Static calibration and force loading platform for six-dimensional torque sensor
By designing the bracket, sensor cover, and loading unit, the calibration and loading process of the six-dimensional torque sensor is simplified, solving the problems of complex structure and cumbersome operation in the existing technology, and realizing efficient and reliable calibration and loading of the six-dimensional torque sensor.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NAT UNIV OF DEFENSE TECH
- Filing Date
- 2025-08-01
- Publication Date
- 2026-05-19
AI Technical Summary
Existing six-dimensional torque sensor calibration devices are complex in structure, expensive, and cumbersome to operate, making it difficult to achieve efficient and reliable static calibration and loading.
The design employs a bracket, sensor cover, and two loading units. The axial force or axial torque in the XYZ directions of the six-dimensional torque sensor is calibrated and loaded using pulley assemblies and weights. Experiments are conducted by adjusting the position of the loading units and varying the weight of the weights, simplifying the structure and ensuring experimental consistency.
A simplified structure and efficient calibration of a six-dimensional torque sensor were achieved. Six-dimensional calibration was accomplished with a small number of components, avoiding errors caused by reinstallation and ensuring consistency of experimental conditions and ease of operation.
Smart Images
Figure CN224262699U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of six-dimensional torque sensor testing, specifically involving a six-dimensional torque sensor static calibration and force loading platform. Background Technology
[0002] Currently, the calibration of six-dimensional torque sensors typically relies on multiple independent force-applying mechanisms to apply axial forces (Fx, Fy, Fz, i.e., X, Y, Z axial forces) and axial moments (Mx, My, Mz, Mz, i.e., moments about the X, Y, Z axes) to the sensors. However, current calibration devices require at least six loading units, resulting in complex structures, high costs, and cumbersome operation. Therefore, there is an urgent need for a static calibration and loading platform that is structurally simple, easy to operate, and can ensure experimental consistency, in order to improve the calibration efficiency and reliability of six-dimensional sensors. Utility Model Content
[0003] The technical problem to be solved by this utility model is to provide a static calibration and force loading platform for a six-dimensional torque sensor that is simple in structure, efficient and reliable.
[0004] This utility model provides a static calibration and force loading platform for a six-dimensional torque sensor, including a support, a sensor cover and two loading units;
[0005] The bracket is equipped with a sensor mounting position for fixing the six-dimensional torque sensor and several loading mounting positions for fixing the loading unit.
[0006] The sensor cover is used to fix the sensor onto the central support platform of the six-dimensional torque sensor, and the sensor cover is provided with two connecting rings.
[0007] The loading unit includes a pulley assembly, a connecting rope, and a weight. The pulley assembly is fixed at the loading installation position. One end of the connecting rope is connected to a connecting ring, and the other end passes through the pulley assembly to suspend the weight.
[0008] By adjusting the placement of the two loading units, the axial force or axial torque in the XYZ directions of the six-dimensional torque sensor can be calibrated and / or force applied.
[0009] Furthermore, the sensor cover includes a cover body and a positioning post disposed on the axis of the cover body;
[0010] The positioning column is used for fixed connection with the central support platform of the six-dimensional torque sensor;
[0011] The outer side of the cover has four or eight sets of connecting through holes arranged in a circular array;
[0012] The connecting ring and the connecting through hole are detachably connected.
[0013] Furthermore, each set of connecting through holes is arranged equidistantly along the radial direction of the cover.
[0014] Furthermore, the connecting ring is screwed into the connecting through hole.
[0015] Furthermore, the cover is provided with fastener mounting holes I arranged in a ring array, and the central support platform of the six-dimensional torque sensor is provided with fastener mounting holes II arranged in a ring array; fastener mounting holes I and fastener mounting holes II are detachably fastened together by fasteners.
[0016] Furthermore, the sensor is mounted in a ring array of several fastener mounting holes III;
[0017] The bottom of the six-dimensional torque sensor has several fastener mounting holes arranged in a ring array (Ⅳ).
[0018] Fastener mounting holes III and IV are detachably fastened together by fasteners.
[0019] Furthermore, the loading installation positions are set up on both sides of the sensor installation position along the X direction, and each group has three units spaced apart along the Y direction;
[0020] The loading installation positions are set up on both sides of the sensor installation position along the Y direction, and each group has three units spaced apart along the X direction.
[0021] Furthermore, the support structure includes an upper platform, uprights, and a base frame;
[0022] The loading and installation locations include through holes on the upper platform and fastening structures on the base frame corresponding to the through holes;
[0023] The loading unit also includes a mounting rod fixed to the pulley assembly, which passes through a through hole and is fastened to the fastening structure.
[0024] Furthermore, the pulley assembly includes a pulley frame and two fixed pulleys mounted on the pulley frame;
[0025] When calibrating and / or loading the axial force in the X direction of the six-dimensional torque sensor, the two loading units are located on the same side of the X direction of the six-dimensional torque sensor, and the two loading units are located on opposite sides of the Y direction of the six-dimensional torque sensor, with the fixed pulley of one loading unit located above the sensor cover and the fixed pulley of the other loading unit located below the sensor cover.
[0026] When calibrating and / or loading the axial force in the Y direction of the six-dimensional torque sensor, the two loading units are located on the same side of the Y direction of the six-dimensional torque sensor, and the two loading units are located on opposite sides of the X direction of the six-dimensional torque sensor, with the fixed pulley of one loading unit located above the sensor cover and the fixed pulley of the other loading unit located below the sensor cover.
[0027] When calibrating and / or loading the axial force in the Z direction of the six-dimensional torque sensor, the two loading units are located on both sides of the X or Y direction of the six-dimensional torque sensor, and the two loading units are located in the middle of the Y or X direction of the six-dimensional torque sensor, and the four fixed pulleys are at the same height and located above or below the sensor cover.
[0028] When calibrating and / or loading the axial torque in the X direction of the six-dimensional torque sensor, two loading units are located on both sides of the six-dimensional torque sensor in the X direction, and the two loading units are located at the same position in the Y direction of the six-dimensional torque sensor. The fixed pulley of one loading unit is located above the sensor cover, and the fixed pulley of the other loading unit is located below the sensor cover. Among the two fixed pulleys located below the sensor cover, the fixed pulley closer to the sensor cover is higher than the fixed pulley farther away from the sensor cover.
[0029] When calibrating and / or applying force to the axial torque in the Y direction of the six-dimensional torque sensor, two loading units are located on both sides of the six-dimensional torque sensor in the Y direction, and the two loading units are located at the same position in the X direction of the six-dimensional torque sensor. The fixed pulley of one loading unit is located above the sensor cover, and the fixed pulley of the other loading unit is located below the sensor cover. Among the two fixed pulleys located below the sensor cover, the fixed pulley closer to the sensor cover is higher than the fixed pulley farther away from the sensor cover.
[0030] When calibrating and / or loading the axial torque in the Z direction of the six-dimensional torque sensor, two loading units are located on both sides of the X or Y direction of the six-dimensional torque sensor, and the fixed pulley of one loading unit is located above the sensor cover, while the fixed pulley of the other loading unit is located below the sensor cover.
[0031] Furthermore, the pulley frame includes two opposing mounting plates, with a fixed pulley rotatably positioned between the two mounting plates.
[0032] The beneficial effects of this utility model are that the static calibration and force loading platform for the six-dimensional torque sensor provided by this utility model has a simple overall structure. By adjusting the position of the two loading units, the calibration and / or force loading of the axial force in the XYZ directions of the six-dimensional torque sensor and the calibration and / or force loading of the axial torque in the XYZ directions can be realized. Ultimately, the six-dimensional calibration or force loading of the six-dimensional torque sensor can be achieved with a small number of structures.
[0033] In practical use, the magnitude of the applied external force or torque is determined by changing the weight of the weights throughout the experiment. This adjustment is convenient and quick. Therefore, by changing the weight of the weights and conducting multiple experiments, multiple sets of recorded data can be obtained. If an experiment in one direction needs to be performed in the opposite direction after completion, simply move the loading unit to avoid errors caused by reinstalling the sensor and ensure that the external conditions of the experiment remain consistent. Attached Figure Description
[0034] Appendix Figure 1 This is a schematic diagram of the structure of the six-dimensional torque sensor for calibrating the axial force in the X direction and / or applying force.
[0035] Appendix Figure 2 This is a front view of the ZX direction during the calibration of the axial force in the X direction and / or the loading of force on the six-dimensional torque sensor of this invention.
[0036] Appendix Figure 3 This is a first-angle exploded view of the bracket, sensor, and sensor cover in this utility model;
[0037] Appendix Figure 4 This is a second-angle exploded view of the bracket, sensor, and sensor cover in this utility model;
[0038] Appendix Figure 5 This is a schematic diagram of the structure of the six-dimensional torque sensor for calibrating the axial force in the Y direction and / or applying force.
[0039] Appendix Figure 6 This is a schematic diagram of the structure of the six-dimensional torque sensor for calibrating the axial force in the Z direction and / or applying force.
[0040] Appendix Figure 7 This is a schematic diagram of the structure of the present invention for calibrating the axial torque in the X direction of the six-dimensional torque sensor and / or for force loading.
[0041] Appendix Figure 8 This is a schematic diagram of the structure of the six-dimensional torque sensor during calibration of the axial torque in the Y direction and / or force loading.
[0042] Appendix Figure 9This is a front sectional view of the ZX direction during the calibration of the axial torque in the Y direction of the six-dimensional torque sensor of this utility model and / or during force loading.
[0043] Appendix Figure 10 This is a schematic diagram of the structure of the six-dimensional torque sensor for calibrating the axial torque in the Z direction and / or applying force.
[0044] Appendix Figure 11 This is a front view of the ZY direction of the six-dimensional torque sensor for calibration and / or for force loading.
[0045] In the diagram, 1-bracket; 11-upper platform; 12-column; 13-base frame; 14-sensor mounting position; 141-fastener mounting hole III; 15-load mounting position; 151-through hole; 152-fastening structure; 2-sensor top cover; 21-cover; 211-connecting through hole; 212-fastener mounting hole I; 22-positioning column; 23-connecting ring; 3-loading unit; 31-pulley assembly; 311-pulley frame; 312-fixed pulley; 32-connecting rope; 33-weight; 34-mounting rod; 4-six-dimensional torque sensor; 41-central bearing platform; 411-fastener mounting hole II; 412-positioning hole; 42-fastener mounting hole IV; 5-shield. Detailed Implementation
[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0047] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.
[0048] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0049] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0050] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope claimed by this utility model.
[0051] like Figures 1-11 As shown, this utility model provides a static calibration and force loading platform for a six-dimensional torque sensor, which can perform static force loading tests on a six-dimensional torque sensor 4 and can also be used for static calibration of the six-dimensional torque sensor 4. It includes a bracket 1, a sensor cover 2 and two loading units 3.
[0052] The bracket 1 is provided with a sensor mounting position 14 for fixing the six-dimensional torque sensor 4 and several loading mounting positions 15 for fixing the loading unit 3;
[0053] The sensor cover 2 is used to fix it on the central support platform 41 of the six-dimensional torque sensor 4, thereby realizing the connection between the six-dimensional torque sensor 4 and the loading unit 3, and two connecting rings 23 are provided on the sensor cover 2.
[0054] The loading unit 3 includes a pulley assembly 31, a connecting rope 32, and a weight 33. The pulley assembly 31 is fixed on the loading installation position 15. One end of the connecting rope 32 is connected to the connecting ring 23, and the other end passes through the pulley assembly 31 to suspend the weight 33. The weight of the weight 33 is applied to the connecting ring 23 of the sensor cover 2 through the connecting rope 32, and finally applied to the six-dimensional torque sensor 4 through the sensor cover 2.
[0055] By adjusting the placement of the two loading units 3, the axial force in the XYZ directions of the six-dimensional torque sensor 4 is calibrated and / or force is applied, as well as the axial torque in the XYZ directions is calibrated and / or force is applied.
[0056] The six-dimensional torque sensor static calibration and force loading platform provided by this utility model has a simple overall structure. By adjusting the position of the two loading units 3, the calibration and / or force loading of the axial force in the XYZ directions of the six-dimensional torque sensor 4 and the calibration and / or force loading of the axial torque in the XYZ directions can be realized. Ultimately, the six-dimensional calibration or force loading of the six-dimensional torque sensor 4 can be achieved with a small number of structures.
[0057] In practical use, the magnitude of the applied external force or torque is determined by changing the weight of weight 33 throughout the experiment. This adjustment is convenient and quick. Therefore, by changing the weight of weight 33 and conducting multiple experiments, multiple sets of recorded data can be obtained. If an experiment in one direction needs to be performed in the opposite direction after the experiment is completed, simply move the position of loading unit 3. This avoids errors caused by reinstalling the sensor and ensures that the external conditions of the experiment remain consistent.
[0058] In one embodiment, the sensor cover 2 includes a cover body 21 and a positioning post 22 disposed on the axis of the cover body 21, wherein the cover body 21 is used to install the connecting ring 23.
[0059] The positioning post 22 is used to fix and connect with the central support platform 41 of the six-dimensional torque sensor 4. Specifically, the positioning post 22 is used to fit into the positioning hole 412 on the central support platform 41 of the six-dimensional torque sensor 4 to improve the installation accuracy.
[0060] The outer side of the cover 21 has four or eight sets of connecting through holes 211 arranged in a ring array;
[0061] The connecting ring 23 is detachably connected to the connecting through hole 211, thereby enabling the connecting ring 23 to be connected to the cover 21 at different positions. The connecting ring 23 can be connected upward to the connecting through hole 211 or downward to the connecting through hole 211.
[0062] In one embodiment, multiple connecting through holes 211 are arranged equidistantly along the radial direction of the cover 21. This arrangement allows adjustment of the distance between the connecting ring 23 and the axis of the six-dimensional torque sensor 4, thereby adjusting the length of the lever arm of the weight 33. Different testing modes are provided.
[0063] In one embodiment, the connecting ring 23 is screwed into the connecting through hole 211. This screw connection allows for quick and easy assembly and disassembly, and facilitates adjustment of the position of the connecting ring 23.
[0064] In one embodiment, the cover 21 is provided with fastener mounting holes I 212 arranged in a ring array, and the central support platform 41 of the six-dimensional torque sensor 4 is provided with fastener mounting holes II 411 arranged in a ring array. Preferably, the fastener mounting holes II 411 are blind holes. The fastener mounting holes I 212 and the fastener mounting holes II 411 are detachably fastened together by fasteners.
[0065] This configuration allows for a detachable connection between the cover 21 and the six-dimensional torque sensor 4, while also ensuring uniform force transmission between the two.
[0066] In one embodiment, the sensor mounting position 14 is a plurality of fastener mounting holes Ⅲ141 arranged in a ring array;
[0067] The bottom of the six-dimensional torque sensor 4 has several fastener mounting holes Ⅳ42 arranged in a ring array;
[0068] Fastener mounting holes Ⅲ141 and Ⅳ42 are detachably fastened together by fasteners.
[0069] This configuration allows the six-dimensional torque sensor 4 to be detachably connected to the bracket 1, while ensuring that the force on the six-dimensional torque sensor 4 is uniform.
[0070] In a preferred embodiment, a gasket 5 is further provided between the bottom of the six-dimensional torque sensor 4 and the bracket 1, and fasteners fix the gasket 5 between the bottom of the six-dimensional torque sensor 4 and the bracket 1.
[0071] In one embodiment, the loading mounting position 15 is provided on both sides of the sensor mounting position 14 in the X direction, and each group is provided with three at intervals along the Y direction, so that force can be applied to the middle and both sides of the six-dimensional torque sensor 4 in the X direction.
[0072] The loading installation position 15 is provided with a set on each side of the sensor installation position 14 along the Y direction, and each set has three sets spaced apart along the X direction, so that force can be applied to the middle and both sides of the six-dimensional torque sensor 4 in the Y direction.
[0073] With this setup, a total of twelve loading and installation positions 15 are formed, which apply force to the six-dimensional torque sensor 4 in different directions.
[0074] In one embodiment, the support 1 includes an upper platform 11, a column 12, and a base frame 13;
[0075] The loading installation position 15 includes a through hole 151 on the upper platform 11 and a fastening structure 152 on the base frame 13 corresponding to the through hole 151. The fastening structure 152 can be a connecting angle steel to realize a detachable fastening connection between the base frame 13 and the mounting longitudinal rod 34.
[0076] The loading unit 3 also includes a mounting rod 34 fixed to the pulley assembly 31. The mounting rod 34 passes through the through hole 151 and is fastened to the fastening structure 152. By fixing the pulley assembly 31 to the mounting rod 34, the load-bearing capacity can be guaranteed and the stability of the fixation can be improved.
[0077] In one embodiment, the pulley assembly 31 includes a pulley frame 311 and two fixed pulleys 312 disposed on the pulley frame 311;
[0078] refer to Figures 1-2 When calibrating and / or loading the axial force in the X direction of the six-dimensional torque sensor 4, the two loading units 3 are located on the same side in the X direction of the six-dimensional torque sensor 4, and the two loading units 3 are located on opposite sides in the Y direction of the six-dimensional torque sensor 4, with the fixed pulley 312 of one loading unit 3 located above the sensor cover 2, and the fixed pulley 312 of the other loading unit 3 located below the sensor cover 2.
[0079] refer to Figure 5 When calibrating and / or loading the axial force in the Y direction of the six-dimensional torque sensor 4, the two loading units 3 are located on the same side of the Y direction of the six-dimensional torque sensor 4, and the two loading units 3 are located on both sides of the X direction of the six-dimensional torque sensor 4, and the fixed pulley 312 of one loading unit 3 is located above the sensor cover 2, and the fixed pulley 312 of the other loading unit 3 is located below the sensor cover 2.
[0080] refer to Figure 6 When calibrating and / or loading the axial force in the Z direction of the six-dimensional torque sensor 4, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the X or Y direction, and in the middle of the six-dimensional torque sensor 4 in the Y or X direction. That is, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the X direction, and in the middle of the six-dimensional torque sensor 4 in the Y direction; or, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the Y direction, and in the middle of the six-dimensional torque sensor 4 in the X direction. The four fixed pulleys 312 are at the same height and located above the sensor cover 2.
[0081] refer to Figures 7-8When calibrating and / or loading the axial torque in the X direction of the six-dimensional torque sensor 4, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the X direction, and the two loading units 3 are located at the same position in the Y direction of the six-dimensional torque sensor 4. The fixed pulley 312 of one loading unit 3 is located above the sensor cover 2, and the fixed pulley 312 of the other loading unit 3 is located below the sensor cover 2. Among the two fixed pulleys 312 located below the sensor cover 2, the fixed pulley 312 closer to the sensor cover 2 is higher than the fixed pulley 312 farther away from the sensor cover 2.
[0082] refer to Figure 9 When calibrating and / or loading the axial torque in the Y direction of the six-dimensional torque sensor 4, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the Y direction, and the two loading units 3 are located at the same position in the X direction of the six-dimensional torque sensor 4. The fixed pulley 312 of one loading unit 3 is located above the sensor cover 2, and the fixed pulley 312 of the other loading unit 3 is located below the sensor cover 2. Among the two fixed pulleys 312 located below the sensor cover 2, the fixed pulley 312 closer to the sensor cover 2 is higher than the fixed pulley 312 farther away from the sensor cover 2.
[0083] refer to Figures 10-11 When calibrating and / or applying force to the axial torque in the Z direction of the six-dimensional torque sensor 4, the two loading units 3 are located on both sides of the six-dimensional torque sensor 4 in the X or Y direction, and specifically, on both sides of the six-dimensional torque sensor 4 in the X and Y directions, or vice versa. One loading unit 3 has a fixed pulley 312 located above the sensor cover 2, and the other loading unit 3 has a fixed pulley 312 located below the sensor cover 2.
[0084] In one embodiment, the pulley bracket 311 includes two opposing mounting plates, with a fixed pulley 312 rotatably disposed between the two mounting plates. Preferably, the mounting plate has a triangular structure, with the two pulley brackets 311 positioned at the two corners of the triangular mounting plate, and the mounting rod 34 positioned at the height of the triangle, thereby ensuring connection stability and improving load-bearing capacity.
[0085] The above description is merely an embodiment and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solution of this utility model without departing from its scope. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model, without departing from its scope, should fall within the protection scope of this utility model.
Claims
1. A six-moment sensor static calibration and force loading platform, characterized in that, It includes a bracket (1), a sensor cover (2), and two loading units (3); The bracket (1) is provided with a sensor mounting position (14) for fixing the six-dimensional torque sensor (4) and several loading mounting positions (15) for fixing the loading unit (3). The sensor cover (2) is used to fix the sensor on the central support platform (41) of the six-dimensional torque sensor (4), and two connecting rings (23) are provided on the sensor cover (2). The loading unit (3) includes a pulley assembly (31), a connecting rope (32) and a weight (33). The pulley assembly (31) is fixed on the loading installation position (15). One end of the connecting rope (32) is connected to the connecting ring (23), and the other end passes through the pulley assembly (31) to suspend the weight (33). By adjusting the placement of the two loading units (3), the axial force or axial torque in the XYZ directions of the six-dimensional torque sensor (4) is calibrated and / or force is applied.
2. The six-moment sensor static calibration and force loading platform of claim 1, wherein, The sensor cover (2) includes a cover body (21) and a positioning post (22) disposed on the axis of the cover body (21). The positioning column (22) is used to fix it to the central support platform (41) of the six-dimensional torque sensor (4); The outer side of the cover (21) is arranged in a ring array with four or eight sets of connecting through holes (211). The connecting ring (23) is detachably connected to the connecting through hole (211).
3. The six-moment sensor static calibration and force loading platform of claim 2, wherein, Each set of connecting through holes (211) has multiple holes arranged at equal intervals along the radial direction of the cover (21).
4. The six-moment sensor static calibration and force loading platform of claim 2, wherein, The connecting ring (23) is screwed into the connecting through hole (211).
5. The six-moment sensor static calibration and force loading platform of claim 2, wherein, The cover (21) is provided with fastener mounting holes I (212) arranged in a ring array, and the central support platform (41) of the six-dimensional torque sensor (4) is provided with fastener mounting holes II (411) arranged in a ring array; the fastener mounting holes I (212) and fastener mounting holes II (411) are detachably fastened together by fasteners.
6. The six-moment sensor static calibration and force loading platform of claim 1, wherein, The sensor mounting position (14) consists of several fastener mounting holes III (141) arranged in a ring array. The bottom of the six-dimensional torque sensor (4) has several fastener mounting holes Ⅳ (42) arranged in a ring array. Fastener mounting holes III (141) and IV (42) are detachably fastened together by fasteners.
7. The static calibration and force loading platform for six-moment sensors of any of claims 1-6, wherein the platform is a hexapod. The loading installation position (15) is set on both sides of the sensor installation position (14) in the X direction, and three are set in each group along the Y direction at intervals. The loading installation position (15) is set on both sides of the sensor installation position (14) in the Y direction, and each group is set with three at intervals along the X direction.
8. The six-moment sensor static calibration and force loading platform of claim 7, wherein, The support (1) includes an upper platform (11), a column (12) and a base frame (13); The loading installation position (15) includes a through hole (151) on the upper platform (11) and a fastening structure (152) on the base frame (13) corresponding to the through hole (151). The loading unit (3) also includes a mounting rod (34) fixed on the pulley assembly (31), which passes through the through hole (151) and is fastened to the fastening structure (152).
9. The static calibration and force loading platform for six-moment sensors according to any of claims 1-6, 8, characterized in that, The pulley assembly (31) includes a pulley frame (311) and two fixed pulleys (312) mounted on the pulley frame (311). When calibrating and / or loading the axial force in the X direction of the six-dimensional torque sensor (4), the two loading units (3) are located on the same side in the X direction of the six-dimensional torque sensor (4), and the two loading units (3) are located on opposite sides in the Y direction of the six-dimensional torque sensor (4), and the fixed pulley (312) of one loading unit (3) is located above the sensor cover (2), and the fixed pulley (312) of the other loading unit (3) is located below the sensor cover (2); When calibrating and / or loading the axial force in the Y direction of the six-dimensional torque sensor (4), the two loading units (3) are located on the same side of the Y direction of the six-dimensional torque sensor (4), and the two loading units (3) are located on both sides of the X direction of the six-dimensional torque sensor (4), and the fixed pulley (312) of one loading unit (3) is located above the sensor cover (2), and the fixed pulley (312) of the other loading unit (3) is located below the sensor cover (2); When calibrating and / or loading the axial force in the Z direction of the six-dimensional torque sensor (4), the two loading units (3) are located on both sides of the X or Y direction of the six-dimensional torque sensor (4), and the two loading units (3) are located in the middle of the Y or X direction of the six-dimensional torque sensor (4), and the four fixed pulleys (312) are at the same height and located above or below the sensor cover (2); When calibrating and / or loading the axial torque in the X direction of the six-dimensional torque sensor (4), two loading units (3) are located on both sides of the six-dimensional torque sensor (4) in the X direction, and the two loading units (3) are located at the same position in the Y direction of the six-dimensional torque sensor (4). The fixed pulley (312) of one loading unit (3) is located above the sensor cover (2), and the fixed pulley (312) of the other loading unit (3) is located below the sensor cover (2). Among the two fixed pulleys (312) located below the sensor cover (2), the fixed pulley (312) closer to the sensor cover (2) is higher than the fixed pulley (312) farther away from the sensor cover (2). When calibrating and / or loading the axial torque in the Y direction of the six-dimensional torque sensor (4), two loading units (3) are located on both sides of the six-dimensional torque sensor (4) in the Y direction, and the two loading units (3) are located at the same position in the X direction of the six-dimensional torque sensor (4). The fixed pulley (312) of one loading unit (3) is located above the sensor cover (2), and the fixed pulley (312) of the other loading unit (3) is located below the sensor cover (2). Among the two fixed pulleys (312) located below the sensor cover (2), the fixed pulley (312) closer to the sensor cover (2) is higher than the fixed pulley (312) farther away from the sensor cover (2). When calibrating and / or loading the axial torque in the Z direction of the six-dimensional torque sensor (4), two loading units (3) are located on both sides of the X or Y direction of the six-dimensional torque sensor (4), and two loading units (3) are located on both sides of the Y or X direction of the six-dimensional torque sensor (4), and the fixed pulley (312) of one loading unit (3) is located above the sensor cover (2), and the fixed pulley (312) of the other loading unit (3) is located below the sensor cover (2).
10. The six-moment sensor static calibration and force loading platform of claim 7, wherein, The pulley frame (311) includes two mounting plates arranged opposite each other, and a fixed pulley (312) is rotatably arranged between the two mounting plates.