beneficial to improving the loading accuracy. When the first loading member 64 is moved into the first groove, the first loading ball is located above the first loading end, and the second loading ball is located below the first loading end. When the first loading member 64 is moved into the third groove, the second loading ball is located inside the third groove, and the first loading ball is located above the vertical loading unit 43.

[0066] The second loading member 74 includes a cross bar 741, a U-shaped block 742 with a U-shaped cross section, and a third loading ball 743. The cross bar 741 is connected to the second standard force sensor 73. The U-shaped block 742 is connected to the cross bar 741, and the opening of the U-shaped block 742 faces away from one end of the cross bar 741. The third loading ball 743 is arranged at the opening of the U-shaped block 742, and the third loading ball 743 is fixedly connected to the U-shaped block 742 through two fixing rods. During loading, the contact between the third loading ball 743 and the loading connecting member 4 is a point contact, which is beneficial to improving the loading accuracy.

[0067] Specifically, the first lead screw loading assembly 61 includes a first motor 611, a vertical lead screw 612, a moving bracket 613, an L-shaped bracket 614, a guide rod 615, and a connecting plate 616. The type of the first motor 611 is a servo motor. The moving bracket 613, the L-shaped bracket 614, and the guide rod 615 are all connected to the top plate 5, and the lower end of the guide rod 615 penetrates through the L-shaped bracket 614 and extends below the L-shaped bracket 614. The connecting plate 616 is located below the L-shaped bracket 614, and the connecting plate 616 is slidably connected to the guide rod 615.

[0068] The upper end of the vertical lead screw 612 is rotatably connected to the moving bracket 613. The first motor 611 is connected to the vertical lead screw 612 through a transmission assembly. The first slider 62 is connected to the outer wall of the vertical lead screw 612. The first slider 62 is connected to the vertical lead screw 612, and the first slider 62 is connected to the connecting plate 616.

[0069] Specifically, the transmission assembly includes a driving bevel gear 617 and a driven bevel gear 618 meshed with the driving bevel gear 617. The driving bevel gear 617 is connected to the outer wall of the output end of the first motor 611, and the driven bevel gear 618 is connected to the outer wall of the vertical lead screw 612. When calibrating the loading force in the Z-axis direction, the loading torque around the X-axis, or the loading torque around the Y-axis, the first motor 611 drives the vertical lead screw 612 to rotate through the transmission of the driving bevel gear 617 and the driven bevel gear 618, so that the first loading member 64 loads the loading connection member 4.

[0070] Specifically, the top plate 5 is provided with a first chute 51. The top of the moving bracket 613 is connected with a guide block 619. The cross-section of the guide block 619 is T-shaped, and the guide block 619 is slidably connected in the first chute 51. The connecting plate 616 is provided with a second chute 6161, and the first slider 62 is slidably connected in the second chute 6161. When the moving bracket 613 moves along the first chute 51, the guide block 619, the first motor 611, the transmission assembly, the vertical lead screw 612, the first slider 62, and the first loading member 64 move accordingly.

[0071] A guide groove 61611 is provided on the side wall of the second chute 6161. The length of the guide groove 61611 matches the length of the second chute 6161. A sliding piece 621 is provided on the outer wall of the first slider 62, and the sliding piece 621 is slidably connected with the guide groove 61611. When changing the loading position of the first lead screw loading assembly 61, the setting of the guide groove 61611 can not affect the relative sliding of the first slider 62 and the connecting plate 616.

[0072] In addition, when the vertical lead screw 612 rotates, the sliding piece 621 cooperates with the guide groove 61611 to limit the rotation of the first slider 62 following the vertical lead screw 612. And the guide rod 615 also limits the rotation of the connecting plate 616. Therefore, when the vertical lead screw 612 rotates, the rotational motion of the vertical lead screw 612 can be converted into the linear motion of the first slider 62. And when the first slider 62 moves up and down in the Z-axis direction, the sliding piece 621 can also drive the connecting plate 616 to move up and down.

[0073] The moving bracket 613 moves along the first chute 51 to change the force application position of the first loading member 64 on the loading connection member 4, so as to calibrate the torque around the X-axis or the Y-axis. The first chute 51 is of a linear structure. When the guide block 619 is at one end of the first chute 51, the center lines of the vertical lead screw 612 and the first loading member 64 coincide with the center line of the multi-dimensional force sensor 2 to be inspected, so as to realize the calibration of the loading force in the Z-axis direction. When the guide block 619 is at the other end of the first chute 51, the calibration of the loading torque around the X-axis or the loading torque around the Y-axis is realized. As Figure 5As shown, when the guiding block 619 is located at the middle position of the first sliding groove 51, the central lines of the vertical lead screw 612 and the first loading member 64 coincide with the central line of the multi-dimensional force sensor 2 to be tested, that is, the central line of the first loading member 64 coincides with the center point of the third groove 431. When the guiding block 619 is located at the left limit or the right limit of the first sliding groove 51, the central line of the first loading member 64 coincides with the center point of one of the first grooves 4211.

[0074] Specifically, the second lead screw loading assembly 71 includes a second motor 711, a horizontal lead screw 712 and a fixing plate 713. The fixing plate 713 is arranged on the surface of the workbench 1. The second motor 711 is connected to the horizontal lead screw 712. The second slider 72 is connected to the outer wall of the horizontal lead screw 712, and the second slider 72 is slidably connected to the fixing plate 713. The second motor 711 is also a servo motor. When calibrating the loading torque around the Z axis, the loading force in the X axis or the loading force in the Y axis direction, the second motor 711 drives the horizontal lead screw 712 to rotate, so that the second slider 72 slides towards the side close to the loading connecting member 4, so that the second loading member 74 loads the loading connecting member 4.

[0075] Specifically, the second lead screw loading assembly 71 further includes a sliding plate 714. The second motor 711 is fixedly connected to the sliding plate 714. The sliding plate 714 is slidably connected to the fixing plate 713, and the sliding direction of the sliding plate 714 along the fixing plate 713 is perpendicular to the sliding direction of the second slider 72 along the fixing plate 713. The sliding plate 714 slides along the fixing plate 713 to change the force application position of the second loading member 74 on the loading connecting member 4, so as to calibrate the torque around the Z axis. The sliding plate 714 slides in a straight line. When calibrating the multi-dimensional force sensor 2 to be tested, the initial position of the multi-dimensional force sensor 2 to be tested is: the axis of the X axis coincides with the axis of the horizontal lead screw 712. Therefore, under this condition, the sliding plate 714 slides along the Y axis direction.

[0076] As Figure 5 shown, when the sliding plate 714 moves to the middle position of the fixing plate 713, the central line of the second loading member 74 coincides with the axis of the X axis or the Y axis of the multi-dimensional force sensor 2 to be tested. When the sliding plate 714 moves to the rightmost position of the fixing plate 713, the central line of the second loading member 74 is aligned with the notch 4212 of one of the horizontal loading units 42. And on this basis, after the loading chassis 3 is rotated by 90°, when the sliding plate 714 moves to the leftmost position of the fixing plate 713, the central line of the second loading member 74 is aligned with the notch 4212 of the other horizontal loading unit 42.

[0077] Specifically, a buckle 31 is provided on the periphery of the loading chassis 3, and an installation groove is provided on the top of the workbench 1. The installation grooves are distributed on the periphery of the loading chassis 3, and a locking buckle 9 is connected to the side wall of the installation groove. The loading chassis 3 is fixed on the surface of the workbench 1 through the buckle 31 and the locking buckle 9. The type of the locking buckle 9 is a quick locking buckle, also known as a snap fastener, which is a widely used hardware product and utilizes the dead point clamping principle. The quick locking buckle is a prior art, and those skilled in the art can select existing quick locking buckles on the market. In this application, the model of the quick locking buckle is DK057. The inner side of the buckle 31 has a recessed groove. When the loading chassis 3 is locked, one end of the quick locking buckle 9 is located in the recessed groove. Before rotating the loading chassis to change the position of the loading connector, loosen the buckle, and then lock the loading chassis after the position of the loading connector is changed.

[0078] Specifically, it further includes a display instrument 10 and a computer 11. The display instrument 10 is connected to the computer 11, and the computer 11 is connected to the multi-dimensional force sensor 2 to be tested, the vertical loading mechanism 6, and the two horizontal loading mechanisms 7. More specifically, the computer 11 is connected to the first motor 611, the second motor 711, the first standard force sensor 63, the second standard force sensor 73, and the multi-dimensional force sensor 2 to be tested. The computer 11 is connected to the first motor 611 and the second motor 711 to control the displacement of the first loading member 64 and the second loading member 74 and control the magnitude of the loading force or the loading torque. The first standard force sensor 63, the second standard force sensor 73, and the multi-dimensional force sensor 2 to be tested transmit the collected data to the computer 11. After receiving the data, the computer 11 performs arithmetic processing to complete the calibration of the multi-dimensional force sensor to be tested. Moreover, the computer 11 also displays the received data and the operation results on the display instrument.

[0079] Embodiment 2

[0080] The present invention provides a loading method for on-site rapid calibration of a multi-dimensional force sensor. Based on the loading device for on-site rapid calibration of the multi-dimensional force sensor in Embodiment 1, when calibrating the multi-dimensional force sensor 2 to be tested, the initial position of the multi-dimensional force sensor 2 to be tested is: the X-axis is in the front-rear direction, the Y-axis is in the left-rear direction, and the Z-axis is in the up-down direction. At this initial position, the loading forces on the X-axis, Y-axis, and Z-axis of the multi-dimensional force sensor 2 to be tested can be calibrated. And by moving the sliding plate 714 and the moving bracket 613, the loading torques around the Z-axis and the loading torques around the X-axis can be calibrated.

[0081] Loosen the locking buckle 9 and rotate the multi-dimensional force sensor 2 to be tested by 90°, and the loading torques around the Y-axis and the loading torques around the Z-axis can be calibrated.

[0082] The specific loading method is as follows:

[0083] Calibrate the loading force ±F in the Z-axis direction Z When calibrating, rotate the loading chassis 3 so that the avoidance groove 432 faces the first loading member 64. Move the moving bracket 613 to the left limit of the first chute 51. At this time, the second loading ball 643 is exactly located in the third groove 431, and the center line of the first loading member 64 coincides with the Z-axis of the multi-dimensional force sensor 2 to be tested. The first screw rod loading assembly 61 drives the first loading member 64 to move in the vertical direction. When the first loading member 64 moves vertically downward, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force -F Z and -F Z '. When the first loading member 64 moves vertically upward, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force +F Z and +F Z '. Transmit the collected loading forces -F Z , +F Z , -F Z ' and +F Z ' to the computer for processing to complete the calibration of the loading force in the Z-axis direction of the multi-dimensional force sensor 2 to be tested;

[0084] Calibrate the loading torque ±M about the Z-axis direction Z When calibrating, first move the sliding plate 714 to the left limit, and the notch 4212 on one of the horizontal loading units 42 turns to a position aligned with the second loading member 74. Lock the loading chassis 3. The second screw rod loading assembly 71 drives the second loading member 74 to move in the horizontal direction. The second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force F 1 and the loading torque +M Z ';

[0085] Then move the sliding plate 714 to the right limit, and the notch 4212 on the other horizontal loading unit 42 turns to a position aligned with the second loading member 74. Lock the loading chassis 3. The second screw rod loading assembly 71 drives the second loading member 74 to move in the horizontal direction. The second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force F 1 and the loading torque -M Z '; Transmit the collected loading force F 1 and the loading torque ±M Z ' to the computer for processing.

[0086] The distance from the position where the third loading ball 743 contacts the notch 4212 to the Z-axis of the multi-dimensional force sensor 2 to be tested is L 1 , and this distance L 1 is known. The computer 11 calculates the loading torque ±M of the second screw rod loading assembly 71 at this time Z = F1 ×L 1 The computer performs arithmetic processing on the loading torques ±M Z and ±M Z ' to complete the calibration of the loading torque in the Z-axis direction of the multi-dimensional force sensor 2 to be tested;

[0087] When calibrating the loading force in the X-axis direction, rotate the horizontal loading unit 42 along the X-axis direction of the multi-dimensional force sensor 2 to be tested to the position of the horizontal loading mechanism 7 provided in the X-axis direction of the multi-dimensional force sensor to be tested, and make the second loading end 422 close to the horizontal loading mechanism 7. Move the sliding plate 714 to the middle position so that the second loading member 74 moves into the second groove 4221. To more conveniently move the second loading member 74 into the second groove 4221, the horizontal loading unit 42 can be first moved away from the working position, then the sliding plate 714 is moved to the middle position, and then the loading chassis 3 is rotated to move the horizontal loading unit 42 to the working position. At this time, the second loading member 74 moves into the second groove 4221.

[0088] When the second loading member 74 moves away from the loading connection member 4, the second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the loading forces +F X and +F X '. When the second loading member 74 moves closer to the loading connection member 4, the second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force -F X and -F X '. Transmit the collected loading forces +F X 、-F X 、+F X ' and -F X ' to the computer for processing to complete the calibration of the loading force in the X-axis direction of the multi-dimensional force sensor 2 to be tested;

[0089] On the basis of calibrating the loading force in the X-axis direction, when calibrating the loading torque around the X-axis direction, move the moving bracket 613 to the left limit, rotate the loading chassis 3 and move the first loading member 64. Rotating the loading chassis 3 is to first move the horizontal loading unit 42 away from the working position to provide space for the movement of the first loading member 64. After the first loading member 64 moves to the preset position, rotate the loading chassis 3 again to move the horizontal loading unit 42 to the working position. At this time, the first loading member 64 moves into the first groove 4211. When the first loading member 64 rises, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force +F 2 and the loading torque +M X '. When the first loading member 64 descends, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force -F 2 and the loading torque -M X', the collected +F 2 , -F 2 , the loading torque +M X ' and -M X ' are transmitted to the computer for processing. The distance from the center point of the first groove 4211 to the X-axis of the multi-dimensional force sensor 2 to be tested is L 2 , and this distance L 2 is known. According to the applied force +F 2 and -F 2 , the computer can calculate the loading torque +M X of the first lead screw loading assembly 61 at this time = +F 2 × L 2 , -M X = -F 2 × L 2 ; the computer performs arithmetic processing on the loading torques +M X , -M X , +M X ' and -M X ' to complete the calibration of the loading torque in the X-axis direction of the multi-dimensional force sensor 2 to be tested;

[0090] When calibrating the applied force in the Y-axis direction, rotate the horizontal loading unit 42 along the Y-axis direction of the multi-dimensional force sensor 2 to the position of the horizontal loading mechanism 7 provided in the Y-axis direction of the multi-dimensional force sensor to be tested, and make the second loading end 422 close to the horizontal loading mechanism 7. Move the sliding plate 714 to the middle position so that the second loading member 74 moves into the second groove 4221.

[0091] Similarly, to make it more convenient for the second loading member 74 to move into the second groove 4221, the horizontal loading unit 42 can be first moved away from the working position, then the sliding plate 714 is moved to the middle position, and then the loading chassis 3 is rotated to move the horizontal loading unit 42 to the working position. At this time, the second loading member 74 moves into the second groove 4221. When the second loading member 74 moves away from the loading connecting member 4, the second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the applied forces +F Y and +F Y ', and when the second loading member 74 moves closer to the loading connecting member 4, the second standard force sensor 73 and the multi-dimensional force sensor 2 to be tested respectively collect the applied forces -F Y and -F Y '. The collected applied forces +F Y , -F Y , +F Y ' and -F Y ' are transmitted to the computer for processing to complete the calibration of the applied force in the Y-axis direction of the multi-dimensional force sensor 2 to be tested;

[0092] On the basis of calibrating the loading force in the Y-axis direction, when calibrating the loading torque about the Y-axis direction, rotate the loading chassis 3 clockwise or counterclockwise by 90°. When rotating 90° clockwise, move the moving bracket 613 to the right limit. When rotating 90° counterclockwise, move the moving bracket 613 to the left limit. At this time, the first loading member is aligned with the first groove, and move the first loading member to move the first loading member into the first groove.

[0093] Of course, in order to move the first loading member 64 into the first groove 4211, first move the horizontal loading unit 42 away from the working position, as Figure 10 shown, to provide space for the movement of the first loading member 64. After the first loading member 64 moves to the preset position, then rotate the loading chassis 3 to move the horizontal loading unit 42 to the working position. At this time, the first loading member 64 moves into the first groove 4211. When the first loading member 64 rises, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force +F 3 and +M Y '. When the first loading member 64 descends, the first standard force sensor 63 and the multi-dimensional force sensor 2 to be tested respectively collect the loading force -F 3 and -M Y '. Transmit the collected +F 3 , -F 3 and the loading torques +M Y ' and -M Y ' to the computer for processing. According to the loading forces +F 3 and -F 3 , the computer can calculate the loading torque +M Y = +F 3 ×L 2 of the first lead screw loading assembly 61 at this time, -M Y = -F 3 ×L 2 ; the computer performs arithmetic processing on the loading torques +M Y , -M Y , +M Y ' and -M Y ' to complete the calibration of the loading torque in the X-axis direction of the multi-dimensional force sensor 2 to be tested.

[0094] The advantages of the present invention are as follows: After the first loading member 64 and the second loading member 74 respectively abut against the surface of the loading connection member 4, with the continuous operation of the three motors, the loading forces exerted by the first loading member 64 and the second loading member 74 on the loading connection member 4 also change, and the change of the loading force is continuous, realizing the continuous loading of any force. And, by adopting the method of driving the loading member with a lead screw, compared with the method of using weights in the prior art, the loading accuracy is higher.

[0095] Moreover, the structure of the device is compact, and the assembly and debugging are convenient. The verification work can be carried out at the working site of the industrial robot. Different mounting holes are provided on the loading chassis 3, which makes it have good versatility and can be applied to the calibration of multi-dimensional force sensors for industrial robots of various specifications.

[0096] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be covered by the scope protected by the claims of the present invention.

Claims

1. A loading device for on-site rapid calibration of a multi-dimensional force sensor, characterized in that: It includes a workbench, a loading chassis for fixing the multi-dimensional force sensor to be tested, a loading connector, a top plate, a vertical loading mechanism and a horizontal loading mechanism, wherein the loading chassis is rotatably connected to the workbench, the top plate is arranged above the workbench through a support, and the loading connector is fixed on the top of the multi-dimensional force sensor to be tested; The vertical loading mechanism is connected to the top plate, and includes a first screw loading assembly and a first slider connected to the lower end of the first screw loading assembly, the first slider is connected to a first standard force sensor, and the first standard force sensor is connected to a first loading member; The horizontal loading mechanism is connected to the upper surface of the workbench, and includes a second screw loading assembly and a second slider connected to the end of the second screw loading assembly, the second slider is connected to a second standard force sensor, and the second standard force sensor is connected to a second loading member; There are two horizontal loading mechanisms, one of which is arranged along the X-axis direction of the multi-dimensional force sensor being tested, and the other is arranged along the Y-axis direction of the multi-dimensional force sensor being tested; when loading, any one of the three, the vertical loading mechanism and the two horizontal loading mechanisms, is used to load the connecting piece individually; or any combination of the three, the vertical loading mechanism and the two horizontal loading mechanisms, is used to simultaneously couple and load on the loading connecting piece.

2. A loading device for on-site rapid calibration of a multi-dimensional force sensor as claimed in claim 1, characterized in that: The loading connection member includes a connection part connected to the multi-dimensional force sensor to be tested, the connection part is connected to a loading part, and the loading part is composed of two groups of horizontal loading units and one group of vertical loading units, wherein one of the horizontal loading units extends in the X-axis direction of the multi-dimensional force sensor to be tested, and the other horizontal loading unit extends in the Y-axis direction of the multi-dimensional force sensor to be tested; Each group of the horizontal loading units includes a first loading end and a second loading end. The first loading end and the second loading end in the same horizontal loading unit are respectively located on both sides of the connecting portion. Each of the first loading ends is provided with a first groove and a notch. When the first loading member is located in the first groove, the first screw loading assembly drives the first loading member to move in the vertical direction to realize the loading moment ±M around the X-axis direction on the multi-dimensional force sensor under test. X Or load moment ±M around the Y axis Y Loading; When the second loading member is located at the notch, the second screw loading assembly drives the second loading member to move in the horizontal direction to achieve a loading moment ±M around the Z axis direction on the multi-dimensional force sensor being tested. Z Loading; Each of the second loading ends is provided with a second groove. When the second loading member is located in the second groove, the second screw loading assembly drives the second loading member to move in the horizontal direction to realize the loading force ±F in the X-axis direction of the multi-dimensional force sensor under test. X Or Y-axis load ±F Y Loading; The vertical loading unit extends in the Z-axis direction of the multi-dimensional force sensor to be tested, and the vertical loading unit is provided with a third groove, the center line of the third groove coincides with the Z-axis of the multi-dimensional force sensor to be tested, and the side wall of the vertical loading unit is provided with an avoidance groove connected to the third groove, and the avoidance groove is connected to the third groove. When the first loading member is located in the third groove, the first screw loading assembly drives the first loading member to move in the vertical direction to realize the loading force ±F in the Z-axis direction of the multi-dimensional force sensor to be tested. Z of loading.

3. The loading device for on-site rapid calibration of a multi-dimensional force sensor according to claim 1, characterized in that: The first loading member includes a vertical rod, a first loading ball, a second loading ball and a connecting rod, the vertical rod is connected to the first standard force sensor, the first loading ball is connected to the lower end of the vertical rod, the upper end of the connecting rod is connected to the first loading ball, and the lower end of the connecting rod is connected to the second loading ball; The second loading member includes a cross bar, a U-shaped block with a U-shaped cross section, and a third loading ball. The cross bar is connected to the second standard force sensor, the U-shaped block is connected to the cross bar, and the opening of the U-shaped block is away from one end of the cross bar. The third loading ball is arranged at the opening of the U-shaped block, and the third loading ball is fixedly connected to the U-shaped block through two fixing rods.

4. A loading device for on-site rapid calibration of a multi-dimensional force sensor according to any one of claims 1 to 3, characterized in that: The first screw loading assembly includes a first motor, a vertical screw, a movable bracket, an L-shaped bracket, a guide rod and a connecting plate, wherein the movable bracket, the L-shaped bracket and the guide rod are all connected to the top plate, and the lower end of the guide rod passes through the L-shaped bracket and extends to the bottom of the L-shaped bracket, the connecting plate is located below the L-shaped bracket, and the connecting plate is slidably connected to the guide rod; The upper end of the vertical screw is rotatably connected to the movable bracket, the first motor is connected to the vertical screw through a transmission assembly, the transmission assembly includes a driving bevel gear and a driven bevel gear meshing with the driving bevel gear, the driving bevel gear is connected to the outer wall of the first motor, the driven bevel gear is connected to the outer wall of the vertical screw, the first slider is connected to the outer wall of the vertical screw, and the first slider is connected to the connecting plate.

5. A loading device for on-site rapid calibration of a multi-dimensional force sensor as claimed in claim 4, characterized in that: The top plate is provided with a first slide groove, and a guide block is connected to the top of the movable bracket, the cross-section of the guide block is T-shaped, the guide block is slidably connected in the first slide groove, the connecting plate is provided with a second slide groove, and the first slider is slidably connected in the second slide groove; a guide groove is provided on the side wall of the second slide groove, the length of the guide groove matches the length of the second slide groove, a sliding sheet is provided on the outer wall of the first slider, and the sliding sheet is slidably connected to the guide groove; the movable bracket moves along the first slide groove to change the position where the first loading member applies force to the loading connecting member, thereby calibrating the torque around the X-axis or Y-axis.

6. A loading device for on-site rapid calibration of a multi-dimensional force sensor according to any one of claims 1 to 3, characterized in that: The second screw loading assembly includes a second motor, a horizontal screw and a fixed plate, the fixed plate is arranged on the surface of the workbench, the second motor is connected to the horizontal screw, the second slider is connected to the outer wall of the horizontal screw, and the second slider is slidably connected to the fixed plate.

7. A loading device for on-site rapid calibration of a multi-dimensional force sensor as claimed in claim 6, characterized in that: The second screw loading assembly also includes a sliding plate, the second motor is fixedly connected to the sliding plate, the sliding plate is slidably connected to the fixed plate, and the sliding direction of the sliding plate along the fixed plate is perpendicular to the sliding direction of the second slider along the fixed plate; the sliding plate slides along the fixed plate to change the force application position of the second loading member on the loading connecting member, thereby calibrating the torque around the Z axis.

8. The loading device for on-site rapid calibration of a multi-dimensional force sensor as claimed in claim 1, characterized in that: Buckles are arranged on the periphery of the loading chassis, and mounting grooves are arranged on the top of the workbench. The mounting grooves are distributed on the periphery of the loading chassis, and lock buckles are connected to the side walls of the mounting grooves. The loading chassis is fixed to the surface of the workbench by the buckles and the lock buckles.

9. The loading device for on-site rapid calibration of a multi-dimensional force sensor according to claim 1, characterized in that: The device also includes a display instrument and a computer. The display instrument is connected to the computer, and the computer is connected to the multi-dimensional force sensor to be tested, a vertical loading mechanism and two horizontal loading mechanisms.

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