CN102749168A - Combined calibration device of no-coupling six-dimensional force sensor - Google Patents
Combined calibration device of no-coupling six-dimensional force sensor Download PDFInfo
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- CN102749168A CN102749168A CN201210260652XA CN201210260652A CN102749168A CN 102749168 A CN102749168 A CN 102749168A CN 201210260652X A CN201210260652X A CN 201210260652XA CN 201210260652 A CN201210260652 A CN 201210260652A CN 102749168 A CN102749168 A CN 102749168A
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Abstract
The invention discloses a combined calibration device of a no-coupling six-dimensional force sensor. The combined calibration device belongs to the technical field of sensor calibration and solves the problems of large volume and difficult assembly and debugging in a conventional calibration device of a six-dimensional force sensor. The combined calibration device comprises an Fz-direction calibration device, an Fx-direction and Fy-direction calibration device, an Mz-direction calibration device and an Mx-direction and My-direction calibration device. A lower board of a sensor body is pressed by a layering so as to fix the sensor main body to a bottom board. A force changeover disk is connected with the sensor body. One end of a lever is fixed to a bearing seat, and the other end of the lever is hung with a poise weight by using a wire rope. By using a lever principle, after being amplified, the weight of the poise weight is applied to the force changeover disk through a first loading rod and a second loading rod. The poise weight is used as a force source; and the force increase action is realized by using the lever principle and a pulley block. Compared with other calibration devices of a six-dimensional force sensor, the combined method provided by the invention has the advantages of smaller volume, fewer parts and simpler installation and debugging due to the realization of the calibration in different directions.
Description
Technical field
The present invention relates to a kind of caliberating device of combined type six-dimension force sensor, belong to the transducer calibration technical field.
Background technology
Six-dimension force sensor belongs to a kind of of force transducer, is widely used in fields such as industrial robot, anthropomorphic robot.Its maximum characteristics are to detect the load of six direction simultaneously, promptly in the cartesian coordinate system of space along the power of three change in coordinate axis direction and around the moment of three axles.For realizing anthropomorphic robot realization stablizing walking, need to detect in real time the foot stress.(application number: a kind of nothing coupling of proposition, safety-type six-dimension force sensor 201llO142847.X) are used for anthropomorphic robot foot to realize the stable walking of anthropomorphic robot to issued patents " the unable coupling six-dimension force sensor of a kind of safety-type ".Caliberating device that the present invention relates to and scaling method are the caliberating device and the scaling method of this six-dimension force sensor.
The so-called demarcation applies certain load to sensor exactly, checks the output of sensor, compare with input, thereby actual detected goes out indexs such as the precision, sensitivity of sensor.Force transducer is owing to manufacturing, assembling, paster error, and factor affecting such as quantization error, interference in the circuit, and its input/output relation and Theoretical Calculation have certain deviation, needs detect through calibration experiment the actual performance index of force transducer.At present, one dimension power or torque sensor use the suspension standard test weight to demarcate usually, and this mode is simple and easy to do, precision is higher, but this mode can only apply folk prescription to load.For six-dimension force sensor, need carry out the calibration experiment of six direction.At present, six-dimension force sensor calibration device has following several kinds of forms: hydraulic cylinder is laid to realize (calibrating and loading bench of large multi-dimensional force transducer, the application number: 201010103946.2) of applying of different directions load at caliberating device framework diverse location in (1); (2) lay pulley to realize (a kind of six-dimension force sensor calibration device and scaling method thereof, the application number: 201010246488.8) of applying of different directions load at the caliberating device diverse location; (3) export (a kind of pair of power source six-dimension force sensor calibration device, application number: 201120284809.3) through paired layout power source to realize multiaxis loading.These issued patents can export the load of six direction, can carry out calibration experiment to six-dimension force sensor.But, these the related six-dimension force sensor calibration device of issued patents also exist shortcomings such as volume is big, assembling and setting difficulty.
Summary of the invention
The object of the invention is to provide a kind of combined type caliberating device that does not have the coupling six-dimension force sensor, has to solve existing six-dimension force sensor calibration device that volume is big, the difficult problem of assembling and setting.
The present invention solves the problems of the technologies described above the technical scheme of taking to be:
The combined type caliberating device of nothing coupling six-dimension force sensor of the present invention comprises Fz direction caliberating device; Fx, Fy direction caliberating device; Mz direction caliberating device; Mx, My direction caliberating device;
Fz direction caliberating device comprises base plate, press strip, power transfer panel, supporting seat one, load bar one, lower platen, bearing seat, lever, top board, bearing (ball) cover, wire rope, weights and mandrel; Be fixed with supporting seat one on the upper surface of base plate; The rear and front end of supporting seat one is separately installed with bearing seat, and the two ends of mandrel are installed on the corresponding bearing seat through bearing one, bearing two, is respectively equipped with bearing (ball) cover on bearing one, the bearing two; Lever is vertical with mandrel to be provided with; One end of lever is installed on the mandrel, and weights is connected with the other end lower wall of lever through wire rope, has scale on the lever; Lower platen is installed on the lever through top board; The upper end of load bar one is connected with the lower end of lower platen; Lower platen, top board and load bar one three link together and can move along lever simultaneously, and press strip is used for six-dimension force sensor body horizontal fixed base plate, and power transfer panel is connected with the six-dimension force sensor body; Power transfer panel and base plate laterally arrange, and the lower end of load bar one is spherical structure and contacts with the ball-and-socket at power transfer panel upper surface geometric center place;
Fx, Fy direction caliberating device comprise base plate, back up pad, power transfer panel, supporting seat two, load bar two, lower platen, bearing seat, lever, top board, bearing (ball) cover, wire rope, weights and mandrel; Be fixed with supporting seat two on the upper surface of base plate; The rear and front end of support seat two is separately installed with bearing seat, and the two ends of mandrel are installed on the corresponding bearing seat through bearing one, bearing two, are respectively equipped with bearing (ball) cover on bearing one, the bearing two; Lever is vertical with mandrel to be provided with; One end of lever is installed on the mandrel, and weights is connected with the other end lower wall of lever through wire rope, has scale on the lever; Lower platen is installed on the lever through top board; The upper end of load bar two is connected with the lower end of lower platen; Lower platen, top board and load bar two threes link together and can move along lever simultaneously, and back up pad stands on the upper surface of base plate and with base plate and fixes, and back up pad is used for six-dimension force sensor body vertical fixing base plate; Power transfer panel is connected with the six-dimension force sensor body; Power transfer panel is vertical with base plate to be provided with, and the lower end of load bar two is spherical structure and contacts with the ball-and-socket at geometric center place, a side on the power transfer panel, or contacts with the ball-and-socket at geometric center place, another side on the power transfer panel; Side on the power transfer panel is vertical each other with the another side on the power transfer panel;
Mz direction caliberating device comprises base plate, press strip, moment transfer panel, loads horizontal stripe two, loads pulley assembly, column, leading block assembly, wire rope and counterweight; Press strip is used for six-dimension force sensor body horizontal fixed base plate; The upper end coupling torque transfer panel of six-dimension force sensor body; Loading top and the two that horizontal stripe two is positioned at moment transfer panel laterally arranges; Moment transfer panel is affixed with loading horizontal stripe two lower surfaces; The right ends that loads horizontal stripe two is arranged a year pulley assembly respectively, and each has column surely the place, two diagonal angles of the upper surface of base plate, and the middle part that is positioned at the column in the place ahead is furnished with the leading block assembly; The middle part that is positioned at the column at rear also is furnished with the leading block assembly; One end of wire rope suspension counterweight, wire rope walk around pulley on the leading block assembly on the column that is positioned at the place ahead successively, be positioned at pulley on the loading pulley assembly that loads horizontal stripe two left ends, be positioned at pulley on the loading pulley assembly that loads horizontal stripe two right-hand members, be positioned at the pulley on the leading block assembly on the column at rear, and another is fixed on wire rope on the base plate; Load the axis of the pulley on the pulley assembly and the axis normal setting of the pulley on the leading block assembly;
Mx, My direction caliberating device comprise base plate, press strip, moment transfer panel, load horizontal stripe one, load pulley assembly, column, leading block assembly, wire rope and counterweight; Press strip is used for six-dimension force sensor body horizontal fixed base plate; The upper end coupling torque transfer panel of six-dimension force sensor body; Loading horizontal stripe one is positioned at top and the two vertical setting of moment transfer panel; Moment transfer panel is affixed with the lower end that loads horizontal stripe one; A year pulley assembly is arranged at the two ends up and down that load horizontal stripe one respectively, and each has column surely the two ends of the upper surface of base plate, and the upper end that is positioned at the column on the left side is furnished with the leading block assembly; The bottom that is positioned at the column on the right also is furnished with the leading block assembly; One end of wire rope suspension counterweight, wire rope walk around pulley on the leading block assembly of the column upper end that is positioned at the left side successively, be positioned at pulley on the loading pulley assembly that loads horizontal stripe one upper end, be positioned at pulley on the loading pulley assembly that loads horizontal stripe one lower end, be positioned at the pulley on the leading block assembly of column bottom on the left side, and another is fixed on wire rope on the base plate; Load the axis of the pulley on the pulley assembly and the parallel axes setting of the pulley on the leading block assembly.
The invention has the beneficial effects as follows:
The present invention uses counterweight to demarcate, and has precision height, simple and easy to do advantage.Realize the output of big load, utilized the amplification of lever principle realizable force.Utilize pulley blocks to come applied moment load, can play boosting function simultaneously.It is less, simple in structure that the present invention proposes combined type six-dimension force sensor calibration device volume.Caliberating device involved in the present invention utilizes counterweight as the power source, utilizes lever principle and pulley blocks to realize boosting function.Compare with other six-dimension force sensor calibration devices, the present invention adopts combination method to realize the demarcation of different directions, so volume is less, number of parts is few, Installation and Debugging are simple.
Description of drawings
Fig. 1 is nothing coupling six-dimension force sensor contour structures synoptic diagram and power transfer panel 4 scheme of installations involved in the present invention; Fig. 1 a is the stereographic map of six-dimension force sensor body, and Fig. 1 b is the stereographic map of the six-dimension force sensor body behind the installing force transfer panel 4; 3-1 is a through hole among Fig. 1 a, and 3-2 is an annular boss, and 3-3 is the sensor lower plate;
Fig. 2 carries out the regularly structural representation of caliberating device of Fz direction sign; Fig. 2 a is the front view of Fz direction caliberating device I, and Fig. 2 b is the enlarged drawing that shows the scale on the lever 9, and Fig. 2 c is mandrel and lever annexation synoptic diagram (16-axle sleeve);
Fig. 3 is Fx, Fy direction sign timing device combination synoptic diagram (Fx, Fy direction caliberating device II); Identical among mandrel among Fig. 3 and lever annexation synoptic diagram and Fig. 2;
Fig. 4 is a power transfer panel synoptic diagram; Fig. 4 a is the front elevation of power transfer panel, and Fig. 4 b is the vertical view of power transfer panel;
Fig. 5 is a Mz direction sign timing device combination synoptic diagram; Fig. 5 a is the front elevation of Mz direction caliberating device III, and Fig. 5 b is that the A of Fig. 5 a is to view;
Fig. 6 is Mx, My direction sign timing device combination synoptic diagram; Fig. 6 a is the front elevation of Mx, My direction caliberating device IV, and Fig. 5 b is that the A of Fig. 6 a is to view;
Fig. 7 is for loading the structural representation of pulley assembly 23;
Fig. 8 is the structural representation of leading block assembly 25;
Fig. 9 is moment loading disc (moment transfer panel a 21) synoptic diagram; Fig. 9 a is the front elevation of moment transfer panel, and Fig. 9 b is the vertical view of moment transfer panel;
Figure 10 is the calibration system principle of compositionality figure that has caliberating device according to the invention.
Embodiment
Embodiment one: shown in Fig. 1～9, the described a kind of combined type caliberating device that does not have the coupling six-dimension force sensor of this embodiment comprises Fz direction caliberating device I; Fx, Fy direction caliberating device II; Mz direction caliberating device III; Mx, My direction caliberating device IV;
Like Fig. 2, Fz direction caliberating device I comprises base plate 1, press strip 2, power transfer panel 4, supporting seat 1, load bar 1, lower platen 7, bearing seat 8, lever 9, top board 10, bearing (ball) cover 11, wire rope 13, weights 14 and mandrel 15; Be fixed with supporting seat 1 on the upper surface of base plate 1; The rear and front end of supporting seat 1 is separately installed with bearing seat 8, and the two ends of mandrel 15 are installed on the corresponding bearing seat 8 through bearing one 17-1, bearing two 17-2, is respectively equipped with bearing (ball) cover 11 on bearing one 17-1, bearing two 17-2; Lever 9 and mandrel 15 vertical settings; One end of lever 9 is installed on the mandrel 15, and weights 14 is connected with the other end lower wall of lever 9 through wire rope 13, has scale 12 above the lever 9; Lower platen 7 is installed on the lever 9 through top board 10; The upper end of load bar 1 is connected with the lower end of lower platen 7; Lower platen 7, top board 10 and load bar one 6 threes link together and can move along lever 9 simultaneously; Press strip 2 is used for six-dimension force sensor body 3 horizontal fixed base plates 1; Power transfer panel 4 is connected with six-dimension force sensor body 3, and power transfer panel 4 laterally arranges with base plate 1, and the lower end of load bar 1 is spherical structure and contacts with the ball-and-socket 4-3-3 at power transfer panel 4 upper surface geometric center places; Fz direction caliberating device I utilizes wire rope 13 suspension counterweights 14, and utilizes the amplification of lever principle realizable force, and force transducer 3 upper ends connect power transfer panel 4, utilize load bar 1 to exert pressure to power transfer panel 4, thereby realize the demarcation to sensor.
Like Fig. 3, Fx, Fy direction caliberating device II comprise base plate 1, back up pad 9, power transfer panel 4, supporting seat 2 18, load bar 2 20, lower platen 7, bearing seat 8, lever 9, top board 10, bearing (ball) cover 11, wire rope 13, weights 14 and mandrel 15; Be fixed with supporting seat 2 18 on the upper surface of base plate 1; The rear and front end of support seat 2 18 is separately installed with bearing seat 8, and the two ends of mandrel 15 are installed on the corresponding bearing seat 8 through bearing one 17-1, bearing two 17-2, are respectively equipped with bearing (ball) cover 11 on bearing one 17-1, bearing two 17-2; Lever 9 and mandrel 15 vertical settings; One end of lever 9 is installed on the mandrel 15, and weights 14 is connected with the other end lower wall of lever 9 through wire rope 13, has scale 12 above the lever 9; Lower platen 7 is installed on the lever 9 through top board 10; The upper end of load bar 2 20 is connected with the lower end of lower platen 7; Lower platen 7, top board 10 and load bar 2 20 threes link together and can move along lever 9 simultaneously; Back up pad 9 stands on the upper surface of base plate 1 and is fixing with base plate 1; Back up pad 9 is used for six-dimension force sensor body 3 vertical fixing base plates 1, and power transfer panel 4 is connected with six-dimension force sensor body 3, power transfer panel 4 and base plate 1 vertical setting; The lower end of load bar 2 20 is spherical structure and contacts with the ball-and-socket 4-3-1 at geometric center place, a side on the power transfer panel 4, or contacts with the ball-and-socket 4-3-2 at geometric center place, another side on the power transfer panel 4; Side on the power transfer panel 4 and the another side on the power transfer panel 4 are orthogonal; Fx, Fy direction caliberating device utilize wire rope 13 suspension counterweights 14, and utilize the amplification of lever principle realizable force, and force transducer 3 upper ends connect power transfer panel 4, utilize load bar 2 20 to exert pressure to power transfer panel 4, thereby realize the demarcation to sensor.
Like Fig. 5, Mz direction caliberating device III comprises base plate 1, press strip 2, moment transfer panel 21, loads horizontal stripe 2 26, loads pulley assembly 23, column 24, leading block assembly 25, wire rope 13 and counterweight 14; Press strip 2 is used for six-dimension force sensor body 3 horizontal fixed base plates 1; The upper end coupling torque transfer panel 21 of six-dimension force sensor body 3; Loading top and the two that horizontal stripe 2 26 is positioned at moment transfer panel 21 laterally arranges; Moment transfer panel 21 is affixed with loading horizontal stripe 2 26 lower surfaces; The right ends that loads horizontal stripe 2 26 is arranged a year pulley assembly 23 respectively, and each has column 24 surely the place, two diagonal angles of the upper surface of base plate 1, and the middle part that is positioned at the column 24 in the place ahead is furnished with leading block assembly 25; The middle part that is positioned at the column 24 at rear also is furnished with leading block assembly 25; One end of wire rope 13 suspension counterweight 14, wire rope 13 walk around pulley on the leading block assembly 25 on the column 24 that is positioned at the place ahead successively, be positioned at pulley on the loading pulley assembly 23 that loads horizontal stripe 2 26 left ends, be positioned at pulley on the loading pulley assembly 23 that loads horizontal stripe 2 26 right-hand members, be positioned at the pulley on the leading block assembly 25 on the column 24 at rear, and another is fixed on wire rope 13 on the base plate 1; Load the axis of the pulley on the pulley assembly 23 and the axis normal setting of the pulley on the leading block assembly 25; In the Mz direction caliberating device; Force transducer 3 upper end coupling torque transfer panels 21; Moment transfer panel connects loading horizontal stripe 2 26, loads horizontal stripe two two ends and arranges loading pulley 26, utilizes wire rope 13 suspension counterweights 14; Wire rope 13 is walked around leading block 25, is loaded pulley 23, to sensor applied moment load.
Like Fig. 6, Mx, My direction caliberating device IV comprise base plate 1, press strip 2, moment transfer panel 21, load horizontal stripe 1, load pulley assembly 23, column 24, leading block assembly 25, wire rope 13 and counterweight 14; Press strip 2 is used for six-dimension force sensor body 3 horizontal fixed base plates 1; The upper end coupling torque transfer panel 21 of six-dimension force sensor body 3; Loading horizontal stripe 1 is positioned at top and the two vertical setting of moment transfer panel 21; Moment transfer panel 21 is affixed with the lower end that loads horizontal stripe 1; A year pulley assembly 23 is arranged at the two ends up and down that load horizontal stripe 1 respectively, and each has column 24 surely the two ends of the upper surface of base plate 1, and the upper end that is positioned at the column 24 on the left side is furnished with leading block assembly 25; The bottom that is positioned at the column 24 on the right also is furnished with leading block assembly 25; One end of wire rope 13 suspension counterweight 14, wire rope 13 walk around pulley on the leading block assembly 25 of column 24 upper ends that are positioned at the left side successively, be positioned at pulley on the loading pulley assembly 23 that loads horizontal stripe one 22 upper ends, be positioned at pulley on the loading pulley assembly 23 that loads horizontal stripe one 22 lower ends, be positioned at the pulley on the leading block assembly 25 of column 24 bottoms on the left side, and another is fixed on wire rope 13 on the base plate 1; Load the axis of the pulley on the pulley assembly 23 and the parallel axes setting of the pulley on the leading block assembly 25.In Mx, the My direction caliberating device; Force transducer 3 upper end coupling torque transfer panels 21; Moment transfer panel connects loading horizontal stripe 1, loads horizontal stripe one two ends and arranges loading pulley 23, utilizes wire rope 13 suspension counterweights 14; Wire rope 13 is walked around leading block assembly 25, is loaded pulley assembly 23, to sensor applied moment load.
Embodiment two: as shown in Figure 7, the said loading pulley assembly 23 of this embodiment comprises back-up ring one 23-1, pulley spindle one 23-2, bearing three 23-3-1, bearing four 23-3-2, pulley base 23-4, pulley one 23-5 and pad 23-6; Pulley base 23-4 is installed in and loads on the horizontal stripe 1; The end of pulley spindle one 23-2 is installed in the pulley base 23-4 through bearing three 23-3-1, bearing four 23-3-2; Pulley one 23-5 is installed in the other end of pulley spindle one 23-2, and pulley one 23-5 is installed on pulley spindle one 23-2 through pad 23-6, screw 23-7; Other composition and annexation are identical with embodiment one.Pulley one 23-5 relies on the pad 23-6 and the pulley spindle one 23-2 shaft shoulder to realize axial location, and pad 23-6 uses screw 23-7 to be connected with pulley spindle one 23-2.Pulley spindle one is fixed in the pulley base 23-4 through two bearing 23-3-1,23-3-.Bearing is realized axial restraint through the shaft shoulder and back-up ring 23-1.Pulley base hole and bearing outer ring interference fit are to prevent the bearing play.
Embodiment three: as shown in Figure 8, the said leading block assembly 25 of this embodiment comprises pulley two 25-1, back-up ring two 25-2, bearing five 25-3-1, bearing six 25-3-2 and pulley spindle two 25-4; Pulley spindle two 25-4 are installed on the column 24, and pulley two 25-1 are installed on pulley spindle two 25-4 through bearing five 25-3-1, bearing six 25-3-2, and back-up ring two 25-2 are used for fixing bearing five 25-3-1 that are positioned at the outer end.Other composition and annexation are identical with embodiment two.Pulley two 25-1 are fixed on pulley spindle two 25-4 through two bearing 25-3-1,25-3-2, and bearing is realized axial restraint through the shaft shoulder and back-up ring 25-2, and bearing outer ring and pulley two 25-4 use interference fit, to prevent the bearing play.
Embodiment four: as shown in Figure 4; The lower surface of the said power transfer panel 4 of this embodiment has and is used for the power transfer panel circular groove 4-1 that matches and be connected with six-dimension force sensor body 3, and said power transfer panel 4 also is provided with a plurality of power transfer panel threaded hole 4-2 that are used to connect; Also be provided with five ball-and-socket 4-3 on the upper surface of power transfer panel 4 and the side all around, five ball-and-socket 4-3 are respectively: be positioned at the two opposite side surfaces geometric center place on the transfer panel 4 two ball-and-socket 4-3-1, be positioned at two other two opposite side surfaces geometric center place on the transfer panel 4 two ball-and-socket 4-3-2, be positioned at the ball-and-socket 4-3-3 at power transfer panel 4 upper surface geometric center places.Other composition and annexation are identical with embodiment one.
Embodiment five: as shown in Figure 9; Have on the lower surface of the said moment transfer panel 21 of this embodiment and be used for the moment transfer panel circular groove 21-2 that matches and be connected with six-dimension force sensor body 3; Also be provided with a plurality of moment transfer panel threaded hole 21-1 that are used to connect on the said moment transfer panel 21; The upper surface of said moment transfer panel 21 is provided with two rectangular parallelepiped boss 21-3, and two rectangular parallelepiped boss 21-3 are used for loading horizontal stripe 1, loading horizontal stripe 2 26 are positioned.Other composition and annexation are identical with embodiment one, two, three or four.Moment transfer panel has threaded hole 21-1 on it, in order to connecting six-dimension force sensor 3, and the positioning action when circular groove 21-2 realizes mechanical connection, two rectangular parallelepiped boss 21-3 are to loading horizontal stripe 1, loading horizontal stripe 2 26 and position.
Set forth as follows to the present invention:
Shown in Fig. 2 a, thereby press strip 2 is pushed down the lower plate 3-3 of sensor body 3 sensor body 3 is fixed on the base plate 1.Power transfer panel 4 is through being connected with sensor body 3.Lever 9 can be realized that the one of which end is fixed on the bearing seat 8 by square steel, and the other end uses wire rope 13 suspension counterweights 14.By lever principle, the weight of counterweight is applied on the power transfer panel 4 through load bar 1 after amplifying.Top board 10 and lower platen 7 connect as one through screw, and load bar 1 links to each other with lower platen 7, and the integral body that these three parts are formed can move along square steel 9, with the realization different magnifications.Shown in Fig. 2 b, have scale 12 above the square steel 9, with convenient adjustment position, change enlargement factor.Load bar 1 is pressed in above the power transfer panel 4, and power transfer panel 4 links to each other with six-dimension force sensor 3, thereby exerts pressure.Shown in Fig. 2 c, axle 15 is passed the through hole of square steel 9 left ends, and axle 15 two ends are supported with bearing 17-1,17-2.Bearing 17-1,17-2 rely on axle 15 shaft shoulders, axle sleeve 16 and bearing (ball) cover 11 to realize axial location.
Shown in Fig. 3 and 4, sensor body 3 is fixed on the back up pad 19 through press strip 2, and power transfer panel 4 links to each other with sensor body 3.Square steel 9 one ends are fixed on the bearing seat 8, and the other end uses wire rope 13 suspension counterweights 14.Bearing seat 8 is fixed on above the supporting seat 2 18, and supporting seat 28 is fixed on the base plate.The weight of counterweight is applied on the power transfer panel 4 through load bar 2 20 after amplifying.Top board 10 connects as one with lower platen 7, and load bar 2 20 up and down pressing plates 7 link to each other, and the integral body that these three parts are formed can move along square steel 9, to realize different magnifications, is convenient adjustment position, and square steel 9 upper surfaces have scale 12.
Like Fig. 2 a, Fig. 2 c, shown in Figure 3, square steel 9, bearing seat 8, bearing 17-1,17-2, axle 15, axle sleeve 16, bearing (ball) cover 11, top board 10, lower platen 7, wire rope 13, counterweight 14 are the versatility structure in the caliberating device.Carry out the power timing signal of three directions, this part-structure is constant in the caliberating device, embodies combined type characteristics of the present invention.The enlargement factor n=L2/L1 of lever, the length of L2 is fixed, and the length of regulating L1 just can change enlargement factor n, and square steel upper surface scale 12 is used for indicating the L1 size.The power F=nG that timing signal, sensor receive, wherein n is an enlargement factor, G is the deadweight of counterweight.
Like Fig. 1, shown in Figure 4, power transfer panel 4 has circular groove 4-1,6 threaded hole 4-2 above it.When power transfer panel 4 linked to each other with force transducer 3, annular boss 3-2 injected groove 4-1 realizing the location, and 6 threaded hole 4-2 aim on 6 through holes of sensor body upper end and the power transfer panel 4, and are screwed into screw, with the realization mechanical connection.During loading, the lower end spherical structure of load bar 1, load bar 2 20 is aimed at ball-and-socket 4-3, to realize the heart.Carry out the Fz timing signal, power is carried on the ball-and-socket 4-3-3 summit of power transfer panel 4 upper surfaces.Carry out the Fx timing signal, power is carried on the ball-and-socket 4-3-1 summit of power transfer panel 4 upper surfaces.Carry out the Fy timing signal, power is carried on the ball-and-socket 4-3-2 summit of power transfer panel 4 upper surfaces.
As shown in Figure 5, sensor body 3 is fixed on the base plate 1 through press strip 2, and moment transfer panel 21 is fixed on the sensor body 3, loads horizontal stripe 1 and is fixed on the moment transfer panel 21, loads pulley 23 and is fixed on loading horizontal stripe one 22 two ends.Leading block 25 is fixed on the column 24.Wire rope 13 1 ends suspensions counterweight 14 is walked around leading block 25, and the gravity of vertical direction is converted into the tension force of horizontal direction, walks around and loads pulley 23, and to realize the output of moment, wire rope 13 other ends are fixed on the base plate 1.
As shown in Figure 6, sensor body 3 is fixed on the base plate 1 through press strip 2, and moment transfer panel 21 loads horizontal stripe 2 26 and is fixed on the moment transfer panel through being fixed on the sensor body 3, loads pulley 23 and is fixed on loading horizontal stripe 2 26 two ends.Leading block 25 is fixed on the column 24.Wire rope 13 1 ends suspensions counterweight 14 is walked around leading block 25, and the gravity of vertical direction is converted into horizontal direction tension force, walks around and loads pulley 23, and realizing the output of moment, the wire rope other end is fixed on the base plate 1.
Like Fig. 5, shown in Figure 6, carry out three yawning moment timing signals, in the caliberating device, column 24, leading block (25, load pulley 23, moment transfer panel 21 structures are constant, embody combined type characteristics of the present invention.Mx, My are carried out timing signal, output torque size M=L3 * G, wherein L3 loads distance between the pulleys 23 for loading on the horizontal stripe 1 two, and G is the deadweight of counterweight 14.Mz is carried out timing signal, and output torque size M=L4 * G is distance between the two loading pulleys 23 on the L4 loading horizontal stripe 2 26 wherein, and G is the deadweight of counterweight 14.
Embodiment: by shown in Figure 10; Carry out timing signal, caliberating device involved in the present invention is to the sensor imposed load, and strain bridge is exported weak voltage in the sensor; Be amplified to suitable voltage levvl through the electric bridge modulate circuit; Convert digital signal into through A/D convertor circuit, pass through again after the DSP calculation process, be transferred on the host computer through serial ports.
Like Fig. 2, Fig. 3, Fig. 5, shown in Figure 6, carrying out the Fz direction sign regularly, caliberating device makes up like Fig. 2, and the lever enlargement factor is adjusted into 6; Use 10kg successively, 20kg, 30kg, 40kg; The 50kg counterweight is demarcated, and the power that then is loaded on the force transducer is respectively: 588N, 1176N; 1764N, 2352N, 2940N; Carrying out Fx and Fy timing signal, caliberating device makes up like Fig. 3, and the lever enlargement factor is adjusted into 4, uses 10kg successively; 20kg, 30kg, 40kg, the 50kg counterweight is demarcated; The power that then is loaded on the force transducer is respectively: 392N, 784N, 1176N, 1568N; 1960N when changing fixed setting, only needs force transducer (3) rotation 90.Be installed and get final product; Carrying out Mx and My timing signal, caliberating device makes up like Fig. 6, and distance is 100mm between the two loading pulleys, uses 20kg successively; 40kg, 60kg, 80kg, the 100kg counterweight is demarcated; The moment that then is loaded on the force transducer is respectively: 19.6Nm, 39.2Nm, 58.8Nm, 78.4Nm; 98Nm when changing fixed setting, only needs force transducer (3) rotation 90.Be installed and get final product; Carrying out the Mz timing signal, caliberating device makes up like Fig. 5, and distance is 160mm between the two loading pulleys, uses 20kg successively; 40kg, 60kg, 80kg; The 100kg counterweight is demarcated, and the moment that then is loaded on the force transducer is respectively: 31.36Nm, 62.72Nm; 94.08Nm, 125.44Nm, 156.8Nm.
Claims (5)
- One kind do not have the coupling six-dimension force sensor the combined type caliberating device, it is characterized in that: said combined type caliberating device comprises Fz direction caliberating device (I); Fx, Fy direction caliberating device (II); Mz direction caliberating device (III); Mx, My direction caliberating device (IV);Fz direction caliberating device (I) comprises base plate (1), press strip (2), power transfer panel (4), supporting seat one (5), load bar one (6), lower platen (7), bearing seat (8), lever (9), top board (10), bearing (ball) cover (11), wire rope (13), weights (14) and mandrel (15); Be fixed with supporting seat one (5) on the upper surface of base plate (1); The rear and front end of supporting seat one (5) is separately installed with bearing seat (8); The two ends of mandrel (15) are installed on the corresponding bearing seat (8) through bearing one (17-1), bearing two (17-2); Be respectively equipped with bearing (ball) cover (11) on bearing one (17-1), the bearing two (17-2), lever (9) is installed on the mandrel (15) with the vertical setting of mandrel (15) a, end of lever (9); Weights (14) is connected with the other end lower wall of lever (9) through wire rope (13), has scale (12) on the lever (9); Lower platen (7) is installed on the lever (9) through top board (10); The upper end of load bar one (6) is connected with the lower end of lower platen (7); Lower platen (7), top board (10) and load bar one (6) three link together and can move along lever (9) simultaneously; Press strip (2) is used for six-dimension force sensor body (3) horizontal fixed base plate (1); Power transfer panel (4) is connected with six-dimension force sensor body (3), and power transfer panel (4) and base plate (1) laterally arrange, and the lower end of load bar one (6) is spherical structure and contacts with the ball-and-socket (4-3-3) at power transfer panel (4) upper surface geometric center place;Fx, Fy direction caliberating device (II) comprise base plate (1), back up pad (9), power transfer panel (4), supporting seat two (18), load bar two (20), lower platen (7), bearing seat (8), lever (9), top board (10), bearing (ball) cover (11), wire rope (13), weights (14) and mandrel (15); Be fixed with supporting seat two (18) on the upper surface of base plate (1), the rear and front end of support seat two (18) is separately installed with bearing seat (8), and the two ends of mandrel (15) are through bearing one (17-1), bearing(17-2) be installed on the corresponding bearing seat (8); Be respectively equipped with bearing (ball) cover (11) on bearing one (17-1), the bearing two (17-2); Lever (9) and the vertical setting of mandrel (15); One end of lever (9) is installed on the mandrel (15), and weights (14) is connected with the other end lower wall of lever (9) through wire rope (13), has scale (12) on the lever (9); Lower platen (7) is installed on the lever (9) through top board (10); The upper end of load bar two (20) is connected with the lower end of lower platen (7); Lower platen (7), top board (10) and load bar two (20) threes link together and can move along lever (9) simultaneously; Back up pad 9 stands on the upper surface of base plate (1) and is fixing with base plate (1); Back up pad (9) is used for six-dimension force sensor body (3) vertical fixing base plate (1), and power transfer panel (4) is connected with six-dimension force sensor body (3), power transfer panel (4) and the vertical setting of base plate (1); The lower end of load bar two (20) is spherical structure and contacts with the ball-and-socket (4-3-1) at geometric center place, a side on the power transfer panel (4), or contacts with the ball-and-socket (4-3-2) at geometric center place, another side on the power transfer panel (4); Side on the power transfer panel (4) is vertical each other with the another side on the power transfer panel (4);Mz direction caliberating device (III) comprises base plate (1), press strip (2), moment transfer panel (21), loads horizontal stripe two (26), loads pulley assembly (23), column (24), leading block assembly (25), wire rope (13) and counterweight (14); Press strip (2) is used for six-dimension force sensor body (3) horizontal fixed base plate (1); The upper end coupling torque transfer panel (21) of six-dimension force sensor body (3); Loading top and the two that horizontal stripe two (26) is positioned at moment transfer panel (21) laterally arranges; Moment transfer panel (21) is affixed with loading horizontal stripe two (26) lower surfaces; The right ends that loads horizontal stripe two (26) is arranged a year pulley assembly (23) respectively; Each has column (24) surely the place, two diagonal angles of the upper surface of base plate (1); The middle part that is positioned at the column (24) in the place ahead is furnished with leading block assembly (25), and the middle part that is positioned at the column (24) at rear also is furnished with leading block assembly (25), the end suspension counterweight (14) of wire rope (13); Wire rope (13) walks around pulley on the leading block assembly (25) on the column (24) that is positioned at the place ahead successively, be positioned at pulley on the loading pulley assembly (23) that loads horizontal stripe two (26) left ends, be positioned at pulley on the loading pulley assembly (23) that loads horizontal stripe two (26) right-hand members, be positioned at the pulley on the leading block assembly (25) on the column (24) at rear, and another is fixed on wire rope (13) on the base plate (1); Load the axis of the pulley on the pulley assembly (23) and the axis normal setting of the pulley on the leading block assembly (25);Mx, My direction caliberating device (IV) comprise base plate (1), press strip (2), moment transfer panel (21), load horizontal stripe one (22), load pulley assembly (23), column (24), leading block assembly (25), wire rope (13) and counterweight (14); Press strip (2) is used for six-dimension force sensor body (3) horizontal fixed base plate (1); The upper end coupling torque transfer panel (21) of six-dimension force sensor body (3); Loading horizontal stripe one (22) is positioned at top and the two vertical setting of moment transfer panel (21); Moment transfer panel (21) is affixed with the lower end that loads horizontal stripe one (22); A year pulley assembly (23) is arranged at the two ends up and down that load horizontal stripe one (22) respectively; Each has column (24) surely the two ends of the upper surface of base plate (1); The upper end that is positioned at the column (24) on the left side is furnished with leading block assembly (25), and the bottom that is positioned at the column (24) on the right also is furnished with leading block assembly (25), the end suspension counterweight (14) of wire rope (13); Wire rope (13) walks around pulley on the leading block assembly (25) of column (24) upper end that is positioned at the left side successively, be positioned at pulley on the loading pulley assembly (23) that loads horizontal stripe one (22) upper end, be positioned at pulley on the loading pulley assembly (23) that loads horizontal stripe one (22) lower end, be positioned at the pulley on the leading block assembly (25) of column (24) bottom on the left side, and another is fixed on wire rope (13) on the base plate (1); Load the axis of the pulley on the pulley assembly (23) and the parallel axes setting of the pulley on the leading block assembly (25).
- 2. a kind of combined type caliberating device that does not have the coupling six-dimension force sensor according to claim 1, it is characterized in that: said loading pulley assembly 23 comprises back-up ring one (23-1), pulley spindle one (23-2), bearing three (23-3-1), bearing four (23-3-2), pulley base (23-4), pulley one (23-5) and pad (23-6); Pulley base (23-4) is installed in and loads on the horizontal stripe one (22); One end of pulley spindle one (23-2) is installed in the pulley base (23-4) through bearing three (23-3-1), bearing four (23-3-2); Pulley one (23-5) is installed in the other end of pulley spindle one (23-2), and pulley one (23-5) is installed on the pulley spindle one (23-2) through pad (23-6), screw (23-7).
- 3. a kind of combined type caliberating device that does not have the coupling six-dimension force sensor according to claim 2, it is characterized in that: said leading block assembly (25) comprises pulley two (25-1), back-up ring two (25-2), bearing five (25-3-1), bearing six (25-3-2) and pulley spindle two (25-4); Pulley spindle two (25-4) is installed on the column (24), and pulley two (25-1) is installed on the pulley spindle two (25-4) through bearing five (25-3-1), bearing six (25-3-2), and back-up ring two (25-2) is used for fixing the bearing five (25-3-1) that is positioned at the outer end.
- 4. a kind of combined type caliberating device that does not have the coupling six-dimension force sensor according to claim 1; It is characterized in that: the lower surface of said power transfer panel (4) has and is used for the power transfer panel circular groove (4-1) that matches and be connected with six-dimension force sensor body 3, and said power transfer panel 4 also is provided with a plurality of power transfer panel threaded holes (4-2) that are used to connect; Also be provided with five ball-and-sockets (4-3) on the upper surface of power transfer panel (4) and the side all around, five ball-and-sockets (4-3) are respectively: be positioned at the two opposite side surfaces geometric center place on the transfer panel (4) two ball-and-sockets (4-3-1), be positioned at two other two opposite side surfaces geometric center place on the transfer panel (4) two ball-and-sockets (4-3-2), be positioned at the ball-and-socket (4-3-3) at power transfer panel (4) upper surface geometric center place.
- 5. according to claim 1,2,3 or 4 described a kind of combined type caliberating devices that do not have the coupling six-dimension force sensor; It is characterized in that: have on the lower surface of said moment transfer panel (21) and be used for the moment transfer panel circular groove (21-2) that matches and be connected with six-dimension force sensor body (3); Also be provided with a plurality of moment transfer panel threaded holes (21-1) that are used to connect on the said moment transfer panel (21); The upper surface of said moment transfer panel (21) is provided with two rectangular parallelepiped boss (21-3), and two rectangular parallelepiped boss (21-3) are used for loading horizontal stripe one (22), loading horizontal stripe two (26) are positioned.
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| CN109827705A (en) * | 2019-04-08 | 2019-05-31 | 中国工程物理研究院总体工程研究所 | A kind of caliberating device for the detection of moment of flexure sensor performance |
| CN109827705B (en) * | 2019-04-08 | 2023-10-03 | 中国工程物理研究院总体工程研究所 | Calibration device for detecting performance of bending moment sensor |
| CN112268649A (en) * | 2020-09-22 | 2021-01-26 | 滁州兴邦聚合彩纤有限公司 | Tension testing device for chemical fiber filaments |
| CN114754921A (en) * | 2021-01-08 | 2022-07-15 | 广州汽车集团股份有限公司 | Force sensor checking device and force sensor checking method |
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