CN103630293A - In-orbit high-precision calibration device and method for multi-dimensional force sensor - Google Patents
In-orbit high-precision calibration device and method for multi-dimensional force sensor Download PDFInfo
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Abstract
The invention relates to an in-orbit high-precision calibration device and method for a multi-dimensional force sensor. The device comprises a fixed beam, an elastic beam, a sliding ruler, and a calibrating cone. The fixed beam and the elastic beam are fixed together through bolts penetrating mounting holes. The calibrating cone is fixed in the through hole in one end of the elastic beam. The sliding ruler can freely side on the fixed beam and the elastic beam. The effective length of the elastic beam can be changed by moving the sliding ruler so as to calibrate a force value of the multi-dimensional force sensor. The force applied to the multi-dimensional force sensor is read through a pointer on the sliding ruler, pointing to a mark line on the fixed bema.
Description
Technical field
The present invention relates to a kind of relating to the caliberating device of multi-dimension force sensor and scaling method, be applicable to the demarcation of the multi-dimension force sensor of medium and small range, and be specially adapted to the size to caliberating device, the field that quality has strict demand.
Background technology
Multi-dimension force sensor, for detection of the power in three dimensions (Fx, Fy, Fz), is widely used in the fields such as Aero-Space, manufacture and assembling, sports and teleoperation robot.Multi-dimension force sensor is due to the machining error in manufacture process, and the impacts such as the resistance of resistance strain gage and patch location error, cause the input force value of six-dimensional force/torque sensor and the relation between output voltage uncertain.In order to determine this relation, need to demarcate six-dimensional force/torque sensor, and then can complete decoupling zero process by decoupling algorithm.Because the precision of sensor is determined by caliberating device, so caliberating device occupies an important position in the design process of six-dimensional force/torque sensor.Along with the widespread use of multi-dimension force sensor at aerospace field, for the precision that guarantees that multi-dimension force sensor is used for a long time at space, need on space station, to multi-dimension force sensor, again demarcate.
At present, the load mode of multi-dimension force sensor caliberating device mainly contains jack type, hand reductor formula, weight type etc.China Patent No. is: ZL200810020511.4 discloses a kind of lifting jack and loaded the method for demarcating, and it is large that the method has the range of loading, load the features such as workload is little, but lifting jack has the too heavy shortcoming of quality, is not suitable for using in space station.Chinese patent application publication No. is: CN101776506A discloses a kind of multi-dimension force sensor calibrating and loading bench, this patent adopts hydraulic loaded, and adopt one-dimensional pull pressure sensor to measure loading force value, this device has advantages of that loading force range is large, and loading force value is adjustable continuously, but can there is the too heavy shortcoming of quality in hydraulic loading system equally.Chinese patent application publication No. is: CN101936797A discloses a kind of mode that adopts counterweight to load six-dimension force sensor is demarcated, it is high that this device has stated accuracy, the advantages such as good reliability, but the mode that cannot use counterweight to load under weightlessness is demarcated.Above-mentioned three kinds of caliberating devices have certain technological merit, but are all not suitable for using in space station.
The caliberating device using on space station to meet quality gently, the feature such as reliably and with long-term.The power value that the present invention adopts the distortion of metal material to realize multi-dimension force sensor loads, have simple in structure, quality is light, service-strong advantage, the long-term requirement of using on meeting spatial station.
Summary of the invention
The object of the invention is to overcome the defect that prior art exists, provide a kind of quality multi-dimension force sensor caliberating device light, reliably and with long-term.Caliberating device comprises fixed beam, elastic beam, slide scale and demarcates cone etc.
The technical scheme that realizes the object of the invention is: comprise the fixed beam and the elastic beam that are stacked together, and will after both mounting hole alignment, with bolt, fix, slide scale slides on fixed beam and elastic beam, demarcating cone is arranged in the free-ended through hole of elastic beam, demarcate the tip of cone and point to the groove on fixed beam, multi-dimension force sensor is arranged on the other end of fixed beam by bolt, and the demarcation axle of multi-dimension force sensor contacts with the tip of demarcating cone, by mobile slide scale, reduce the effective length of elastic beam, realize the loading to multi-dimension force sensor power value.
Slide scale is comprised of slider bar, four roller bearings and stop screw, four roller bearings are arranged on respectively in the mounting hole in slider bar, when slide scale is arranged on fixed beam and elastic beam, four roller bearings can either compress fixed beam and elastic beam, can make again slide scale move freely, when slide scale moves to the position of appointment, by tightening stop screw, the position of slide scale is fixed, and read by the pointer on slide scale the power value that caliberating device applies.
In caliberating device, fixed beam adopts rigid material, can ignore the distortion of fixed beam in calibration process, elastic beam adopts resilient material, and its elastic modulus is E, and the cross section of elastic beam is rectangle, it is highly h, width is b, and elastic beam total length is l, and establishing elastic beam stiff end is x to the distance of slide scale pointer, the effective elasticity length of elastic beam is l-x, and the height of demarcating cone is y.Now the moment of inertia of elastic beam is:
demarcating cone to the pressure F of sensor and elastic beam stiff end to the pass between the distance x of slide scale pointer is:
The scaling method of multi-dimension force sensor caliberating device of the present invention, adopts scheme same as the prior art, and the method utilizes the input/output relation formula of multi-dimension force sensor to demarcate decoupling zero.Scaling method of the present invention comprises the following steps:
Step 1: according to the demarcation cone of the measurement range selection proper height of sensor to be calibrated, and be arranged in the through hole of elastic beam demarcating cone.
Step 2: the circuit that connects multi-dimension force sensor, operation multi-dimension force sensor calibration software, multi-dimension force sensor is arranged in the mounting hole of fixed beam bottom surface, makes the demarcation axle of multi-dimension force sensor through the groove of fixed beam one end, demarcate cone and be pressed in the center of demarcating axial end.Mobile slide scale is to initial alignment position, and tightens stop screw, preserves the zero-point voltage of multi-dimension force sensor.Unclamp stop screw, mobile slide scale is next force application location extremely, and again tightens, and preserves the output voltage of multi-dimension force sensor and the power value that the caliberating device institute application of force adds.Repeat above-mentioned steps, until be loaded on full scale.Complete the once demarcation of multi-dimension force sensor Z direction.
Step 3: multi-dimension force sensor is arranged in the mounting hole of end face of fixed beam, make the demarcation axle of multi-dimension force sensor in the groove of fixed beam one end, demarcate cone and be pressed on demarcation axial plane, according to the load step in step 2, multi-dimension force sensor X+ direction is demarcated.Multi-dimensional force is turn 90 degrees successively around demarcating axle, and realize successively Y+, the X-to multi-dimension force sensor, the demarcation of Y-direction.
Step 4: repeating step 2, step 3 twice successively, obtain complete nominal data three times, and adopt existing decoupling zero scheme to carry out decoupling zero to multi-dimension force sensor.
From above-mentioned explanation, can find out that the present invention compares with existing calibration technique scheme, the invention solves multi-dimension force sensor caliberating device heaviness, effort etc. and be not suitable for the technical barrier of demarcating in space station.The present invention only needs to change the height of demarcating cone, can realize the multi-dimension force sensor of different ranges and demarcate.In addition, the present invention realizes the loading of different power values by changing the method for the effective length of elastic beam, have advantages of simple in structure, quality is light, simple to operate, time saving and energy saving, realized the demarcation of multi-dimension force sensor on space station.
Accompanying drawing explanation
For content of the present invention is more easily expressly understood, according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein below
Fig. 1 is the axonometric drawing of apparatus of the present invention;
Fig. 2 is fixed beam structural drawing of the present invention;
Fig. 3 is elastic beam structure figure of the present invention;
Fig. 4 is demarcation wimble structure figure of the present invention;
Fig. 5 is slide scale structural drawing of the present invention;
Fig. 6 is multi-dimension force sensor structural drawing of the present invention;
Fig. 7 is the calibration maps of X of the present invention, Y-direction;
Embodiment
(embodiment 1)
See Fig. 1 to Fig. 4, a kind of multi-dimension force sensor caliberating device, this device is comprised of fixed beam 1, elastic beam 2, slide scale 3, demarcation cone 4.
The composition structure of caliberating device of the present invention comprises that fixed beam 1 and elastic beam 2 are stacked together, it is fixing with bolt 6 after the mounting hole of fixed beam 101 is alignd with elastic beam mounting hole 201, slide scale 3 slides on fixed beam 1 and elastic beam 2, demarcating cone 4 is arranged in the free-ended through hole 202 of elastic beam 2, demarcate the tip of cone 4 and point to the groove 105 on fixed beam 1, multi-dimension force sensor 5 is arranged on the first through hole 103 and second through hole 104 of the other end of fixed beam 1 by bolt, and the demarcation axle 501 of multi-dimension force sensor 5 contacts with the tip of demarcating cone 4, by mobile slide scale 4, reduce the effective length of elastic beam 2, the loading of realization to multi-dimension force sensor 5.
See Fig. 5, slide scale 3 is by slider bar 301, four roller bearings 302 and stop screw 303 form, four roller bearings 302 are arranged on respectively in the mounting hole in slider bar 301, when slide scale 3 is arranged on fixed beam 1 and elastic beam 2, four roller bearings 302 can either compress fixed beam 1 and elastic beam 2, can make again slide scale 3 be free to slide, when slide scale 3 moves to the position of appointment, by tightening stop screw 303, the position of slide scale 3 is fixed, and the scale 102 pointing on fixed beam 1 by the pointer 304 on slide scale 3 is read the power value that caliberating device applies.
In caliberating device, fixed beam 1 adopts the higher material of elasticity coefficient, can ignore the distortion of fixed beam 1 in calibration process, elastic beam 2 adopts the stable material of elasticity coefficient, and its elastic modulus is E, and the cross section of elastic beam 2 is rectangle, it is highly h, width is b, and elastic beam 2 total lengths are l, and establishing elastic beam 2 stiff ends is x to the distance of slide scale 3 pointers, the effective elasticity length of elastic beam 2 is l-x, and the height of demarcating cone 4 is y.Now the moment of inertia of elastic beam 2 is:
pressure F and elastic beam 2 stiff ends of demarcating 4 pairs of multi-dimensional force 5 sensors of cone to the pass between the distance x of slide scale 3 pointers are:
The scaling method of multi-dimension force sensor 5 caliberating devices of the present invention, adopts scheme same as the prior art, and the method utilizes input, the output relation formula of multi-dimension force sensor 5 to demarcate decoupling zero.Scaling method of the present invention comprises the following steps:
Step 1: according to the demarcation cone 4 of the measurement range selection proper height y of multi-dimension force sensor 5 to be calibrated, and be arranged in the through hole 202 of elastic beam 2 demarcating cone 4.
Step 2: the circuit that connects multi-dimension force sensor, operation multi-dimension force sensor 5 calibration softwares, multi-dimension force sensor 5 is arranged in the mounting hole 103 of fixed beam bottom surface, make the demarcation axle 501 of multi-dimension force sensor 5 through the groove 105 of fixed beam one end, demarcate cone 4 and be pressed in the center of demarcating axle 501 end faces.Mobile slide scale 3 is to initial alignment position, and tightens stop screw 303, preserves the zero-point voltage of multi-dimension force sensor 5.Unclamp stop screw 303, mobile slide scale 3, to next force application location, aligns pointer 304 with scale 102, and tightens stop screw 303, preserves output voltage and the caliberating device applied force value of multi-dimension force sensor 5.Repeat above-mentioned steps, until be loaded on full scale, complete the once demarcation of multi-dimension force sensor 5Z direction, with reference to figure 1.
Step 3: multi-dimension force sensor 5 is arranged in the mounting hole 104 of end face of fixed beam 1, make the demarcation axle 501 of multi-dimension force sensor 5 in the groove 105 of fixed beam one end, it is upper that demarcation cone 4 is pressed in 501, demarcation axle, according to the load step in step 2, the X+ direction of multi-dimension force sensor 5 demarcated.Multi-dimension force sensor 5 is turn 90 degrees successively around demarcating axle 501, and realize successively the demarcation to the Y+ of multi-dimension force sensor 5, X-, Y-direction, with reference to figure 6 and Fig. 7.
Step 4: repeating step 2, step 3 twice, obtain complete nominal data three times, and adopt existing decoupling zero scheme to carry out decoupling zero to multi-dimension force sensor 5.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. the device of high-precision calibrating in-orbit of multi-dimension force sensor, is characterized in that: fixed beam (1), elastic beam (2), slide scale (3), demarcation cone (4) and multi-dimension force sensor (5), consist of;
Described fixed beam (1) is stacked together with elastic beam (2), the mounting hole (101) of fixed beam (1) aligns with the mounting hole (201) of elastic beam (2) and passes through bolt (6) and fix, slide scale (3) is in the upper slip of fixed beam (1) and elastic beam (2), demarcating cone (4) is arranged in the free-ended through hole of elastic beam (2) (202), demarcate the tip of cone (4) and point to the groove (105) on fixed beam (1), multi-dimension force sensor (5) is arranged on by bolt on first through hole (103) and the second through hole (104) of the other end of fixed beam (1), and the demarcation axle (501) of multi-dimension force sensor (5) contacts with the tip of demarcating cone (4), by mobile slide scale (4), reduce the effective length of elastic beam (2), the loading of realization to multi-dimension force sensor (5) power value.
2. the device of high-precision calibrating in-orbit of multi-dimension force sensor according to claim 1, it is characterized in that: slide scale (3) is by slider bar (301), four roller bearings (302) and stop screw (303) form, four roller bearings (302) are arranged on respectively in the mounting hole in slider bar (301), when slide scale (3) is arranged on fixed beam (1) and elastic beam (2), four roller bearings (302) can either compress fixed beam (1) and elastic beam (2), can make again slide scale (3) be free to slide, when slide scale (3) moves to the position of appointment, by tightening stop screw (303), the position of slide scale (3) is fixed, and the scale (102) pointing on fixed beam (1) by the pointer (304) on slide scale (3) is read the power value that caliberating device applies.
3. the device of high-precision calibrating in-orbit of multi-dimension force sensor according to claim 1, it is characterized in that: fixed beam in caliberating device (1) adopts rigid material, can ignore the distortion of fixed beam (1) in calibration process, elastic beam (2) adopts resilient material, its elastic modulus is E, the cross section of elastic beam (2) is rectangle, it is highly h, width is b, elastic beam (2) total length is l, if elastic beam (2) stiff end is x to the distance of slide scale (3) pointer, the effective elasticity length of elastic beam (2) is l-x, the height of demarcating cone (4) is y, now the moment of inertia of elastic beam (2) is:
demarcating cone (4) to the pressure F of multi-dimension force sensor (5) and elastic beam (2) stiff end to the pass between the distance x of slide scale (3) pointer is:
4. a scaling method for the device of high-precision calibrating in-orbit of multi-dimension force sensor, utilizes input, the output relation formula of multi-dimension force sensor (5) to demarcate decoupling zero; It is characterized in that, specifically comprise the following steps:
Step 1: according to the demarcation cone (4) of the measurement range selection proper height y of multi-dimension force sensor to be calibrated (5), and will demarcate in the through hole (202) that cone (4) is arranged on elastic beam (2);
Step 2: the circuit that connects multi-dimension force sensor (5), operation multi-dimension force sensor (5) calibration software, multi-dimension force sensor (5) is arranged in the mounting hole (103) of fixed beam (1) bottom surface, make the demarcation axle (501) of multi-dimension force sensor (5) through the groove (105) of fixed beam (1) one end, demarcate cone (4) and be pressed in the center of demarcating axle (501) end face; Mobile slide scale (3) is to initial alignment position, and tightens stop screw (303), preserves the zero-point voltage of multi-dimension force sensor (5); Unclamp stop screw (303), mobile slide scale (3) is to next force application location, pointer (304) is alignd with scale (102), and tighten stop screw (303), preserve output voltage and the caliberating device applied force value of multi-dimension force sensor (5); Repeat above-mentioned steps, until be loaded on full scale, complete the once demarcation of multi-dimension force sensor (5) Z direction;
Step 3: multi-dimension force sensor (5) is arranged in the mounting hole (104) of the end face of fixed beam, make the demarcation axle (501) of multi-dimension force sensor (5) in the groove (105) of fixed beam (1) one end, demarcate cone (4) and be pressed on demarcation axle (501) face, according to the load step in step 2, the X+ direction of multi-dimension force sensor (5) is demarcated; Multi-dimension force sensor (5) is turn 90 degrees successively around demarcating axle (501), and realize successively the demarcation to the Y+ of multi-dimension force sensor (5), X-, Y-direction;
Step 4: repeating step 2, step 3 twice, obtain complete nominal data three times, and adopt existing decoupling zero scheme to carry out decoupling zero to multi-dimension force sensor (5).
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Cited By (3)
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| CN105784271A (en) * | 2016-05-25 | 2016-07-20 | 上海交通大学 | Calibration device and method for three-component-force sensor |
| CN109612505A (en) * | 2018-12-13 | 2019-04-12 | 云南电网有限责任公司电力科学研究院 | A kind of bandwidth and the adjustable fibre optical sensor of precision |
| CN110118515A (en) * | 2018-02-06 | 2019-08-13 | 清华大学深圳研究生院 | A kind of method and apparatus for verifying needle knit stitch precision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110118515A (en) * | 2018-02-06 | 2019-08-13 | 清华大学深圳研究生院 | A kind of method and apparatus for verifying needle knit stitch precision |
| CN110118515B (en) * | 2018-02-06 | 2020-12-08 | 清华大学深圳研究生院 | Method and device for verifying needle setting precision of surgical needle |
| CN109612505A (en) * | 2018-12-13 | 2019-04-12 | 云南电网有限责任公司电力科学研究院 | A kind of bandwidth and the adjustable fibre optical sensor of precision |
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