CN102749168B - Combined calibration device of no-coupling six-dimensional force sensor - Google Patents

Abstract

A combined calibration device for an uncoupled six-dimensional force sensor belongs to the technical field of sensor calibration. The invention aims to solve the problems that the existing six-dimensional force sensor calibration device has large volume and difficult assembly and debugging. The combined calibration device includes Fz direction calibration device; Fx, Fy direction calibration device; Mz direction calibration device; Mx, My direction calibration device, and the pressure bar presses the lower plate of the sensor body to fix the sensor body on the bottom plate. The force transfer plate is connected with the sensor body. One end of the lever is fixed on the bearing seat, and the other end uses a wire rope to hang the weight. According to the principle of leverage, the weight of the weight is amplified and applied to the force transfer plate through the loading rod one loading rod two. The weight is used as the force source, and the leverage principle and the pulley block are used to realize the force-increasing effect. Compared with other six-dimensional force sensor calibration devices, the present invention adopts a combined method to realize calibration in different directions, so the volume is small, the number of parts is small, and the installation and debugging are simple and easy.

Description

A combined calibration device for an uncoupled six-dimensional force sensor

technical field

The invention relates to a calibration device for a combined six-dimensional force sensor, belonging to the technical field of sensor calibration.

Background technique

The six-dimensional force sensor is a kind of force sensor and is widely used in industrial robots, humanoid robots and other fields. Its biggest feature is that it can detect loads in six directions at the same time, that is, the force along the three coordinate axes and the moment around the three axes in the spatial Cartesian coordinate system. In order to realize the stable walking of the humanoid robot, it is necessary to detect the force state of the foot in real time. The published patent "A Safe Coupling Six-Dimensional Force Sensor" (Application No.: 201110142847.X) proposes a non-coupling, safe six-dimensional force sensor for the foot of a humanoid robot to realize the humanoid robot Walk steadily. The calibration device and calibration method involved in the present invention are the calibration device and calibration method of the six-dimensional force sensor.

The so-called calibration is to apply a certain load to the sensor, check the output of the sensor, and compare it with the input, so as to actually detect the accuracy, sensitivity and other indicators of the sensor. Due to the influence of manufacturing, assembly, patch errors, quantization errors and interference in the circuit, the input-output relationship of the force sensor has a certain deviation from the theoretical calculation, and the actual performance index of the force sensor needs to be tested through calibration experiments. At present, one-dimensional force or moment sensors are usually calibrated by hanging standard weights. This method is simple and easy to implement and has high precision, but this method can only apply a single-directional load. For a six-dimensional force sensor, calibration experiments in six directions are required. At present, the six-dimensional force sensor calibration device has the following forms: (1) Hydraulic cylinders are placed in different positions of the calibration device frame to realize the application of loads in different directions (large multi-dimensional force sensor calibration loading table, application number: 201010103946.2); (2 ) Place pulleys at different positions of the calibration device to apply loads in different directions (a six-dimensional force sensor calibration device and its calibration method, application number: 201010246488.8); (3) By arranging force sources in pairs to achieve multi-directional load output (A dual force source six-dimensional force sensor calibration device, application number: 201120284809.3). These published patents can output loads in six directions, which can be used for calibration experiments on six-dimensional force sensors. However, the six-dimensional force sensor calibration device involved in these published patents also has disadvantages such as large size and difficult assembly and debugging.

Contents of the invention

The purpose of the present invention is to provide a combined calibration device without a coupling six-dimensional force sensor, so as to solve the problems that the existing six-dimensional force sensor calibration device has a large volume and is difficult to assemble and debug.

The technical scheme that the present invention takes for solving the problems of the technologies described above is:

The combined calibration device of the uncoupled six-dimensional force sensor of the present invention comprises a Fz direction calibration device; a Fx, Fy direction calibration device; a Mz direction calibration device; a Mx, My direction calibration device;

The Fz direction calibration device includes a bottom plate, a bead, a force transfer plate, a support seat, a loading rod, a lower pressure plate, a bearing seat, a lever, an upper pressure plate, a bearing end cover, a steel wire rope, a lawn code and a mandrel; the upper end surface of the bottom plate The support base 1 is fixed, and the front and rear ends of the support base 1 are respectively equipped with bearing housings. The two ends of the mandrel are installed on the corresponding bearing housings through bearing 1 and bearing 2. Bearing 1 and bearing 2 are respectively equipped with bearing end covers. , the lever and the mandrel are vertically arranged, one end of the lever is installed on the mandrel, the French weight is connected with the lower side wall of the other end of the lever through a wire rope, and the lever has a scale; the lower pressing plate is installed on the lever through the upper pressing plate, and the loading rod is one The upper end of the lower pressure plate is connected with the lower end of the lower pressure plate. The lower pressure plate, the upper pressure plate and the loading rod are connected together and can move along the lever at the same time. The force sensor body is connected, the force transfer plate is set parallel to the bottom plate, the lower end of the loading rod 1 is a spherical structure and contacts the ball socket at the geometric center of the upper surface of the force transfer plate;

The Fx and Fy direction calibration devices include base plate, support plate, force transfer disc, support seat 2, loading rod 2, lower pressure plate, bearing seat, lever, upper pressure plate, bearing end cover, steel wire rope, French code and mandrel; The upper end surface is fixed with the support seat 2, and the front and rear ends of the support seat 2 are respectively equipped with bearing seats. The two ends of the mandrel are installed on the corresponding bearing seats through the bearing 1 and the bearing 2. The bearing end cover, the lever and the mandrel are vertically arranged, one end of the lever is installed on the mandrel, the French code is connected with the lower side wall of the other end of the lever through a wire rope, and the lever has a scale; the lower pressing plate is installed on the lever through the upper pressing plate, The upper end of the loading rod 2 is connected with the lower end of the lower pressing plate, the lower pressing plate, the upper pressing plate and the loading rod 2 are connected together and can move along the lever at the same time, the supporting plate stands on the upper end surface of the bottom plate and is fixed with the bottom plate, the supporting plate is used for The body of the six-dimensional force sensor is vertically fixed on the base plate, the force transfer plate is connected with the body of the six-dimensional force sensor, the force transfer plate is vertically set to the base plate, the lower end of the loading rod 2 is a spherical structure and connected to the force transfer plate The ball socket at the geometric center of one side is in contact with the ball socket at the geometric center of the other side on the force transfer plate; one side on the force transfer plate and the other side on the force transfer plate are perpendicular to each other;

The Mz direction calibration device includes a bottom plate, a bead, a torque transfer plate, a loading bar two, a loading pulley assembly, a column, a guide pulley assembly, a steel wire rope and a weight; the bead is used to fix the six-dimensional force sensor body on the base plate horizontally, and The upper end of the force sensor body is connected to the torque transfer plate, the loading bar 2 is located above the torque transfer plate and the two are arranged in parallel, the torque transfer plate is fixedly connected to the lower surface of the loading bar 2, and the left and right ends of the loading bar 2 The load pulley assemblies are respectively arranged, the two opposite corners of the upper end surface of the bottom plate are respectively fixed with columns, the middle part of the front column is arranged with a guide pulley assembly, and the middle part of the rear column is also arranged with a guide pulley assembly, and one end of the wire rope hangs the weight yards, the wire rope goes around the pulley on the guide pulley assembly on the front column in turn, the pulley on the loading pulley assembly on the left end of the second loading bar, the pulley on the loading pulley assembly on the right end of the second loading bar, and the pulley on the rear The pulley on the guide pulley assembly on the column, and the other wire rope is fixed on the bottom plate; the axis of the pulley on the loading pulley assembly is perpendicular to the axis of the pulley on the guide pulley assembly;

The Mx and My direction calibration device includes a base plate, a bead, a torque transfer plate, a loading horizontal bar, a loading pulley assembly, a column, a guide pulley assembly, a steel wire rope and a weight; the bead is used to fix the body of the six-dimensional force sensor on the base plate horizontally, The upper end of the six-dimensional force sensor body is connected to the torque adapter plate, the loading bar 1 is located above the torque adapter plate and the two are vertically arranged, the torque adapter plate is fixedly connected to the lower end of the loading bar 1, and the upper and lower sides of the loading bar 1 The two ends are respectively arranged with pulley assemblies, the two ends of the upper end surface of the bottom plate are respectively fixed with columns, the upper end of the column on the left is arranged with a guide pulley assembly, and the lower part of the column on the right is also arranged with a guide pulley assembly, one end of the wire rope hangs the weight code, the wire rope goes around the pulley on the guide pulley assembly located at the upper end of the left column, the pulley on the loading pulley assembly located at the upper end of the loading horizontal bar, the pulley on the loading pulley assembly located at the lower end of the loading horizontal bar, and the left column The pulley on the guide pulley assembly of the lower part, the other wire rope is fixed on the base plate; the axis of the pulley on the loading pulley assembly is parallel to the axis of the pulley on the guide pulley assembly.

The beneficial effects of the present invention are:

The invention uses weights to calibrate, and has the advantages of high precision and simplicity. The output of large load is realized, and the force amplification is realized by using the principle of leverage. The pulley block is used to apply the moment load, and at the same time, it can increase the force. The invention proposes a combined six-dimensional force sensor calibration device with small volume and simple structure. The calibration device involved in the present invention uses weights as a force source, and utilizes the principle of leverage and a pulley block to realize the force-increasing effect. Compared with other six-dimensional force sensor calibration devices, the present invention adopts a combined method to realize calibration in different directions, so the volume is small, the number of parts is small, and the installation and debugging are simple and easy.

Description of drawings

Figure 1 is a schematic diagram of the outline structure of the uncoupled six-dimensional force sensor involved in the present invention and a schematic diagram of the installation of the force adapter plate 4; Figure 1a is a perspective view of the six-dimensional force sensor body; A three-dimensional view of the force sensor body; 3-1 in Figure 1a is a through hole, 3-2 is an annular boss, and 3-3 is the lower plate of the sensor;

Fig. 2 is a schematic structural view of the calibration device when performing Fz direction calibration; Fig. 2a is a front view of the Fz direction calibration device I, Fig. 2b is an enlarged view showing the scale on the lever 9, and Fig. 2c is a schematic diagram of the connection relationship between the mandrel and the lever ( 16-shaft sleeve);

Figure 3 is a schematic diagram of the combination of devices for calibration in the Fx and Fy directions (Fx, Fy direction calibration device II); the schematic diagram of the connection relationship between the mandrel and the lever in Figure 3 is exactly the same as that in Figure 2;

Fig. 4 is a schematic diagram of the force transfer disc; Fig. 4a is a front view of the force transfer disc, and Fig. 4b is a top view of the force transfer disc;

Fig. 5 is a schematic diagram of device combination during Mz direction calibration; Fig. 5a is a front view of Mz direction calibration device III, and Fig. 5b is a view from A direction of Fig. 5a;

Fig. 6 is a schematic diagram of the combination of devices during Mx and My direction calibration; Fig. 6a is a front view of the Mx and My direction calibration device IV, and Fig. 5b is a view from the direction A of Fig. 6a;

Fig. 7 is the structural representation of loading pulley assembly 23;

Fig. 8 is the structural representation of guide pulley assembly 25;

Fig. 9 is a schematic diagram of the torque loading disc (torque transfer disc 21); Fig. 9a is a front view of the torque transfer disc, and Fig. 9b is a top view of the torque transfer disc;

Fig. 10 is a schematic diagram of the configuration of the calibration system with the calibration device of the present invention.

Detailed ways

Specific embodiment 1: As shown in Figures 1 to 9, a combined calibration device for an uncoupled six-dimensional force sensor described in this embodiment includes Fz direction calibration device I; Fx, Fy direction calibration device II; Mz direction calibration device Device III; Mx, My direction calibration device IV;

As shown in Figure 2, the Fz direction calibration device Ⅰ includes a base plate 1, a bead 2, a force transfer plate 4, a support base 5, a loading rod 6, a lower pressure plate 7, a bearing seat 8, a lever 9, an upper pressure plate 10, and a bearing end cover 11. Steel wire rope 13, French code 14 and mandrel 15; support seat 1 is fixed on the upper end surface of base plate 1; 17-1, bearing two 17-2 are installed on the corresponding bearing housing 8, bearing one 17-1, bearing two 17-2 are provided with bearing end cover 11 respectively, lever 9 and mandrel 15 are arranged vertically, lever 9 One end is installed on the mandrel 15, and the French code 14 is connected with the lower side wall of the other end of the lever 9 through the steel wire rope 13, and the scale 12 is arranged on the lever 9; The upper end of the lower platen 7 is connected to the lower end of the lower platen 7, the lower platen 7, the upper platen 10 and the loading rod-6 are connected together and can move along the lever 9 at the same time, the bead 2 is used to fix the six-dimensional force sensor body 3 horizontally to the bottom plate 1 Above, the force transfer plate 4 is connected with the six-dimensional force sensor body 3, the force transfer plate 4 is arranged parallel to the base plate 1, and the lower end of the loading rod 6 is spherical and connected to the geometric center of the upper surface of the force transfer plate 4. Ball socket 4-3-3 contact; Fz direction calibration device Ⅰ uses steel wire rope 13 to hang weight 14, and utilizes the principle of leverage to realize force amplification. Connecting plate 4 exerts pressure, thereby realizing the calibration of the sensor.

As shown in Figure 3, the Fx, Fy direction calibration device II includes a base plate 1, a support plate 9, a force transfer plate 4, a support seat 2 18, a loading rod 2 20, a lower pressing plate 7, a bearing seat 8, a lever 9, an upper pressing plate 10, Bearing cover 11, steel wire rope 13, French code 14 and mandrel 15; Support seat 2 18 is fixed on the upper end surface of bottom plate 1, and the front and rear ends of support seat 2 18 are respectively equipped with bearing seat 8, the two ends of mandrel 15 Bearing one 17-1 and bearing two 17-2 are installed on the corresponding bearing housing 8, bearing one 17-1 and bearing two 17-2 are respectively provided with bearing end caps 11, and the lever 9 is vertically arranged with the mandrel 15, One end of the lever 9 is installed on the mandrel 15, and the French code 14 is connected with the lower side wall of the other end of the lever 9 by a wire rope 13, and the scale 12 is arranged on the lever 9; the lower pressing plate 7 is installed on the lever 9 through the upper pressing plate 10, and the loading The upper end of bar two 20 is connected with the lower end of lower pressing plate 7, and lower pressing plate 7, upper pressing plate 10 and loading bar two 20 three are connected together and can move along lever 9 simultaneously, and support plate 9 stands on the upper end surface of base plate 1 and Fixed with the base plate 1, the support plate 9 is used to vertically fix the six-dimensional force sensor body 3 on the base plate 1, the force transfer plate 4 is connected with the six-dimensional force sensor body 3, the force transfer plate 4 is vertically arranged with the base plate 1, and the load The lower end of the rod two 20 is a spherical structure and is in contact with the ball socket 4-3-1 at the geometric center of one side of the power adapter plate 4, or with the ball socket at the geometric center of the other side of the force adapter plate 4 4-3-2 contact; one side on the force transfer plate 4 and the other side on the force transfer plate 4 are perpendicular to each other; the Fx, Fy direction calibration device uses the steel wire rope 13 to hang the weight 14, and utilizes the principle of leverage To achieve force amplification, the upper end of the force sensor 3 is connected to the force adapter plate 4, and the loading rod 20 is used to apply pressure to the force adapter plate 4, thereby realizing the calibration of the sensor.

As shown in Figure 5, the Mz direction calibration device III includes a base plate 1, a bead 2, a torque transfer plate 21, a loading horizontal bar 26, a loading pulley assembly 23, a column 24, a guide pulley assembly 25, a steel wire rope 13 and a weight 14; the bead 2 It is used to horizontally fix the six-dimensional force sensor body 3 on the base plate 1, the upper end of the six-dimensional force sensor body 3 is connected to the torque adapter plate 21, the loading horizontal bar 26 is located above the torque adapter plate 21 and the two are arranged in parallel, and the torque The adapter plate 21 is affixed to the lower surface of the loading bar 2 26, and the left and right ends of the loading bar 2 26 are respectively arranged with loading pulley assemblies 23, and the two opposite corners of the upper end surface of the bottom plate 1 are respectively provided with columns 24, which are located in the front A guide pulley assembly 25 is arranged in the middle of the column 24, and a guide pulley assembly 25 is also arranged in the middle of the column 24 at the rear. One end of the wire rope 13 hangs the weight 14, and the wire rope 13 bypasses the guide pulley assembly on the front column 24 in turn. The pulley on the 25, the pulley on the loading pulley assembly 23 that is positioned at the loading bar two 26 left ends, the pulley that is positioned at the loading pulley assembly 23 on the loading horizontal bar two 26 right-hand ends, is positioned at the guide pulley assembly 25 on the column 24 of the rear Pulley, the other of the wire rope 13 is fixed on the base plate 1; the axis of the pulley on the loading pulley assembly 23 is vertically arranged with the axis of the pulley on the guide pulley assembly 25; , the torque transfer disc connects the loading horizontal bar two 26, the loading pulley 26 is arranged at two ends of the loading horizontal bar two, utilizes the steel wire rope 13 to hang the weight 14, and the steel wire rope 13 bypasses the guide pulley 25, the loading pulley 23, and applies a moment load to the sensor.

As shown in Figure 6, the Mx, My direction calibration device IV includes a base plate 1, a bead 2, a torque transfer plate 21, a loading horizontal bar 22, a loading pulley assembly 23, a column 24, a guide pulley assembly 25, a steel wire rope 13 and a weight 14; The bead 2 is used to horizontally fix the six-dimensional force sensor body 3 on the base plate 1, the upper end of the six-dimensional force sensor body 3 is connected to the torque adapter plate 21, the loading horizontal bar 1 22 is located above the torque adapter plate 21 and the two are vertically arranged , the torque adapter plate 21 is fixedly connected to the lower end of the loading horizontal bar-22, the upper and lower ends of the loading horizontal bar-22 are respectively arranged with loading pulley assemblies 23, and the two ends of the upper end surface of the bottom plate 1 are respectively provided with columns 24, which are located on the left side A guide pulley assembly 25 is arranged at the upper end of the column 24, and a guide pulley assembly 25 is also arranged at the bottom of the column 24 on the right. One end of the wire rope 13 hangs a weight 14, and the wire rope 13 bypasses the guide pulley assembly at the upper end of the left column 24 in turn. The pulley on the 25, the pulley on the loading pulley assembly 23 that is positioned at the upper end of the loading horizontal bar-22, the pulley that is positioned at the loading pulley assembly 23 at the lower end of the loading horizontal bar-22, the guide pulley assembly 25 that is positioned at the left column 24 bottom Pulley, the other of steel wire rope 13 is fixed on the base plate 1; In the Mx and My direction calibration devices, the upper end of the force sensor 3 is connected to the torque transfer plate 21, the torque transfer plate is connected to the loading horizontal bar 1 22, and the loading pulley 23 is arranged at both ends of the loading horizontal bar 13, and the steel wire rope 13 is used to hang the weight 14, and the steel wire rope 13 Bypass the guide pulley assembly 25 and the loading pulley assembly 23, and apply a moment load to the sensor.

Embodiment 2: As shown in FIG. 7 , the loading pulley assembly 23 in this embodiment includes retaining ring 1 23-1, pulley shaft 1 23-2, bearing 3 23-3-1, bearing 4 23-3-2 , pulley seat 23-4, pulley one 23-5 and gasket 23-6; pulley seat 23-4 is installed on the loading horizontal bar one 22, and one end of pulley shaft one 23-2 passes bearing three 23-3-1, Bearing four 23-3-2 is installed in pulley seat 23-4, pulley one 23-5 is installed on the other end of pulley shaft one 23-2, pulley one 23-5 is installed through gasket 23-6 and screw 23-7 On the pulley shaft one 23-2; other components and connections are the same as those in the specific embodiment one. Pulley one 23-5 relies on gasket 23-6 and pulley shaft one 23-2 shoulder to realize axial positioning, and gasket 23-6 uses screw 23-7 to be connected with pulley shaft one 23-2. Pulley shaft one is fixed in the pulley seat 23-4 by two bearings 23-3-1, 23-3-. The bearing is axially fixed through the shaft shoulder and the retaining ring 23-1. The pulley seat hole and the outer ring of the bearing have an interference fit to prevent the bearing from moving.

Specific embodiment three: As shown in Figure 8, the guide pulley assembly 25 in this embodiment includes pulley two 25-1, retaining ring two 25-2, bearing five 25-3-1, bearing six 25-3-2 and Pulley shaft two 25-4; pulley shaft two 25-4 is installed on the column 24, pulley two 25-1 is installed on the pulley shaft two 25-4 by bearing five 25-3-1, bearing six 25-3-2, The retaining ring two 25-2 is used to fix the bearing five 25-3-1 located at the outer end. Other components and connections are the same as those in the second embodiment. Pulley 2 25-1 is fixed on the pulley shaft 2 25-4 through two bearings 25-3-1 and 25-3-2, and the bearing is axially fixed through the shaft shoulder and retaining ring 25-2. The outer ring of the bearing and the pulley Two 25-4 use interference fit to prevent bearing movement.

Embodiment 4: As shown in FIG. 4 , the lower end surface of the force adapter plate 4 in this embodiment is provided with a force adapter plate circular groove 4-1 for matching with the six-dimensional force sensor body 3 , Described force transfer disc 4 is also provided with a plurality of force transfer disc threaded holes 4-2 for connection; the upper end surface of force transfer disc 4 and the sides around it are also provided with five ball sockets 4-3, The five ball sockets 4-3 are respectively: two ball sockets 4-3-1 located at the geometric centers of the opposite two sides on the force transfer plate 4, and two opposite two ball sockets located on the force transfer plate 4. The two ball sockets 4-3-2 at the geometric center of the side surface, and the ball socket 4-3-3 at the geometric center of the upper surface of the force adapter plate 4. Other components and connections are the same as those in the first embodiment.

Embodiment 5: As shown in FIG. 9 , the lower end surface of the torque adapter plate 21 in this embodiment is provided with a torque adapter plate circular groove 21-2 for matching with the six-dimensional force sensor body 3 , the torque transfer disc 21 is also provided with a plurality of torque transfer disc threaded holes 21-1 for connection, and the upper end surface of the torque transfer disc 21 is provided with two cuboid bosses 21-3, The two rectangular parallelepiped bosses 21-3 are used for positioning the first loading bar 22 and the second loading bar 26. The other components and connections are the same as those in Embodiment 1, 2, 3 or 4. There is a threaded hole 21-1 on the torque adapter plate for connecting the six-dimensional force sensor 3, the circular groove 21-2 realizes the positioning function of the mechanical connection, and the two rectangular parallelepiped bosses 21-3 pair the loading bar. 22. Load horizontal bar 2 26 for positioning.

Elaborate as follows for the present invention:

As shown in FIG. 2 a , the bead 2 presses the lower plate 3 - 3 of the sensor body 3 so as to fix the sensor body 3 on the bottom plate 1 . The force adapter plate 4 is connected with the sensor body 3 . Lever 9 can be realized by square steel, and its one end is fixed on the bearing seat 8, and the other end uses steel wire rope 13 to hang weight 14. By the principle of leverage, the weight of the weight is amplified and applied to the force adapter plate 4 through the loading rod one 6 . The upper platen 10 is connected with the lower platen 7 by screws, and the loading rod one 6 is connected with the lower platen 7. The whole formed by these three parts can move along the square steel 9 to realize different magnifications. As shown in Fig. 2b, the square steel 9 has a scale 12 on it to facilitate position adjustment and change the magnification. The loading rod one 6 is pressed on the force adapter plate 4, and the force adapter plate 4 is connected with the six-dimensional force sensor 3, thereby applying pressure. As shown in Fig. 2c, the mandrel 15 passes through the through hole at the left end of the square steel 9, and the two ends of the mandrel 15 are supported by bearings 17-1, 17-2. The bearings 17-1, 17-2 rely on the shaft shoulder of the mandrel 15, the shaft sleeve 16 and the bearing end cover 11 to achieve axial positioning.

As shown in FIGS. 3 and 4 , the sensor body 3 is fixed on the support plate 19 through the bead 2 , and the force adapter plate 4 is connected to the sensor body 3 . One end of the square steel 9 is fixed on the bearing block 8, and the other end uses a steel wire rope 13 to hang the weight 14. Bearing seat 8 is fixed on support seat two 18, and support seat two 8 is fixed on the base plate. After the weight of the weight is amplified, it is applied on the force adapter plate 4 by the loading rod 2 20 . The upper platen 10 is connected with the lower platen 7 as a whole, and the upper loading rod 20 is connected with the lower platen 7. The whole composed of these three parts can move along the square steel 9 to achieve different magnifications. For the convenience of adjusting the position, the square steel 9 upper surface has scale 12.

As shown in Figure 2a, Figure 2c, and Figure 3, square steel 9, bearing housing 8, bearings 17-1, 17-2, mandrel 15, shaft sleeve 16, bearing end cover 11, upper pressing plate 10, and lower pressing plate in the calibration device 7, steel wire rope 13, weight 14 are general structure. When carrying out force calibration in three directions, the structure of this part of the calibration device remains unchanged, reflecting the combined feature of the present invention. The magnification of the lever is n=L2/L1, the length of L2 is fixed, and the magnification n can be changed by adjusting the length of L1. The scale 12 on the upper surface of the square steel is used to indicate the size of L1. During calibration, the force F=nG on the sensor, where n is the magnification, and G is the weight of the weight.

As shown in Fig. 1 and Fig. 4, a circular groove 4-1 and 6 threaded holes 4-2 are arranged on the power adapter plate 4 above it. When the force adapter plate 4 is connected to the force sensor 3, the annular boss 3-2 is inserted into the groove 4-1 to realize positioning, and the 6 through holes on the upper end of the sensor body are connected with the 6 threaded holes 4-1 on the force adapter plate 4. 2 Align and screw in the screws for a mechanical connection. When loading, the spherical structures at the lower ends of the first loading rod 6 and the second loading rod 20 are aligned with the ball socket 4-3 to achieve centering. When performing Fz calibration, the force is loaded on the vertex of the ball socket 4-3-3 on the upper surface of the force adapter plate 4 . When performing Fx calibration, the force is loaded on the vertex of the ball socket 4-3-1 on the upper surface of the force adapter plate 4 . When performing Fy calibration, the force is loaded on the apex of the ball socket 4-3-2 on the upper surface of the force adapter plate 4 .

As shown in Figure 5, the sensor body 3 is fixed on the bottom plate 1 through the bead 2, the torque adapter plate 21 is fixed on the sensor body 3, the loading horizontal bar 1 22 is fixed on the torque adapter plate 21, and the loading pulley 23 is fixed on the loading plate. Horizontal bar-22 two ends. The guide pulley 25 is fixed on the column 24 . A weight 14 is suspended from one end of the wire rope 13, bypassing the guide pulley 25, converting the gravity in the vertical direction into a tension force in the horizontal direction, bypassing the loading pulley 23, to realize the output of the torque, and the other end of the wire rope 13 is fixed on the base plate 1.

As shown in Figure 6, the sensor body 3 is fixed on the bottom plate 1 through the bead 2, the torque adapter plate 21 is fixed on the sensor body 3, the loading bar 2 26 is fixed on the torque adapter plate, and the loading pulley 23 is fixed on the loading plate. Horizontal bar two 26 two ends. The guide pulley 25 is fixed on the column 24 . A weight 14 is suspended from one end of the wire rope 13, bypassing the guide pulley 25, converting the gravity in the vertical direction into a horizontal tension, bypassing the loading pulley 23, to realize the output of the moment, and the other end of the wire rope is fixed on the base plate 1.

As shown in Fig. 5 and Fig. 6, when performing torque calibration in three directions, in the calibration device, the structures of the column 24, the guide pulley (25, the loading pulley 23, and the torque adapter plate 21 remain unchanged, reflecting the combined characteristics of the present invention When calibrating Mx and My, the output torque size M=L3×G, where L3 is the distance between the two loading pulleys 23 on the loading bar-22, and G is the self-weight of the weight 14. When calibrating Mz, the output Moment size M=L4×G, wherein L4 loads the distance between the two loading pulleys 23 on the second bar 26, and G is the weight of the weight 14.

Embodiment: As shown in Figure 10, when performing calibration, the calibration device involved in the present invention applies a load to the sensor, and the strain bridge in the sensor outputs a weak voltage, which is amplified to a suitable voltage level by the bridge conditioning circuit and converted by the AD conversion circuit. It is a digital signal, and after being processed by DSP, it is transmitted to the host computer through the serial port.

As shown in Figure 2, Figure 3, Figure 5, and Figure 6, when performing calibration in the Fz direction, the calibration device combination is shown in Figure 2, the lever magnification is adjusted to 6, and the weights of 10kg, 20kg, 30kg, 40kg, and 50kg are used in sequence. Calibration, the forces loaded on the force sensor are: 588N, 1176N, 1764N, 2352N, 2940N; when performing Fx and Fy calibration, the calibration device combination is shown in Figure 3, the lever magnification is adjusted to 4, and 10kg is used in turn, 20kg, 30kg, 40kg, 50kg weights for calibration, the force loaded on the force sensor is: 392N, 784N, 1176N, 1568N, 1960N, when changing the calibration direction, just rotate the force sensor (3) 90° Just use the card; when performing Mx and My calibration, the calibration device combination is shown in Figure 6, the distance between the two loading pulleys is 100mm, and 20kg, 40kg, 60kg, 80kg, 100kg weights are used for calibration in turn, and then loaded to the force sensor The torques on the surface are: 19.6Nm, 39.2Nm, 58.8Nm, 78.4Nm, 98Nm. When changing the calibration direction, you only need to rotate the force sensor (3) 90° to install it; when performing Mz calibration, the calibration device combination As shown in Figure 5, the distance between the two loading pulleys is 160mm, and the weights of 20kg, 40kg, 60kg, 80kg, and 100kg are used for calibration in sequence, then the moments loaded on the force sensor are: 31.36Nm, 62.72Nm, 94.08Nm, 125.44Nm, 156.8Nm.

Claims (5)

1. A combined calibration device for an uncoupled six-dimensional force sensor, characterized in that: the combined calibration device includes a Fz direction calibration device (I); Fx, Fy direction calibration device (II); Mz direction calibration device ( III); Mx, My direction calibration device (Ⅳ); The Fz direction calibration device (Ⅰ) includes the bottom plate (1), the bead (2), the force transfer plate (4), the support seat one (5), the loading rod one (6), the lower pressure plate (7), the bearing seat (8 ), lever (9), upper platen (10), bearing end cover (11), steel wire rope (13), French code (14) and mandrel (15); the upper end surface of the bottom plate (1) is fixed with a support seat one (5), bearing seats (8) are respectively installed at the front and rear ends of the support seat one (5), and the two ends of the mandrel shaft (15) are installed on the corresponding On the bearing housing (8), bearing one (17-1) and bearing two (17-2) are provided with bearing end caps (11) respectively, and the lever (9) is vertically arranged with the mandrel (15), and the lever (9 ) is installed on the mandrel (15), the French code (14) is connected with the lower side wall of the other end of the lever (9) through a steel wire rope (13), and the lever (9) has a scale (12); the lower pressure plate ( 7) Installed on the lever (9) through the upper pressing plate (10), the upper end of the loading rod one (6) is connected with the lower end of the lower pressing plate (7), the lower pressing plate (7), the upper pressing plate (10) and the loading rod one ( 6) The three are connected together and can move along the lever (9) at the same time. The bead (2) is used to fix the six-dimensional force sensor body (3) horizontally on the bottom plate (1), and the force transfer plate (4) is connected to the six-dimensional force sensor body (3). The force sensor body (3) is connected, the force transfer plate (4) is set parallel to the bottom plate (1), the lower end of the loading rod one (6) is a spherical structure and is connected to the geometric center of the upper surface of the force transfer plate (4). Ball and socket (4-3-3) contact; Fx, Fy direction calibration device (II) includes base plate (1), support plate (19), force transfer plate (4), support seat 2 (18), loading rod 2 (20), lower pressure plate (7), bearing Seat (8), lever (9), upper pressing plate (10), bearing cover (11), steel wire rope (13), French weight (14) and mandrel (15); The upper end surface of base plate (1) is fixed with Support seat two (18), the front and rear ends of support seat two (18) are equipped with bearing housing (8) respectively, the two ends of mandrel (15) pass bearing one (17-1), bearing two (17-2) Installed on the corresponding bearing seat (8), the bearing end cover (11) is respectively arranged on the bearing one (17-1) and the bearing two (17-2), and the lever (9) is vertically arranged with the mandrel (15), One end of the lever (9) is installed on the mandrel (15), and the French code (14) is connected with the lower side wall of the other end of the lever (9) by a steel wire rope (13), with a scale (12) on the lever (9); The lower pressing plate (7) is installed on the lever (9) through the upper pressing plate (10), the upper end of the loading rod two (20) is connected with the lower end of the lower pressing plate (7), the lower pressing plate (7), the upper pressing plate (10) and the loading The three of rod two (20) are connected together and can move along the lever (9) at the same time. The support plate (19) stands on the upper end surface of the base plate (1) and is fixed with the base plate (1). The support plate (19) is used for Fix the six-dimensional force sensor body (3) vertically on the base plate (1), connect the force transfer plate (4) to the six-dimensional force sensor body (3), and set the force transfer plate (4) vertically to the base plate (1) , the lower end of the loading rod 2 (20) has a spherical structure and is in contact with the ball socket (4-3-1) at the geometric center of one side of the force transfer plate (4), or with the force transfer plate (4) Contact with the ball socket (4-3-2) at the geometric center of the other side; one side on the force transfer plate (4) and the other side on the force transfer plate (4) are perpendicular to each other; The Mz direction calibration device (III) includes the base plate (1), the bead (2), the torque transfer plate (21), the second loading horizontal bar (26), the loading pulley assembly (23), the column (24), and the guide pulley assembly ( 25), steel wire rope (13) and weight (14); the bead (2) is used to horizontally fix the six-dimensional force sensor body (3) on the bottom plate (1), and the upper end of the six-dimensional force sensor body (3) is connected to the torque converter The connection plate (21), the second loading horizontal bar (26) is located above the torque transfer plate (21) and the two are arranged in parallel, the torque transfer plate (21) is fixedly connected to the lower surface of the second loading horizontal bar (26), and the loading The left and right ends of the horizontal bar two (26) are arranged with loading pulley assemblies (23) respectively, and the two opposite corners of the upper end surface of the base plate (1) are respectively fixed with columns (24), and the middle part of the column (24) positioned at the front is arranged with The guide pulley assembly (25), the guide pulley assembly (25) is also arranged in the middle of the rear column (24), the weight (14) is suspended from one end of the steel wire rope (13), and the steel wire rope (13) bypasses the front column in turn The pulley on the guide pulley assembly (25) on (24), the pulley on the loading pulley assembly (23) located at the left end of the loading horizontal bar 2 (26), the loading pulley assembly (23) located at the right end of the loading horizontal bar 2 (26) ) on the pulley, the pulley on the guide pulley assembly (25) on the column (24) at the rear, and the other wire rope (13) is fixed on the bottom plate (1); the axis of the pulley on the loading pulley assembly (23) is the same as The axis of the pulley on the guide pulley assembly (25) is set vertically; The Mx, My direction calibration device (Ⅳ) includes the bottom plate (1), the bead (2), the torque transfer plate (21), the loading bar one (22), the loading pulley assembly (23), the column (24), and the guide pulley block piece (25), wire rope (13) and weight (14); the bead (2) is used to horizontally fix the six-dimensional force sensor body (3) on the bottom plate (1), and the upper end of the six-dimensional force sensor body (3) is connected The torque transfer plate (21), the loading bar one (22) is located above the torque transfer plate (21) and the two are vertically arranged, and the torque transfer plate (21) is affixed to the lower end of the loading bar one (22) , loading pulley assemblies (23) are respectively arranged at the upper and lower ends of the loading horizontal bar one (22), the two ends of the upper end surface of the bottom plate (1) are respectively fixed with columns (24), and the upper end of the left column (24) is arranged with The guide pulley assembly (25), the lower part of the column (24) on the right is also arranged with a guide pulley assembly (25), one end of the wire rope (13) hangs the weight (14), and the wire rope (13) bypasses the column on the left in turn (24) The pulley on the guide pulley assembly (25) at the upper end, the pulley on the loading pulley assembly (23) at the upper end of the loading bar one (22), the loading pulley assembly (23) at the lower end of the loading bar one (22) ) on the pulley, the pulley on the guide pulley assembly (25) at the bottom of the left column (24), the other of the wire rope (13) is fixed on the bottom plate (1); the axis of the pulley on the loading pulley assembly (23) is the same as The axes of the pulleys on the guide pulley assembly (25) are arranged in parallel. the 2. A combined calibration device for an uncoupled six-dimensional force sensor according to claim 1, characterized in that: the loading pulley assembly (23) includes a retaining ring one (23-1), a pulley shaft one (23 -2), bearing three (23-3-1), bearing four (23-3-2), pulley seat (23-4), pulley one (23-5) and gasket (23-6); pulley seat (23-4) is installed on the loading bar one (22), and one end of the pulley shaft one (23-2) is installed on the pulley seat through bearing three (23-3-1) and bearing four (23-3-2) (23-4), the pulley one (23-5) is installed on the other end of the pulley shaft one (23-2), and the pulley one (23-5) passes through the gasket (23-6), the screw (23-7) Installed on pulley shaft one (23-2); 3. A combined calibration device for an uncoupled six-dimensional force sensor according to claim 2, characterized in that: the guide pulley assembly (25) includes pulley two (25-1), retaining ring two (25- 2), bearing five (25-3-1), bearing six (25-3-2) and pulley shaft two (25-4); pulley shaft two (25-4) is installed on the column (24), pulley two (25-1) is installed on the pulley shaft 2 (25-4) through bearing 5 (25-3-1) and bearing 6 (25-3-2), and the retaining ring 2 (25-2) is used to fix the end bearing five (25-3-1). the 4. A combined calibration device for an uncoupled six-dimensional force sensor according to claim 1, characterized in that: the lower end surface of the force transfer plate (4) is provided with a six-dimensional force sensor body (3 ) to match the circular groove (4-1) of the force transfer plate, the force transfer plate (4) is also provided with a plurality of force transfer plate threaded holes (4-2) for connection; There are also five ball sockets (4-3) on the upper end surface of the adapter plate (4) and the sides around it, and the five ball sockets (4-3) are respectively: the relative Two ball sockets (4-3-1) at the geometric centers of the two sides, two ball sockets (4-3-2 ), the ball socket (4-3-3) located at the geometric center of the upper surface of the force transfer plate (4). the 5. A combined calibration device for an uncoupled six-dimensional force sensor according to claim 1, 2, 3 or 4, characterized in that: the lower end surface of the torque adapter plate (21) is opened for and The six-dimensional force sensor body (3) is mated with the circular groove (21-2) of the torque transfer disc, and the torque transfer disc (21) is also provided with a plurality of torque transfer disc threads for connection hole (21-1), the upper end surface of the torque adapter plate (21) is provided with two rectangular parallelepiped bosses (21-3), and the two rectangular parallelepiped bosses (21-3) are used to load a horizontal bar (22), load bar two (26) and carry out positioning. the

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