CN101571442A - Calibration method for six-dimension force sensor calibration device with medium measurement range - Google Patents

Abstract

The invention relates to a calibration method for a six-dimensional force sensor calibration device used in a medium range. During calibration, turn the handle of the turntable, and the turntable will drive the adapter plate, six-dimensional force sensor and loading plate on it to rotate together. The rotation angle is controlled by the handle of the turntable and read from the scale on the turntable. Weights of different quality and quantity are respectively hung on the back reinforcement rod, front reinforcement rod and center reinforcement rod of the loading plate through hooks, and the Fx, Fy, Fz, Fx, Fy, Fz, The independent loading and compound loading of the six force/torque components of Mx, My, and Mz can obtain the loading matrix of the six-dimensional force sensor and the corresponding output matrix, and perform decoupling calculations to obtain the coupling matrix, which is to complete the calibration of the six-dimensional force sensor. The invention provides a calibration method with simple use, convenient operation and high calibration precision, which is suitable for calibration and testing of medium-range six-dimensional force sensors.

Description

Calibration method of six-dimensional force sensor calibration device for medium range

technical field

The invention relates to the field of automation, in particular to a calibration method suitable for a medium-range six-dimensional force sensor calibration device in the sensor field.

Background technique

The six-dimensional force sensor can simultaneously detect full force information in three-dimensional space, namely three-dimensional force information (Fx, Fy, Fz) and three-dimensional torque information (Mx, My, Mz), and is mainly used in force and force/position control occasions, such as contour tracking , precision assembly, coordination of both hands, six-dimensional force information detection in the test system, etc.

The measurement accuracy of the sensor is one of the most important performance indicators for evaluating the sensor, and its errors include random errors and systematic errors. For the six-dimensional force sensor, its random error is mainly caused by internal signal processing circuit, quantization error, external interference and other factors; the system error is mainly determined by the calibration accuracy of the calibration system, the six-dimensional force sensor is due to its own mechanical Due to the complexity of the structure and the errors in the manufacturing process of the sensor and the pasting of strain gauges, there is a problem of mutual coupling between the input and output channels of the sensor. It is necessary to determine the coupling relationship between the input and output in each direction through calibration and calculate its coupling matrix. , and compensate the influence of the coupling between dimensions through decoupling. Therefore, the design of the sensor calibration device and the research of the calibration method are very important, and its calibration accuracy will directly affect the measurement accuracy when it is used.

The calibration of the six-dimensional force sensor is to read the output of the six-dimensional force sensor when it is calibrated in various states by applying an independent force/torque in the space coordinate system or multiple linearly independent forces/torques to the six-dimensional force sensor , calculate the decoupling matrix. According to actual application requirements, the calibration of the six-dimensional force sensor is divided into static calibration and dynamic calibration. Static calibration is mainly used to detect the static performance indicators of the sensor, such as static sensitivity, nonlinearity, hysteresis, repeatability, etc.; dynamic calibration is mainly used for Detect the dynamic characteristics of the sensor, such as dynamic sensitivity, frequency response and natural frequency, etc.

At present, the loading methods used in the static calibration of the six-dimensional force sensor mainly include the force measuring ring type and the weight type. Among them, the force-measuring ring type loading adopts the push rod method, and the loading force value is read from the force-measuring ring. This kind of loading allows a large loading force, but the reading accuracy is low, and the high-precision force-measuring ring is expensive. Weight-type calibration uses graded weights to provide standard loading force, directly uses graded weights as a reference, and has high force value accuracy. It is commonly used in the calibration of medium-range and small-range six-dimensional force sensors.

In the prior art, there are sensor calibration test devices with various structures, the patent number is CN1715856 "stepless lifting six-dimensional force sensor calibration device" and the patent number is CN100337105C "parallel six-dimensional force sensor calibration device", etc. Novelty search, wherein the patent No. CN100337105C is the closest patented technology. It specifically discloses a parallel six-dimensional force sensor calibration device, including a gantry support frame composed of long and short frames, a loading reducer, a standard unidirectional force sensor, a loading coordinate cross, a fixed platform for the calibration device, load transmission ropes and a pulley block. The device uses a large speed ratio reducer to apply the load, and uses a gantry structure as a supporting frame.

The shortcomings of a parallel six-dimensional force sensor calibration device in the prior art are:

First, the calibration device changes the direction of the applied load by adjusting the angle between the load transmission rope and the horizontal plane. When the volume is large or the rope is long, it is difficult to ensure sufficient accuracy by adjusting the angle between the load transmission rope and the horizontal plane. As a result, the applied load has a large direction error, which will directly affect the calibration accuracy; second, the pulley is used to apply the load in the calibration device, and the pulley has friction, which will cause a relatively large loading error, thus affecting the calibration Accuracy; Third, the six-dimensional force sensor in the calibration device is a composite force/torque, which cannot achieve independent loading of each dimensional force/torque component.

Contents of the invention

The object of the present invention is to avoid the shortcomings of the six-dimensional force sensor calibration test device and calibration method in the prior art, and provide a calibration method that is simple to use, easy to operate, and high in calibration accuracy, and is suitable for medium-range six-dimensional force sensors. Calibration and testing of sensors.

The technical solution of the present invention is: a calibration method for a medium-range six-dimensional force sensor calibration device, which uses weights to load the six-dimensional force sensor. The adapter plate, the six-dimensional force sensor and the loading plate rotate together. The angle of rotation is controlled by the handle of the turntable and read from the scale on the turntable of the turntable. Weights of different masses and quantities are hung on the loading plate through the hooks respectively. On the rear reinforcement rod, front reinforcement rod and center reinforcement rod, the six force/moment components Fx, Fy, Fz, Mx, My, and Mz of the six-dimensional force sensor can be realized by changing the loading position on the loading plate Independent loading and composite loading, the calibration method is completed according to the following steps:

First install the six-dimensional force sensor calibration device, use a spirit level to calibrate the horizontal plane of the workbench, make the workbench in a horizontal state, check the verticality of the workbench and the base of the turntable, and check the turntable, adapter plate, Parallelism between the six-dimensional force sensor and the loading plate;

Use gravity to calibrate the X-axis or Y-axis of the calibration coordinate system of the six-dimensional force sensor;

Install the adapter plate connected with the six-dimensional force sensor and the loading plate on the turntable of the turntable, turn the handle of the turntable, and adjust the angle of rotation so that the positive direction of the X-axis of the six-dimensional force sensor coincides with the direction of gravity. At this time, X The positive direction of the axis is vertically downward, and the positive direction of the Y-axis is horizontal to the right. Weights of different masses and quantities are hung on the back force bar, front force bar and central force bar of the loading plate respectively through the hooks. The force sensor applies Fx, My, Mz, and records the data;

Turn and control the handle of the turntable, so that the turntable of the turntable drives the adapter plate, six-dimensional force sensor and loading plate on it to rotate 90 degrees counterclockwise, and hang weights of different qualities and quantities on the loading plate through the hooks. Apply Fy, Mx, Mz to the six-dimensional force sensor on the rear afterburner, front afterburner and central afterburner, and record the data;

Then turn and control the handle of the turntable, so that the turntable of the turntable drives the adapter plate, the six-dimensional force sensor and the loading plate on it to rotate counterclockwise 90 degrees, and repeat the above steps to adjust the Fx, Fy, Mx, My and Mz carry out forward and reverse loading calibration;

Remove the adapter plate connected with the six-dimensional force sensor and the loading plate from the turntable, and place it in the circular light hole of the workbench. The diameter of the circular light hole is larger than the diameter of the six-dimensional force sensor and the diameter of the loading plate. diameter, and the diameter of the circular light hole is smaller than the diameter of the adapter plate, the adapter plate is placed above the workbench, and the six-dimensional force sensor and the loading plate are placed below the workbench. The Z-axis of the calibration coordinate system of the six-dimensional force sensor is vertically downward, and the weights of different masses and quantities are hung on the central force bar of the loading plate through the hook, and the load in the Fz direction is applied to the six-dimensional force sensor. Determined by the quality and quantity of the weights, different loads are gradually applied, and the data is recorded until the Fz loading calibration of the six-dimensional force sensor is completed;

Calculate the loading matrix and sensor output matrix of the six-dimensional force sensor;

Calculate the coupling matrix of the six-dimensional force sensor according to the formula;

Check whether the coupling matrix of the six-dimensional force sensor meets the requirements. If it does not meet the requirements, it is necessary to re-calibrate the six-dimensional force sensor according to the above steps, otherwise the calibration ends.

As a further improvement to the existing technology, the independent loading and composite loading of the six force/moment components Fx, Fy, Fz, Mx, My, and Mz of the six-dimensional force sensor can be achieved by changing the loading position on the loading plate. Load and calibrate the Fx, Fy, Mx, My, Mz of the six-dimensional force sensor, and then load and calibrate the Fz of the six-dimensional force sensor; or first load and calibrate the Fz of the six-dimensional force sensor, and then calibrate the six-dimensional force sensor Fx, Fy, Mx, My, Mz of Fx, Fy, Mz for loading calibration.

The beneficial effect of the present invention is: with respect to prior art, the inventive point of this inventive method is:

Use a spirit level to calibrate the horizontal plane of the workbench of the six-dimensional force sensor calibration device, so that the workbench is in a horizontal state, detect the verticality of the workbench and the base of the turntable, and detect the turntable, adapter plate, six-dimensional force sensor and loading of the turntable Parallelism between plates, using gravity to calibrate the X-axis or Y-axis of the calibration coordinate system of the six-dimensional force sensor;

Install the adapter plate connected with the six-dimensional force sensor and the loading plate on the turntable of the turntable, turn the handle of the turntable, and adjust the angle of rotation so that the positive direction of the X-axis of the six-dimensional force sensor coincides with the direction of gravity. At this time, X The positive direction of the axis is vertically downward, and the positive direction of the Y-axis is horizontal to the right. Weights of different masses and quantities are hung on the back force bar, front force bar and central force bar of the loading plate respectively through the hooks. The force sensor applies Fx, My, Mz, and records the data;

Turn and control the handle of the turntable, so that the turntable of the turntable drives the adapter plate, six-dimensional force sensor and loading plate on it to rotate 90 degrees counterclockwise, and hang weights of different qualities and quantities on the loading plate through the hooks. Apply Fy, Mx, Mz to the six-dimensional force sensor on the rear afterburner, front afterburner and central afterburner, and record the data;

Then turn and control the handle of the turntable, so that the turntable of the turntable drives the adapter plate, the six-dimensional force sensor and the loading plate on it to rotate counterclockwise 90 degrees, and repeat the above steps to adjust the Fx, Fy, Mx, My and Mz carry out forward and reverse loading calibration;

Remove the adapter plate connected with the six-dimensional force sensor and the loading plate from the turntable of the turntable and place it in the circular light hole of the workbench. The Z-axis of the calibration coordinate system of the six-dimensional force sensor is vertically downward. The weights and quantity are hung on the central force bar of the loading plate through the hook, and the load in the Fz direction is applied to the six-dimensional force sensor. The size of the load is determined by the quality and quantity of the weights. Different loads are applied step by step, and the data is recorded. , until the Fz loading calibration of the six-dimensional force sensor is completed;

Calculate the loading matrix and sensor output matrix of the six-dimensional force sensor, calculate the coupling matrix of the six-dimensional force sensor according to the formula, and check whether the coupling matrix of the six-dimensional force sensor meets the requirements. The force sensor is calibrated, otherwise the calibration ends.

By changing the loading position on the loading plate, the independent loading and composite loading of the six force/moment components Fx, Fy, Fz, Mx, My, and Mz of the six-dimensional force sensor can be realized, or the Fz of the six-dimensional force sensor can be loaded first Calibrate, and then load and calibrate the Fx, Fy, Mx, My, and Mz of the six-dimensional force sensor.

The method of the invention performs independent loading or combined loading in forward and reverse directions on each dimension force/moment component of the six-dimensional force sensor, the loading process is simple, and the calculation of the coupling matrix is convenient and fast. The method of the invention is not only simple to use and convenient to operate, but also has accurate loading force value, no intermediate transmission links, high calibration accuracy, and is suitable for calibration and testing of medium-range six-dimensional force sensors.

Description of drawings

Fig. 1 is a flowchart of the calibration method of the present invention.

Fig. 2 is a schematic structural diagram of a six-dimensional force sensor calibration device with a medium range.

Fig. 3 is a perspective view of a medium-range six-dimensional force sensor calibration device.

Fig. 4 is a schematic diagram of the assembly of the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 in the present invention.

Fig. 5 is a schematic diagram of calibration of applied force + Fx in the present invention.

Fig. 6 is a schematic diagram of calibration of applied force +Fy in the present invention.

Fig. 7 is a schematic diagram of the calibration of the applied force + Fz in the present invention.

Fig. 8 is a schematic diagram of calibration of applied force-Fx and moment-My in the present invention.

Fig. 9 is a schematic diagram of calibration of applied force -Fx and moment -My, +Mz in the present invention.

Fig. 10 is a schematic diagram of calibration of applied force -Fx and moments -My, -Mz in the present invention.

FIG. 11 is a flow chart of loading and calibrating Fx, Fy, Mx, My, and Mz of the six-dimensional force sensor in the present invention.

Fig. 12 is a flow chart of loading and calibrating the Fz of the six-dimensional force sensor in the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a flowchart of the calibration method of the present invention. The present invention uses the weight 14 to load the six-dimensional force sensor 7. During calibration, turn the turntable handle 5, and the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate together. The angle is controlled by the handle 5 of the turntable and read from the scale on the turntable 4 of the turntable. On the loading plate 8, there are back booster rods 9, front booster rods 10 and center booster rods 11. The hook 13 passes through the rope 12 Hanging on the force bar, the weight 14 is placed on the hook 13, the magnitude of the loading force is determined by the quality and quantity of the weight 14, and the independent force/moment components of the six-dimensional force sensor 7 are realized by changing the loading position. Loading and composite loading. The specific calibration process is as follows:

At first the six-dimensional force sensor 7 is ready to start calibration (step 100); the six-dimensional force sensor calibration device (step 110) is installed, and the horizontal plane of the workbench 2 is calibrated with a spirit level, so that the workbench 2 is in a horizontal state and detected The verticality between the worktable 2 and the turntable base 3, and the parallelism between the turntable turntable 4, the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8, and the gravity calibration of the six-dimensional force sensor 7 The calibration coordinate system of (step 120);

Use suspension hook 13, rope 12, weight 14 and back reinforcement rod 9, front reinforcement rod 10 and center reinforcement rod 11 to carry out loading calibration to Fx, Fy, Mx, My, Mz of six-dimensional force sensor 7 (step 130); Record the data (step 140) output by the six-dimensional force sensor 7 when the Fx, Fy, Mx, My, Mz directions are loaded, and detect whether the Fx, Fy, Mx, My, Mz loads are applied completely (step 150) ?

Otherwise, go to step 130 for circulation, and then use the hook 13, the rope 12, the weight 14 and the central force bar 11 to load and calibrate the Fz of the six-dimensional force sensor 7 (step 160), and record the loading in the Fz direction When the data (step 170) output by the six-dimensional force sensor 7, whether the detection Fz load has been applied (step 180)?

Otherwise go to step 160 to circulate, then calculate the loading matrix and the sensor output matrix (step 190) of the six-dimensional force sensor 7, according to the formula, calculate the coupling matrix (step 200) of the six-dimensional force sensor 7;

Check the coupling matrix of the six-dimensional force sensor 7 (step 210), check whether the coupling matrix meets the requirements? (step 220), otherwise, the six-dimensional force sensor 7 needs to be calibrated again, that is, return to step 120 for looping, and if so, the calibration ends (step 230).

In Figure 2, Figure 3 and Figure 4: 1 is the workbench support; 2 is the workbench; 3 is the base of the turntable; 4 is the turntable of the turntable; 5 is the handle of the turntable; 6 is the adapter plate; 7 is Six-dimensional force sensor; 8 is the loading plate; 9 is the rear afterburner; 10 is the front afterburner; 11 is the center afterburner; 12 is the rope; 13 is the hook; 14 is the weight; 15 is the circular light Hole; 16 is the adapter plate mounting hole; 17 is the adapter plate sensor mounting hole; 18 is the adapter plate sensor positioning pin; 19 is the sensor positioning pin; 20 is the loading plate positioning hole; 21 is the loading plate sensor mounting hole.

The turntable base 3, the turntable turntable 4 and the turntable handle 5 form a turntable, the turntable base 3 is vertically installed on one end of the workbench 2, and the workbench 2 is installed on the workbench support 1. The adapter plate 6 is installed on the turntable turntable 4 through a set of adapter plate mounting holes 16, the six-dimensional force sensor 7 is installed on the adapter plate sensor mounting hole 17 of the adapter plate 6, the six-dimensional force sensor 7 and the adapter The positioning between the plates 6 is carried out by the sensor positioning pin 18 of the adapter plate, the loading plate 8 is installed on the six-dimensional force sensor 7 through a set of loading plate sensor mounting holes 21, and the positioning between the loading plate 8 and the six-dimensional force sensor 7 is carried out by the sensor The pin 19 and the loading plate positioning hole 20 are positioned.

On the loading plate 8 there is a group of back reinforcement rods 9 , a group of front reinforcement rods 10 and a center reinforcement rod 11 . The front reinforcing rod 10 and the rear reinforcing rod 9 are respectively located on the X axis and the Y axis of the calibration coordinate system, and are distributed on different circumferences.

Rope 12 is hung on the back reinforcement rod 9 or front reinforcement rod 10 or center reinforcement rod 11, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13.

The workbench 2 and the base of the turntable 3 must ensure sufficient verticality during mechanical design, processing and installation. The turntable base 3 will ensure sufficient parallelism.

The six-dimensional force sensor 7 is loaded by using the back force bar 9, the front force bar 10, the center bar 11, the rope 12, the hook 13 and the weight 14, and the change of each force/moment component is realized by changing the loading position. Independent loading and composite loading.

The turntable turntable 4, the turntable handle 5 and the turntable base 3 constitute a vertical turntable, the turntable turntable 4 has a scale, when the turntable handle 5 is turned, the turntable base 3 does not rotate, but the turntable turntable 4 Drive the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate together, the angle of rotation is controlled by the turntable handle 5, and the scale on the turntable turntable 4 is read. Rope 12 is hung on the front reinforcement bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13. Rope 12 is steel wire, or fishing line, and weight 14 is standard grade weight, and weight 14 is copper weight, or stainless steel weight, or cast iron weight.

The front of the loading plate 8 has a group of front reinforcing rods 10 and a central reinforcing rod 11, and the four front reinforcing rods 10 are symmetrically distributed on the circumference of the loading plate 8, and are respectively located on the X axis and the Y axis of the calibration coordinate system, The central stiffener 11 is located at the center of the loading plate 8 .

There is a circular light hole 15 on the workbench 2 , the diameter of the circular light hole 15 is larger than the diameter of the six-dimensional force sensor 7 and the diameter of the loading plate 8 , and the diameter of the circular light hole 15 is smaller than the diameter of the adapter plate 6 . The turntable base 3 is vertically installed on one end of the workbench 2, and the workbench 2 is installed on the workbench support 1. An adapter plate 6 is arranged in front of the turntable turntable 4 , a six-dimensional force sensor 7 is arranged in front of the adapter plate 6 , and a loading plate 8 is arranged in front of the six-axis force sensor 7 . On the loading plate 8 there is a group of back reinforcement rods 9 , a group of front reinforcement rods 10 and a center reinforcement rod 11 .

Fig. 4 is a schematic diagram of the assembly of the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 in the present invention. The adapter plate 6 is installed on the turntable turntable 4 through a set of adapter plate mounting holes 16, the six-dimensional force sensor 7 is installed on the adapter plate sensor mounting hole 17 of the adapter plate 6, the six-dimensional force sensor 7 and the adapter The positioning between the plates 6 is carried out by the adapter plate sensor positioning pin 18, the loading plate 8 is installed on the six-dimensional force sensor 7 through a set of loading plate sensor mounting holes 21, and the loading plate 8 and the six-dimensional force sensor 7 are positioned by the sensor The pin 19 and the loading plate positioning hole 20 are positioned. One side of the loading plate 8 is provided with a set of rear reinforcing rods 9 and loading plate positioning holes 20 , and the other side is provided with a group of front reinforcing rods 10 and a central reinforcing rod 11 . There are notches on the back reinforcement bar 9 on the loading plate 8, the front reinforcement bar 10 and the center reinforcement bar 11, which are used for hanging ropes 12 and suspension hooks 13.

Fig. 5 is a schematic diagram of calibration of applied force + Fx in the present invention. According to the definition of the calibration coordinate system, turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, adjust the rotation angle so that the positive direction of the X axis coincides with the direction of gravity, At this time, the positive direction of the X-axis is vertically downward, and the positive direction of the Y-axis is horizontal to the right. Hang the rope 12 in the groove of the lowermost booster bar in a group of back booster bars 9 on the back of the loading plate 8, then hang the suspension hook 13 on the rope 12, and finally place the weight 14 on the suspension hook 13 , the force +Fx can be applied to the six-dimensional force sensor 7 , and the magnitude of the force is determined by the quality and quantity of the weight 14 .

Turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, and adjust the angle of rotation so that the negative direction of the X-axis coincides with the direction of gravity. At this time, the positive direction of the X-axis Vertically upwards, the positive direction of the Y axis is horizontal to the left. Hang the rope 12 in the groove of the lowermost booster bar in a group of back booster bars 9 on the back of the loading plate 8, then hang the suspension hook 13 on the rope 12, and finally place the weight 14 on the suspension hook 13 , the force -Fx can be applied to the six-dimensional force sensor 7 , and the magnitude of the force is determined by the quality and quantity of the weight 14 .

Fig. 6 is a schematic diagram of calibration of applied force +Fy in the present invention. According to the definition of the calibration coordinate system, turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, adjust the rotation angle so that the positive direction of the Y axis coincides with the direction of gravity, At this time, the positive direction of the X-axis is horizontal to the left, and the positive direction of the Y-axis is vertically downward. Hang the rope 12 in the groove of the lowermost booster bar in a group of back booster bars 9 on the back of the loading plate 8, then hang the suspension hook 13 on the rope 12, and finally place the weight 14 on the suspension hook 13 , the force +Fy can be applied to the six-dimensional force sensor 7 , and the magnitude of the force is determined by the quality and quantity of the weight 14 .

Turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, and adjust the rotation angle so that the negative direction of the Y axis coincides with the direction of gravity. At this time, the positive direction of the X axis Horizontally to the right, the positive direction of the Y axis is vertically upward. Hang the rope 12 in the groove of the lowermost booster bar in a group of back booster bars 9 on the back of the loading plate 8, then hang the suspension hook 13 on the rope 12, and finally place the weight 14 on the suspension hook 13 , the force -Fy can be applied to the six-dimensional force sensor 7 , and the magnitude of the force is determined by the quality and quantity of the weight 14 .

Fig. 7 is a schematic diagram of the calibration of the applied force + Fz in the present invention. Remove the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 from the turntable 4, and place the adapter plate 6 with the six-dimensional force sensor 7 and the loading plate 8 on the circular light of the workbench 2. In the hole 15, the diameter of the circular light hole 15 is greater than the diameter of the six-dimensional force sensor 7 and the diameter of the loading plate 8, and the diameter of the circular light hole 15 is smaller than the diameter of the adapter plate 6, and the adapter plate 6 is placed on the workbench 2, the six-dimensional force sensor 7 and the loading plate 8 are placed under the workbench 2. There is a central force bar 11 on the loading plate 8, the rope 12 is suspended on the center force bar 11, the hook 13 is hung on the rope 12, and the weight 14 is placed on the hook 13, that is, the six-dimensional force sensor 7 Apply force +Fz.

Fig. 8 is a schematic diagram of calibration of applied force-Fx and moment-My in the present invention. According to the definition of the calibration coordinate system, turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, adjust the rotation angle so that the negative direction of the X axis coincides with the direction of gravity, At this time, the positive direction of the X-axis is vertically upward, and the positive direction of the Y-axis is horizontal to the left. Hang the rope 12 in the notch of the central force bar 11 on the front of the loading plate 8, then hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13, and the six-dimensional force sensor can be adjusted. 7 Apply force-Fx and moment-My, the size of the force is determined by the mass and quantity of the weight 14, the size of the moment is determined by the distance from the force position of the central force bar 11 to the XYO plane in the coordinate system, and the mass of the weight 14 and quantity decisions.

Fig. 9 is a schematic diagram of calibration of applied force -Fx and moment -My, +Mz in the present invention. According to the definition of the calibration coordinate system, turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, adjust the rotation angle so that the negative direction of the X axis coincides with the direction of gravity, At this time, the positive direction of the X-axis is vertically upward, and the positive direction of the Y-axis is horizontal to the left. Hang the rope 12 in the groove of the left side booster bar in one group of front side booster bars 10 on the front side of the loading plate 8, then hang the suspension hook 13 on the rope 12, and finally place the weight 14 on the suspension hook 13, That is, force -Fx and moments -My, +Mz can be applied to the six-dimensional force sensor 7. The magnitude of the force is determined by the quality and quantity of the weight 14, and the magnitude of the moment is transferred from the force position of the front force bar 10 to the coordinate system The distance of the XYO plane, the distance from the force position of the front force force bar 10 to the center of the loading plate 8, and the quality and quantity of the weight 14 are determined.

Fig. 10 is a schematic diagram of calibration of applied force -Fx and moments -My, -Mz in the present invention. According to the definition of the calibration coordinate system, turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, adjust the rotation angle so that the negative direction of the X axis coincides with the direction of gravity, At this time, the positive direction of the X-axis is vertically upward, and the positive direction of the Y-axis is horizontal to the left. Hang the rope 12 in the groove of the right side of the booster rod 10 in the front of the loading plate 8, then hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13, That is, force -Fx and moments -My, -Mz can be applied to the six-dimensional force sensor 7, the size of the force is determined by the quality and quantity of the weight 14, and the size of the moment is transferred from the force position of the front force bar 10 to the coordinate system The distance of the XYO plane, the distance from the force position of the front force force bar 10 to the center of the loading plate 8, and the quality and quantity of the weight 14 are determined.

Turn the turntable handle 5, the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 to rotate together, and adjust the rotation angle so that the negative direction of the Y axis coincides with the direction of gravity. At this time, the positive direction of the X axis Horizontally to the right, the positive direction of the Y axis is vertically upward. Hang the rope 12 in the groove of the center force bar 11 on the front of the loading plate 8, hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13 to apply force to the six-dimensional force sensor 7. Force-Fy and moment+Mx, the size of the force is determined by the quality and quantity of the weight 14, the size of the moment is determined by the distance from the force position of the central force bar 11 to the XYO plane in the coordinate system, the quality and quantity of the weight 14 Decide. Hang the rope 12 in the groove of the left booster rod in one group of front booster rods 10 on the front of the loading plate 8, hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13, that is Force -Fy and moments +Mx, +Mz can be applied to the six-dimensional force sensor 7, the size of the force is determined by the quality and quantity of the weight 14, and the size of the moment is from the force position of the front force bar 10 to the coordinate system XYO The distance of the plane, the distance from the force position of the front force force bar 10 to the center of the loading plate 8, and the quality and quantity of the weights 14 are determined. Hang the rope 12 in the groove of the right side of the booster rod 10 in the front of the loading plate 8, then hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13, That is, force -Fy and moments +Mx, -Mz can be applied to the six-dimensional force sensor 7, the magnitude of the force is determined by the quality and quantity of the weight 14, and the magnitude of the moment is transferred from the force position of the front force bar 10 to the coordinate system The distance of the XYO plane, the distance from the force position of the front force force bar 10 to the center of the loading plate 8, and the quality and quantity of the weight 14 are determined.

FIG. 11 is a flow chart of loading and calibrating Fx, Fy, Mx, My, and Mz of the six-dimensional force sensor 7 in the present invention.

Use suspension hook 13, rope 12, weight 14 and back reinforcement rod 9, front reinforcement rod 10, center reinforcement rod 11 to start loading calibration to Fx, Fy, Mx, My, Mz of six-dimensional force sensor 7 ( step 300);

Install the adapter plate 6 connected with the six-dimensional force sensor 7 and the loading plate 8 on the turntable 4 (step 310), so that the Y-axis of the six-dimensional force sensor 7 calibrated coordinate system is vertically upward, and use gravity to calibrate the six-dimensional force The sensor 7 calibrates the X-axis or the Y-axis of the coordinate system (step 320);

Select an afterburner rod from the back reinforcement rod 9, the front reinforcement rod 10 and the center reinforcement rod 11 to apply a load to the six-dimensional force sensor 7 (step 330), and clear the six-dimensional force sensor 7 (step 340), the rope 12 that is hung with suspension hook 13 and weight 14 is hung in the notch of the reinforcing bar of selection, applies different loads (step 350) to six-dimensional force transducer 7, the size of load is determined by weight 14 The quality and quantity decision of recording six-dimensional force sensor 7 output data (step 360);

Check whether the load has been applied (step 370)? Otherwise, return to step 350 and perform a loop, and then detect whether the back reinforcement rod 9, the front reinforcement rod 10 and the center reinforcement rod 11 have all applied load (step 380)? Otherwise, return to step 330 to loop, and then detect whether the adapter plate 6 connected with the six-dimensional force sensor 7 and the loading plate 8 has been rotated counterclockwise three times (step 390)?

Otherwise, turn and control the turntable handle 5 (step 400), so that the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate 90 degrees counterclockwise (step 410), and then returns to the step 320 is looped, and if yes, the loading calibration of Fx, Fy, Mx, My, and Mz is ended (step 420).

FIG. 12 is a flow chart of loading and calibrating the Fz of the six-dimensional force sensor 7 in the present invention.

Use suspension hook 13, rope 12, weight 14 and central force bar 11 to start loading calibration (step 500) to the Fz of six-dimensional force sensor 7, the adapter plate that will be connected with six-dimensional force sensor 7 and loading plate 8 6 Take it off the turntable turntable 4 and place it in the circular light hole 15 of the workbench 2. The Z-axis of the six-dimensional force sensor 7 calibrates the coordinate system vertically downwards (step 510). Perform calibration so that the workbench 2 is in a horizontal state (step 520);

Clear the six-dimensional force sensor 7 (step 530);

Rope 12 is hung on the center reinforcing bar 11, suspension hook 13 is hung on the rope 12, and weight 14 is placed on suspension hook 13 (step 540); Use weight 14 to six-dimensional force sensor 7 to apply load (step 550 ), the size of the load is determined by the quality and quantity of the weight 14, and records the output data of the six-dimensional force sensor 7 (step 560);

Has the test load been applied (step 570)? Otherwise, return to step 540 for looping, and if yes, end the Fz load calibration of the six-dimensional force sensor 7 (step 580).

Example:

First, place the workbench support 1 of the six-dimensional force sensor calibration device on a flat ground, place the workbench 2 horizontally on the workbench support 1, and use a spirit level to calibrate the horizontal plane of the workbench 2 to ensure that the workbench 2 is horizontal. The turntable base 3 is vertically installed on one end of the workbench 2, and the turntable base 3, the turntable turntable 4 and the turntable handle 5 form a vertical turntable.

The loading plate 8 is installed on the six-dimensional force sensor 7 through a set of loading plate sensor mounting holes 21, the six-dimensional force sensor 7 is installed on the adapter plate sensor mounting hole 17 of the adapter plate 6, and the adapter plate 6 passes through a set of The adapter plate mounting hole 16 is installed on the turntable turntable 4 . The suspension hook 13 is hung on the rope 12, the weight 14 is placed on the suspension hook 13, and the rope 12 is hung on the back reinforcement rod 9, or the front reinforcement rod 10, or the center reinforcement rod 11.

During the installation process of the six-dimensional force sensor calibration device, it is necessary to ensure the verticality of the worktable 2 and the turntable base 3, the turntable turntable 4, the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 and the turntable base. Parallelism between seats 3. The six-dimensional force sensor calibration device ensures the accuracy of the position and direction of the loading force point during calibration through the precision of mechanical design, processing and installation, realizes the accurate transmission of force, and improves the calibration accuracy.

After the above installation is completed, check each spare part in the calibration device to ensure that each spare part is installed accurately and securely, and the six-dimensional force sensor calibration device is installed.

Then, use the six-dimensional force sensor calibration device to calibrate the medium-range six-dimensional force sensor 7 . The number of calibration points and the interval between the calibration points are determined according to the measuring range of the six-dimensional force sensor 7 . Generally, equal intervals are used for calibration, and weights 14 are used to sequentially apply loads to each channel of the six-dimensional force sensor 7 .

During calibration, install the adapter plate 6 connected with the six-dimensional force sensor 7 and the loading plate 8 on the turntable turntable 4, turn the turntable handle 5, and the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and The loading plate 8 rotates together, and the angle of rotation is adjusted so that the negative direction of the Y-axis coincides with the direction of gravity. At this time, the positive direction of the X-axis is horizontal to the right, and the positive direction of the Y-axis is vertically upward. Use the gravity calibration six-dimensional force sensor 7 to calibrate the Y-axis of the coordinate system, and clear the six-dimensional force sensor 7;

Rope 12 is hung in the engraved groove of the bottom afterburner bar 9 in the back side, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 Determined by the quantity, at this moment force-Fy is applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 will be hung in the engraved groove of the bottommost booster bar in front booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by weight 14 The quality and quantity are determined. At this time, force-Fy and moment +Mx are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the left side in the front side booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 and The quantity is determined. At this time, force -Fy and torque +Mx, +Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the right side in front side booster bar 10 again, suspension hook 13 is hung on the rope 12, and weight 14 is placed on suspension hook 13, and the size of load is determined by the quality of weight 14 Determined by the quantity, at this moment force-Fy and torque +Mx,-Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Turn and control the turntable handle 5, so that the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate 90 degrees counterclockwise together, so that the negative direction of the X axis coincides with the direction of gravity. At this time , the positive direction of the X-axis is vertically upward, and the positive direction of the Y-axis is horizontal to the left. Use the gravity calibration six-dimensional force sensor 7 to calibrate the X-axis of the coordinate system, clear the six-dimensional force sensor 7, and hang the rope 12 on the bottom of the rear afterburner 9 in the back of the loading plate 8. Then hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13. The size of the load is determined by the quality and quantity of the weight 14. At this time, force is applied to the six-dimensional force sensor 7 -Fx, record the output data of the six-dimensional force sensor 7;

Rope 12 is hung in the engraved groove of the bottom afterburner bar in the front afterburner bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 Determined by the quantity, force-Fx and moment-My are applied to the six-dimensional force sensor 7 at this time, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the left side in the front side booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 and The quantity is determined. At this time, force-Fx and moments-My, +Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the right side in front side booster bar 10 again, suspension hook 13 is hung on the rope 12, and weight 14 is placed on suspension hook 13, and the size of load is determined by the quality of weight 14 Determined by the quantity, at this moment force-Fx and torque-My,-Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Continue to turn and control the turntable handle 5, so that the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate counterclockwise 90 degrees, so that the positive direction of the Y axis coincides with the direction of gravity. , the positive direction of the X-axis is horizontal to the left, and the positive direction of the Y-axis is vertically downward. Use the gravity calibration six-dimensional force sensor 7 to calibrate the Y-axis of the coordinate system, clear the six-dimensional force sensor 7, hang the rope 12 in the groove of the lowermost afterburner rod 9 on the back, hook 13 Hanging on the rope 12, the weight 14 is placed on the hook 13, and the size of the load is determined by the quality and quantity of the weight 14. At this time, force +Fy is applied to the six-dimensional force sensor 7, and the output of the six-dimensional force sensor 7 is recorded data; then rope 12 will be hung in the groove of the bottom booster bar in the front booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by weight The quality and quantity of code 14 are determined. At this time, force+Fy and moment-Mx are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the left side in the front side booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 and The quantity is determined, and at this time, force +Fy and moments -Mx, +Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Rope 12 is hung in the engraved groove of the booster bar on the right side in front side booster bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 and The quantity is determined. At this time, force +Fy and moments -Mx, -Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

Continue to rotate and control the turntable handle 5, so that the turntable turntable 4 drives the adapter plate 6, the six-dimensional force sensor 7 and the loading plate 8 on it to rotate counterclockwise 90 degrees, so that the positive direction of the X-axis coincides with the direction of gravity. , the positive direction of the X-axis is vertically downward, and the positive direction of the Y-axis is horizontal to the right. Use the gravity calibration six-dimensional force sensor 7 to calibrate the X-axis of the coordinate system, clear the six-dimensional force sensor 7, and hang the rope 12 on the bottom of the rear afterburner 9 in the back of the loading plate 8. Then hang the hook 13 on the rope 12, and finally place the weight 14 on the hook 13. The size of the load is determined by the quality and quantity of the weight 14. At this time, force is applied to the six-dimensional force sensor 7 +Fx, record the output data of the six-dimensional force sensor 7;

Rope 12 is hung in the engraved groove of the bottom afterburner bar in the front afterburner bar 10, suspension hook 13 is hung on the rope 12, and weight 14 is placed on the suspension hook 13, and the size of load is determined by the quality of weight 14 and quantity, at this moment, force+Fx and moment+My are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded; In the groove, the hook 13 is hung on the rope 12, and the weight 14 is placed on the hook 13. The size of the load is determined by the quality and quantity of the weight 14. At this time, force +Fx and moment + My, +Mz, record the output data of the six-dimensional force sensor 7;

Rope 12 is hung in the engraved groove of the booster bar on the right side in front side booster bar 10 again, suspension hook 13 is hung on the rope 12, and weight 14 is placed on suspension hook 13, and the size of load is determined by the quality of weight 14 Determined by the quantity, at this time, force +Fx and moment +My, -Mz are applied to the six-dimensional force sensor 7, and the output data of the six-dimensional force sensor 7 is recorded;

The loading and calibration of Fx, Fy, Mx, My, and Mz of the six-dimensional force sensor 7 are completed according to the above steps.

Remove the adapter plate 6 connected with the six-dimensional force sensor 7 and the loading plate 8 from the turntable 4 and place it in the circular light hole 15 of the workbench 2. The diameter of the circular light hole 15 is larger than the six-dimensional force The diameter of the sensor 7 and the diameter of the loading plate 8, and the diameter of the circular light hole is smaller than the diameter of the adapter plate 6, the adapter plate 6 is located on the top of the workbench 2, and the six-dimensional force sensor 7 and the load plate 8 are located on the workbench 2 The circular light hole is 15 miles. The Z-axis of the calibration coordinate system of the six-dimensional force sensor 7 is vertically downward. Use a spirit level to calibrate the horizontal plane of the workbench 2 so that the workbench 2 is in a horizontal state, clear the six-dimensional force sensor 7, hang the rope 12 on the central booster rod 11, hang the hook 13 on the rope 12, The weight 14 is placed on the hook 13, and the weight 14 is used to apply a load to the six-dimensional force sensor 7. At this time, a force + Fz is applied to the six-dimensional force sensor 7. The size of the load is determined by the quality and quantity of the weight 14. Record For the output data of the six-dimensional force sensor 7 , different loads are gradually applied until the +Fz load calibration of the six-dimensional force sensor 7 is completed.

Finally, on the basis of completing the calibration of each stress state of the six-dimensional force sensor 7, the six-dimensional force sensor 7 obtains corresponding outputs respectively, and combines various calibration states to obtain the loading matrix F and the six-dimensional force sensor 7. The output matrix V of the force sensor. The loading matrix F of the six-dimensional force sensor 7 is a linearly independent matrix with a rank of 6, the inverse matrix of F exists, and the loading matrix F is:

$\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{cccccc}\mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Fx"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Fx</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Fy"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Fy</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Fz"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Fz</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Fy"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Fy</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Mx"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Mx</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; <figure-callout\; id="0"\; label="Fx"\; filenames="A20081002491900222.png,A20081002491900232.png"\; state="\{\{state\}\}">Fx</figure-callout></span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; My</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& & \mathrm{<span\; class="notranslate">\; Mz</span>}\end{array}\right]$

The output matrix V of the six-dimensional force sensor 7 is:

$\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{cccccc}{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 14</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 15</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 16</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; two</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; three</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; four</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 25</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 26</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 31</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 32</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 33</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 34</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 35</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 36</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 41</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 42</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 43</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 44</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 45</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 46</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 51</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 52</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 53</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 54</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 55</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 56</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 61</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 62</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 63</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 64</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 65</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; 66</span>}}\end{array}\right]$

According to the formula

C＝F·V ^-1

Perform calculations to obtain the coupling matrix C;

Check whether the coupling matrix C of the six-dimensional force sensor 7 meets the requirements. If it does not meet the requirements, the six-dimensional force sensor 7 needs to be calibrated again according to the above steps, otherwise the calibration ends.

Claims (2)

1. A calibration method for a medium-range six-dimensional force sensor calibration device, characterized in that: use a weight (14) to load the six-dimensional force sensor (7), and turn the turntable handle (5) during calibration , the turntable turntable (4) drives the adapter plate (6), the six-dimensional force sensor (7) and the loading plate (8) to rotate together, the angle of rotation is controlled by the turntable handle (5), and The scale on the turntable (4) is read out, and the weights (14) of different qualities and quantities are respectively hung on the back force bar (9) and the front force bar (10) of the loading plate (8) through the hook (13). ) and the central force bar (11), the six force/moment components of Fx, Fy, Fz, Mx, My, Mz of the six-dimensional force sensor (7) are realized by changing the loading position on the loading plate (8). Independent loading and composite loading, the calibration method is completed according to the following steps: Install the six-dimensional force sensor calibration device first, calibrate the horizontal plane of the workbench (2) with a spirit level, make the workbench (2) in a horizontal state, and check the verticality of the workbench (2) and the base of the rotary table (3). degree, and detect the parallelism between the turntable turntable (4), adapter plate (6), six-dimensional force sensor (7) and loading plate (8); Use gravity to calibrate the X-axis or Y-axis of the calibration coordinate system of the six-dimensional force sensor (7); Install the adapter plate (6) connected with the six-dimensional force sensor (7) and the loading plate (8) on the turntable (4), turn the handle (5) of the turntable, and adjust the angle of rotation so that the six-dimensional force The positive direction of the X-axis of the sensor (7) coincides with the direction of gravity. At this time, the positive direction of the X-axis is vertically downward, and the positive direction of the Y-axis is horizontal to the right. Weights (14) of different masses and quantities are passed through the hook (13) Respectively hang on the back reinforcement rod (9), front reinforcement rod (10) and center reinforcement rod (11) of the loading plate (8), apply Fx, My, Mz to the six-dimensional force sensor (7), and Record data; Turn and control the turntable handle (5), so that the turntable turntable (4) drives the adapter plate (6), the six-dimensional force sensor (7) and the loading plate (8) to rotate counterclockwise 90 degrees together, and the different The weights (14) of quality and quantity are respectively hung on the back reinforcement rod (9), the front reinforcement rod (10) and the center reinforcement rod (11) of the loading plate (8) by suspension hooks (13). The six-dimensional force sensor (7) applies Fy, Mx, Mz, and records the data; Then turn and control the turntable handle (5), so that the turntable turntable (4) drives the adapter plate (6), six-dimensional force sensor (7) and loading plate (8) on it to rotate 90 degrees counterclockwise together, repeat The above steps respectively carry out forward and reverse load calibration on Fx, Fy, Mx, My, Mz of the six-dimensional force sensor (7); Remove the adapter plate (6) connected with the six-dimensional force sensor (7) and the loading plate (8) from the turntable (4) and place it in the circular light hole (15) of the workbench (2) , the diameter of the circular light hole (15) is greater than the diameter of the six-dimensional force sensor (7) and the diameter of the loading plate (8), and the diameter of the circular light hole (15) is smaller than the diameter of the adapter plate (6), turning The connecting plate (6) is placed on the top of the workbench (2), and the six-dimensional force sensor (7) and the loading plate (8) are placed under the workbench (2). The Z-axis of the calibration coordinate system of the six-dimensional force sensor (7) is vertically downward, and the weights (14) of different masses and quantities are hung on the central force bar (11) of the loading plate (8) through the hook (13) , apply a load in the Fz direction to the six-dimensional force sensor (7), the size of the load is determined by the quality and quantity of the weight (14), gradually apply different loads, record data, until the six-dimensional force sensor (7) is completed Fz loading calibration; Calculate the loading matrix and sensor output matrix of the six-dimensional force sensor (7); Calculate the coupling matrix of the six-dimensional force sensor (7) according to the formula; Check whether the coupling matrix of the six-dimensional force sensor (7) meets the requirements. If it does not meet the requirements, the six-dimensional force sensor (7) needs to be calibrated according to the above steps again, otherwise the calibration ends. 2. A calibration method for a medium-range six-dimensional force sensor calibration device according to claim 1, characterized in that: the six-dimensional force sensor ( 7) The independent loading and composite loading of the six force/moment components of Fx, Fy, Fz, Mx, My, and Mz is to firstly load and calibrate the Fx, Fy, Mx, My, and Mz of the six-dimensional force sensor (7) , then load and calibrate the Fz of the six-dimensional force sensor (7); Mz for loading calibration.

Images