A force arm adjustable multi-dimensional force sensor calibration device
Patent Information
- Application Number
- CN202522548385.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-01
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-12-01
AI Technical Summary
[0004]本实用新型的目的是针对背景技术中存在六维传感器标定需依赖成本高的专业多维标定台，高昂成本成为中小型企业及科研机构开展相关研发、生产与应用的瓶颈，也限制了六维传感器技术普及推广的问题，提出一种力臂可调多维力传感器标定装置
[0016]本实用新型通过简化机械结构设计，采用安装架、转轴、安装板等常规机械部件配合伺服电机与同步带传动的姿态调节方式，替代了传统专业多维标定台复杂且高精度的集成化结构；
Smart Images
Figure CN224839248U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of calibration device technology, and in particular to a calibration device for a multi-dimensional force sensor with adjustable lever arm. Background Technology
[0002] In fields such as industrial automation, robotics, and precision measurement, six-dimensional sensors, as core components capable of simultaneously detecting multi-dimensional physical quantities such as force and torque, directly determine the operational performance and control accuracy of the entire system. To ensure the accuracy and reliability of the output data from six-dimensional sensors in practical applications, precise calibration is essential; the calibration process is a crucial step in ensuring the validity of sensor measurement results. Currently, the industry primarily relies on specialized multi-dimensional calibration stands for six-dimensional sensor calibration. These stands typically require extremely high mechanical positioning accuracy, stable loading performance, and complex control systems to simulate the multi-dimensional loads experienced by the sensor under different operating conditions and to calibrate the sensor's output characteristics using precise reference data. However, existing specialized multi-dimensional calibration stands suffer from high overall manufacturing costs due to the difficulty in processing their core components, complex manufacturing processes, and the integration of high-precision measurement and control modules.
[0003] For many small and medium-sized enterprises or research institutions, purchasing a professional multidimensional calibration platform often requires an investment of hundreds of thousands or even millions of yuan. This high cost has become a significant bottleneck restricting their research, development, production, and application of six-dimensional sensors. Some enterprises, due to cost pressures, cannot afford professional calibration equipment and must rely on external testing institutions for calibration, which not only increases time and communication costs but also makes it difficult to meet their own timely and personalized needs for sensor calibration. At the same time, the high cost of calibration equipment also limits the popularization and promotion of six-dimensional sensor technology, hindering the rapid development of related industries. Therefore, this utility model proposes a multidimensional force sensor calibration device with an adjustable lever arm. Utility Model Content
[0004] The purpose of this invention is to address the issue that in the background technology, the calibration of six-dimensional sensors requires a costly professional multi-dimensional calibration platform. The high cost has become a bottleneck for small and medium-sized enterprises and research institutions to carry out related research, development, production and application, and has also limited the popularization and promotion of six-dimensional sensor technology. This invention proposes a multi-dimensional force sensor calibration device with an adjustable lever arm.
[0005] The technical solution of the utility model is: a multi-dimensional force sensor calibration device with adjustable force arm, comprising a mounting frame as a mounting base; a chuck mounted at the bottom of the mounting frame, wherein the bottom of the chuck clamps and fixes a six-dimensional force sensor; a force arm adjusting mechanism connected below the six-dimensional force sensor, wherein the force arm adjusting mechanism is configured to suspend weights to form two force arms for calibration; a first attitude adjusting assembly and a second attitude adjusting assembly arranged on a side of the mounting frame, wherein the first attitude adjusting assembly and the second attitude adjusting assembly are configured to adjust the attitude of the six-dimensional force sensor to calculate and detect the force components of the weight in different directions of the six-dimensional force sensor.
[0006] Optionally, the mounting frame comprises a top plate, two groups of side plates are fixedly connected to the bottom of the top plate, rotating shafts are rotatably connected in the two groups of side plates respectively, mounting blocks are fixedly connected to the opposite ends of the two groups of rotating shafts, a mounting plate is fixedly connected to the top of the two groups of mounting blocks, a mounting column is rotatably connected in the mounting plate, and the chuck is mounted at the bottom of the mounting column.
[0007] Optionally, the force arm adjusting mechanism comprises a connecting plate mounted at the bottom of the six-dimensional force sensor, a fixed cylinder is fixedly connected to the bottom of the connecting plate, a first adjusting rod is slidably connected in the fixed cylinder, a plurality of groups of locking pieces are arranged on an outer ring of the first adjusting rod, the plurality of groups of locking pieces are distributed in an annular array and fixedly connected to the bottom of the fixed cylinder, and outer sides of the plurality of groups of locking pieces are provided with threads and are in threaded connection with a nut.
[0008] Optionally, a connecting block is fixedly connected to the bottom of the first adjusting rod, the connecting block is in the shape of a Chinese character "冂" and is slidably connected with a second adjusting rod therein, and a bolt is movably arranged through one side of the connecting block and is in threaded connection with the other side of the connecting block.
[0009] Optionally, the weight is suspended at the bottom of the first adjusting rod or one end of the second adjusting rod via a hanging rope.
[0010] Optionally, the first attitude adjusting assembly comprises a fixing plate fixedly connected to one side of the mounting frame, the fixing plate is L-shaped, a first servo motor is mounted on the fixing plate, and an output end of the first servo motor penetrates through the fixing plate and is fixedly connected with a first belt pulley.
[0011] Optionally, a second belt pulley is fixedly connected to the outer ring of a group of rotating shafts close to the first servo motor, and a first synchronous belt is sleeved on the second belt pulley and the first belt pulley.
[0012] Optionally, the second attitude adjusting assembly comprises a synchronizing plate fixedly connected to the outer ring of another group of rotating shafts, a motor plate is fixedly connected to the top of the synchronizing plate, a second servo motor is mounted at the bottom of the motor plate, and an output end of the second servo motor penetrates through the motor plate and is fixedly connected with a third belt pulley.
[0013] Optionally, a fourth pulley is fixedly connected to the top of the mounting column, and a second synchronous belt is fitted onto the third pulley and the fourth pulley.
[0014] Optionally, an arc-shaped groove is provided on a set of side plates near the second attitude adjustment component. The groove is opened with the rotating shaft as the center, and the second synchronous belt passes through the groove.
[0015] In summary, this application includes at least one of the following beneficial technical effects:
[0016] This utility model simplifies the mechanical structure design and uses conventional mechanical components such as mounting brackets, rotating shafts, and mounting plates in conjunction with servo motors and synchronous belt drives for attitude adjustment, replacing the complex and high-precision integrated structure of traditional professional multi-dimensional calibration tables.
[0017] Furthermore, the lever arm can be controlled and adjusted through simple components such as the first adjusting rod, the second adjusting rod, and the locking plate. It does not rely on expensive precision loading and positioning modules. The overall manufacturing cost of the device is far lower than that of professional calibration stands costing hundreds of thousands or even millions of dollars, effectively reducing the equipment investment threshold for small and medium-sized enterprises and research institutions, and solving the industry pain point of excessively high costs of traditional calibration equipment.
[0018] In summary, this invention can significantly reduce the cost of six-dimensional sensor calibration equipment, break through the application threshold for small and medium-sized enterprises and research institutions, and meet their needs for timely and personalized calibration, thereby promoting the popularization and application of six-dimensional sensor technology and the rapid development of related industries. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of a calibration device for a multi-dimensional force sensor with an adjustable lever arm.
[0020] Figure 2 This is a schematic diagram of the structure of the first attitude adjustment component;
[0021] Figure 3 yes Figure 2 A schematic diagram of the cross-sectional structure;
[0022] Figure 4 This is a schematic diagram of the clamping disc structure;
[0023] Figure 5 This is a schematic diagram of a weight suspended at the bottom of the first adjusting rod.
[0024] Figure label:
[0025] 1. Mounting bracket; 11. Top plate; 12. Side plate; 13. Rotating shaft; 14. Mounting block; 15. Mounting plate; 16. Mounting column; 17. Slide groove;
[0026] 2. Clamping plate; 3. Six-dimensional force sensor; 4. Lever arm adjustment mechanism; 41. Connecting plate; 42. Fixing cylinder; 43. First adjusting rod; 44. Connecting block; 45. Second adjusting rod; 46. Locking piece;
[0027] 5. First attitude adjustment assembly; 51. Fixing plate; 52. First servo motor; 53. First pulley; 54. Second pulley; 55. First synchronous belt;
[0028] 6. Second attitude adjustment component; 61. Synchronization plate; 62. Motor plate; 63. Second servo motor; 64. Third pulley; 65. Fourth pulley; 66. Second synchronous belt. Detailed Implementation
[0029] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.
[0030] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.
[0031] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0032] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0034] Example
[0035] As Figure 1 and Figure 2 shown, a multi-dimensional force sensor calibration device with adjustable force arm proposed by the present utility model comprises a mounting frame 1 serving as a mounting foundation, the mounting frame 1 comprises a top plate 11, and when the device is used, the device is fixed by mounting and fixing the top plate 11. Two groups of side plates 12 are fixedly connected to the bottom of the top plate 11, and the positions of the side plates 12 are fixed. A rotating shaft 13 is respectively rotatably connected in the two groups of side plates 12 through bearings, and the rotating shaft 13 rotates in situ. Mounting blocks 14 are fixedly connected to the opposite ends of the two groups of rotating shafts 13, and the mounting blocks 14 rotate synchronously with the rotating shafts 13. A mounting plate 15 is fixedly connected to the top of the two groups of mounting blocks 14, and the mounting plate 15 rotates synchronously with the rotating shafts 13 through the mounting blocks 14. A mounting post 16 is rotatably connected in the mounting plate 15 through a bearing, and the mounting post 16 rotates in situ. A chuck 2 is mounted at the bottom of the mounting post 16, and the mounting post 16 drives the chuck 2 to rotate synchronously when rotating.
[0036] Further, please refer to Figure 4 , the above-mentioned calibration device comprises a chuck 2 mounted at the bottom of a mounting frame 1, a six-dimensional force sensor 3 is clamped and fixed at the bottom of the chuck 2, and the chuck 2 can adopt three-jaw or four-jaw type for clamping and fixing the top of the six-dimensional force sensor 3.
[0037] Specifically, as Figures 1 to 3 shown, the above-mentioned calibration device further comprises a force arm adjustment mechanism 4 connected below the six-dimensional force sensor 3, the force arm adjustment mechanism 4 is used for suspending weights to form two force arms for calibration. The force arm adjustment mechanism 4 comprises a connecting plate 41 mounted at the bottom of the six-dimensional force sensor 3 through bolts, and a fixed cylinder 42 is fixedly connected to the bottom of the connecting plate 41. A first adjustment rod 43 is slidably connected in the fixed cylinder 42, and the length of the first force arm is adjusted by adjusting the length of the first adjustment rod 43 extending out of the bottom of the fixed cylinder 42. A plurality of groups of locking pieces 46 are arranged on the outer ring of the first adjusting rod 43, the plurality of groups of locking pieces 46 are distributed in an annular array and fixedly connected to the bottom of the fixed cylinder 42, threads are arranged on the outer sides of the plurality of groups of locking pieces 46 and are in threaded connection with a nut, and the first adjusting rod 43 is locked by tightening the nut. A connecting block 44 is fixedly connected to the bottom of the first adjusting rod 43, the connecting block 44 is arranged in a "冂" shape and a second adjusting rod 45 is slidably connected therein, a bolt is movably penetrated through one side of the connecting block 44 and is in threaded connection with the other side of the connecting block 44, after the bolt is tightened, the connecting block 44 is driven to extrude the second adjusting rod 45 to fix the position of the second adjusting rod 45.
[0038] Further, please refer to Figures 1 to 5The calibration device includes a first attitude adjustment component 5 and a second attitude adjustment component 6 disposed on the side of the mounting frame 1. The first attitude adjustment component 5 and the second attitude adjustment component 6 are used to adjust the attitude of the six-dimensional force sensor 3 to calculate the force components of the detected weight in different directions of the six-dimensional force sensor 3. The first attitude adjustment component 5 includes a fixing plate 51 fixedly connected to one side of the mounting frame 1. The fixing plate 51 is L-shaped and its position is fixed. A first servo motor 52 is mounted on the fixing plate 51. The output end of the first servo motor 52 passes through the fixing plate 51 and is fixedly connected to a first pulley 53. After the first servo motor 52 is started, it drives the first pulley 53 to rotate. A set of rotating shafts 13 near the first servo motor 52 is fixedly connected to a second pulley 54. When the second pulley 54 rotates, it drives the rotating shafts 13 to rotate synchronously, thereby driving the mounting plate 15 to rotate through the mounting block 14, and then driving the six-dimensional force sensor 3 to rotate through the mounting column 16 and the clamp 2. The second pulley 54 and the first pulley 53 are fitted with a first synchronous belt 55. When the first pulley 53 rotates, it drives the first synchronous belt 55 to rotate synchronously.
[0039] Furthermore, the second attitude adjustment component 6 includes a synchronization plate 61 fixedly connected to the outer ring of another set of rotating shafts 13. A motor plate 62 is fixedly connected to the top of the synchronization plate 61. When the mounting plate 15 rotates, the rotating shaft 13 drives the synchronization plate 61 and the motor plate 62 to rotate synchronously. A second servo motor 63 is mounted at the bottom of the motor plate 62. The output end of the second servo motor 63 passes through the motor plate 62 and is fixedly connected to a third pulley 64. After the second servo motor 63 starts, it drives the third pulley 64 to rotate. A fourth pulley 65 is fixedly connected to the top of the mounting column 16. When the mounting column 16 rotates, it drives the six-dimensional force sensor 3 to rotate synchronously through the clamp 2, adjusting the attitude of the six-dimensional force sensor 3. A second synchronous belt 66 is sleeved on the third pulley 64 and the fourth pulley 65. When the third pulley 64 rotates, it drives the fourth pulley 65 to rotate synchronously through the second synchronous belt 66. An arc-shaped groove 17 is provided on a set of side plates 12 near the second attitude adjustment component 6. The groove 17 is opened with the rotating shaft 13 as the center. The second synchronous belt 66 passes through the groove 17. With the opening of the groove 17, when the first attitude adjustment component 5 drives the mounting plate 15 to rotate, the second synchronous belt 66 moves in the position of the groove 17 and will not contact the side plate 12, thus ensuring stable transmission.
[0040] It is worth mentioning that the weight is suspended from the bottom of the first adjusting rod 43 or one end of the second adjusting rod 45 by a hanging rope. The calibration steps are as follows:
[0041] The first step is to suspend the weight from the bottom of the first adjusting rod 43 via a hanging rope. At this point, the weight is directly opposite the center of the six-dimensional force sensor 3, denoted as P0. A known pure axial force is then applied. This primarily excites the Fz channel, and due to the imperfect installation, a small torque will also be generated.
[0042] The second step is to move the loading point to position P1, which is +Dx from the center, and apply the load. At this point, the applied force F will generate an Fz component of the same magnitude as in the first step, as well as a torque My = F*(+Dx) about the Y-axis.
[0043] The third step is to move the loading point to position P2, which is +Dy away from the center, and apply the load. At this point, an Fz component of the same magnitude as in the first step and a torque Mx = F*(+Dy) about the X-axis will be generated, the sign of which is determined by the coordinate system.
[0044] Fourth, repeat the above process at the symmetrical negative positions -Dx, -Dy to obtain the reverse load data, which helps to improve calibration accuracy and linearity.
[0045] Through the above operations, multiple sets of loads can be obtained. In each set, although a simple gravity force is applied, the six-dimensional load vector [Fx, Fy, Fz, Mx, My, Mz] decomposed in the sensor coordinate system is different.
[0046] The vector loaded at point P0 is primarily [0, 0, F, 0, 0, 0].
[0047] The vector loaded at point P1 is [0, 0, F, 0, F*Dx, 0].
[0048] The vector loaded at point P2 is [0, 0, F, F*Dy, 0, 0].
[0049] These load vectors, when combined, allow the three channels Fz, Mx, and My to be excited independently and to varying degrees.
[0050] To complete the calibration of all six dimensions, the above principles need to be extended to all directions. Z-axis force and torque around X and Y: Apply Z-axis tension / compression by loading at different positions in the XY plane using the second adjusting rod 45 described above. X-axis force and torque around Y and Z: Rotate the six-dimensional force sensor 3 by 90°, or design an arm that can load along the X-axis and change its position in the Z-axis. Y-axis force and torque around X and Z: Similarly, achieve this by rotating the six-dimensional force sensor 3 or designing a Y-axis loading arm.
[0051] Ultimately, through this series of loading operations at different locations and in different directions, a sufficient number of linearly independent load vectors and corresponding sensor output signals can be obtained. Using mathematical tools such as the least squares method, the crucial 6x6 calibration matrix can be fitted and calculated, thus achieving the calibration of the six-dimensional force sensor 3.
[0052] In this embodiment, the entire device is first fixed to the designated work position by the top plate 11 of the mounting bracket 1, and the top of the six-dimensional force sensor 3 is clamped and fixed by the clamping plate 2.
[0053] The first attitude adjustment component 5 operates as follows: the first servo motor 52, fixed on the L-shaped fixed plate 51, is activated, and its output drives the first pulley 53 to rotate. The first pulley 53 transmits power to the second pulley 54, fixed on the outer ring of the rotating shaft 13, through the first synchronous belt 55, causing the rotating shaft 13 to rotate in place around the side plate 12. The rotating shaft 13 drives the mounting plate 15 to rotate synchronously through the mounting block 14, and then drives the six-dimensional force sensor 3 through the mounting column 16 and the clamp 2 to achieve rotational attitude adjustment around the axis of the rotating shaft 13.
[0054] The second attitude adjustment component 6 operates as follows: a synchronous plate 61, fixed to the outer ring of another set of rotating shafts 13, rotates synchronously with the rotating shafts 13, and a motor plate 62 on its top drives a second servo motor 63 to move synchronously. When the second servo motor 63 is started, its output drives a third pulley 64 to rotate. The third pulley 64, through a second synchronous belt 66, drives a fourth pulley 65 fixed to the top of the mounting column 16 to rotate, causing the mounting column 16 to rotate in place around its own axis. Finally, the clamp 2 drives a six-dimensional force sensor 3 to achieve rotational attitude adjustment around the axis of the mounting column 16. During this process, the second synchronous belt 66 passes through an arc-shaped groove 17 on the side plate 12 centered on the rotating shaft 13, preventing interference between the second synchronous belt 66 and the side plate 12 during the first attitude adjustment and ensuring transmission stability.
[0055] The lever arm adjustment mechanism 4 connected below the six-dimensional force sensor 3 is used to achieve controllable adjustment of the loading point position. Calibration is performed by suspending a weight of known weight to form different lever arms. The connecting plate 41 of the lever arm adjustment mechanism 4 is fixed to the bottom of the six-dimensional force sensor 3 by bolts. The first adjusting rod 43 is slidably connected inside the fixed cylinder 42 below it. After adjusting the length of the first adjusting rod 43 extending out of the fixed cylinder 42, tightening the nuts on the outer side of the locking plates 46 distributed in a ring array at the bottom of the fixed cylinder 42 can lock the length of the first lever arm. The second adjusting rod 45 is slidably connected inside the "U"-shaped connecting block 44 at the bottom of the first adjusting rod 43. Tightening the bolts on the side of the connecting block 44 can compress and fix the second adjusting rod 45, thereby locking the length of the second lever arm.
[0056] During calibration, multi-dimensional load excitation is achieved through the following steps:
[0057] Step 1, Axial Force Loading: Suspend the weight at the bottom of the first adjusting rod 43, so that the loading point is directly opposite the center point P0 of the six-dimensional force sensor 3, apply a known pure axial force, mainly excite the Fz channel, and generate the load vector [0, 0, F, 0, 0, 0].
[0058] Step 2, applying torque around the Y-axis: Adjust the second adjusting rod to position 45, so that the loading point moves to point P1, which is +Dx away from the center of the sensor. At this time, in addition to generating the Fz component, the force F of the weight also forms a torque My = F*(+Dx) around the Y-axis, and the load vector is [0, 0, F, 0, F*Dx, 0].
[0059] Step 3, apply torque around the X-axis: Adjust the second adjusting rod 45 to move the loading point to point P2, which is a distance of +Dy from the center, to generate the Fz component and the torque around the X-axis Mx = F*(+Dy), with the load vector being [0, 0, F, F*Dy, 0, 0].
[0060] Step 4, reverse load application: Repeat the above loading process at the symmetrical -Dx and -Dy positions to obtain reverse load data to improve calibration accuracy and linearity.
[0061] To complete the six-dimensional calibration, the six-dimensional force sensor 3 is rotated to different orientations using the first orientation adjustment component 5 and the second orientation adjustment component 6. For example, after rotating the sensor by 90°, the above lever arm adjustment and loading process is repeated to excite the X-axis force, Y-axis force, and corresponding about-axis torque. Finally, the load vectors and sensor output signals under all loading conditions are collected, and a 6x6 calibration matrix is calculated using the least squares method, completing the accurate calibration of the six-dimensional force sensor 3.
[0062] The above specific embodiments are merely optional embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.
Claims
1. A calibration device for a multi-dimensional force sensor with adjustable lever arm, characterized in that, Comprising: a mounting frame (1) serving as a mounting base; a chuck (2) mounted at the bottom of said mounting frame (1), wherein a six-dimensional force sensor (3) is clamped and fixed to the bottom of said chuck (2); a force arm adjustment mechanism (4) connected below said six-dimensional force sensor (3), wherein said force arm adjustment mechanism (4) is used for suspending a heavy weight to form two force arms for calibration; a first attitude adjustment assembly (5) and a second attitude adjustment assembly (6) arranged on a side surface of said mounting frame (1), wherein said first attitude adjustment assembly (5) and said second attitude adjustment assembly (6) are used for adjusting the attitude of the six-dimensional force sensor (3) to calculate force components of the detected heavy weight in different directions of the six-dimensional force sensor (3).
2. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 1, characterized in that, Said mounting frame (1) comprises a top plate (11), two sets of side plates (12) are fixedly connected to the bottom of said top plate (11), rotating shafts (13) are respectively rotatably connected in the two sets of said side plates (12), mounting blocks (14) are each fixedly connected to the opposite ends of the two sets of said rotating shafts (13), a mounting plate (15) is fixedly connected to the tops of the two sets of said mounting blocks (14), a mounting post (16) is rotatably connected in said mounting plate (15), and said chuck (2) is mounted at the bottom of said mounting post (16).
3. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 2, characterized in that, Said force arm adjustment mechanism (4) comprises a connecting plate (41) mounted at the bottom of the six-dimensional force sensor (3), a fixed cylinder (42) is fixedly connected to the bottom of said connecting plate (41), a first adjustment rod (43) is slidably connected in said fixed cylinder (42), a plurality of sets of locking pieces (46) are arranged on the outer ring of said first adjustment rod (43), the plurality of sets of said locking pieces (46) are distributed in an annular array and fixedly connected to the bottom of the fixed cylinder (42), and threads are provided on the outer sides of the plurality of sets of said locking pieces (46) and are in threaded connection with a nut.
4. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 3, characterized in that, A connecting block (44) is fixedly connected to the bottom of said first adjustment rod (43), said connecting block (44) is in a "冂"-shaped configuration and a second adjustment rod (45) is slidably connected therein, and a bolt is movably penetratingly arranged on one side of said connecting block (44) and is in threaded connection with the other side thereof.
5. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 4, characterized in that, The heavy weight is suspended at the bottom of the first adjustment rod (43) or at one end of the second adjustment rod (45) through a hanging rope.
6. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 5, characterized in that, Said first attitude adjustment assembly (5) comprises a fixed plate (51) fixedly connected to one side of the mounting frame (1), said fixed plate (51) is in an L-shaped configuration, a first servo motor (52) is mounted on said fixed plate (51), and an output end of said first servo motor (52) penetrates the fixed plate (51) and is fixedly connected with a first pulley (53).
7. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 6, characterized in that, A second pulley (54) is fixedly connected to the outer ring of a set of rotating shafts (13) close to said first servo motor (52), and a first synchronous belt (55) is sleeved on said second pulley (54) and said first pulley (53).
8. The calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 7, characterized in that, Said second attitude adjustment assembly (6) comprises a synchronous plate (61) fixedly connected to the outer ring of another set of rotating shafts (13), a motor plate (62) is fixedly connected to the top of said synchronous plate (61), a second servo motor (63) is mounted at the bottom of said motor plate (62), and an output end of said second servo motor (63) penetrates the motor plate (62) and is fixedly connected with a third pulley (64).
9. A calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 8, characterized in that, The top of the mounting column (16) is fixedly connected to a fourth pulley (65), and a second synchronous belt (66) is fitted on the third pulley (64) and the fourth pulley (65).
10. A calibration device for a multi-dimensional force sensor with adjustable lever arm according to claim 9, characterized in that, An arc-shaped groove (17) is provided on a set of side plates (12) near the second attitude adjustment component (6). The groove (17) is opened with the rotating shaft (13) as the center, and the second synchronous belt (66) passes through the groove (17).