CN-122016149-A - Testing device and testing method

CN122016149ACN 122016149 ACN122016149 ACN 122016149ACN-122016149-A

Abstract

The application discloses a testing device and a testing method, which are used for testing a force sensor, wherein the force sensor comprises a first force sensor and a second force sensor, the testing device comprises a first plate body, a second plate body and a third plate body, the second plate body, the first force sensor, the first plate body, the second force sensor and the third plate body are sequentially arranged in a stacked mode, the centers of the first plate body, the second plate body, the third plate body, the first force sensor and the second force sensor are all arranged on a first axis, the force sensor is fixedly arranged relative to the first plate body, the second plate body and the third plate body, at least one of the first plate body, the second plate body and the third plate body is configured to be applied with acting force or force couple, and the force sensor is used for detecting data reflecting the acting force or force couple. According to the application, through the laminated plate structure, the two force sensors are tested at the same time, so that the testing efficiency is improved.

Inventors

SHEN LI
WU HAO
WU SHENJIAN
WANG YUE
LIU JIAPENG

Assignees

深圳市鑫精诚传感技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260310

Claims (10)

1. A testing device for testing a force sensor, wherein the force sensor comprises a first force sensor and a second force sensor, and the testing device comprises a first plate body, a second plate body and a third plate body; The second plate body, the first force sensor, the first plate body, the second force sensor and the third plate body are sequentially stacked, and the centers of the first plate body, the second plate body, the third plate body, the first force sensor and the second force sensor are all arranged on a first axis; Wherein the force sensor is fixedly arranged relative to the first plate body, the second plate body and the third plate body, at least one of the first plate body, the second plate body and the third plate body is configured to be applied with a force or a couple, and the force sensor is used for detecting data reflecting the force or the couple.
2. The test device of claim 1, further comprising a first drive mechanism and a second drive mechanism, wherein a side of the second plate remote from the first force sensor is coupled to the first drive mechanism; Wherein the first driving mechanism is used for driving the second plate body to move towards the direction approaching the first force sensor so as to apply a force to the second plate body along the direction of the first axis; and/or the second driving mechanism is used for driving the third plate to move towards the direction close to the second force sensor so as to apply a force to the third plate body along the direction of the first axis.
3. The test device of claim 2, wherein the first plate body is provided with a second axis that is perpendicular to and intersects the first axis; The first plate body is also provided with a first side surface which is perpendicular to the second axis, a first groove is arranged on the first side surface, and the center of an opening of the first groove is positioned on the second axis; The testing device further comprises a third driving mechanism, wherein the third driving mechanism is provided with a first protrusion corresponding to the first groove, and the third driving mechanism is used for driving the first protrusion to move along a direction parallel to the second axis so as to enable the first protrusion to be abutted with the inner wall of the first groove, and further force along the direction of the second axis is applied to the first plate body on the first side face.
4. A test device according to claim 3, wherein the first plate body is further provided with a second side, the first and second sides being arranged with respect to the second axis, and the second side being arranged perpendicular to the first axis; the first side surface is provided with at least one second groove, the second side surface is provided with at least one third groove, and the second groove and the third groove are arranged on two sides relative to the second axis; the third driving mechanism is provided with a second bulge corresponding to the second groove; the testing device further comprises a fourth driving mechanism, wherein the fourth driving mechanism is provided with a third protrusion corresponding to the third groove; The third driving mechanism is used for driving the second protrusion to move along a direction parallel to the second axis, and the fourth driving mechanism is used for driving the third protrusion to move along a direction parallel to the second axis, so that the second protrusion is abutted with the inner wall of the second groove, the third protrusion is abutted with the inner wall of the third groove, and a couple parallel to the second axis is further applied to the first plate body, so that the first plate body generates a tendency of rotating around the first axis.
5. The test device of claim 4, wherein the first side and the second side together form a set of sides, the first plate being provided with at least two sets of sides to apply at least two couples of forces to the first plate parallel to the second axis to cause the first plate to tend to rotate about the first axis.
6. The test device of claim 4, wherein the first drive mechanism is further configured to drive the second plate to rotate about the first axis, and the second drive mechanism is further configured to drive the third plate to rotate about the first axis, The first driving mechanism, the second driving mechanism and the third driving mechanism are matched together, so that the first plate body, the second plate body and the third plate body generate a trend of rotating together in the same direction around the first axis.
7. The test device of claim 2, wherein the first drive mechanism is further configured to drive the second plate to rotate about the first axis, and the second drive mechanism is further configured to drive the third plate to rotate about the first axis such that the second plate and the third plate together tend to rotate in a same direction about the first axis relative to the first plate.
8. A testing device according to claim 3, wherein the first plate body is further provided with a third side surface, the third side surface being arranged perpendicular to the first axis; The third side surface is provided with at least one fourth groove, the projection of the center of the opening of the fourth groove on the third side surface coincides with the second axis, and the projection of the fourth groove on the third side surface does not coincide with the projection of the force sensor on the third side surface; The testing device further comprises a fifth driving mechanism, wherein the fifth driving mechanism is provided with a fourth protrusion corresponding to the fourth groove, and the fifth driving mechanism is used for driving the fourth protrusion to move along a direction parallel to the first axis so as to enable the fourth protrusion to abut against the inner wall of the fourth groove, and further, acting force parallel to the first axis is applied to the first plate body on the third side, so that the first plate body generates a tendency of rotating around the second axis.
9. The test device of claim 8, wherein the first plate body is further provided with a fourth side, the third side and the fourth side are disposed relative to the second axis, and the fourth side is disposed perpendicular to the first axis; The projection of the center of the opening of the fifth groove on the fourth side surface coincides with the second axis, and the projection of the fifth groove on the fourth side surface does not coincide with the projection of the force sensor on the fourth side surface; The testing device further comprises a sixth driving mechanism, wherein the sixth driving mechanism is provided with a fifth bulge corresponding to the fifth groove, and the sixth driving mechanism is used for driving the fifth bulge to move along a direction parallel to the first axis so as to enable the fifth bulge to be abutted with the inner wall of the fifth groove; Wherein the sixth drive mechanism cooperates with the fifth drive mechanism to apply a couple on the first plate that is parallel to the first axis and intersects the second axis to cause the first plate to tend to rotate about the second axis.
10. The test method is characterized by adopting the test device of any one of the above 1-9, and further comprising the following steps: applying the force or the couple to at least one of the first plate, the second plate, and the third plate according to original parameters; The force sensor detects the acting force and/or moment generated by the acting force on the first plate body, the second plate body and the third plate body, and sends the detection result to the control system; the control system outputs an analysis result according to the difference between the detection result and the original parameter.

Description

Testing device and testing method Technical Field The application relates to the field of force sensor testing, in particular to a testing device and a testing method. Background Before the force sensor leaves the factory, the force sensor needs to be tested, for example, calibration test is performed on the force sensor, so as to detect the accuracy of detection of the force sensor. The force sensor includes a three-dimensional force sensor and a six-dimensional force sensor. Taking a six-dimensional force sensor as an example, it is used to measure simultaneously the forces in three directions and the moments in three directions acting on an object. However, the conventional test apparatus is capable of testing only a single force sensor, and it is difficult to realize the test requirement of simultaneously testing more than two force sensors, thereby reducing the test efficiency. Disclosure of Invention The embodiment of the application provides a testing device and a testing method, which can test two force sensors at the same time. In a first aspect, an embodiment of the present application provides a testing device, configured to test a force sensor, where the force sensor includes a first force sensor and a second force sensor, the testing device includes a first board, a second board, and a third board, the second board, the first force sensor, the first board, the second force sensor, and the third board are sequentially stacked, and centers of the first board, the second board, the third board, the first force sensor, and the second force sensor are all disposed on a first axis, where the force sensor is fixedly disposed relative to the first board, the second board, and the third board, and at least one of the first board, the second board, and the third board is configured to be applied with a force or a couple, and the force sensor is configured to detect data reflecting the force or the couple. In some embodiments, the test device further comprises a first driving mechanism and a second driving mechanism, wherein one side of the second plate body away from the first force sensor is connected with the first driving mechanism, one side of the third plate body away from the second force sensor is connected with the second driving mechanism, the first driving mechanism is used for driving the second plate body to move towards the direction close to the first force sensor so as to apply a force to the second plate body along the direction of the first axis, and/or the second driving mechanism is used for driving the third plate body to move towards the direction close to the second force sensor so as to apply a force to the third plate body along the direction of the first axis. In some embodiments, the first plate body is provided with a second axis perpendicular to and intersecting the first axis, the first plate body is further provided with a first side surface perpendicular to the second axis, a first groove is arranged on the first side surface, the center of an opening of the first groove is located on the second axis, the testing device further comprises a third driving mechanism, the third driving mechanism is provided with a first protrusion corresponding to the first groove, and the third driving mechanism is used for driving the first protrusion to move along a direction parallel to the second axis so that the first protrusion is abutted with the inner wall of the first groove, and then a force along the direction of the second axis is exerted on the first side surface of the first plate body. In some embodiments, the first plate body is further provided with a second side surface, the first side surface and the second side surface are arranged relative to the second axis, the second side surface is perpendicular to the first axis, the first side surface is provided with at least one second groove, the second side surface is provided with at least one third groove, the second groove and the third groove are arranged on two sides relative to the second axis, the third driving mechanism is provided with second protrusions corresponding to the second groove, the testing device further comprises a fourth driving mechanism, the fourth driving mechanism is provided with third protrusions corresponding to the third groove, the third driving mechanism is used for driving the second protrusions to move in a direction parallel to the second axis, and the fourth driving mechanism is used for driving the third protrusions to move in a direction parallel to the second axis so that the second protrusions abut against the inner walls of the second groove, the third protrusions abut against the inner walls of the third groove, and the first plate body is further applied with a trend of rotating the second plate body around the second axis parallel to the second axis. In some embodiments, the first side and the second side together form a set of sides, and the first plate is provided with at least two s