CN103528755A - Calibration device for six-dimensional force sensor - Google Patents
Calibration device for six-dimensional force sensor Download PDFInfo
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- CN103528755A CN103528755A CN201310532717.6A CN201310532717A CN103528755A CN 103528755 A CN103528755 A CN 103528755A CN 201310532717 A CN201310532717 A CN 201310532717A CN 103528755 A CN103528755 A CN 103528755A
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Abstract
The invention relates to a calibration device, in particular to a calibration device for a six-dimensional force sensor, and aims to solve the problems of complex structure, tedious procedures, large size, difficulty in assembling and debugging, and unachievable independent loading of a single-dimensional force in all directions of an existing calibration device. A working platform of the calibration device for the six-dimensional force sensor is fixedly installed on the upper surface of a main body framework, a first upright post and a second upright post are parallelly arranged side by side on the upper surface of the working platform, a beam support component, the first upright post and the second upright post form a door-shaped framework, five pulleys are installed on the beam support component at equal intervals in a linear shape in the length direction of the beam support component, a sensor fixing flange is installed at the middle part of the upper surface of the working platform, the sensor is installed on the sensor fixing flange, a loading disc is installed on the sensor, and two bending moment loading systems are symmetrically arranged along the sensor fixing flange. The calibration device for the six-dimensional force sensor is used for a calibration experiment for the six-dimensional force sensor.
Description
Technical field
The present invention relates to a kind of caliberating device, be specifically related to a kind of six-dimension force sensor calibration device.
Background technology
Six-dimension force sensor is three-dimensional force information in a kind of simultaneously aware space cartesian coordinate system and the sensor of three-dimensional moment information.The fields such as widespread use and robot, industrialization, Aero-Space, national defense construction.Six-dimension force sensor, due to impacts such as manufacture, assembling, paster error and circuit noise interference, need to detect by calibration experiment the actual performance index of six-dimension force sensor, and object is to determine the relation between input and output.Caliberating device plays vital effect in the whole development process of six-dimension force sensor.The precision of caliberating device is directly determining the precision of six-dimension force sensor, and the operation difficulty or ease of caliberating device are directly determining working strength and the work efficiency of calibration experiment.At present, six-dimension force sensor calibration device has following several mode: the patent that the patent No. is CN102749168A, announced a kind of combined type caliberating device without coupling six-dimension force sensor, by adopting combination method to realize the demarcation of different directions, device is complicated, operation is numerous and diverse, the patent No. is the patent of CN102279077A, announced a kind of pair of power source six-dimension force sensor calibration device, can to realize multiaxis loading, export by paired layout power source, volume is larger, assembling and setting difficulty, patent CN101226095A, announced a kind of six-dimension force sensor calibration device, for adopting the caliberating device of four jack types, cannot realize the independent loading of the one-dimensional power of all directions.
Summary of the invention
The present invention is that the existing caliberating device complex structure of solution, operation are loaded down with trivial details, volume is large, assembling and setting is difficult, and cannot realize the independent problem loading of one-dimensional power of all directions, and then proposes a kind of six-dimension force sensor calibration device.
The present invention addresses the above problem the technical scheme of taking to be: the present invention includes main body frame, workbench, the first column, the second column, overarm brace assembly, loading disc, sensor mounting flange, two torque loading systems, two moment of flexure loading systems and five pulleys, workbench is square plate body, workbench is fixedly mounted on the upper surface of main body frame, the first column and the second column are set in parallel on the upper surface of workbench side by side, and the first column center line is along its length all vertical with the upper surface of workbench with the second column center line along its length, one end of described overarm brace assembly is connected with the upper end of the first column, the other end of described overarm brace assembly is connected with the upper end of the second column, described overarm brace assembly, the first column, the second column forms a door glyph framework, the both sides of described door glyph framework are respectively provided with respectively a described torque loading system, and a described torque loading system is near the first column, described in another, torque loading system is near the second column, five pulleys are yi word pattern along described overarm brace length component direction and are equidistantly arranged on overarm brace assembly, sensor mounting flange is arranged on the middle part of workbench upper surface, and sensor mounting flange be positioned at described door glyph framework under, installation of sensors is on sensor mounting flange, loading disc is arranged on sensor, two described moment of flexure loading systems are symmetrical arranged along sensor mounting flange, and two described moment of flexure loading systems lay respectively at the both sides of described door glyph framework.
The invention has the beneficial effects as follows: the present invention, by changing the position of torque loading system, moment of flexure loading system, realizes the independent loading of all directions acting force, and the circular loading of Fx, Fy, and then the coupling situation of the whole sensor of understanding that can system; The present invention assembles simple, for the decoupling zero of six-dimension force sensor is provided convenience.
Accompanying drawing explanation
Fig. 1 is front view of the present invention, and Fig. 2 is the left view of Fig. 1, and Fig. 3 is the vertical view of Fig. 1, and Fig. 4 is perspective view of the present invention.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1 to Fig. 4, described in present embodiment, a kind of six-dimension force sensor calibration device comprises main body frame 1, workbench 2, the first column 3, the second column 4, overarm brace assembly, loading disc 5, sensor mounting flange 6, two torque loading systems, two moment of flexure loading systems and five pulleys 7, workbench 2 is square plate bodys, workbench 2 is fixedly mounted on the upper surface of main body frame 1, the first column 3 and the second column 4 are set in parallel on the upper surface of workbench 2 side by side, and the first column 3 center line is along its length all vertical with the upper surface of workbench 2 with the second column 4 center line along its length, one end of described overarm brace assembly is connected with the upper end of the first column 3, the other end of described overarm brace assembly is connected with the upper end of the second column 4, described overarm brace assembly, the first column 3, the second column 4 forms a door glyph framework, the both sides of described door glyph framework are respectively provided with respectively a described torque loading system, and a described torque loading system is near the first column 3, described in another, torque loading system is near the second column 4, five pulleys 7 are yi word pattern along described overarm brace length component direction and are equidistantly arranged on overarm brace assembly, sensor mounting flange 6 is arranged on the middle part of workbench 2 upper surfaces, and sensor mounting flange 6 be positioned at described door glyph framework under, installation of sensors is on sensor mounting flange 6, loading disc 5 is arranged on sensor, two described moment of flexure loading systems are symmetrical arranged along sensor mounting flange 6, and two described moment of flexure loading systems lay respectively at the both sides of described door glyph framework.
Embodiment two: present embodiment is described in conjunction with Fig. 1 to Fig. 4, described in present embodiment, a kind of overarm brace assembly of six-dimension force sensor calibration device comprises two crossbeams 8 and five rotating shafts 9, two crossbeams 8 be arranged in parallel side by side, five rotating shafts 9 are set in qually spaced between two crossbeams 8 along two crossbeam 8 length directions, and each rotating shaft 9 is respectively set with respectively a pulley 7.
The technique effect of present embodiment is: so arrange, can avoid the calibrated error of bringing because of friction force.Other composition and annexation are identical with embodiment one.
Embodiment three: present embodiment is described in conjunction with Fig. 1 to Fig. 4, described in present embodiment, described in each of a kind of six-dimension force sensor calibration device, torque loading system comprises moment of torsion support 10, moment of torsion pulley 11, moment of torsion pulley spindle 12 and moment of torsion post setting 13, moment of torsion support 10 is arranged on the upper surface of workbench 2 by moment of torsion post setting 13, moment of torsion pulley spindle 12 is arranged on moment of torsion support 10, and moment of torsion pulley 11 is sleeved on moment of torsion pulley spindle 12.
The technique effect of present embodiment is: so arrange, make torque loading system convenient disassembly and have very high stated accuracy.Other composition and annexation are identical with embodiment one.
Embodiment four: present embodiment is described in conjunction with Fig. 1 to Fig. 4, described in present embodiment, described in each of a kind of six-dimension force sensor calibration device, moment of flexure loading system comprises moment of flexure support 14, moment of flexure pulley 15, moment of flexure pulley spindle 16 and moment of flexure post setting 17, moment of flexure support 14 is arranged on the upper surface of workbench 2 by moment of flexure post setting 17, moment of flexure pulley spindle 16 is arranged on moment of flexure support 14, and moment of flexure pulley 15 is sleeved on moment of flexure pulley spindle 16.
The technique effect of present embodiment is: so arrange, make moment of flexure loading system convenient disassembly and have very high stated accuracy.Other composition and annexation are identical with embodiment one.
Embodiment five: present embodiment is described in conjunction with Fig. 1 to Fig. 4, described in present embodiment, a kind of six-dimension force sensor calibration device also comprises the first cant beam assembly 18 and the second cant beam assembly 19, the first cant beam assembly 18 and the second cant beam assembly 19 are all by two cant beams parallel composition side by side, the two ends of the first cant beam assembly 18 are connected with overarm brace assembly with the first column 3 respectively, and the two ends of the second cant beam assembly 19 are connected with overarm brace assembly with the second column 4 respectively.
The technique effect of present embodiment is: so arrange, make a glyph framework more firmly not yielding.Other composition and annexation are identical with embodiment one, two, three or four.
Embodiment six: in conjunction with Fig. 1 to Fig. 4, present embodiment is described, a kind of middle part of loading disc 5 upper surfaces of six-dimension force sensor calibration device is provided with and loads cap 20 described in present embodiment, and the edge of loading disc 5 is laid with 12 and loads suspension ring 21.
The technique effect of present embodiment is: so arrange, can realize the demarcation of power Fz straight up.Other composition and annexation are identical with embodiment five.
Principle of work
The concrete steps that the present invention carries out six-dimension force sensor calibration experiment are as follows:
Step 1, the geometric center of sensor of take are zero point, the upper surface of take zero crossing and being parallel to workbench 2 is x, y axle place plane, set up three-dimensional cartesian coordinate system, demarcate Fx direction power: one end of nylon rope is fixed on corresponding loading suspension ring 21, then by nylon rope on corresponding moment of flexure pulley 15, the other end of nylon rope ties up on counterweight by the manhole on workbench 2, increases successively counterweight, completes the demarcation of X positive dirction power; In like manner can complete the demarcation of X negative direction power.
When Fxy is carried out to circular loading, first fixing moment of flexure support 14 is fixed in the positive dirction of Fx axle, one end of nylon rope is fixed on corresponding loading suspension ring 21 again, then by nylon rope on moment of flexure pulley 15, the other end of nylon rope is connected with counterweight through the through hole on workbench 2, increase successively the demarcation that counterweight completes x axle positive dirction power, moment of flexure support 14 is also fixing along 30 ° of x axle positive dirction rotations, repeat above-mentioned steps, the demarcation of Fx, Fy while completing with 30 °, x axle, the like, complete along the demarcation of the Fxy of whole circumference.
Claims (6)
1. a six-dimension force sensor calibration device, it is characterized in that: described a kind of six-dimension force sensor calibration device comprises main body frame (1), workbench (2), the first column (3), the second column (4), overarm brace assembly, loading disc (5), sensor mounting flange (6), two torque loading systems, two moment of flexure loading systems and five pulleys (7), workbench (2) is square plate body, workbench (2) is fixedly mounted on the upper surface of main body frame (1), the first column (3) and the second column (4) are set in parallel on the upper surface of workbench (2) side by side, and the first column (3) center line is along its length all vertical with the upper surface of workbench (2) with the second column (4) center line along its length, one end of described overarm brace assembly is connected with the upper end of the first column (3), the other end of described overarm brace assembly is connected with the upper end of the second column (4), described overarm brace assembly, the first column (3), the second column (4) forms a door glyph framework, the both sides of described door glyph framework are respectively provided with respectively a described torque loading system, and a described torque loading system is near the first column (3), described in another, torque loading system is near the second column (4), five pulleys (7) are yi word pattern along described overarm brace length component direction and are equidistantly arranged on overarm brace assembly, sensor mounting flange (6) is arranged on the middle part of workbench (2) upper surface, and sensor mounting flange (6) be positioned at described door glyph framework under, installation of sensors is on sensor mounting flange (6), loading disc (5) is arranged on sensor, two described moment of flexure loading systems are symmetrical arranged along sensor mounting flange (6), and two described moment of flexure loading systems lay respectively at the both sides of described door glyph framework.
2. a kind of six-dimension force sensor calibration device according to claim 1, it is characterized in that: described overarm brace assembly comprises two crossbeams (8) and five rotating shafts (9), two crossbeams (8) be arranged in parallel side by side, five rotating shafts (9) are set in qually spaced between two crossbeams (8) along two crossbeams (8) length direction, and each rotating shaft (9) is respectively set with respectively a pulley (7).
3. a kind of six-dimension force sensor calibration device according to claim 1, it is characterized in that: described in each, torque loading system comprises moment of torsion support (10), moment of torsion pulley (11), moment of torsion pulley spindle (12) and moment of torsion post setting (13), moment of torsion support (10) is arranged on the upper surface of workbench (2) by moment of torsion post setting (13), it is upper that moment of torsion pulley spindle (12) is arranged on moment of torsion support (10), and moment of torsion pulley (11) is sleeved on moment of torsion pulley spindle (12).
4. a kind of six-dimension force sensor calibration device according to claim 1, it is characterized in that: described in each, moment of flexure loading system comprises moment of flexure support (14), moment of flexure pulley (15), moment of flexure pulley spindle (16) and moment of flexure post setting (17), moment of flexure support (14) is arranged on the upper surface of workbench (2) by moment of flexure post setting (17), it is upper that moment of flexure pulley spindle (16) is arranged on moment of flexure support (14), and moment of flexure pulley (15) is sleeved on moment of flexure pulley spindle (16).
5. according to a kind of six-dimension force sensor calibration device described in claim 1,2,3 or 4, it is characterized in that: described a kind of six-dimension force sensor calibration device also comprises the first cant beam assembly (18) and the second cant beam assembly (19), the first cant beam assembly (18) and the second cant beam assembly (19) are all by two cant beams parallel composition side by side, the two ends of the first cant beam assembly (18) are connected with overarm brace assembly with the first column (3) respectively, and the two ends of the second cant beam assembly (19) are connected with overarm brace assembly with the second column (4) respectively.
6. a kind of six-dimension force sensor calibration device according to claim 5, is characterized in that: the middle part of loading disc (5) upper surface is provided with and loads cap (20), and the edge of loading disc (5) is laid with 12 and loads suspension ring (21).
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| CN201310532717.6A CN103528755B (en) | 2013-10-31 | 2013-10-31 | A kind of six-dimension force sensor calibration device |
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| CN201310532717.6A CN103528755B (en) | 2013-10-31 | 2013-10-31 | A kind of six-dimension force sensor calibration device |
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Cited By (12)
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| CN104236794A (en) * | 2014-10-13 | 2014-12-24 | 大连交通大学 | Six-dimensional force transducer calibration device |
| CN104280187A (en) * | 2014-11-03 | 2015-01-14 | 大连交通大学 | Six-dimensional force sensor calibration device |
| CN106568550A (en) * | 2016-10-13 | 2017-04-19 | 同济大学 | Six-dimension force sensor calibration device and calibration method thereof |
| CN106595950A (en) * | 2016-12-19 | 2017-04-26 | 中国科学院长春光学精密机械与物理研究所 | Force loading apparatus for calibrating force sensor |
| CN108775845A (en) * | 2018-08-01 | 2018-11-09 | 上海宾通智能科技有限公司 | A kind of calibration element of automatic controlled height |
| CN109015758A (en) * | 2018-08-31 | 2018-12-18 | 重庆电子工程职业学院 | The robot six-dimension force sensor calibration device for being moved easily and operating |
| CN109682533A (en) * | 2019-01-08 | 2019-04-26 | 吉林大学 | Double mode six-dimensional force/torque sensor caliberating device and scaling method |
| 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 |
| CN110261034A (en) * | 2019-07-11 | 2019-09-20 | 重庆鲁班机器人技术研究院有限公司 | A kind of six-dimension force sensor calibration device and its scaling method |
| CN110631765A (en) * | 2019-10-30 | 2019-12-31 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN114509206A (en) * | 2022-02-14 | 2022-05-17 | 武汉理工大学 | Calibration device and calibration method for strain S-deformation six-component sensor |
| CN109682533B (en) * | 2019-01-08 | 2024-04-30 | 吉林大学 | Dual-mode six-dimensional force/torque sensor calibration device and calibration method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104236794B (en) * | 2014-10-13 | 2016-04-06 | 大连交通大学 | A kind of six-dimension force sensor calibration device |
| CN104236794A (en) * | 2014-10-13 | 2014-12-24 | 大连交通大学 | Six-dimensional force transducer calibration device |
| CN104280187A (en) * | 2014-11-03 | 2015-01-14 | 大连交通大学 | Six-dimensional force sensor calibration device |
| CN106568550A (en) * | 2016-10-13 | 2017-04-19 | 同济大学 | Six-dimension force sensor calibration device and calibration method thereof |
| CN106595950A (en) * | 2016-12-19 | 2017-04-26 | 中国科学院长春光学精密机械与物理研究所 | Force loading apparatus for calibrating force sensor |
| CN108775845A (en) * | 2018-08-01 | 2018-11-09 | 上海宾通智能科技有限公司 | A kind of calibration element of automatic controlled height |
| CN109015758A (en) * | 2018-08-31 | 2018-12-18 | 重庆电子工程职业学院 | The robot six-dimension force sensor calibration device for being moved easily and operating |
| CN109682533B (en) * | 2019-01-08 | 2024-04-30 | 吉林大学 | Dual-mode six-dimensional force/torque sensor calibration device and calibration method |
| CN109682533A (en) * | 2019-01-08 | 2019-04-26 | 吉林大学 | Double mode six-dimensional force/torque sensor caliberating device and scaling method |
| 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 |
| CN110261034A (en) * | 2019-07-11 | 2019-09-20 | 重庆鲁班机器人技术研究院有限公司 | A kind of six-dimension force sensor calibration device and its scaling method |
| CN110631765A (en) * | 2019-10-30 | 2019-12-31 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN110631765B (en) * | 2019-10-30 | 2023-10-24 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN114509206A (en) * | 2022-02-14 | 2022-05-17 | 武汉理工大学 | Calibration device and calibration method for strain S-deformation six-component sensor |
| CN114509206B (en) * | 2022-02-14 | 2023-02-28 | 武汉理工大学 | Calibration device and calibration method for strain S-deformation six-component sensor |
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