CN102749168B - 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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- CN102749168B CN102749168B CN 201210260652 CN201210260652A CN102749168B CN 102749168 B CN102749168 B CN 102749168B CN 201210260652 CN201210260652 CN 201210260652 CN 201210260652 A CN201210260652 A CN 201210260652A CN 102749168 B CN102749168 B CN 102749168B
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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, belong to a kind of of power sensor, is widely used in the fields such as industrial robot, anthropomorphic robot.Its maximum characteristics are to detect the load of six direction simultaneously, in the cartesian coordinate system of space along the power of three change in coordinate axis direction and around the moment of three axles.Realize stablizing walking, the real-time foot stress that detects of needs for realizing anthropomorphic robot.Issued patents " a kind of safe force-coupling-free six-dimensional force sensor " (application number: 201llO142847.X), propose a kind of without coupling, safety-type six-dimension force sensor, for anthropomorphic robot foot to realize the stable walking of anthropomorphic robot.The caliberating device the present invention relates to and scaling method are caliberating device and the scaling method of this six-dimension force sensor.
The so-called demarcation, apply certain load to sensor exactly, checks the output of sensor, with input, compare, thus the indexs such as the actual precision that detects sensor, sensitivity.The power sensor is due to manufacture, assembling, paster error, and the factor such as quantization error, interference impact in circuit, and its input/output relation has certain deviation with theoretical calculating, need detect by calibration experiment the actual performance index of power sensor.At present, one dimension force or torque sensor are demarcated with the suspension standard test weight usually, and this mode is simple and easy to do, precision is higher, but this mode can only apply one direction load.For six-dimension force sensor, need to carry out the calibration experiment of six direction.At present, six-dimension force sensor calibration device has following several form: (1) lays hydraulic cylinder 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; (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) by 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 the shortcomings such as volume is large, assembling and setting is difficult.
Summary of the invention
The object of the invention is to provide a kind of combined type caliberating device without the coupling six-dimension force sensor, to solve existing six-dimension force sensor calibration device, has that volume is large, 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:
Combined type caliberating device without the 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, the two ends of mandrel are arranged on corresponding bearing seat by bearing one, bearing two, be respectively equipped with bearing (ball) cover on bearing one, bearing two, lever is vertical with mandrel to be arranged, one end of lever is arranged on mandrel, and weights is connected with the other end lower wall of lever by wire rope, on lever with scale; Lower platen is arranged on lever by 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, press strip is used for the horizontal fixed base plate of six-dimension force sensor body, power transfer panel is connected with the six-dimension force sensor body, power transfer panel and base plate be arranged in parallel, 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, the two ends of mandrel are arranged on corresponding bearing seat by bearing one, bearing two, be respectively equipped with bearing (ball) cover on bearing one, bearing two, lever is vertical with mandrel to be arranged, one end of lever is arranged on mandrel, and weights is connected with the other end lower wall of lever by wire rope, on lever with scale, lower platen is arranged on lever by 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, back up pad stands on the upper surface of base plate and fixes with base plate, back up pad is used for the vertical fixed base plate of six-dimension force sensor body, power transfer panel is connected with the six-dimension force sensor body, power transfer panel is vertical with base plate to be arranged, the lower end of load bar two is spherical structure and contacts with the ball-and-socket at a geometric center place, side on power transfer panel, or contact with the ball-and-socket at geometric center place, another side on power transfer panel, a side on power transfer panel is mutually vertical with the another side on 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 the horizontal fixed base plate of six-dimension force sensor body, the upper end coupling torque transfer panel of six-dimension force sensor body, load that horizontal stripe two is positioned at the top of moment transfer panel and the two be arranged in parallel, moment transfer panel is affixed with loading horizontal stripe two lower surfaces, a year pulley assembly is arranged respectively at the two ends, left and right that load horizontal stripe two, each has column surely the place, Liang diagonal angle, upper surface of base plate, 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 hangs counterweight, wire rope is walked around the pulley on the leading block assembly on the column that is positioned at the place ahead successively, be positioned at the pulley on the loading pulley assembly that loads horizontal stripe two left ends, be positioned at the 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, another is fixed on wire rope on base plate, load vertical setting of axis of the axis of the pulley on pulley assembly and 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 the horizontal fixed base plate of six-dimension force sensor body, the upper end coupling torque transfer panel of six-dimension force sensor body, load top and the two vertical setting that horizontal stripe one is positioned at moment transfer panel, moment transfer panel is affixed with the lower end that loads horizontal stripe one, a year pulley assembly is arranged respectively at the two ends up and down that load horizontal stripe one, each has column surely the two ends of the upper surface of base plate, 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 hangs counterweight, wire rope is walked around the pulley on the leading block assembly of the column upper end that is positioned at the left side successively, be positioned at the pulley on the loading pulley assembly that loads horizontal stripe one upper end, be positioned at the 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, another is fixed on wire rope on base plate, loading the axis of the pulley on pulley assembly and the axis of the pulley on the leading block assembly be arranged in parallel.
The invention has the beneficial effects as follows:
The present invention uses counterweight to be demarcated, and has advantages of that precision is high, simple and easy to do.Realize the output of large load, utilized the amplification of lever principle realizable force.Utilize pulley blocks to apply torque load, can play boosting function simultaneously.The present invention proposes combined type six-dimension force sensor calibration device small volume, simple in structure.Caliberating device involved in the present invention, utilize counterweight as the power source, utilizes lever principle and pulley blocks to realize boosting function.With other six-dimension force sensor calibration devices, compare, the present invention adopts combination method to realize the demarcation of different directions, therefore small volume, number of spare parts is few, Installation and Debugging are simple.
The accompanying drawing explanation
Fig. 1 is nothing coupling six-dimension force sensor contour structures schematic 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 after installing force transfer panel 4; In Fig. 1 a, 3-1 is through hole, and 3-2 is 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 lever 9, and Fig. 2 c is mandrel and lever annexation schematic diagram (16-axle sleeve);
Fig. 3 is Fx, Fy direction sign timing device combination schematic diagram (Fx, Fy direction caliberating device II); Identical in mandrel in Fig. 3 and lever annexation schematic diagram and Fig. 2;
Fig. 4 is power transfer panel schematic diagram; The front elevation that Fig. 4 a is power transfer panel, Fig. 4 b is the vertical view of power transfer panel;
Fig. 5 is Mz direction sign timing device combination schematic 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 schematic 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;
The structural representation that Fig. 8 is leading block assembly 25;
Fig. 9 is moment loading disc (moment transfer panel 21) schematic diagram; The front elevation that Fig. 9 a is moment transfer panel, Fig. 9 b is the vertical view of moment transfer panel;
Figure 10 is the calibration system principle of compositionality figure with caliberating device of the present invention.
Embodiment
Embodiment one: as shown in Fig. 1～9, the described a kind of combined type caliberating device without the coupling six-dimension force sensor of present embodiment comprises Fz direction caliberating device I; Fx, Fy direction caliberating device II; Mz direction caliberating device III; Mx, My direction caliberating device IV;
As 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, the two ends of mandrel 15 are arranged on corresponding bearing seat 8 by bearing one 17-1, bearing two 17-2, be respectively equipped with bearing (ball) cover 11 on bearing one 17-1, bearing two 17-2, lever 9 setting vertical with mandrel 15, one end of lever 9 is arranged on mandrel 15, and weights 14 is connected with the other end lower wall of lever 9 by wire rope 13, and lever 9 is top with scale 12; Lower platen 7 is arranged on lever 9 by 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 for by the horizontal fixed base plate 1 of six-dimension force sensor body 3, power transfer panel 4 is connected with six-dimension force sensor body 3, power transfer panel 4 be arranged in parallel 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 to hang counterweight 14, and utilizes the amplification of lever principle realizable force, and power sensor 3 upper ends connect power transfer panel 4, utilize load bar 1 to exert pressure to power transfer panel 4, thereby realizes the demarcation to sensor.
As 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, the two ends of mandrel 15 are arranged on corresponding bearing seat 8 by bearing one 17-1, bearing two 17-2, be respectively equipped with bearing (ball) cover 11 on bearing one 17-1, bearing two 17-2, lever 9 setting vertical with mandrel 15, one end of lever 9 is arranged on mandrel 15, and weights 14 is connected with the other end lower wall of lever 9 by wire rope 13, and lever 9 is top with scale 12, lower platen 7 is arranged on lever 9 by 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 for by the vertical fixed base plate 1 of six-dimension force sensor body 3, power transfer panel 4 is connected with six-dimension force sensor body 3, power transfer panel 4 setting vertical with base plate 1, the lower end of load bar 2 20 is spherical structure and contacts with the ball-and-socket 4-3-1 at a geometric center place, side on power transfer panel 4, or contact with the ball-and-socket 4-3-2 at geometric center place, another side on power transfer panel 4, a side on power transfer panel 4 and the another side on power transfer panel 4 are orthogonal, Fx, Fy direction caliberating device utilize wire rope 13 to hang counterweight 14, and utilize the amplification of lever principle realizable force, and power sensor 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.
As 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 for by the horizontal fixed base plate 1 of six-dimension force sensor body 3, the upper end coupling torque transfer panel 21 of six-dimension force sensor body 3, load that horizontal stripe 2 26 is positioned at the top of moment transfer panel 21 and the two be arranged in parallel, moment transfer panel 21 is affixed with loading horizontal stripe 2 26 lower surfaces, loading pulley assembly 23 is arranged respectively at the two ends, left and right that load horizontal stripe 2 26, each has column 24 surely the place, Liang diagonal angle, 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, 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 hangs counterweight 14, wire rope 13 is walked around the pulley on the leading block assembly 25 on the column 24 that is positioned at the place ahead successively, be positioned at the pulley on the loading pulley assembly 23 that loads horizontal stripe 2 26 left ends, be positioned at the 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, another is fixed on wire rope 13 on base plate 1, load vertical setting of axis of the axis of the pulley on pulley assembly 23 and pulley on leading block assembly 25, in Mz direction caliberating device, power sensor 3 upper end coupling torque transfer panels 21, moment transfer panel connects loading horizontal stripe 2 26, load horizontal stripe two two ends and arrange loading pulley 26, utilize wire rope 13 to hang counterweight 14, wire rope 13 is walked around leading block 25, is loaded pulley 23, and sensor is applied to torque load.
As 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 for by the horizontal fixed base plate 1 of six-dimension force sensor body 3, the upper end coupling torque transfer panel 21 of six-dimension force sensor body 3, load top and the two vertical setting that horizontal stripe 1 is positioned at moment transfer panel 21, moment transfer panel 21 is affixed with the lower end that loads horizontal stripe 1, loading pulley assembly 23 is arranged respectively at the two ends up and down that load horizontal stripe 1, 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, 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 hangs counterweight 14, wire rope 13 is walked around the pulley on the leading block assembly 25 of column 24 upper ends that are positioned at the left side successively, be positioned at the pulley on the loading pulley assembly 23 that loads horizontal stripe one 22 upper ends, be positioned at the 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, another is fixed on wire rope 13 on base plate 1, loading the axis of the pulley on pulley assembly 23 and the axis of the pulley on leading block assembly 25 be arranged in parallel.In Mx, My direction caliberating device, power sensor 3 upper end coupling torque transfer panels 21, moment transfer panel connects loading horizontal stripe 1, load horizontal stripe one two ends and arrange loading pulley 23, utilize wire rope 13 to hang counterweight 14, wire rope 13 is walked around leading block assembly 25, is loaded pulley assembly 23, and sensor is applied to torque load.
Embodiment two: as shown in Figure 7, the described loading pulley assembly 23 of present 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 arranged on and loads on horizontal stripe 1, the end of pulley spindle one 23-2 is arranged in pulley base 23-4 by bearing three 23-3-1, bearing four 23-3-2, pulley one 23-5 is arranged on the other end of pulley spindle one 23-2, and pulley one 23-5 is arranged on pulley spindle one 23-2 by pad 23-6, screw 23-7; Other composition and annexation are identical with embodiment one.Pulley one 23-5 relies on pad 23-6 and the pulley spindle one 23-2 shaft shoulder to realize axial location, and pad 23-6 is used screw 23-7 to be connected with pulley spindle one 23-2.Pulley spindle one is fixed in pulley base 23-4 by two bearing 23-3-1,23-3-.Bearing is realized axial restraint by the shaft shoulder and back-up ring 23-1.Pulley base hole and bearing outer ring interference fit, to prevent the bearing play.
Embodiment three: as shown in Figure 8, the described leading block assembly 25 of present 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 arranged on column 24, and it is upper that pulley two 25-1 are arranged on pulley spindle two 25-4 by bearing five 25-3-1, bearing six 25-3-2, and back-up ring two 25-2 are for being fixed in bearing five 25-3-1 of outer end.Other composition and annexation are identical with embodiment two.It is upper that pulley two 25-1 are fixed on pulley spindle two 25-4 by two bearing 25-3-1,25-3-2, and bearing is realized axial restraint by the shaft shoulder and back-up ring 25-2, and bearing outer ring and pulley two 25-4 are used interference fit, to prevent the bearing play.
Embodiment four: as shown in Figure 4, the lower surface of the described power transfer panel 4 of present embodiment has for the power transfer panel circular groove 4-1 in mating connection with six-dimension force sensor body 3, and described power transfer panel 4 also is provided with a plurality of power transfer panel threaded hole 4-2 for connecting; Also be provided with five ball-and-socket 4-3 on the upper surface of power transfer panel 4 and the side of surrounding, five ball-and-socket 4-3 are respectively: be positioned at the two opposite side surfaces geometric center place on power transfer panel 4 two ball-and-socket 4-3-1, be positioned at two other two opposite side surfaces geometric center place on power 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, on the lower surface of the described moment transfer panel 21 of present embodiment, have for the moment transfer panel circular groove 21-2 in mating connection with six-dimension force sensor body 3, also be provided with a plurality of moment transfer panel threaded hole 21-1 for connecting on described moment transfer panel 21, the upper surface of described moment transfer panel 21 is provided with two rectangular parallelepiped boss 21-3, and two rectangular parallelepiped boss 21-3 are for positioning loading horizontal stripe 1, loading horizontal stripe 2 26.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 connect six-dimension force sensor 3, positioning action when circular groove 21-2 realizes mechanical connection, two rectangular parallelepiped boss 21-3 to loading horizontal stripe 1, load horizontal stripe 2 26 and position.
For the present invention, set forth as follows:
As shown in Figure 2 a, thus press strip 2 push down the lower plate 3-3 of sensor body 3 sensor body 3 be fixed on base plate 1.Power transfer panel 4 is by being connected with sensor body 3.Lever 9 can be realized by square steel, and the one end is fixed on bearing seat 8, and the other end is used wire rope 13 to hang counterweights 14.By lever principle, the weight of counterweight is applied on power transfer panel 4 by load bar 1 after amplifying.Top board 10 is connected by screw and is integrated with lower platen 7, and load bar 1 is connected with lower platen 7, and the integral body that these three parts form can move along square steel 9, to realize different enlargement factors.Shown in Fig. 2 b, above square steel 9, with scale 12, adjust position to facilitate, the change enlargement factor.Load bar 1 is pressed in above power transfer panel 4, and power transfer panel 4 is connected with six-dimension force sensor 3, thereby exerts pressure.Shown in Fig. 2 c, axle 15 is through the through hole of square steel 9 left ends, and axle is bearing 17-1,17-2 support for 15 two ends.Bearing 17-1,17-2 rely on axle 15 shaft shoulders, axle sleeve 16 and bearing (ball) cover 11 to realize axial location.
As shown in Figures 3 and 4, sensor body 3 is fixed on back up pad 19 by press strip 2, and power transfer panel 4 is connected with sensor body 3.Square steel 9 one ends are fixed on bearing seat 8, and the other end is used wire rope 13 to hang counterweight 14.Bearing seat 8 is fixed on above supporting seat 2 18, and supporting seat 28 is fixed on base plate.The weight of counterweight is applied on power transfer panel 4 by 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 are connected, and the integral body that these three parts form can move along square steel 9, to realize different enlargement factors, adjusts for convenience position, and square steel 9 upper surfaces are with scale 12.
As shown in Fig. 2 a, Fig. 2 c, Fig. 3, in caliberating device, 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 universal structure.Carry out the power timing signal of three directions, in caliberating device, this part-structure is constant, 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 to refer to the L1 size.Timing signal, the power F=nG that sensor is subject to, wherein n is enlargement factor, the deadweight that G is counterweight.
As shown in Fig. 1, Fig. 4, power transfer panel 4 has circular groove 4-1,6 threaded hole 4-2 above it.When power transfer panel 4 is connected with power sensor 3, annular boss 3-2 injects groove 4-1 to realize location, and 6 through holes of sensor body upper end are aimed at 6 threaded hole 4-2 on power transfer panel 4, and are screwed into screw, to realize 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 base plate 1 by press strip 2, and moment transfer panel 21 is fixed on sensor body 3, loads horizontal stripe 1 and is fixed on moment transfer panel 21, loads pulley 23 and is fixed on loading horizontal stripe one 22 two ends.Leading block 25 is fixed on column 24.Wire rope 13 1 ends hang counterweight 14, walk around leading block 25, the gravity of vertical direction are converted into to the tension force of horizontal direction, walk around and load pulley 23, and to realize the output of moment, wire rope 13 other ends are fixed on base plate 1.
As shown in Figure 6, sensor body 3 is fixed on base plate 1 by press strip 2, and moment transfer panel 21, by being fixed on sensor body 3, loads horizontal stripe 2 26 and is fixed on moment transfer panel, loads pulley 23 and is fixed on loading horizontal stripe 2 26 two ends.Leading block 25 is fixed on column 24.Wire rope 13 1 ends hang counterweights 14, walk around leading block 25, and the gravity of vertical direction is converted into to horizontal direction tension force, walk around and load pulley 23, and to realize the output of moment, the wire rope other end is fixed on base plate 1.
As shown in Figure 5, Figure 6, carry out three yawning moment timing signals, in 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 to timing signal, output torque size M=L3 * G, wherein L3 loads distance between pulleys 23, the deadweight that G is counterweight 14 for loading on horizontal stripe 1 two.Mz is carried out to timing signal, and output torque size M=L4 * G, be wherein distance between two loading pulleys 23 on L4 loading horizontal stripe 2 26, the deadweight that G is counterweight 14.
Embodiment: as shown in Figure 10, carry out timing signal, caliberating device involved in the present invention is to the sensor imposed load, strain bridge output weak voltage in sensor, be amplified to suitable voltage levvl through the electric bridge modulate circuit, be converted to digital signal through A/D convertor circuit, then, after passing through the DSP calculation process, be transferred on host computer by serial ports.
As shown in Fig. 2, Fig. 3, Fig. 5, Fig. 6, carrying out the Fz direction sign regularly, caliberating device combines as Fig. 2, the lever amplification multiple is adjusted into 6, uses successively 10kg, 20kg, 30kg, 40kg, the 50kg counterweight is demarcated, and the power be loaded on the power sensor is respectively: 588N, 1176N, 1764N, 2352N, 2940N; Carrying out Fx and Fy timing signal, caliberating device combines as Fig. 3, and the lever amplification multiple is adjusted into 4, use successively 10kg, 20kg, 30kg, 40kg, the 50kg counterweight is demarcated, and the power be loaded on the power sensor is respectively: 392N, 784N, 1176N, 1568N, 1960N, while changing fixed setting, only power sensor (3) half-twist need be installed and get final product; Carrying out Mx and My timing signal, caliberating device combines as Fig. 6, and between two loading pulleys, distance is 100mm, use successively 20kg, 40kg, 60kg, 80kg, the 100kg counterweight is demarcated, and the moment be loaded on the power sensor is respectively: 19.6Nm, 39.2Nm, 58.8Nm, 78.4Nm, 98Nm, while changing fixed setting, only power sensor (3) half-twist need be installed and get final product; Carrying out the Mz timing signal, caliberating device combines as Fig. 5, and between two loading pulleys, distance is 160mm, use successively 20kg, 40kg, 60kg, 80kg, the 100kg counterweight is demarcated, the moment be loaded on the power sensor is respectively: 31.36Nm, 62.72Nm, 94.08Nm, 125.44Nm, 156.8Nm.
Claims (5)
- One kind without the coupling six-dimension force sensor the combined type caliberating device, it is characterized in that: described 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 by bearing one (17-1), bearing two (17-2) is arranged on corresponding bearing seat (8), bearing one (17-1), be respectively equipped with bearing (ball) cover (11) on bearing two (17-2), lever (9) and the vertical setting of mandrel (15), one end of lever (9) is arranged on mandrel (15), weights (14) is connected with the other end lower wall of lever (9) by wire rope (13), lever (9) is upper with scale (12), lower platen (7) is arranged on lever (9) by 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 be simultaneously mobile along lever (9), press strip (2) is for by the horizontal fixed base plate of six-dimension force sensor body (3) (1), power transfer panel (4) is connected with six-dimension force sensor body (3), power transfer panel (4) be arranged in parallel with base plate (1), 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 (19), 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 supporting seat two (18) is separately installed with bearing seat (8), the two ends of mandrel (15) are by bearing one (17-1), bearing two (17-2) is arranged on corresponding bearing seat (8), bearing one (17-1), be respectively equipped with bearing (ball) cover (11) on bearing two (17-2), lever (9) and the vertical setting of mandrel (15), one end of lever (9) is arranged on mandrel (15), weights (14) is connected with the other end lower wall of lever (9) by wire rope (13), lever (9) is upper with scale (12), lower platen (7) is arranged on lever (9) by 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 be simultaneously mobile along lever (9), back up pad (19) stands on the upper surface of base plate (1) and is fixing with base plate (1), back up pad (19) is for by the vertical fixed base plate (1) of six-dimension force sensor body (3), 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 a geometric center place, side on power transfer panel (4), or contact with the ball-and-socket (4-3-2) at geometric center place, another side on power transfer panel (4), a side on power transfer panel (4) is mutually vertical with the another side on 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 for by the horizontal fixed base plate of six-dimension force sensor body (3) (1), the upper end coupling torque transfer panel (21) of six-dimension force sensor body (3), load that horizontal stripe two (26) is positioned at the top of moment transfer panel (21) and the two be arranged in parallel, moment transfer panel (21) is affixed with loading horizontal stripe two (26) lower surfaces, loading pulley assembly (23) is arranged respectively at the two ends, left and right that load horizontal stripe two (26), each has column (24) surely the place, Liang diagonal angle, 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), 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) hangs counterweight (14), wire rope (13) is walked around the pulley on the leading block assembly (25) on the column (24) that is positioned at the place ahead successively, be positioned at the pulley on the loading pulley assembly (23) that loads horizontal stripe two (26) left ends, be positioned at the 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, another is fixed on wire rope (13) on base plate (1), load vertical setting of axis of the axis of the pulley on pulley assembly (23) and pulley on 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 for by the horizontal fixed base plate of six-dimension force sensor body (3) (1), the upper end coupling torque transfer panel (21) of six-dimension force sensor body (3), load top and the two vertical setting that horizontal stripe one (22) is positioned at moment transfer panel (21), moment transfer panel (21) is affixed with the lower end that loads horizontal stripe one (22), loading pulley assembly (23) is arranged respectively at the two ends up and down that load horizontal stripe one (22), 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), 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) hangs counterweight (14), wire rope (13) is walked around the pulley on the leading block assembly (25) of column (24) upper end that is positioned at the left side successively, be positioned at the pulley on the loading pulley assembly (23) that loads horizontal stripe one (22) upper end, be positioned at the 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, another is fixed on wire rope (13) on base plate (1), loading the axis of the pulley on pulley assembly (23) and the axis of the pulley on leading block assembly (25) be arranged in parallel.
- According to claim 1 a kind of without the coupling six-dimension force sensor the combined type caliberating device, it is characterized in that: described 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 arranged on and loads on horizontal stripe one (22), one end of pulley spindle one (23-2) is arranged in pulley base (23-4) by bearing three (23-3-1), bearing four (23-3-2), pulley one (23-5) is arranged on the other end of pulley spindle one (23-2), and pulley one (23-5) is arranged on pulley spindle one (23-2) by pad (23-6), screw (23-7);
- According to claim 2 a kind of without the coupling six-dimension force sensor the combined type caliberating device, it is characterized in that: described 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 arranged on column (24), it is upper that pulley two (25-1) is arranged on pulley spindle two (25-4) by bearing five (25-3-1), bearing six (25-3-2), the bearing five (25-3-1) of back-up ring two (25-2) for being fixed in outer end.
- According to claim 1 a kind of without the coupling six-dimension force sensor the combined type caliberating device, it is characterized in that: the lower surface of described power transfer panel (4) has for the power transfer panel circular groove (4-1) in mating connection with six-dimension force sensor body (3), and described power transfer panel (4) also is provided with a plurality of power transfer panel threaded holes (4-2) for connecting; Also be provided with five ball-and-sockets (4-3) on the upper surface of power transfer panel (4) and the side of surrounding, five ball-and-sockets (4-3) are respectively: be positioned at the two opposite side surfaces geometric center place on power transfer panel (4) two ball-and-sockets (4-3-1), be positioned at two other two opposite side surfaces geometric center place on power 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 without the coupling six-dimension force sensor, it is characterized in that: on the lower surface of described moment transfer panel (21), have for the moment transfer panel circular groove (21-2) in mating connection with six-dimension force sensor body (3), also be provided with a plurality of moment transfer panel threaded holes (21-1) for connecting on described moment transfer panel (21), the upper surface of described moment transfer panel (21) is provided with two rectangular parallelepiped boss (21-3), two rectangular parallelepiped boss (21-3) are for to loading horizontal stripe one (22), loading horizontal stripe two (26) positions.
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