CN103926038A - Multi-dimensional force sensor calibration device with controllable poses - Google Patents

Multi-dimensional force sensor calibration device with controllable poses Download PDF

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Publication number
CN103926038A
CN103926038A CN201410102579.2A CN201410102579A CN103926038A CN 103926038 A CN103926038 A CN 103926038A CN 201410102579 A CN201410102579 A CN 201410102579A CN 103926038 A CN103926038 A CN 103926038A
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CN
China
Prior art keywords
moving platform
platform
force sensor
universal coupling
drive link
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Pending
Application number
CN201410102579.2A
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Chinese (zh)
Inventor
于凌涛
杨景
王正雨
孙立强
王文杰
李宏伟
李洪洋
宋华建
张宝玉
张涵
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Harbin Engineering University
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Harbin Engineering University
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Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201410102579.2A priority Critical patent/CN103926038A/en
Publication of CN103926038A publication Critical patent/CN103926038A/en
Pending legal-status Critical Current

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Abstract

The invention provides a multi-dimensional force sensor calibration device with controllable poses. The multi-dimensional force sensor calibration device comprises a fixing platform, drive mechanisms, connecting rod mechanisms and a moving platform. The upper ends of the drive mechanisms and the lower ends of the connecting rod mechanisms are connected to form drive connecting rod mechanisms. The upper ends of the six drive connecting rod mechanisms are hinged to the moving platform through universal hinges, and the lower ends of the six drive connecting rod mechanisms are hinged to a fixed platform to form a six-freedom-degree parallel mechanism. The six drive connecting rod mechanisms are divided into three groups. Every two adjacent drive connecting rod mechanisms form one group and are arranged in the mode shaped like a Chinese character 'ba'. The poses of a calibration platform can be controlled and changed, and the calibration device has the function of calibrating a sensor dynamically and statically, and is complete in function, convenient to operate, high in calibration precision and capable of being well applied to practical engineering.

Description

The multi-dimension force sensor caliberating device that a kind of pose is controlled
Technical field
The present invention relates to a kind of caliberating device of multi-dimension force sensor.
Background technology
Sensor is as key foundation element and the forefront instrument of infotech and infosystem, and its production technique directly has influence on the technical merit that detects control system and infosystem.Owing to all can there being every year a large amount of sensors to be produced, so the thing followed is exactly a large amount of staking-out work to sensor.Measuring accuracy when sensor uses after the stated accuracy of sensor directly has influence on.At present, the domestic research of the demarcation to power sensor mainly concentrates on static demarcating aspect, and the general method by experiment that adopts of the dynamic calibration of sensor is measured or the method for employing absolute coordinates.But adopt the calibration facility of method of absolute coordinate system development also to have the limitation of self applying, the general cost of these equipment is higher, demarcate the time needing long, be unfavorable in the industrial popularization of producing sensor in enormous quantities, the staking-out work of sensor while not being suitable for batch production.So it is high, simple to operation that a stated accuracy is badly in need of in engineering application, the comprehensive force sensor caliberating device of calibrating function.Therefore, designing a multi-dimensional force caliberating device tool is of great significance.
Summary of the invention
The object of the invention is to provide a kind of multi-dimension force sensor caliberating device that stated accuracy is high, simple to operation, the comprehensive multidigit appearance of calibrating function is controlled that has.
The object of the present invention is achieved like this: comprise stationary platform, driving mechanism, linkage assembly and moving platform, the upper end of driving mechanism and the lower end of linkage assembly connect to form drive link mechanism, the upper end of six drive link mechanisms and moving platform are hinged by universal coupling, the hinged formation six-degree-of-freedom parallel connection mechanism of lower end and stationary platform, six drive link mechanisms are divided into three groups, adjacent Liang Ge drive link mechanism is one group, be Eight characters setting, the hinged position distribution of six drive link mechanisms and stationary platform is on the circumference of stationary platform, between two hinges of each group and the center of circle, be formed with 20 ° of angles, the hinged position distribution of six drive link mechanisms and moving platform is on the circumference of moving platform, between two hinges of each group and the center of circle, be formed with 30 ° of angles, the intersection point of the folder bisector of angle of every group of hinge and distribution circumference is regarded as to three articulated position formation equilateral triangles of articulated position of this group hinge and connecting rod, the two triangle position of upper and lower two platforms differs 60 °.
The present invention can also comprise:
1, described driving mechanism comprises motor pillar, universal coupling support A, servomotor, shaft coupling, servomotor is arranged in motor pillar, universal coupling support A is arranged on one end of motor pillar, universal coupling support A connects with the universal coupling being fixed in stationary platform by joint spider, and servomotor connects with the leading screw of linkage assembly by shaft coupling.
2, described linkage assembly comprises leading screw, feed screw nut, extension sleeve, barrel, orienting sleeve, feed screw nut is arranged on leading screw, extension sleeve and feed screw nut are connected, extension sleeve is positioned at barrel, orienting sleeve is arranged between barrel and extension sleeve, and universal coupling support B is installed by turning set in extension sleeve end.
3, described moving platform comprises moving platform plate, sensor stationary platform, pulley support mechanism, pulley winding mechanism, sensor stationary platform is connected in the middle of moving platform plate, and the centre position that pulley winding mechanism is arranged on to pulley support mechanism sets it as four positions of an integral installation at moving platform plate after initial position.
The present invention can realize the controllable variations of the pose of calibrating platform, and then can realize dynamic calibration to sensor and the function of static demarcating, and complete function, easy to operate, stated accuracy is high, can better meet the application on Practical Project.
Multi-dimension force sensor caliberating device of the present invention, has following characteristics:
The plurality of advantages such as 1, the present invention adopts the parallel institution rigidity of 6DOF large, load-bearing capacity is large, kinematic accuracy is high, inertia is little, load is evenly distributed, and simple in structure.
2, load maintainer of the present invention is simple to operate, and is easy to control.
3, the present invention has identical branch, and structural symmetry has isotropy, can realize well the translation of six degree of freedom and rotatablely move.
4, the pose of transducer calibration platform of the present invention is controlled, is not only applicable to static demarcating but also be applicable to dynamic calibration, complete function.
5, each several part parts of the present invention are easy to handling, and maintenance easily.
Brief description of the drawings
Fig. 1 is integrated machine composition of the present invention.
Fig. 2 is stationary platform structural scheme of mechanism of the present invention.
Fig. 3 is driving mechanism schematic diagram of the present invention.
Fig. 4 is linkage assembly schematic diagram of the present invention.
Fig. 5 is universal joint schematic diagram of the present invention.
Fig. 6 is moving platform mechanism schematic diagram of the present invention.
Fig. 7 is the solid assembling schematic diagram of pulley support of the present invention mechanism.
Fig. 8 is the solid assembling schematic diagram of pulley Winder of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described for example.
In conjunction with Fig. 1, the present invention is mainly made up of stationary platform mechanism 1, driving mechanism 2, linkage assembly 3, universal joint 4, moving platform mechanism 5.The present invention adopts typical Stewart type parallel-connection structure.There are upper and lower two platforms in this mechanism, connects successively by the linkage assembly of six driven by servomotor, and the upper end of six linkage assemblys and moving platform are hinged by universal coupling, and lower end and stationary platform are hinged, form the parallel institution of six degree of freedom.Six described linkage assemblys are divided into three groups, and two adjacent linkage assemblys are one group, are Eight characters setting.Described six with the hinged position distribution of stationary platform on the circumference of φ 500, between two hinges of each group and the center of circle, be formed with 20 ° of angles; Six with the hinged position distribution of moving platform on the circumference of φ 300, between two hinges of each group and the center of circle, be formed with 30 ° of angles.The intersection point of the folder bisector of angle of every group of hinge and distribution circumference is regarded as to the articulated position of this group hinge and connecting rod, three articulated position form equilateral triangle, and the two triangle position of upper and lower two platforms differs 60 °.
In conjunction with Fig. 2, stationary platform mechanism 1 is made up of screw 1-1, plain washer 1-2, elastic washer 1-3, stationary platform 1-4, foundation 1-5.Special shape by foundation 1-5 can support whole mechanism stably.
In conjunction with Fig. 3, driving mechanism 2 consists of the following components: bearing (ball) cover 2-1, screw 2-2, universal coupling support A2-3, servomotor 2-4, motor pillar 2-5, nut 2-6, shaft coupling 2-7 composition.Shaft coupling 2-7 can offset angle to and axial deviation.Driving mechanism connects with the universal coupling that is fixed on stationary platform by joint spider, and servomotor 2-4 connects with leading screw by shaft coupling 2-7, thereby servomotor can drive leading screw to rotate together.
In conjunction with Fig. 4, linkage assembly 3 mainly contains end cap A3-1, leading screw 3-2, felt collar 3-3, angular contact bearing 3-4, O-ring seal 3-5, feed screw nut 3-6, extension sleeve 3-7, barrel A3-8, barrel B3-9, orienting sleeve 3-10, end ring 3-11, round nut 3-12, sleeve B3-13, sleeve A3-14, universal coupling base cover 3-15, universal coupling support B3-16, connecting rod end cap 3-17, stop washer 3-18, rolling bearing 3-19, barrel C3-20 composition.The concrete structure of each connecting rod branch is universal hinge-revolute pair-moving sets-universal hinge pattern, in the time that servomotor 2-4 drives leading screw 3-2 rotation, feed screw nut 3-6 also rotates thereupon, feed screw nut 3-6 and extension sleeve 3-7 are by screw attachment again, and therefore feed screw nut 3-6 can drive extension sleeve 3-7 to rotate together.Due to structural limitations, determine that extension sleeve 3-7 only moves linearly along the direction of guide groove, extension sleeve 3-7 connects with moving platform by universal joint.While wanting to allow moving platform central point arrive a certain specific position under this structure, thereby the different variation lengths that only need to realize by controlling the rotation of 6 servomotors linkage assembly just can be realized the position of moving platform table top and the conversion of attitude in certain spatial dimension.
In conjunction with Fig. 5, universal joint 4 mainly contains screw 4-1, bearing (ball) cover 4-2, rolling bearing 4-3, universal coupling support 4-4, joint spider 4-5 composition.Extension sleeve 3-7 and universal coupling are connected by joint spider 4-5, thereby realize relatively rotating of extension sleeve 3-7 and universal coupling.Universal coupling is fixed by screws on moving platform.
In conjunction with Fig. 6, moving platform mechanism 5 is mainly made up of moving platform 5-1, sensor stationary platform 5-2, the 5-3 of pulley support mechanism, pulley winding mechanism 5-4.Sensor stationary platform 5-2 by screw attachment on moving platform 5-1.The centre position that pulley winding mechanism 5-4 is arranged on to the 5-3 of pulley support mechanism, as initial position, then sets it as an entirety by uniform four positions that are connected in moving platform of screw.In the time of turning handle 5-3-9, owing to being screw thread pair transmission between sliding nut 5-4-3 and screw rod 5-3-5, sliding nut 5-4-3 will move horizontally along guide pole 5-3-6, now pulley winding mechanism 5-4 horizontal level changes, change thereby drive around the position of the upper wire rope that hangs counterweight of pulley winding mechanism 5-4, realize the conversion of demarcating force and moment.Support 5-4-1 is arranged on the lateral surface of sliding nut 5-4-3, wire rope is passed from the aperture of support 5-4-1 end, ensure that with this it is one-dimensional power that counterweight and rope are not interfered the power that can ensure to be applied on sensor to be calibrated with the parts generation of other motions simultaneously.In the time adopting static demarcating, sensor is fixed on to sensor stationary platform 5-2 center by screw attachment, in the time adopting dynamic calibration, sensor is placed in a robot, robot can be in position and attitude arbitrarily, sensor random device people moves to sensor stationary platform 5-2 center together again, thereby can carry out dynamic calibration to sensor.

Claims (5)

1. the multi-dimension force sensor caliberating device that pose is controlled, comprise stationary platform, driving mechanism, linkage assembly and moving platform, it is characterized in that: the upper end of driving mechanism and the lower end of linkage assembly connect to form drive link mechanism, the upper end of six drive link mechanisms and moving platform are hinged by universal coupling, the hinged formation six-degree-of-freedom parallel connection mechanism of lower end and stationary platform, six drive link mechanisms are divided into three groups, adjacent Liang Ge drive link mechanism is one group, be Eight characters setting, the hinged position distribution of six drive link mechanisms and stationary platform is on the circumference of stationary platform, between two hinges of each group and the center of circle, be formed with 20 ° of angles, the hinged position distribution of six drive link mechanisms and moving platform is on the circumference of moving platform, between two hinges of each group and the center of circle, be formed with 30 ° of angles, the intersection point of the folder bisector of angle of every group of hinge and distribution circumference is regarded as to three articulated position formation equilateral triangles of articulated position of this group hinge and connecting rod, the two triangle position of upper and lower two platforms differs 60 °.
2. the controlled multi-dimension force sensor caliberating device of pose according to claim 1, it is characterized in that: described driving mechanism comprises motor pillar, universal coupling support A, servomotor, shaft coupling, servomotor is arranged in motor pillar, universal coupling support A is arranged on one end of motor pillar, universal coupling support A connects with the universal coupling being fixed in stationary platform by joint spider, and servomotor connects with the leading screw of linkage assembly by shaft coupling.
3. the controlled multi-dimension force sensor caliberating device of pose according to claim 1 and 2, it is characterized in that: described linkage assembly comprises leading screw, feed screw nut, extension sleeve, barrel, orienting sleeve, feed screw nut is arranged on leading screw, extension sleeve and feed screw nut are connected, extension sleeve is positioned at barrel, orienting sleeve is arranged between barrel and extension sleeve, and universal coupling support B is installed by turning set in extension sleeve end.
4. the controlled multi-dimension force sensor caliberating device of pose according to claim 1 and 2, it is characterized in that: described moving platform comprises moving platform plate, sensor stationary platform, pulley support mechanism, pulley winding mechanism, sensor stationary platform is connected in the middle of moving platform plate, and the centre position that pulley winding mechanism is arranged on to pulley support mechanism sets it as four positions of an integral installation at moving platform plate after initial position.
5. the controlled multi-dimension force sensor caliberating device of pose according to claim 3, it is characterized in that: described moving platform comprises moving platform plate, sensor stationary platform, pulley support mechanism, pulley winding mechanism, sensor stationary platform is connected in the middle of moving platform plate, and the centre position that pulley winding mechanism is arranged on to pulley support mechanism sets it as four positions of an integral installation at moving platform plate after initial position.
CN201410102579.2A 2014-03-19 2014-03-19 Multi-dimensional force sensor calibration device with controllable poses Pending CN103926038A (en)

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN104236794A (en) * 2014-10-13 2014-12-24 大连交通大学 Six-dimensional force transducer calibration device
CN105252530A (en) * 2015-11-27 2016-01-20 哈尔滨工业大学 Six-degree-of-freedom large-stroke flexible parallel platform
CN105345770A (en) * 2015-11-27 2016-02-24 哈尔滨工业大学 Hooke-deviated six-degree-of-freedom platform
CN105841648A (en) * 2016-05-24 2016-08-10 吉林大学 Calibration device of six-freedom-degree measurement system
CN106338250A (en) * 2016-11-10 2017-01-18 中南大学 Tail-end pose detection system and method for flexible parallel platform with photoelectronic packaging
CN107462367A (en) * 2017-08-17 2017-12-12 穆特科技(武汉)股份有限公司 A kind of caliberating device of six degree of freedom power and torque sensor
CN108860634A (en) * 2018-05-22 2018-11-23 吉林大学 A kind of Novel helicopter carrying detection instrument connecting platform
CN109719701A (en) * 2017-10-31 2019-05-07 香港理工大学深圳研究院 Mechanical arm configuration, numerically-controlled machine tool rest, numerically-controlled machine tool
CN111168653A (en) * 2020-01-21 2020-05-19 中国电子产品可靠性与环境试验研究所((工业和信息化部电子第五研究所)(中国赛宝实验室)) Parallel pose adjusting device
CN111746819A (en) * 2020-07-10 2020-10-09 中国航空制造技术研究院 Automatic assembly equipment for helicopter hub

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104236794A (en) * 2014-10-13 2014-12-24 大连交通大学 Six-dimensional force transducer calibration device
CN104236794B (en) * 2014-10-13 2016-04-06 大连交通大学 A kind of six-dimension force sensor calibration device
CN105252530A (en) * 2015-11-27 2016-01-20 哈尔滨工业大学 Six-degree-of-freedom large-stroke flexible parallel platform
CN105345770A (en) * 2015-11-27 2016-02-24 哈尔滨工业大学 Hooke-deviated six-degree-of-freedom platform
CN105841648A (en) * 2016-05-24 2016-08-10 吉林大学 Calibration device of six-freedom-degree measurement system
CN105841648B (en) * 2016-05-24 2018-08-03 吉林大学 The caliberating device of six degree of freedom measuring system
CN106338250A (en) * 2016-11-10 2017-01-18 中南大学 Tail-end pose detection system and method for flexible parallel platform with photoelectronic packaging
CN106338250B (en) * 2016-11-10 2019-06-18 中南大学 A kind of optoelectronic packaging flexible parallel connection platform end pose detection system and method
CN107462367A (en) * 2017-08-17 2017-12-12 穆特科技(武汉)股份有限公司 A kind of caliberating device of six degree of freedom power and torque sensor
CN107462367B (en) * 2017-08-17 2019-12-03 穆特科技(武汉)股份有限公司 A kind of caliberating device of six degree of freedom power and torque sensor
CN109719701A (en) * 2017-10-31 2019-05-07 香港理工大学深圳研究院 Mechanical arm configuration, numerically-controlled machine tool rest, numerically-controlled machine tool
CN108860634A (en) * 2018-05-22 2018-11-23 吉林大学 A kind of Novel helicopter carrying detection instrument connecting platform
CN108860634B (en) * 2018-05-22 2021-07-06 吉林大学 Novel helicopter carries on detecting instrument connection platform
CN111168653A (en) * 2020-01-21 2020-05-19 中国电子产品可靠性与环境试验研究所((工业和信息化部电子第五研究所)(中国赛宝实验室)) Parallel pose adjusting device
CN111746819A (en) * 2020-07-10 2020-10-09 中国航空制造技术研究院 Automatic assembly equipment for helicopter hub

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Application publication date: 20140716