A multi-dimensional force sensor calibration device

Abstract

This utility model relates to a multi-dimensional force sensor calibration device. A loading weight and a force gauge are respectively arranged above the loading disk along the X-axis, and another loading weight and a force gauge are respectively arranged above the loading disk along the Y-axis. A first rope is arranged on the outer side of the loading disk along the X-axis, with one end connected to the loading disk and the other end passing over a first pulley and connected to a first weight. A second rope is arranged on the outer side of the loading disk along the Y-axis, with one end connected to the loading disk and the other end passing over a second pulley and connected to a second weight. A third rope is arranged on both sides of the X-axis at the same offset distance along its positive and negative directions, with one end connected to the loading disk and the other end passing over a third pulley and connected to a third weight. And / or, a fourth rope is arranged on both sides of the loading disk at the same offset distance along its positive and negative directions, with one end connected to the loading disk and the other end passing over a fourth pulley and connected to a fourth weight. The beneficial effects are: small calibration error, low cost, and high efficiency.

Description

Technical Field

[0001] This utility model relates to the field of mechanical measurement technology, specifically to a multi-dimensional force sensor calibration device. Background Technology

[0002] A multidimensional force sensor is a force sensor capable of simultaneously measuring force and torque components in two or more directions. The most complete form of multidimensional force sensor is a six-dimensional force / torque sensor, which can simultaneously measure three force components and three torque components. Multidimensional force sensors are used in industries such as robotics, automotive manufacturing, automated assembly lines, biomechanics, aerospace, and textiles. Currently, calibration devices used for multidimensional force sensors have the following drawbacks: high equipment cost, low calibration efficiency, cumbersome operation, difficulty in simultaneously or conveniently loading multiple degrees of freedom while ensuring high accuracy, and low accuracy, poor stability, and significant coupling interference during the calibration process. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a multi-dimensional force sensor calibration device to solve the problems of high cost, low calibration efficiency, cumbersome operation, difficulty in simultaneously or conveniently loading multiple degrees of freedom while ensuring high accuracy, low accuracy of load application, poor stability and large coupling interference during the calibration process of existing multi-dimensional force sensor (especially six-dimensional force / torque sensor) calibration equipment.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A multidimensional force sensor calibration device, comprising: The calibration stage and the loading disk fixed to the multi-dimensional force sensor fixed on the calibration stage; Above the loading disk, loading weights and a vertically distributed force gauge are respectively arranged along the positive and negative X-axis directions, and loading weights and a vertically distributed force gauge are respectively arranged along the positive and negative Y-axis directions; the two force gauges are respectively fixed to the brackets fixed on the calibration platform, and their probes abut against the upper surface of the loading disk; a first rope is arranged along the X-axis on the outside of the loading disk, with one end connected to the loading disk and the other end passing over the first pulley and hanging down and connected to the first weight; a second rope is arranged along the Y-axis on the outside of the loading disk, with one end connected to the loading disk and the other end passing over the second pulley and hanging down and connected to the second weight. On the outside of the loading disk, at the same offset distance on both sides of the X-axis, one end is connected to the loading disk in the positive and negative directions, and the other end passes over the third pulley and is connected to the third rope hanging downward and connected to the third weight; and / or, on the outside of the loading disk, at the same offset distance on both sides of the Y-axis, one end is connected to the loading disk in the positive and negative directions, and the other end passes over the fourth pulley and is connected to the fourth rope hanging downward and connected to the fourth weight. The first pulley, the second pulley, the third pulley, and the fourth pulley are fixed on the calibration platform by rotation.

[0005] The beneficial effects of this utility model are: Standard weights are used to apply force or torque to the X, Y, and Z directions of a multi-dimensional force sensor. This is combined with the loading weights and a force gauge to calibrate the multi-dimensional force sensor, especially the six-dimensional force / torque sensor. This solves the problem of high cost of existing multi-dimensional force sensor calibration equipment: Existing high-precision six-dimensional calibration equipment, such as dedicated loading stages, multi-axis parallel mechanisms, and high-precision actuator combinations, is usually complex in structure and has extremely high manufacturing and maintenance costs, which limits its popularization and application in small and medium-sized enterprises and research institutions. To solve the problems of low calibration efficiency and cumbersome operation of existing calibration devices: Traditional multi-dimensional force sensor calibration devices, such as step-by-step single-axis loading, combined loading, or relying on complex adjustment mechanisms, often have many steps and take a long time to calibrate. They require frequent changes of loading points or adjustment of device posture, have low automation, and their calibration efficiency is difficult to meet the needs of large-scale or rapid calibration. To address the challenge of simultaneously or conveniently loading multiple degrees of freedom while maintaining high precision: Existing low-cost or simple calibration devices typically only achieve loading in a single direction or with limited degrees of freedom, making it difficult to accurately, independently, and conveniently apply and measure force / torque combinations in six directions (Fx, Fy, Fz, Mx, My, Mz), or to guarantee accuracy when loading multiple degrees of freedom simultaneously, thus failing to meet the comprehensive calibration requirements of high-precision six-dimensional sensors; To address the issues of accuracy, stability, and coupling interference in load application during calibration: When applying multidimensional loads, existing devices are prone to reduced load accuracy and poor stability on the sensor sensing unit due to factors such as insufficient structural stiffness, unclear force transmission path, loading point error, and coupling interference between axes, or the generation of interference forces / torques in non-target directions, which affect the accuracy and reliability of calibration results. Addressing the lack of a standardized calibration method that is highly integrated, easy to operate, and applicable to a wide range of scenarios: Currently, there is a lack of a standardized calibration solution for six-dimensional force / torque sensors that is relatively simple in structure, easy to operate, cost-controllable, and can provide high precision and high efficiency to meet the rapid and accurate calibration needs in various scenarios such as industrial sites, laboratories, and R&D testing.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, multiple mounting holes are formed on the outer circumference of the loading disk. One mounting hole is located in each of the positive and negative X-axis directions, and one is located in each of the positive and negative Y-axis directions. All mounting holes, except those in the X and Y axes, are arranged in a circular pattern and are symmetrical about the X and Y axes. A first rope is connected to a mounting hole in the X-axis direction on the loading disk via a sling head. A second rope is connected to a mounting hole in the Y-axis direction on the loading disk via a sling head. A third rope is connected to one of the mounting holes on the loading disk located on both sides of the X-axis, excluding those in the X and Y axes. A fourth rope is connected to one of the mounting holes on the loading disk located on both sides of the Y-axis, excluding those in the X and Y axes.

[0008] Furthermore, multiple threaded holes distributed in an array are opened on the surface of the calibration platform. The multi-dimensional force sensor is connected to the threaded holes on the calibration platform by bolts, and the loading plate is fixed to the multi-dimensional force sensor by bolts. There are two brackets, and the two force gauges are fixed on the two brackets respectively. The two brackets are connected to the threaded holes on the calibration platform by bolts. The brackets are lifting brackets.

[0009] The further beneficial effect of adopting the above is that the height of each force gauge can be adjusted according to the needs in order to complete the corresponding calibration requirements.

[0010] Furthermore, the support includes: a base plate, a top plate, a lead screw, and a guide rod. The base plate is connected to the threaded holes on the calibration platform by bolts, and the top plate is positioned above the base plate. The lead screw is arranged vertically and its lower end is rotatably connected to the base plate. The upper end of the lead screw passes through the top plate and is rotatably connected to the top plate. A slider is provided on the lead screw. The guide rod is arranged parallel to the lead screw and its lower end is fixed to the base plate. The upper end of the guide rod is fixed to the top plate. The guide rod passes through the slider on the lead screw, and the force gauge is fixed on the side of the slider.

[0011] The further beneficial effects of adopting the above are as follows: by rotating the lead screw, the slider can be controlled to rise and fall. Since the force gauge is fixed on the slider, the force gauge also rises and falls with the slider when it rises and falls, which is convenient to adjust and has good stability.

[0012] Furthermore, a handwheel fixed to the upper end of the lead screw is installed above the top plate.

[0013] The further beneficial effect of adopting the above is that the operator can control the rotation of the lead screw by simply rotating the handwheel, thereby adjusting the force gauge to raise and lower it, which is more convenient and saves effort.

[0014] Furthermore, a suspension beam is fixed on the calibration platform at each of the first, second, third, and fourth pulleys. The first, second, third, and fourth pulleys are each fixed to a suspension beam by rotation. The suspension beams are connected to the threaded holes on the calibration platform by bolts.

[0015] Furthermore, the suspension beam is a lifting type.

[0016] The further beneficial effect of adopting the above is that the first pulley, the second pulley, the third pulley, and the fourth pulley can be raised and lowered according to calibration requirements.

[0017] Furthermore, the cantilever beam includes: a column, a crossbeam, and an adjusting bolt. The lower end of the column is connected to a threaded hole on the calibration platform by a bolt. An adjusting groove is opened vertically along the upper edge of the column. The screw end of the adjusting bolt passes through the adjusting groove and is threadedly connected to the crossbeam. The outer diameter of the nut of the adjusting bolt is larger than the groove width of the adjusting groove. The first pulley, the second pulley, the third pulley, or the fourth pulley is fixed to the crossbeam by rotation.

[0018] The further beneficial effects of the above are as follows: loosening the adjusting bolts allows the crossbeam to be separated from the column, thus adjusting the position of the crossbeam up and down. After adjustment, tightening the adjusting bolts again locks the crossbeam and column in place. The adjustment is convenient and the stability is good.

[0019] Furthermore, an assembly slot is opened through the crossbeam, and the first pulley, second pulley, third pulley or fourth pulley is arranged in the assembly slot and connected to the crossbeam through a rotating shaft.

[0020] Furthermore, a tray is placed above the loading disk, below the loading weight on the X-axis and below the loading weight on the Y-axis.

[0021] The further beneficial effect of adopting the above is that the tray is used to hold the loading weights to prevent them from falling off. Attached Figure Description

[0022] Figure 1 This is a structural diagram of the multidimensional force sensor calibration device in this utility model; Figure 2 This is a structural diagram of the multi-dimensional force sensor calibration device of this utility model after removing the force gauge and the support. Figure 3 This is a partial structural diagram of the multidimensional force sensor calibration device of this utility model; Figure 4 This is a diagram showing the connection state of the loading disk and the connected ropes in this utility model.

[0023] The attached diagram lists the components represented by each number as follows: 1. Calibration platform; 110. Threaded hole; 2. Loading plate; 210. Mounting hole; 220. Groove; 230. Wire groove; 3. Loading weight; 4. Force gauge; 5. Bracket; 510. Base plate; 520. Top plate; 530. Lead screw; 540. Guide rod; 550. Slider; 560. Handwheel; 6. Cantilever beam; 610. Column; 611. Adjustment groove; 620. Crossbeam; 621. Assembly groove; 630. Adjustment bolt; 7. First pulley; 8. First weight; 9. First rope; 10. Second pulley; 11. Second weight; 12. Second rope; 13. Third pulley; 14. Third weight; 15. Third rope; 16. Fourth pulley; 17. Fourth weight; 18. Fourth rope; 19. Tray; 20. Lifting head; 21. Multi-dimensional force sensor. Detailed Implementation

[0024] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0025] Example 1 like Figures 1-3 As shown, a multidimensional force sensor calibration device includes: The calibration stage 1 and the loading disk 2 are used. The multi-dimensional force sensor 21 to be calibrated is fixed on the calibration stage 1, while the loading disk 2 is fixed on the multi-dimensional force sensor 21. The loading disk 2 and the multi-dimensional force sensor 21 can be connected by bolts. The origin of the three-dimensional coordinate system is the center of the multi-dimensional force sensor 21, and the direction of the arrow in the three-dimensional coordinate system is the positive direction, and the opposite direction is the negative direction. A loading weight 3 and a vertically distributed force gauge 4 are arranged above the loading disk 2 along the X-axis. The loading weight 3 and the force gauge 4 are located in the positive and negative directions of the X-axis, respectively. The force gauge 4 is fixed to the bracket 5 fixed on the calibration stage 1, and the probe of the force gauge 4 abuts against the upper surface of the loading disk 2. The force gauge 4 is a conventional probe-type force gauge. The loading weight 3 along the X-axis generates a downward force on the loading disk 2, while the loading disk 2 generates an upward force on the force gauge 4 along the X-axis. The two forces cancel each other out and are used to calibrate the torque of the Y-axis of the multi-dimensional force sensor 21. A loading weight 3 and a vertically distributed force gauge 4 are arranged above the loading disk 2 along the Y-axis. The loading weight 3 and the force gauge 4 are located in the positive and negative directions of the Y-axis, respectively. The two force gauges 4 are fixed to the brackets 5 fixed on the calibration stage 1, and the probes of the two force gauges 4 are abutting the upper surface of the loading disk 2. The force gauges 4 are conventional probe-type force gauges. The loading weight 3 along the Y-axis generates a downward force on the loading disk 2, while the loading disk 2 generates an upward force on the force gauge 4 along the Y-axis. The two forces cancel each other out and are used to calibrate the torque of the X-axis of the multi-dimensional force sensor 21. A first rope 9, a first pulley 7, and a first weight 8 are arranged along the X-axis on the outer side of the loading disk 2. One end of the first rope 9 is connected to the loading disk 2, and the other end of the first rope 9 passes around the first pulley 7 and hangs down and is connected to the first weight 8. The first weight 8 is in a suspended state. The first pulley 7 is fixed on the calibration table 1 by rotation. The cooperation of the first rope 9, the first pulley 7, and the first weight 8 is used to calibrate the force of the multidimensional force sensor 21 along the X-axis. A second rope 12, a second pulley 10, and a second weight 11 are arranged along the Y-axis on the outer side of the loading disk 2. One end of the second rope 12 is connected to the loading disk 2, and the other end of the second rope 12 passes around the second pulley 10 and hangs down and is connected to the second weight 11. The second weight 11 is in a suspended state. The second pulley 10 is fixed on the calibration table 1 by rotation. The cooperation of the second rope 12, the second pulley 10, and the second weight 11 is used to calibrate the force of the multidimensional force sensor 21 along the Y-axis. A third rope 15, a third pulley 13, and a third weight 14 are arranged on both sides of the loading disk 2 at equal offset distances along the positive and negative directions of the X-axis. Specifically, the third rope 15, third pulley 13, and third weight 14 in the positive direction of the X-axis and the third rope 15, third pulley 13, and third weight 14 in the negative direction of the X-axis are located on opposite sides of the X-axis and at the same distance from the X-axis. One end of the third rope 15 in the positive direction is connected to the loading disk 2, and the other end of the third rope 15 passes over the third pulley 13 and hangs downwards, connecting to the third weight 14. The third rope 15 in the negative direction... One end of the third rope 15 is connected to the loading disk 2. The other end of the third rope 15 passes over the third pulley 13 and hangs down and is connected to the third weight 14. The third weight 14 is in a suspended state. The third pulley 13 is fixed on the calibration table 1 by rotation. Assuming that the third rope 15, the third pulley 13 and the third weight 14 in the positive direction generate a torque on the multidimensional force sensor 21, then the third rope 15, the third pulley 13 and the third weight 14 in the negative direction also generate a torque on the multidimensional force sensor 21. The two torques are action and reaction forces, which cancel each other out, so that the torque of the Z-axis of the multidimensional force sensor 21 can be calibrated. And / or, on the outer side of the loading disk 2, at the same offset distance on both sides of the Y-axis, a fourth rope 18, a fourth pulley 16, and a fourth weight 17 are respectively arranged in the positive and negative directions of the Y-axis. That is, the fourth rope 18, fourth pulley 16, and fourth weight 17 in the positive direction of the Y-axis and the fourth rope 18, fourth pulley 16, and fourth weight 17 in the negative direction of the Y-axis are located on both sides of the Y-axis and at the same distance from the Y-axis. One end of the fourth rope 18 in the positive direction is connected to the loading disk 2, and the other end of the fourth rope 18 passes around the fourth pulley 16 and hangs down and is connected to the fourth weight 17. The fourth rope 18 in the negative direction is connected to the fourth weight 17. One end of the fourth rope 18 is connected to the loading disk 2. The other end of the fourth rope 18 passes around the fourth pulley 16 and hangs down and is connected to the fourth weight 17. The fourth weight 17 is in a suspended state. The fourth pulley 16 is fixed on the calibration table 1 by rotation. Assuming that the fourth rope 18, the fourth pulley 16 and the fourth weight 17 in the positive direction generate a torque on the multi-dimensional force sensor 21, then the fourth rope 18, the fourth pulley 16 and the fourth weight 17 in the negative direction also generate a torque on the multi-dimensional force sensor 21. The two torques are action and reaction forces, which cancel each other out, so that the torque of the Z-axis of the multi-dimensional force sensor 21 can be calibrated. The rotation axes of the first pulley 7, the second pulley 10, the third pulley 13, and the fourth pulley 16 are perpendicular to their respective axes; If the third rope 15, the third pulley 13, and the third weight 14 are arranged at the same distance from the X-axis of the multi-dimensional force sensor 21 in both the positive and negative directions, then each set will generate 1 / 2 torque on the Z-axis of the multi-dimensional force sensor 21. Alternatively, if the third rope 15, the third pulley 13, and the third weight 14 are arranged at the same distance from the Y-axis of the multi-dimensional force sensor 21 in both the positive and negative directions of the Y-axis, then each set will generate 1 / 2 torque on the Z-axis of the multi-dimensional force sensor 21. If both of the above conditions exist simultaneously, then each group will generate 1 / 4 torque on the Z-axis of the multi-dimensional force sensor 21.

[0026] Example 2 like Figure 1 , Figure 2 , Figure 4 As shown, this embodiment is a further improvement on embodiment 1, as detailed below: Multiple mounting holes 210 are formed on the outer circumferential surface of the loading disk 2. One mounting hole 210 is located in each of the positive and negative X-axis directions, and one mounting hole 210 is located in each of the positive and negative Y-axis directions. All mounting holes 210 except those in the X and Y axis directions are arranged in a circular pattern and are symmetrical about the X and Y axes. A first rope 9 is connected to a mounting hole 210 in the X-axis direction on the loading disk 2 via a lifting head 20, and a second rope 12 is connected to the loading disk 2 via the lifting head 20. A third rope 15 is connected to a mounting hole 210 on the loading disk 2 located in the Y-axis direction via a lifting head 20, and a fourth rope 18 is connected to a mounting hole 210 on the loading disk 2 located in the Y-axis direction, in addition to the X-axis and Y-axis directions. By connecting the lifting head 20 to mounting holes 210 at different positions on the outer circumference of the loading disk 2, the loading point can be adjusted for different calibrations.

[0027] The inner wall of the mounting hole 210 has internal threads, and the lifting head 20 is threadedly connected to the mounting hole 210, which facilitates the assembly and disassembly of the lifting head 20 and the loading plate 2.

[0028] Furthermore, on the outer peripheral surface of the loading disk 2, a groove 220 of the same inward recess is provided at each of the mounting holes 210. A wire groove 230 is provided on the outer peripheral surface of the loading disk 2 in the circumferential direction. After the lifting head 20 is threadedly connected to the mounting hole 210, the rope connected to the lifting head 20 will be attached to the wire groove 230 on the outer peripheral surface of the loading disk 2.

[0029] Example 3 like Figure 1 , Figure 2 As shown, this embodiment is a further improvement on embodiment 1 or 2, as detailed below: Multiple threaded holes 110 arranged in an array are opened on the upper surface of the calibration stage 1. The multi-dimensional force sensor 21 is connected to the threaded holes 110 on the calibration stage 1 by bolts. The loading disk 2 is fixed to the multi-dimensional force sensor 21 by bolts. There are two brackets 5. The two force gauges 4 are fixed on the two brackets 5 respectively. The two brackets 5 are connected to the threaded holes 110 on the calibration stage 1 by bolts. In this embodiment, the brackets 5 are lifting brackets, that is, the height of each force gauge 4 can be adjusted according to the needs to complete the corresponding calibration requirements.

[0030] Furthermore, the support 5 includes: a base plate 510, a top plate 520, a lead screw 530, and a guide rod 540. The base plate 510 is connected to the threaded hole 110 on the calibration table 1 by bolts. The top plate 520 is positioned above the base plate 510. The lead screw 530 is arranged vertically, with its lower end rotatably connected to the base plate 510, while its upper end passes through the top plate 520 and is rotatably connected to it. A slider 550 is provided on the lead screw 530, and the guide rod... The guide rod 540 is arranged parallel to the lead screw 530 and its lower end is fixed to the base plate 510. The upper end of the guide rod 540 is fixed to the top plate 520. The guide rod 540 passes through the slider 550 on the lead screw 530. The force gauge 4 is fixed on the side of the slider 550. By rotating the lead screw 530, the slider 550 can be raised and lowered. Since the force gauge 4 is fixed on the slider 550, when the slider 550 is raised and lowered, the force gauge 4 also rises and falls accordingly. It is easy to adjust and has good stability.

[0031] A handwheel 560 is installed above the top plate 520 and fixed to the upper end of the lead screw 530. The operator can control the rotation of the lead screw 530 by rotating the handwheel 560, thereby adjusting the force gauge 4 to raise and lower it, which is more convenient and saves effort.

[0032] Of course, this is just an example of one type of lifting support structure. In actual applications, other structures may be used, such as an electric actuator as a support, as long as the structure can control the force gauge 4 to lift.

[0033] Example 4 like Figures 1-3 As shown, this embodiment is a further improvement on embodiment 1, 2, or 3, as detailed below: On the calibration platform 1, a suspension beam 6 is fixed at each of the first pulley 7, the second pulley 10, the third pulley 13, and the fourth pulley 16, thus having multiple suspension beams 6. The first pulley 7, the second pulley 10, the third pulley 13, and the fourth pulley 16 are each fixed to a suspension beam 6 by rotation. The suspension beams 6 are connected to the threaded holes 110 on the calibration platform 1 by bolts.

[0034] Furthermore, the suspension beam 6 is a lifting suspension beam, which means that the first pulley 7, the second pulley 10, the third pulley 13 and the fourth pulley 16 can be raised or lowered according to calibration requirements.

[0035] The cantilever beam 6 includes: a column 610, a crossbeam 620, and an adjusting bolt 630. The lower end of the column 610 is connected to the threaded hole 110 on the calibration platform 1 by a bolt. An adjusting groove 611 is vertically formed along the upper edge of the column 610. The screw end of the adjusting bolt 630 passes through the adjusting groove 611 and is threadedly connected to the crossbeam 620. The outer diameter of the nut of the adjusting bolt 630 is larger than the groove width of the adjusting groove 611, that is, the nut of the adjusting bolt 630 cannot pass through the adjusting groove 611. The first pulley 7, the second pulley 10, and the third pulley... 13 or the fourth pulley 16 is fixed to the crossbeam 620 by rotation. Loosen the adjusting bolt 630 to loosen the crossbeam 620 from the column 610, so that the position of the crossbeam 620 can be adjusted up and down. After the adjustment is in place, tighten the adjusting bolt 630 again to lock the crossbeam 620 to the column 610. Of course, this is just an example of one structure of the cantilever beam 6. In actual application, other structures are not excluded, such as using the lifting structure in embodiment 2 to adjust the crossbeam 620.

[0036] An assembly slot 621 is formed through the crossbeam 620. The first pulley 7, the second pulley 10, the third pulley 13 or the fourth pulley 16 are arranged in the assembly slot 621 and connected to the crossbeam 620 through a rotating shaft.

[0037] Example 5 like Figure 3 As shown, this embodiment is a further improvement on any one of embodiments 1 to 4, as detailed below: A tray 19 is placed above the loading disk 2 and below the loading weight 3 on the X-axis. A tray 19 is also placed above the loading disk 2 and below the loading weight 3 on the Y-axis. The tray 19 is used to hold the loading weight 3 to prevent it from falling.

[0038] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multidimensional force sensor calibration device, characterized in that, include: The calibration stage and the loading disk fixed to the multi-dimensional force sensor fixed on the calibration stage; Above the loading disk, loading weights and a vertically distributed force gauge are respectively arranged along the positive and negative X-axis directions, and loading weights and a vertically distributed force gauge are respectively arranged along the positive and negative Y-axis directions; the two force gauges are respectively fixed to the brackets fixed on the calibration platform and their probes abut against the upper surface of the loading disk. A first rope is arranged along the X-axis on the outside of the loading disk, with one end connected to the loading disk and the other end hanging down after passing over the first pulley and connected to the first weight. A second rope is arranged along the Y-axis on the outside of the loading disk, with one end connected to the loading disk and the other end passing over the second pulley and hanging downwards to be connected to the second weight. On the outer side of the loading disk, at the same offset distance on both sides of the X-axis, one end is connected to the loading disk in the positive and negative directions, and the other end passes over the third pulley and is connected to the third rope hanging downward and connected to the third weight. Or, on the outer side of the loading disk, at the same offset distance on both sides of the Y-axis, one end is connected to the loading disk in the positive and negative directions, and the other end passes over the fourth pulley and is connected to the fourth rope hanging downward and connected to the fourth weight. The first pulley, the second pulley, the third pulley, and the fourth pulley are fixed on the calibration platform by rotation.

2. The multidimensional force sensor calibration device according to claim 1, characterized in that, Multiple mounting holes are formed on the outer circumferential surface of the loading disk. One mounting hole is located in each of the positive and negative X-axis directions, and one is located in each of the positive and negative Y-axis directions. All mounting holes except those in the X and Y axes are arranged in a circular pattern and are symmetrical about the X and Y axes. The first rope is connected to a mounting hole in the X-axis direction of the loading disk via a sling head. The second rope is connected to a mounting hole in the Y-axis direction of the loading disk via a sling head. The third rope is connected to one of the mounting holes on the loading disk located on both sides of the X-axis (excluding the X and Y axes) via a sling head. The fourth rope is connected to one of the mounting holes on the loading disk located on both sides of the Y-axis (excluding the X and Y axes) via a sling head.

3. The multidimensional force sensor calibration device according to claim 1, characterized in that, The calibration platform has multiple threaded holes arranged in an array on its upper surface. The multi-dimensional force sensor is connected to the threaded holes on the calibration platform by bolts. The loading disk is fixed to the multi-dimensional force sensor by bolts. There are two brackets. The two force gauges are fixed on the two brackets respectively. The two brackets are connected to the threaded holes on the calibration platform by bolts. The brackets are lifting brackets.

4. The multidimensional force sensor calibration device according to claim 3, characterized in that, The support includes a base plate, a top plate, a lead screw, and a guide rod. The base plate is connected to a threaded hole on the calibration platform by bolts, and the top plate is positioned above the base plate. The lead screw is arranged vertically and its lower end is rotatably connected to the base plate. The upper end of the lead screw passes through the top plate and is rotatably connected to the top plate. A slider is provided on the lead screw. The guide rod is arranged parallel to the lead screw and its lower end is fixed to the base plate. The upper end of the guide rod is fixed to the top plate. The guide rod passes through the slider on the lead screw, and the force gauge is fixed to the side of the slider.

5. The multidimensional force sensor calibration device according to claim 4, characterized in that, A handwheel is installed above the top plate and fixed to the upper end of the lead screw.

6. The multidimensional force sensor calibration device according to claim 1, characterized in that, On the calibration platform, a suspension beam is fixed at each of the first, second, third, and fourth pulleys. The first, second, third, and fourth pulleys are each fixed to a suspension beam by rotation. The suspension beams are connected to threaded holes on the calibration platform by bolts.

7. A multidimensional force sensor calibration device according to claim 6, characterized in that, The suspension beam is a lifting type suspension beam.

8. A multidimensional force sensor calibration device according to claim 6 or 7, characterized in that, The cantilever beam includes: a column, a crossbeam, and an adjusting bolt. The lower end of the column is connected to a threaded hole on the calibration platform by a bolt. An adjusting groove is opened vertically along the upper edge of the column. The screw end of the adjusting bolt passes through the adjusting groove and is threadedly connected to the crossbeam. The outer diameter of the nut of the adjusting bolt is larger than the groove width of the adjusting groove. The first pulley, the second pulley, the third pulley, or the fourth pulley is fixed to the crossbeam by rotation.

9. A multidimensional force sensor calibration device according to claim 8, characterized in that, An assembly slot is formed through the crossbeam, and the first pulley, second pulley, third pulley or fourth pulley is arranged in the assembly slot and connected to the crossbeam through a rotating shaft.

10. A multidimensional force sensor calibration device according to claim 1, characterized in that, A tray is placed above the loading disk, below the loading weight on the X-axis and below the loading weight on the Y-axis.

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