CN101571442B - Calibration method for six-dimension force sensor calibration device with medium measurement range - Google Patents
Calibration method for six-dimension force sensor calibration device with medium measurement range Download PDFInfo
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- CN101571442B CN101571442B CN2008100249199A CN200810024919A CN101571442B CN 101571442 B CN101571442 B CN 101571442B CN 2008100249199 A CN2008100249199 A CN 2008100249199A CN 200810024919 A CN200810024919 A CN 200810024919A CN 101571442 B CN101571442 B CN 101571442B
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Abstract
The invention relates to a calibration method for a six-dimension force sensor calibration device with medium measurement range. When in calibration, a rotary table handle is rotated, a rotary table turnplate drives an adapter plate, a six-dimension force sensor and a loading plate to rotate together, wherein the adapter plate, the six-dimension force sensor and the loading plate are arranged on the rotary table turnplate; the rotating angle is controlled by the rotary table handle and is read form scale on the rotary table turnplate; weights with different masses and numbers are respectively hung on a back stress-applying level, a front stress-applying level and a center stress-applying level of the loading plate through drop hangers so as to realize the independent loading and the compound loading of Fx, Fy, Fz, Mx, My and Mz of six force or moment componenets through the change of loading positions, a loading matrix and a corresponding output matrix of the six-dimension force sensorare obtained and are performed the decoupling computation to obtain a coupling matrix, i.e. the calibration of the six-dimension force sensor is completed. The invention has simple structure, conveni ent operation and high calibration precision, and is suitable to the calibration and the test of the six-dimension force sensor with medium measurement range.
Description
Technical field
The present invention relates to automatic field, particularly a kind of scaling method that is applicable to medium range six-dimension force sensor calibration device in the sensor field.
Background technology
Six-dimension force sensor can detect three-dimensional all one's effort information simultaneously, be three-dimensional force information (Fx, Fy, Fz) and three-dimensional moment information (Mx, My, Mz), be mainly used in power and power/position control occasion, as sextuple force information detection in profile tracking, accurate assembling, two hands coordination, the pilot system etc.
The measuring accuracy of sensor is one of most important performance index of evaluation sensor, and its error comprises stochastic error and systematic error.For six-dimension force sensor, its stochastic error mainly is to be caused by factors such as internal signal treatment circuit, quantization error, external interference; Systematic error then mainly is that the stated accuracy by calibration system is determined, six-dimension force sensor is because the complicacy of itself physical construction, and there is error in sensor in processing technology links such as making, paste foil gauge, there is the problem that intercouples between each IO channel of sensor, need by demarcating the coupled relation of definite all directions input and output, calculate its coupled matrix, and the influence by being coupled and bringing between each dimension of decoupling compensation.Therefore the research of the design of sensor calibration apparatus and scaling method is most important, the measuring accuracy when its stated accuracy will directly influence its use.
The demarcation of six-dimension force sensor is exactly by six-dimension force sensor being applied in the space coordinates independently power/moment, or a plurality of power/moments of linear independence, and the output of reading six-dimension force sensor timing signal under various states calculates the decoupling zero matrix.According to practical application request, the demarcation of six-dimension force sensor is divided into static demarcating and dynamic calibration, and static demarcating is mainly used in the static performance index of detecting sensor, as static sensitivity, non-linear, return difference, repeatability etc.; Dynamic calibration is mainly used in the dynamic perfromance of detecting sensor, as dynamic sensitivity, frequency response and natural frequency etc.
At present the load mode that adopted of six-dimension force sensor static demarcating mainly contains two kinds of dynamometry ring type and counterweight formulas.Wherein the dynamometry ring type loads and adopts the push rod mode, reads the loading force value by proving ring, and this loading allows bigger loading force, but reading accuracy is lower, and high-precision proving ring then costs an arm and a leg.It is to adopt the grade counterweight that loaded with standard power is provided that the counterweight formula is demarcated, and directly uses the grade counterweight as benchmark, and power value precision is higher, uses commonplace in the demarcation of medium range, a small amount of journey six-dimension force sensor.
The transducer calibration proving installation that multiple structure is arranged in the prior art, the patent No. is that CN1715856's " stepless lifting type six dimension force sensor caliberating device " and the patent No. is CN100337105C " device for calibrating parallel force transducer in six dimensions " etc., look into by retrieval newly, wherein the patent No. is that the patent of CN100337105C is immediate patented technology.It specifically discloses a kind of device for calibrating parallel force transducer in six dimensions, comprise planer-type support frame, loading reductor, standard unidirectional force sensor, loading coordinate cross, caliberating device stationary platform, loading transfer rope and pulley blocks that the length frame is formed, caliberating device adopts the large speed ratio reductor to come imposed load, adopts planer type structure to make support frame.
The weak point that a kind of device for calibrating parallel force transducer in six dimensions of the prior art exists is:
One, caliberating device changes the direction of imposed load by the angle between adjustment loading transfer rope and the surface level, when big or rope is longer at volume, the angle of adjusting between loading transfer rope and the surface level is difficult to guarantee enough precision, thereby make the load that applies have bigger deflection error, will directly influence stated accuracy; Its two, adopt pulley to come imposed load in the caliberating device, and pulley has friction force, this friction force can cause bigger loading error, thereby influences stated accuracy; Its three, what in the caliberating device six-dimension force sensor is applied is composite force/moment, can't realize the independent loads to each dimension power/moment components.
Summary of the invention
The objective of the invention is: the weak point of avoiding six-dimension force sensor calibration proving installation and scaling method in the above-mentioned prior art, a kind of scaling method simple, easy to operate, that stated accuracy is high that uses is provided, is applicable to the demarcation and the test of medium range six-dimension force sensor.
Technical scheme of the present invention is: a kind of scaling method that is used for the six-dimension force sensor calibration device of medium range, use counterweight that six-dimension force sensor is loaded, timing signal, rotate the panoramic table handle, the panoramic table rotating disk drives the card extender on it, six-dimension force sensor and load plate are together rotated, the angle of rotating is controlled by the panoramic table handle, and the scale from the panoramic table rotating disk is read, the counterweight of different quality and quantity is hung in the back side boosting-rod of load plate by suspension hook, on front boosting-rod and the center boosting-rod, change by loading position on the load plate realizes the Fx to six-dimension force sensor, Fy, Fz, Mx, My, the independent loads and the compound loading of six power/moment components of Mz, this scaling method is finished according to the following steps:
Earlier six-dimension force sensor calibration device is installed, with level meter the surface level of worktable is calibrated, make worktable be in horizontality, the verticality of testing platform and panoramic table pedestal, and the depth of parallelism between detection panoramic table rotating disk, card extender, six-dimension force sensor and the load plate;
Use the X-axis or the Y-axis of the demarcation coordinate system of gravity alignment six-dimension force sensor;
The card extender that is connected with six-dimension force sensor and load plate is installed on the panoramic table rotating disk, rotate the panoramic table handle, adjust the angle of rotating, the X-axis positive dirction of six-dimension force sensor is overlapped with gravity direction, and at this moment, the X-axis positive dirction vertically downward, Y-axis positive dirction level to the right, the counterweight of different quality and quantity is hung on back side boosting-rod, front boosting-rod and the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied Fx, My, Mz, and record data;
Rotate and control panoramic table handle, card extender, six-dimension force sensor and load plate that the panoramic table rotating disk is driven on it together rotate counterclockwise 90 degree, be hung in the counterweight of different quality and quantity on back side boosting-rod, front boosting-rod and the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied Fy, Mx, Mz, and record data;
Rotate and control the panoramic table handle again, card extender, six-dimension force sensor and load plate that the panoramic table rotating disk is driven on it together rotate counterclockwise 90 degree, repeat above-mentioned steps is carried out positive and negative direction respectively to Fx, Fy, Mx, My, the Mz of six-dimension force sensor loading demarcation;
The card extender that is connected with six-dimension force sensor and load plate is taken off from the panoramic table rotating disk, be placed in the circular unthreaded hole of worktable, the diameter of circular unthreaded hole is greater than the diameter of six-dimension force sensor and the diameter of load plate, and the diameter of circular unthreaded hole is less than the diameter of card extender, card extender place worktable above, six-dimension force sensor and load plate place worktable below.The Z axle of six-dimension force sensor calibration coordinate system vertically downward, hang over the counterweight of different quality and quantity on the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied the load of Fz direction, the size of load is by the quality and the quantity decision of counterweight, progressively apply different load, record data load demarcation until the Fz that finishes six-dimension force sensor;
Calculate the loading matrix and the sensor output matrix of six-dimension force sensor;
According to formula, calculate the coupled matrix of six-dimension force sensor;
Whether the coupled matrix of check six-dimension force sensor meets the requirements, if undesirable, needs according to above-mentioned steps six-dimension force sensor to be demarcated again, finishes otherwise demarcate.
As a further improvement of existing technologies, change by loading position on the load plate realizes Fx, Fy, Fz, Mx, the My to six-dimension force sensor, the independent loads and the compound loading of six power/moment components of Mz, be that first Fx, Fy, Mx, My, Mz to six-dimension force sensor loads demarcation, the back loads demarcation to the Fz of six-dimension force sensor; Or earlier the Fz of six-dimension force sensor being loaded demarcation, the back loads demarcation to Fx, Fy, Mx, My, the Mz of six-dimension force sensor.
The invention has the beneficial effects as follows: with respect to prior art, the inventive point of this inventive method is:
With level meter the surface level of six-dimension force sensor calibration device worktable is calibrated, make worktable be in horizontality, the verticality of testing platform and panoramic table pedestal, detect the depth of parallelism between panoramic table rotating disk, card extender, six-dimension force sensor and the load plate, use the X-axis or the Y-axis of the demarcation coordinate system of gravity alignment six-dimension force sensor;
The card extender that is connected with six-dimension force sensor and load plate is installed on the panoramic table rotating disk, rotate the panoramic table handle, adjust the angle of rotating, the X-axis positive dirction of six-dimension force sensor is overlapped with gravity direction, and at this moment, the X-axis positive dirction vertically downward, Y-axis positive dirction level to the right, the counterweight of different quality and quantity is hung on back side boosting-rod, front boosting-rod and the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied Fx, My, Mz, and record data;
Rotate and control panoramic table handle, card extender, six-dimension force sensor and load plate that the panoramic table rotating disk is driven on it together rotate counterclockwise 90 degree, be hung in the counterweight of different quality and quantity on back side boosting-rod, front boosting-rod and the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied Fy, Mx, Mz, and record data;
Rotate and control the panoramic table handle again, card extender, six-dimension force sensor and load plate that the panoramic table rotating disk is driven on it together rotate counterclockwise 90 degree, repeat above-mentioned steps is carried out positive and negative direction respectively to Fx, Fy, Mx, My, the Mz of six-dimension force sensor loading demarcation;
The card extender that is connected with six-dimension force sensor and load plate is taken off from the panoramic table rotating disk, be placed in the circular unthreaded hole of worktable, the Z axle of six-dimension force sensor calibration coordinate system vertically downward, hang over the counterweight of different quality and quantity on the center boosting-rod of load plate by suspension hook, six-dimension force sensor is applied the load of Fz direction, and the size of load progressively applies different load by the quality and the quantity decision of counterweight, record data load demarcation until the Fz that finishes six-dimension force sensor;
Calculate the loading matrix and the sensor output matrix of six-dimension force sensor, according to formula, calculate the coupled matrix of six-dimension force sensor, whether the coupled matrix of check six-dimension force sensor meets the requirements, if it is undesirable, need according to above-mentioned steps six-dimension force sensor to be demarcated again, finish otherwise demarcate.
Change by loading position on the load plate realizes Fx, Fy, Fz, Mx, the My to six-dimension force sensor, the independent loads and the compound loading of six power/moment components of Mz, or earlier the Fz of six-dimension force sensor being loaded demarcation, the back loads demarcation to Fx, Fy, Mx, My, the Mz of six-dimension force sensor.
The inventive method is carried out the independent loads or the compound loading of positive and negative direction to each dimension power/moment components of six-dimension force sensor, and loading procedure is simple, and it is convenient, fast to calculate coupled matrix.The inventive method is not only used simple, easy to operate, and the loading force value is accurate, no intermediate transfer link, and the stated accuracy height is applicable to the demarcation and the test of medium range six-dimension force sensor.
Description of drawings
Fig. 1 is a scaling method process flow diagram of the present invention.
Fig. 2 is the structural representation of the six-dimension force sensor calibration device of medium range.
Fig. 3 is the stereographic map of the six-dimension force sensor calibration device of medium range.
Fig. 4 is the assembling synoptic diagram of card extender 6, six-dimension force sensor 7 and load plate 8 among the present invention.
Fig. 5 is for applying the demarcation synoptic diagram of power+Fx among the present invention.
Fig. 6 is for applying the demarcation synoptic diagram of power+Fy among the present invention.
Fig. 7 is for applying the demarcation synoptic diagram of power+Fz among the present invention.
Fig. 8 is for applying the demarcation synoptic diagram of power-Fx and moment-My among the present invention.
Fig. 9 for apply among the present invention power-Fx and moment-My ,+the demarcation synoptic diagram of Mz.
Figure 10 for apply among the present invention power-Fx and moment-My ,-the demarcation synoptic diagram of Mz.
Figure 11 is for loading the process flow diagram of demarcation to Fx, Fy, Mx, My, the Mz of six-dimension force sensor among the present invention.
Figure 12 is for loading the process flow diagram of demarcation to the Fz of six-dimension force sensor among the present invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is a scaling method process flow diagram of the present invention.The present invention uses 14 pairs of six-dimension force sensors 7 of counterweight to load, timing signal, rotate panoramic table handle 5, the card extender 6 that panoramic table rotating disk 4 drives on it, six-dimension force sensor 7 and load plate 8 are together rotated, the angle of rotating is by 5 controls of panoramic table handle, and the scale from panoramic table rotating disk 4 is read, back side boosting-rod 9 is arranged on the load plate 8, front boosting-rod 10 and center boosting-rod 11, suspension hook 13 hangs on the boosting-rod by rope 12, counterweight 14 is placed on the suspension hook 13, the size of loading force is by the quality of counterweight 14 and quantity decision, and the change by loading position realizes independent loads and the compound loading to six-dimension force sensor 7 each power/moment components.Concrete calibration process is as follows:
At first six-dimension force sensor 7 is ready to, begins to demarcate (step 100); Six-dimension force sensor calibration device (step 110) is installed, with level meter the surface level of worktable 2 is calibrated, make worktable 2 be in horizontality, verticality between testing platform 2 and the panoramic table pedestal 3, and the depth of parallelism between detection panoramic table rotating disk 4, card extender 6, six-dimension force sensor 7 and the load plate 8, the demarcation coordinate system (step 120) of use gravity alignment six-dimension force sensor 7;
Use Fx, Fy, Mx, My, the Mz of suspension hook 13, rope 12, counterweight 14 and back side boosting-rod 9, front boosting- rod 10 and 11 pairs of six-dimension force sensors 7 of center boosting-rod to load demarcation (step 130); Record is to the data (step 140) of Fx, Fy, Mx, My, six-dimension force sensor 7 outputs when the Mz direction loads, do detection Fx, Fy, Mx, My, Mz load apply finish (step 150)?
Otherwise forwarding step 130 to circulates, be then to use the Fz of suspension hook 13, rope 12, counterweight 14 and 11 pairs of six-dimension force sensors 7 of center boosting-rod to load demarcation (step 160), and the data (step 170) of record six-dimension force sensor 7 outputs when the Fz direction loaded, detect Fz load and apply finish (step 180)?
Circulating otherwise forward step 160 to, is loading matrix and the sensor output matrix (step 190) that then calculates six-dimension force sensor 7, according to formula, calculates the coupled matrix (step 200) of six-dimension force sensor 7;
To the coupled matrix of six-dimension force sensor 7 test (step 210), does detecting coupled matrix meet the demands? (step 220), otherwise needing again six-dimension force sensor 7 to be demarcated, promptly return step 120 and circulate, is then to demarcate end (step 230).
In Fig. 2, Fig. 3 and Fig. 4: the 1st, table rest; The 2nd, worktable; The 3rd, the panoramic table pedestal; The 4th, the panoramic table rotating disk; The 5th, the panoramic table handle; The 6th, card extender; The 7th, six-dimension force sensor; The 8th, load plate; The 9th, back side boosting-rod; The 10th, the front boosting-rod; The 11st, the center boosting-rod; The 12nd, rope; The 13rd, suspension hook; The 14th, counterweight; The 15th, circular unthreaded hole; The 16th, the card extender mounting hole; The 17th, card extender sensor mounting hole; The 18th, card extender sensor register pin; The 19th, the sensor register pin; The 20th, the load plate pilot hole; The 21st, load plate sensor mounting hole.
One group of back side boosting-rod 9, one group of front boosting-rod 10 and center boosting-rod 11 are arranged on the load plate 8.Front boosting-rod 10 lays respectively on the X-axis and Y-axis of demarcating coordinate system with back side boosting-rod 9, and is distributed on the different circumference.
Utilize back side boosting-rod 9, front boosting-rod 10, center boosting-rod 11, rope 12, suspension hook 13 and 14 pairs of six-dimension force sensors 7 of counterweight to load, realize the independent loads and the compound loading of each power/moment components by the change of loading position.
Panoramic table rotating disk 4, panoramic table handle 5 and panoramic table pedestal 3 constitute a vertical panoramic table, on the panoramic table rotating disk 4 scale is arranged, when rotating panoramic table handle 5, panoramic table pedestal 3 does not rotate, but card extender 6, six-dimension force sensor 7 and load plate 8 that panoramic table rotating disk 4 drives on it are together rotated, the angle of rotating is by 5 controls of panoramic table handle, and the scale on the panoramic table rotating disk 4 is read.Rope 12 hangs on the front boosting-rod 10, and suspension hook 13 hangs on the rope 12, and counterweight 14 is placed on the suspension hook 13.Rope 12 is steel wires, or fishing line, and counterweight 14 is standard class counterweights, and counterweight 14 is copper counterweights, or the stainless steel counterweight, or the cast iron counterweight.
The front of load plate 8 has one group of front boosting- rod 10 and 11, four front boosting-rods 10 of a center boosting-rod to be symmetrically distributed in the circumference of load plate 8, and lays respectively on the X-axis and Y-axis of demarcating coordinate system, and center boosting-rod 11 is positioned at the center of load plate 8.
A circular unthreaded hole 15 is arranged on the worktable 2, and the diameter of circular unthreaded hole 15 is greater than the diameter of six-dimension force sensor 7 and the diameter of load plate 8, and the diameter of circular unthreaded hole 15 is less than the diameter of card extender 6.Panoramic table pedestal 3 is vertically mounted on an end of worktable 2, and worktable 2 is installed on the table rest 1.The front of panoramic table rotating disk 4 is equipped with card extender 6, and the front of card extender 6 is equipped with six-dimension force sensor 7, and the front of six-dimension force sensor 7 is equipped with load plate 8.One group of back side boosting-rod 9, one group of front boosting-rod 10 and center boosting-rod 11 are arranged on the load plate 8.
Fig. 4 is the assembling synoptic diagram of card extender 6, six-dimension force sensor 7 and load plate 8 among the present invention.Card extender 6 is installed on the panoramic table rotating disk 4 by 1 group of card extender mounting hole 16, six-dimension force sensor 7 is installed on the card extender sensor mounting hole 17 of card extender 6, position by card extender sensor register pin 18 between six-dimension force sensor 7 and the card extender 6, load plate 8 is installed on the six-dimension force sensor 7 by 1 group of load plate sensor mounting hole 21, positions by sensor register pin 19 and load plate pilot hole 20 between load plate 8 and the six-dimension force sensor 7.Load plate 8 one sides are equipped with one group of back side boosting-rod 9 and load plate pilot hole 20, and another side is equipped with one group of front boosting-rod 10 and a center boosting-rod 11.On back side boosting-rod 9 on the load plate 8, front boosting-rod 10 and the center boosting-rod 11 cutting is arranged all, be used for suspension cord 12 and suspension hook 13.
Fig. 5 is for applying the demarcation synoptic diagram of power+Fx among the present invention.According to the definition of demarcating coordinate system, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the X-axis positive dirction is overlapped, at this moment with gravity direction, the X-axis positive dirction vertically downward, Y-axis positive dirction level is to the right.Rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power+Fx to six-dimension force sensor 7, the size of power is by the quality and the quantity decision of counterweight 14.
Rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extenders 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjusts the angle of rotation, and the X-axis negative direction is overlapped with gravity direction, at this moment, the X-axis positive dirction vertically upward, Y-axis positive dirction level is left.Rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power-Fx to six-dimension force sensor 7, the size of power is by the quality and the quantity decision of counterweight 14.
Fig. 6 is for applying the demarcation synoptic diagram of power+Fy among the present invention.According to the definition of demarcating coordinate system, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the Y-axis positive dirction is overlapped, at this moment with gravity direction, X-axis positive dirction level left, the Y-axis positive dirction is vertically downward.Rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power+Fy to six-dimension force sensor 7, the size of power is by the quality and the quantity decision of counterweight 14.
Rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extenders 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjusts the angle of rotation, and the Y-axis negative direction is overlapped with gravity direction, at this moment, X-axis positive dirction level to the right, the Y-axis positive dirction is vertically upward.Rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power-Fy to six-dimension force sensor 7, the size of power is by the quality and the quantity decision of counterweight 14.
Fig. 7 is for applying the demarcation synoptic diagram of power+Fz among the present invention.Card extender 6, six-dimension force sensor 7 and load plate 8 are taken off from panoramic table rotating disk 4, the card extender 6 that is equipped with six-dimension force sensor 7 and load plate 8 is placed on 15 li of the circular unthreaded holes of worktable 2, the diameter of circular unthreaded hole 15 is greater than the diameter of six-dimension force sensor 7 and the diameter of load plate 8, and the diameter of circular unthreaded hole 15 is less than the diameter of card extender 6, card extender 6 place worktable 2 above, six-dimension force sensor 7 and load plate 8 place worktable 2 below.A center boosting-rod 11 is arranged on the load plate 8, rope 12 is suspended on the center boosting-rod 11, suspension hook 13 is suspended on the rope 12, and counterweight 14 is placed on the suspension hook 13, promptly six-dimension force sensor 7 is applied power+Fz.
Fig. 8 is for applying the demarcation synoptic diagram of power-Fx and moment-My among the present invention.According to the definition of demarcating coordinate system, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the X-axis negative direction is overlapped, at this moment with gravity direction, the X-axis positive dirction vertically upward, Y-axis positive dirction level is left.Rope 12 is hung in the cutting of center boosting-rod 11 in load plate 8 fronts, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power-Fx and moment-My to six-dimension force sensor 7, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is by the distance on XYO plane in the coordinate system, the afterburning position of center boosting-rod 11, the quality and the quantity decision of counterweight 14.
Fig. 9 for apply among the present invention power-Fx and moment-My ,+the demarcation synoptic diagram of Mz.According to the definition of demarcating coordinate system, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the X-axis negative direction is overlapped, at this moment with gravity direction, the X-axis positive dirction vertically upward, Y-axis positive dirction level is left.Rope 12 is hung in the cutting of the boosting-rod on the left side in load plate 8 positive one group of front boosting-rod 10, then suspension hook 13 is suspended on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can to six-dimension force sensor 7 apply power-Fx and moment-My ,+Mz, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is determined to the distance at load plate 8 centers, the quality and the quantity of counterweight 14 by the distance on XYO plane in the coordinate system, the afterburning position of front boosting-rod 10, the afterburning position of front boosting-rod 10.
Figure 10 for apply among the present invention power-Fx and moment-My ,-the demarcation synoptic diagram of Mz.According to the definition of demarcating coordinate system, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the X-axis negative direction is overlapped, at this moment with gravity direction, the X-axis positive dirction vertically upward, Y-axis positive dirction level is left.Rope 12 is hung in the cutting of the boosting-rod on the right in load plate 8 positive one group of front boosting-rod 10, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can to six-dimension force sensor 7 apply power-Fx and moment-My ,-Mz, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is determined to the distance at load plate 8 centers, the quality and the quantity of counterweight 14 by the distance on XYO plane in the coordinate system, the afterburning position of front boosting-rod 10, the afterburning position of front boosting-rod 10.
Rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extenders 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjusts the angle of rotation, and the Y-axis negative direction is overlapped with gravity direction, at this moment, X-axis positive dirction level to the right, the Y-axis positive dirction is vertically upward.Rope 12 is hung in the cutting of load plate 8 front center boosting-rods 11, suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can apply power-Fy and moment+Mx to six-dimension force sensor 7, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is by the distance on XYO plane in the coordinate system, the afterburning position of center boosting-rod 11, the quality and the quantity decision of counterweight 14.Rope 12 is hung in the cutting of the boosting-rod on the left side in load plate 8 positive one group of front boosting-rod 10, suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can to six-dimension force sensor 7 apply power-Fy and moment+Mx ,+Mz, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is determined to the distance at load plate 8 centers, the quality and the quantity of counterweight 14 by the distance on XYO plane in the coordinate system, the afterburning position of front boosting-rod 10, the afterburning position of front boosting-rod 10.Rope 12 is hung in the cutting of the boosting-rod on the right in load plate 8 positive one group of front boosting-rod 10, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, can to six-dimension force sensor 7 apply power-Fy and moment+Mx ,-Mz, the size of power is by the quality of counterweight 14 and quantity decision, and the size of moment is determined to the distance at load plate 8 centers, the quality and the quantity of counterweight 14 by the distance on XYO plane in the coordinate system, the afterburning position of front boosting-rod 10, the afterburning position of front boosting-rod 10.
Figure 11 is for loading the process flow diagram of demarcation to Fx, Fy, Mx, My, the Mz of six-dimension force sensor 7 among the present invention.
Use Fx, Fy, Mx, My, the Mz of suspension hook 13, rope 12, counterweight 14 and back side boosting-rod 9, front boosting- rod 10,11 pairs of six-dimension force sensors 7 of center boosting-rod to begin to load demarcation (step 300);
The card extender 6 that is connected with six-dimension force sensor 7 and load plate 8 is installed on the panoramic table rotating disk 4 (step 310), make Y-axis that six-dimension force sensor 7 demarcates coordinate systems vertically upward, X-axis or the Y-axis (step 320) of using gravity alignment six-dimension force sensor 7 to demarcate coordinate systems;
From back side boosting-rod 9, front boosting-rod 10 and center boosting-rod 11, select a boosting-rod to come six-dimension force sensor 7 is carried out imposed load (step 330), six-dimension force sensor 7 is carried out zero clearing (step 340), the rope 12 that hangs with suspension hook 13 and counterweight 14 is hung in the cutting of boosting-rod of selection, six-dimension force sensor 7 is applied different load (step 350), the size of load is by the quality and the quantity decision of counterweight 14, the output data (step 360) of record six-dimension force sensor 7;
Does test load apply finish (step 370)? otherwise returning step 350 circulates, be then detect back side boosting-rod 9, front boosting-rod 10 and center boosting-rod 11 whether all imposed load (step 380)? is circulating otherwise return step 330, then to detect the card extender 6 that will be connected with six-dimension force sensor 7 and load plate 8 to have rotated counterclockwise three times (step 390)?
Otherwise rotate and control panoramic table handle 5 (steps 400), card extender 6, six-dimension force sensor 7 and load plate 8 that panoramic table rotating disk 4 is driven on it together rotate counterclockwise 90 degree (step 410), returning step 320 again and circulate, is then to finish (step 420) demarcated in the loading of Fx, Fy, Mx, My, Mz.
Figure 12 is for loading the process flow diagram of demarcation to the Fz of six-dimension force sensor 7 among the present invention.
Use the Fz of suspension hook 13, rope 12, counterweight 14 and 11 pairs of six-dimension force sensors 7 of center boosting-rod to begin to load demarcation (step 500), the card extender 6 that is connected with six-dimension force sensor 7 and load plate 8 is taken off from panoramic table rotating disk 4, be placed on 15 li of the circular unthreaded holes of worktable 2, the Z axle of six-dimension force sensor 7 demarcation coordinate systems is (step 510) vertically downward, with level meter the surface level of worktable 2 is calibrated, made worktable 2 be in horizontality (step 520);
Six-dimension force sensor 7 is carried out zero clearing (step 530);
Does test load apply finished (step 570)? circulating otherwise return step 540, is then to finish the Fz of six-dimension force sensor 7 is loaded demarcation (step 580).
Embodiment:
At first, the table rest 1 of six-dimension force sensor calibration device is placed on the flat ground surface, worktable 2 is lain in a horizontal plane on the table rest 1, the surface level of worktable 2 is calibrated, guarantee that worktable 2 is in horizontality with level meter.Panoramic table pedestal 3 is vertically mounted on an end of worktable 2, and panoramic table pedestal 3, panoramic table rotating disk 4 and panoramic table handle 5 are formed a vertical panoramic table.
In the installation process of six-dimension force sensor calibration device, need to guarantee the verticality of worktable 2 and panoramic table pedestal 3, the depth of parallelism between panoramic table rotating disk 4, card extender 6, six-dimension force sensor 7 and load plate 8 and the panoramic table pedestal 3.The precision of six-dimension force sensor calibration device by Machine Design, processing and installation guarantee the position of timing signal loading force application point and direction accurately, the accurate transmission of realizable force improves stated accuracy.
After the above-mentioned installation, check each spare and accessory parts in the caliberating device, guarantee that each spare and accessory parts installation is accurate, firm, six-dimension force sensor calibration device installs.
Then, use six-dimension force sensor calibration device that the six-dimension force sensor 7 of moderate journey is demarcated.Range according to six-dimension force sensor 7 is determined the quantity of calibration point and the interval between the calibration point, and general employing is uniformly-spaced demarcated, and each passage of 14 pairs of six-dimension force sensors 7 of use counterweight is imposed load successively.
Timing signal, the card extender 6 that is connected with six-dimension force sensor 7 and load plate 8 is installed on the panoramic table rotating disk 4, rotate panoramic table handle 5, panoramic table rotating disk 4 drives card extender 6, six-dimension force sensor 7 and load plate 8 and together rotates, adjust the angle of rotating, the Y-axis negative direction is overlapped, at this moment with gravity direction, X-axis positive dirction level to the right, the Y-axis positive dirction is vertically upward.The Y-axis of using gravity alignment six-dimension force sensor 7 to demarcate coordinate system is carried out zero clearing to six-dimension force sensor 7;
Just rope 12 hangs in the cutting of nethermost boosting-rod in the front boosting-rod 10, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, apply power-Fy and moment+Mx to six-dimension force sensor 7 this moment, the output data of record six-dimension force sensor 7;
Again rope 12 is hung in the cutting of the boosting-rod on the right side in the front boosting-rod 10, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, this moment to six-dimension force sensor 7 apply power-Fy and moment+Mx ,-Mz, the output data of record six-dimension force sensor 7;
Rotate and control panoramic table handle 5, card extender 6, six-dimension force sensor 7 and load plate 8 that panoramic table rotating disk 4 is driven on it together rotate counterclockwise 90 degree, the X-axis negative direction are overlapped, at this moment with gravity direction, the X-axis positive dirction vertically upward, Y-axis positive dirction level is left.The X-axis of using gravity alignment six-dimension force sensor 7 to demarcate coordinate system, six-dimension force sensor 7 is carried out zero clearing, rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, and apply power-Fx to six-dimension force sensor 7 this moment, the output data of record six-dimension force sensor 7;
Again rope 12 is hung in the cutting of the boosting-rod on the right side in the front boosting-rod 10, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, this moment to six-dimension force sensor 7 apply power-Fx and moment-My ,-Mz, the output data of record six-dimension force sensor 7;
Be rotated further and control panoramic table handle 5, card extender 6, six-dimension force sensor 7 and load plate 8 that panoramic table rotating disk 4 is driven on it together rotate counterclockwise 90 degree, the Y-axis positive dirction are overlapped, at this moment with gravity direction, X-axis positive dirction level left, the Y-axis positive dirction is vertically downward.The Y-axis of using gravity alignment six-dimension force sensor 7 to demarcate coordinate system, six-dimension force sensor 7 is carried out zero clearing, rope 12 is hung in the cutting of nethermost boosting-rod in the back side boosting-rod 9, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, and apply power+Fy to six-dimension force sensor 7 this moment, the output data of record six-dimension force sensor 7; Just rope 12 hangs in the cutting of nethermost boosting-rod in the front boosting-rod 10 again, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, apply power+Fy and moment-Mx to six-dimension force sensor 7 this moment, the output data of record six-dimension force sensor 7;
Be rotated further and control panoramic table handle 5, card extender 6, six-dimension force sensor 7 and load plate 8 that panoramic table rotating disk 4 is driven on it together rotate counterclockwise 90 degree, the X-axis positive dirction are overlapped, at this moment with gravity direction, the X-axis positive dirction vertically downward, Y-axis positive dirction level is to the right.The X-axis of using gravity alignment six-dimension force sensor 7 to demarcate coordinate system, six-dimension force sensor 7 is carried out zero clearing, rope 12 is hung in the cutting of nethermost boosting-rod in one group of back side boosting-rod 9 at load plate 8 back sides, then suspension hook 13 is hung on the rope 12, at last counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, and apply power+Fx to six-dimension force sensor 7 this moment, the output data of record six-dimension force sensor 7;
Again rope 12 is hung in the cutting of the boosting-rod on the right side in the front boosting-rod 10, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, the size of load is by the quality and the quantity decision of counterweight 14, this moment to six-dimension force sensor 7 apply power+Fx and moment+My ,-Mz, the output data of record six-dimension force sensor 7;
Finish loading and the demarcation of Fx, Fy to six-dimension force sensor 7, Mx, My, Mz according to above-mentioned steps.
The card extender 6 that is connected with six-dimension force sensor 7 and load plate 8 is taken off from panoramic table rotating disk 4, be placed on 15 li of the circular unthreaded holes of worktable 2, the diameter of circular unthreaded hole 15 is greater than the diameter of six-dimension force sensor 7 and the diameter of load plate 8, and the diameter of circular unthreaded hole is less than the diameter of card extender 6, card extender 6 be positioned at worktable 2 above, six-dimension force sensor 7 and load plate 8 are positioned at 15 li of the circular unthreaded holes of worktable 2.The Z axle of six-dimension force sensor 7 demarcation coordinate systems vertically downward.With level meter the surface level of worktable 2 is calibrated, make worktable 2 be in horizontality, six-dimension force sensor 7 is carried out zero clearing, rope 12 is hung on the center boosting-rod 11, suspension hook 13 hangs on the rope 12, counterweight 14 is placed on the suspension hook 13, use 14 pairs of six-dimension force sensor 7 imposed loads of counterweight, apply power+Fz to six-dimension force sensor 7 this moment, the size of load is by the quality and the quantity decision of counterweight 14, the output data of record six-dimension force sensor 7 progressively applies different load, until finish to six-dimension force sensor 7+Fz loads demarcation.
At last, finish on the basis that six-dimension force sensor 7 each stresses are demarcated, six-dimension force sensor 7 obtains corresponding output respectively, and various demarcation states are made up, and obtains the loading matrix F of six-dimension force sensor 7 and the output matrix V of six-dimension force sensor.The order of the loading matrix F of six-dimension force sensor 7 is 6 linear independence matrix, and the inverse matrix of F exists, and loads matrix F and is:
The output matrix V of six-dimension force sensor 7 is:
According to formula
C＝F·V
-1
Calculate, obtain coupled matrix C;
Whether the coupled matrix C of check six-dimension force sensor 7 meets the requirements, if undesirable, need demarcate six-dimension force sensor 7 again according to above-mentioned steps, finishes otherwise demarcate.
Claims (2)
1. scaling method that is used for the six-dimension force sensor calibration device of medium range, it is characterized in that: use counterweight (14) that six-dimension force sensor (7) is loaded, timing signal, rotate panoramic table handle (5), panoramic table rotating disk (4) drives the card extender (6) on it, six-dimension force sensor (7) and load plate (8) are together rotated, the angle of rotating is controlled by panoramic table handle (5), and the scale from panoramic table rotating disk (4) is read, the counterweight (14) of different quality and quantity is hung in the back side boosting-rod (9) of load plate (8) by suspension hook (13), on front boosting-rod (10) and the center boosting-rod (11), go up the Fx of the change realization of loading position by load plate (8) to six-dimension force sensor (7), Fy, Fz, Mx, My, the independent loads and the compound loading of six power/moment components of Mz, this scaling method is finished according to the following steps:
A, elder generation install six-dimension force sensor calibration device, with level meter the surface level of worktable (2) is calibrated, make worktable (2) be in horizontality, the verticality of testing platform (2) and panoramic table pedestal (3), and the depth of parallelism between detection panoramic table rotating disk (4), card extender (6), six-dimension force sensor (7) and the load plate (8);
The X-axis or the Y-axis of the demarcation coordinate system of B, use gravity alignment six-dimension force sensor (7);
C, the card extender (6) that will be connected with six-dimension force sensor (7) and load plate (8) are installed on the panoramic table rotating disk (4), rotate panoramic table handle (5), adjust the angle of rotating, the X-axis positive dirction of six-dimension force sensor (7) is overlapped with gravity direction, at this moment, the X-axis positive dirction vertically downward, Y-axis positive dirction level is to the right;
D, the counterweight (14) of different quality and quantity is hung on back side boosting-rod (9), front boosting-rod (10) and the center boosting-rod (11) of load plate (8) by suspension hook (13), six-dimension force sensor (7) is applied Fx, My, Mz, and record data;
E, rotation and control panoramic table handle (5), card extender (6), six-dimension force sensor (7) and load plate (8) that panoramic table rotating disk (4) is driven on it together rotate counterclockwise 90 degree, be hung in the counterweight (14) of different quality and quantity on back side boosting-rod (9), front boosting-rod (10) and the center boosting-rod (11) of load plate (8) by suspension hook (13), six-dimension force sensor (7) is applied Fy, Mx, Mz, and record data;
F, rotation and control panoramic table handle (5), card extender (6), six-dimension force sensor (7) and load plate (8) that panoramic table rotating disk (4) is driven on it together rotate counterclockwise 90 degree, repeating step D is hung in the counterweight (14) of different quality and quantity on back side boosting-rod (9), front boosting-rod (10) and the center boosting-rod (11) of load plate (8) by suspension hook (13), and six-dimension force sensor (7) is applied Fx, My, Mz and record data;
Repeating step E rotates and control panoramic table handle (5), card extender (6), six-dimension force sensor (7) and load plate (8) that panoramic table rotating disk (4) is driven on it together rotate counterclockwise 90 degree, be hung in the counterweight (14) of different quality and quantity on back side boosting-rod (9), front boosting-rod (10) and the center boosting-rod (11) of load plate (8) by suspension hook (13), six-dimension force sensor (7) is applied Fy, Mx, Mz, and record data;
Respectively Fx, Fy, Mx, My, the Mz of six-dimension force sensor (7) carried out the loading demarcation of positive and negative direction;
G, the card extender (6) that will be connected with six-dimension force sensor (7) and load plate (8) take off from panoramic table rotating disk (4), be placed on circular unthreaded hole (15) lining of worktable (2), the diameter of circular unthreaded hole (15) is greater than the diameter of six-dimension force sensor (7) and the diameter of load plate (8), and the diameter of circular unthreaded hole (15) is less than the diameter of card extender (6), card extender (6) place worktable (2) above, six-dimension force sensor (7) and load plate (8) place worktable (2) below;
The Z axle of H, six-dimension force sensor (7) demarcation coordinate system vertically downward, hang over the counterweight (14) of different quality and quantity on the center boosting-rod (11) of load plate (8) by suspension hook (13), six-dimension force sensor (7) is applied the load of Fz direction, the size of load is by the quality and the quantity decision of counterweight (14), progressively apply different load, record data load demarcation until the Fz that finishes six-dimension force sensor (7);
The loading matrix and the sensor output matrix of I, calculating six-dimension force sensor (7);
J, according to formula, calculate the coupled matrix of six-dimension force sensor (7);
Whether the coupled matrix of K, check six-dimension force sensor (7) meets the requirements, if undesirable, needs six-dimension force sensor (7) to be demarcated to K according to steps A again, finishes otherwise demarcate.
2. a kind of scaling method that is used for the six-dimension force sensor calibration device of medium range according to claim 1, it is characterized in that: described change of going up loading position by load plate (8) realizes Fx, Fy, Fz, Mx, the My to six-dimension force sensor (7), the independent loads and the compound loading of six power/moment components of Mz, be that first Fx, Fy, Mx, My, Mz to six-dimension force sensor (7) loads demarcation, the back loads demarcation to the Fz of six-dimension force sensor (7); Or earlier the Fz of six-dimension force sensor (7) being loaded demarcation, the back loads demarcation to Fx, Fy, Mx, My, the Mz of six-dimension force sensor (7).
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| CN103604561B (en) * | 2013-11-27 | 2015-04-08 | 东南大学 | Calibration device and method of six-axis force/torque sensor |
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| CN109682533B (en) * | 2019-01-08 | 2024-04-30 | 吉林大学 | Dual-mode six-dimensional force/torque sensor calibration device and calibration method |
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| CN110631765B (en) * | 2019-10-30 | 2023-10-24 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
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