CN103528755B - A kind of six-dimension force sensor calibration device - Google Patents
A kind of six-dimension force sensor calibration device Download PDFInfo
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- CN103528755B CN103528755B CN201310532717.6A CN201310532717A CN103528755B CN 103528755 B CN103528755 B CN 103528755B CN 201310532717 A CN201310532717 A CN 201310532717A CN 103528755 B CN103528755 B CN 103528755B
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- 239000000203 mixture Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 12
- 239000004677 Nylon Substances 0.000 description 23
- 229920001778 nylon Polymers 0.000 description 23
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 241001282135 Poromitra oscitans Species 0.000 description 3
- 206010048232 Yawning Diseases 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
A kind of six-dimension force sensor calibration device, it relates to a kind of caliberating device, is specifically related to a kind of six-dimension force sensor calibration device.In order to solve, existing caliberating device complex structure, operation are loaded down with trivial details in the present invention, volume is comparatively large, assembling and setting is difficult, and the problem that the one-dimensional power that cannot realize all directions loads separately.Workbench of the present invention is fixedly mounted on the upper surface of main body frame, first column and the second column side by side parallel are arranged on the upper surface of workbench, described overarm brace assembly, first column, second column forms a door glyph framework, five pulleys are that yi word pattern is equidistantly arranged on overarm brace assembly along described overarm brace length component direction, sensor mounting flange is arranged on the middle part of workbench upper surface, sensor is arranged on sensor mounting flange, loading disc is installed on a sensor, two described moment of flexure loading systems are symmetrical arranged along sensor mounting flange.The present invention is used for six-dimension force sensor calibration experiment.
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 be a kind of can the sensor of three-dimensional force information simultaneously in aware space cartesian coordinate system and three-dimensional moment information.The fields such as widespread use and robot, industrialization, Aero-Space, national defense construction.Six-dimension force sensor is due to impacts such as manufacture, assembling, paster error and circuit noise interference, and need the actual performance index being detected six-dimension force sensor by calibration experiment, object is the relation determined between constrained input.Caliberating device plays vital effect in the whole development process of six-dimension force sensor.The precision of caliberating device directly decides the precision of six-dimension force sensor, and the operation difficulty or ease of caliberating device directly decide working strength and the work efficiency of calibration experiment.At present, six-dimension force sensor calibration device has following several mode: the patent No. is the patent of CN102749168A, disclose 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, disclose a kind of dual force source six-dimension force sensor calibration device, can be exported to realize multiaxis loading by paired layout power source, volume is larger, assembling and setting difficulty, patent CN101226095A, disclose a kind of six-dimension force sensor calibration device, for adopting the caliberating device of four jack types, the independent loading of the one-dimensional power of all directions cannot be realized.
Summary of the invention
The present invention is the existing caliberating device complex structure of solution, operation is loaded down with trivial details, volume is comparatively large, assembling and setting is difficult, and the problem that the one-dimensional power that cannot realize all directions loads separately, and then a kind of six-dimension force sensor calibration device is proposed.
The present invention is the technical scheme taked that solves the problem: the present invention includes main body frame, workbench, first column, 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, first column and the second column side by side parallel are arranged on the upper surface of workbench, and the first column center line along its length and the second column center line is along its length all vertical with the upper surface of workbench, 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, first column, second column forms a door glyph framework, the both sides of described door glyph framework are respectively provided with a described torque loading system respectively, and a described torque loading system is near the first column, torque loading system described in another is near the second column, five pulleys are that yi word pattern is equidistantly arranged on overarm brace assembly along described overarm brace length component direction, sensor mounting flange is arranged on the middle part of workbench upper surface, and sensor mounting flange is positioned at immediately below described door glyph framework, sensor is arranged on sensor mounting flange, loading disc is installed on a 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 can the coupling condition of the whole sensor of understanding of 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: composition graphs 1 to Fig. 4 illustrates present embodiment, described in present embodiment, a kind of six-dimension force sensor calibration device comprises main body frame 1, workbench 2, first column 3, 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, first column 3 and the second column 4 side by side parallel are arranged on the upper surface of workbench 2, 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, first column 3, second column 4 forms a door glyph framework, the both sides of described door glyph framework are respectively provided with a described torque loading system respectively, and a described torque loading system is near the first column 3, torque loading system described in another is near the second column 4, five pulleys 7 are that yi word pattern is equidistantly arranged on overarm brace assembly along described overarm brace length component direction, sensor mounting flange 6 is arranged on the middle part of workbench 2 upper surface, and sensor mounting flange 6 is positioned at immediately below described door glyph framework, sensor is arranged on sensor mounting flange 6, loading disc 5 is installed on a 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: composition graphs 1 to Fig. 4 illustrates present embodiment, a kind of overarm brace assembly of six-dimension force sensor calibration device described in present embodiment comprises two crossbeams 8 and five rotating shafts 9, two crossbeam 8 side by side parallel are arranged, 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 each suit pulley 7 respectively.
The technique effect of present embodiment is: so arrange, and can avoid the calibrated error brought because of friction force.Other composition and annexation identical with embodiment one.
Embodiment three: composition graphs 1 to Fig. 4 illustrates present embodiment, described in present embodiment, a kind of each described torque loading system of six-dimension force sensor calibration device 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, and makes torque loading system convenient disassembly and has very high stated accuracy.Other composition and annexation identical with embodiment one.
Embodiment four: composition graphs 1 to Fig. 4 illustrates present embodiment, the each described moment of flexure loading system of a kind of six-dimension force sensor calibration device described in present embodiment 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, and makes moment of flexure loading system convenient disassembly and has very high stated accuracy.Other composition and annexation identical with embodiment one.
Embodiment five: composition graphs 1 to Fig. 4 illustrates present embodiment, a kind of six-dimension force sensor calibration device described in present embodiment also comprises the first cant beam assembly 18 and the second cant beam assembly 19, first cant beam assembly 18 and the second cant beam assembly 19 are all made up of two cant beam side by side parallel, the two ends of the first cant beam assembly 18 are connected with the first column 3 and overarm brace assembly respectively, and the two ends of the second cant beam assembly 19 are connected with the second column 4 and overarm brace assembly respectively.
The technique effect of present embodiment is: so arrange, and makes a glyph framework more firmly not yielding.Other composition and annexation and embodiment one, two, three or four identical.
Embodiment six: composition graphs 1 to Fig. 4 illustrates present embodiment, the middle part of loading disc 5 upper surface of a kind of six-dimension force sensor calibration device described in present embodiment is provided with and loads cap 20, 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, and can realize the demarcation of power Fz straight up.Other composition and annexation 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 one, with the geometric center of sensor for zero point, with zero crossing and the upper surface being parallel to workbench 2 be x, y-axis place plane, set up three-dimensional cartesian coordinate system, demarcate Fx direction force: be fixed on one end of nylon rope on corresponding loading suspension ring 21, then by nylon rope around on corresponding moment of flexure pulley 15, the other end of nylon rope ties up on counterweight by the manhole on workbench 2, increases counterweight successively, completes the demarcation of X positive dirction power; In like manner can complete the demarcation of X negative direction power.
Step 2, demarcation Fy direction force: one end of nylon rope is fixed on corresponding loading suspension ring 21, then by nylon rope around on corresponding moment of flexure pulley 15, the other end of nylon rope is connected with counterweight by through hole corresponding on workbench 2, increase counterweight successively, complete the demarcation of Y positive dirction power; In like manner can complete the demarcation of Y negative direction power.
Step 3, demarcate Fz direction force: be fixed on one end of nylon rope and load on cap 20, then nylon rope is around on pulley 7 between two crossbeams 8, and the other end of nylon rope is connected with counterweight, increases counterweight successively, completes the demarcation of Z positive dirction power; Loading cap 20 is removed, then directly on loading disc 5, loads counterweight successively, complete the demarcation of Z negative direction power;
Step 4, demarcate Mx yawning moment: be fixed on one end of nylon rope on corresponding loading suspension ring 21, then nylon rope is vertically around on the pulley 7 between two crossbeams 8, the other end of nylon rope is connected with counterweight, the loading suspension ring 21 of symmetry are disassembled on the lower surface being fixed on loading disc 5, then one end of another root nylon rope being fixed on this loads on suspension ring 21, the other end of another root nylon rope is connected with counterweight through the through hole on workbench 2, complete the demarcation of Mx positive dirction moment, only the mode that Mx positive dirction moment is demarcated need be carried out symmetry transformation can realize demarcating the moment of Mx negative direction,
Step 5, demarcate My yawning moment: by the first column 3, second column 4, overarm brace assembly, first cant beam assembly 18, second cant beam assembly 19, five pulley 7 half-twists, and moment of flexure loading system is fixed on the workbench 2 of the below of overarm brace assembly, one end of nylon rope is fixed on corresponding loading suspension ring 21, the other end of nylon rope is connected with counterweight, the loading suspension ring 21 of symmetry are disassembled on the lower surface being fixed on loading disc 5, then being fixed on this with one end of another root nylon rope loads on suspension ring 21, the other end is connected with counterweight by the through hole on workbench 2, carry out loading and complete the demarcation of My positive dirction moment, the mode that My positive dirction moment is demarcated is carried out the demarcation that symmetry transformation can realize My negative direction moment,
Step 6, demarcate Mz yawning moment: just one end of two nylon ropes loads suspension ring 21 be connected with symmetrical two, each nylon rope is wrapped on corresponding moment of torsion pulley 11, the other end of each nylon rope is connected with counterweight respectively, increase counterweight successively, complete the demarcation of the positive dirction moment in Mz direction, retighten torque loading system, the demarcation of Mz negative direction moment can be realized according to above-mentioned steps.
When circular loading is carried out to Fxy, first fixing moment of flexure support 14 is fixed in the positive dirction of Fx axle, again one end of nylon rope is fixed on corresponding loading suspension ring 21, then by nylon rope around on moment of flexure pulley 15, the other end of nylon rope is connected with counterweight through the through hole on workbench 2, increase the demarcation that counterweight completes x-axis positive dirction power successively, moment of flexure support 14 is rotated 30 ° along x-axis positive dirction also fix, repeat above-mentioned steps, complete the demarcation with Fx, Fy during x-axis 30 °, the like, complete the demarcation of the Fxy along whole circumference.
Claims (1)
1. a six-dimension force sensor calibration device, it comprises main body frame (1), workbench (2), first column (3), 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), first column (3) and the second column (4) side by side parallel are arranged on the upper surface of workbench (2), and the first column (3) center line along its length and the second column (4) center line is along its length all vertical with the upper surface of workbench (2), 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, first column (3), second column (4) composition door glyph framework, the both sides of described door glyph framework are respectively provided with a described torque loading system respectively, and a described torque loading system is near the first column (3), torque loading system described in another is near the second column (4), five pulleys (7) are that yi word pattern is equidistantly arranged on overarm brace assembly along described overarm brace length component direction, sensor mounting flange (6) is arranged on the middle part of workbench (2) upper surface, and sensor mounting flange (6) is positioned at immediately below described door glyph framework, sensor is arranged on sensor mounting flange (6), loading disc (5) is installed on a 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, described overarm brace assembly comprises two crossbeams (8) and five rotating shafts (9), two crossbeam (8) side by side parallel are arranged, five rotating shafts (9) are set in qually spaced between two crossbeams (8) along two crossbeam (8) length directions, each rotating shaft (9) is each suit pulley (7) respectively, first cant beam assembly (18) and the second cant beam assembly (19) are all made up of two cant beam side by side parallel, the two ends of the first cant beam assembly (18) are connected with the first column (3) and overarm brace assembly respectively, the two ends of the second cant beam assembly (19) are connected with the second column (4) and overarm brace assembly respectively, the middle part of loading disc (5) upper surface is provided with and loads cap (20), the edge of loading disc (5) is laid with 12 and loads suspension ring (21), it is characterized in that: each described 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), moment of torsion pulley (11) is sleeved on moment of torsion pulley spindle (12), each described 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), moment of flexure pulley (15) is sleeved on moment of flexure pulley spindle (16).
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN103528755A CN103528755A (en) | 2014-01-22 |
| CN103528755B true CN103528755B (en) | 2015-08-19 |
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| CN201310532717.6A Expired - Fee Related CN103528755B (en) | 2013-10-31 | 2013-10-31 | A kind of six-dimension force sensor calibration device |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236794B (en) * | 2014-10-13 | 2016-04-06 | 大连交通大学 | A kind of six-dimension force sensor 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 |
| CN108775845B (en) * | 2018-08-01 | 2024-07-30 | 上海宾通智能科技有限公司 | Automatic height-adjusting calibration piece |
| 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 |
| 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 |
| 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 |
| 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 |
| CN115524058A (en) * | 2022-08-11 | 2022-12-27 | 东南大学 | Automatic calibration device and calibration method for six-dimensional force/torque sensor |
| CN115435966A (en) * | 2022-09-06 | 2022-12-06 | 贵州电网有限责任公司 | Multidimensional mechanical sensor calibration device for isolating switch |
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| RU2296967C1 (en) * | 2005-07-15 | 2007-04-10 | Закрытое Акционерное Общество "Весоизмерительная Компания "Тензо-М" | Standard force-reproducing direct-loading machine |
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| RU2296967C1 (en) * | 2005-07-15 | 2007-04-10 | Закрытое Акционерное Общество "Весоизмерительная Компания "Тензо-М" | Standard force-reproducing direct-loading machine |
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