CN105181236A - Calibration method of six-dimensional force sensor - Google Patents
Calibration method of six-dimensional force sensor Download PDFInfo
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Abstract
The invention discloses a calibration method of a six-dimensional force sensor. A calibration device of the six-dimensional force sensor is used in the method. The method comprises the following steps of 1) calibration of the calibration device; 2) loading in the Fx direction; 3) loading in the Fy direction; 4) loading in the Fz direction; 5) loading in the Mx direction of the six-dimensional force sensor; 6) loading in the My direction of the six-dimensional force sensor; and 7) loading in the Mz direction of the six-dimensional force sensor. According to the calibration method, different dimensions of the six-dimensional force sensor can be accurately loaded successively, loaded experimental data is analyzed to obtain the static performance index of the sensor, reasons causing errors are analyzed, design the six-dimensional force sensor can be improved via the method, and reference is provided for metering standard and magnitude tracing of the six-dimensional force sensor.
Description
Technical field
The present invention relates to a kind of six-dimension force sensor and carried out the experimental technique of static demarcating, particularly relate to a kind of six-dimension force sensor calibration method.
Background technology
Along with robot is towards intelligent direction development, the critical elements six-dimension force sensor of robot automtion receives increasing concern and attention.To six-dimension force sensor demarcate be come into operation before key link, for timing signal can accurately load sensor, and nominal data can be gathered efficiently, the high-precision six-dimension force sensor calibration system of research and design advanced person is the guarantee realizing accurately, efficiently demarcating six-dimension force sensor.
At present, relative to the fast development of novel sensor, China's comparatively backwardness in the metrological testing technology and method of testing of novel sensor, many novel sensors there is no corresponding standard, also not relevant standard detection protocols and checkout equipment, and can accurately, can trace to the source, easy calibration method; Meanwhile, because the stability of product, consistance, reliability are poor, many important sensor meet mainly through import.China still can not meet the needs of economic construction and social development in novel sensor gauge check technology and device.
Although have more about the scaling method of six-dimension force sensor and caliberating device, but the domestic calibration method not yet setting up six-dimension force sensor, also without corresponding vertification regulation, therefore, in the urgent need to setting up the metrology and measurement method and apparatus of six-dimension force sensor, and set up the calibrating codes and standards of six-dimensional force/torque sensor on its basis, and then provide important guarantee for the use of six-dimensional force and torque sensor.
Summary of the invention
For above shortcomings part in prior art, the invention provides a kind of six-dimension force sensor calibration method.This six-dimension force sensor calibration method not only provides effective detection method for the testing improvement of six-dimension force sensor, also has good facilitation to the application of six-dimension force sensor simultaneously.
In order to solve the problems of the technologies described above, present invention employs following technical scheme:
Six-dimension force sensor calibration method, have employed a kind of six-dimension force sensor calibration device in the method, this device comprises chuck, six-dimension force sensor to be calibrated, sensor loading disc, crossbeam and support column under worktable, short support, rotary table, sensor; Described worktable is near four sides and the middle part all longitudinally orthogonal chute with horizontally set; Described short support is four and is arranged on four middle side parts of worktable respectively; Described rotary table is arranged on the middle part of worktable; Difference at right angle setting support column on the pair of horns direction of worktable, cross beam water safety is contained in the top of support column; Under described sensor, chuck is arranged on rotary table, and six-dimension force sensor is arranged under sensor on chuck, and described sensor loading disc is arranged on six-dimension force sensor; In four sides of sensor loading disc, girt is set respectively, vertical ties is set at the top of sensor loading disc; Described short support comprises base, vertically back up pad and short fixture, described base is fixed on the table and is slidably coordinated with chute, described vertical back up pad is vertically fixed on base, and described short fixture to be horizontally set in vertical back up pad and slidably to coordinate with vertical back up pad in the vertical direction; The side of short fixture arranges fixed pulley I and fixed pulley II near outer end, described fixed pulley II is positioned at the oblique upper of fixed pulley I, arranges a fixed pulley III at the opposite side of short fixture near outer end; Described crossbeam is positioned at directly over vertical ties and arranges a fixed pulley IV, on described crossbeam and near the outer end of crossbeam, one fixed pulley V is set;
This six-dimension force sensor calibration method comprises the steps:
1) calibrate device: use fixed pulley IV position in the middle of hex wrench adjustment crossbeam, and measure judgement according to positioning rope, make sash weight summit aim at six-dimension force sensor center, thus ensure that Fz loading direction is accurately consistent; Judged the height of adjustment four short fixtures by height gauge, make the height of the fixed pulley I of short clamp base and six-dimension force sensor keep sustained height; The position utilizing steel ruler to adjust surrounding short support makes it be in same straight line with the center of six-dimension force sensor, then measures according to positioning rope and finely tunes, and side force direction and the short fixture of guarantee six-dimension force sensor are in same straight line;
2) load in Fx direction: one end of a standard transducer is connected with the girt in x direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I walking around x direction, utilizes Weight gravity to apply the load in x direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
3) load in Fy direction: one end of a standard transducer is connected with the girt in y direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I walking around y direction, utilizes Weight gravity to apply the load in y direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
4) load in Fz direction: one end of a standard transducer is connected with the vertical ties on sensor loading disc by drag hook, the other end connects by the fixed pulley IV on crossbeam and fixed pulley V and loads the cord of counterweight, utilizes Weight gravity to apply the load in z direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
5) six-dimension force sensor Mx direction is loaded, be connected with the girt in y direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I on a short fixture of walking around y direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II on another short fixture in y direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
6) six-dimension force sensor My direction is loaded, be connected with the girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I on a short fixture of walking around x direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II on another short fixture in x direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
7) six-dimension force sensor Mz direction is loaded, be connected with a girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley III on a short fixture of walking around y direction; Be connected with another girt in x direction on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley III on another short fixture in y direction again; The two places load that the contrary size of loading direction is identical respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
As a preferred embodiment of the present invention, described crossbeam is arranged a bar hole, described fixed pulley IV is fixed on crossbeam by the screw rod through bar hole.
As another kind of preferred version of the present invention, the chute on described worktable is the T chute that upper young end opening is large, and the bottom of described base is fixedly connected with the large T-shaped slide block in little bottom, top, and described T-shaped slide block is positioned at chute and slidably coordinates with chute.
As a modification of the present invention scheme, described vertical back up pad arranges guide chute at vertical direction, and described short fixture is fixedly connected in vertical back up pad by check lock lever and also can slides up and down along guide chute.
Technique effect of the present invention is: this six-dimension force sensor calibration method respectively can be tieed up six-dimension force sensor and accurately load successively, by to loading experiment data analysis, obtain its static performance index, finally the reason producing error is analyzed, important in inhibiting is improved for six-dimension force sensor design; This scaling method is for setting up six-dimension force sensor measurement standard and magnitude tracing provides reference simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of six-dimension force sensor calibration device;
Fig. 2 is the structural representation of short support;
Fig. 3 is the structural representation of six-dimension force sensor;
Fig. 4 is the structural representation of sensor loading disc;
Fig. 5 is data acquisition system (DAS) figure;
Fig. 6 is signals collecting part electrical schematics;
Fig. 7 is acquisition system composition structural drawing.
In accompanying drawing, 1-worktable; 2-short support; 3-rotary table; Chuck under 4-sensor; 5-six-dimension force sensor; 6-sensor loading disc; 7-crossbeam; 8-support column; 9-chute; 10-girt; 11-vertical ties; 12-base; 13-vertically back up pad; 14-short fixture; 15-fixed pulley I; 16-fixed pulley II; 17-fixed pulley III; 18-fixed pulley IV; 19-fixed pulley V; 20-screw rod; 21-slide block; 22-guide chute.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Six-dimension force sensor calibration method, have employed a kind of six-dimension force sensor calibration device in the method, as shown in Figure 1, this device comprises chuck 4, six-dimension force sensor 5 to be calibrated, sensor loading disc 6, crossbeam 7 and support column 8 under worktable 1, short support 2, rotary table 3, sensor.Worktable 1 is near four sides and the middle part all longitudinally orthogonal chute 9 with horizontally set, and the chute 9 on worktable 1 is the T chute that upper young end opening is large.Short support 2 is four and is arranged on four middle side parts of worktable 1 respectively, and rotary table 3 is arranged on the middle part of worktable 1.
Difference at right angle setting support column 8 on the pair of horns direction of worktable 1, crossbeam 7 level is arranged on the top of support column 8, crossbeam 7 is positioned at directly over vertical ties 11 and arranges a fixed pulley IV 18 (in the present embodiment, crossbeam 7 is arranged a bar hole, fixed pulley IV 18 is fixed on crossbeam 7 by the screw rod 20 through bar hole).On crossbeam 7 and near the outer end of crossbeam 7, a fixed pulley V 19 is set.Under sensor, chuck 4 is arranged on rotary table 3, and six-dimension force sensor 5 is arranged under sensor on chuck 4, and sensor loading disc 6 is arranged on six-dimension force sensor 5; Girt 10 is set respectively in four sides of sensor loading disc 6, vertical ties 11 is set at the top of sensor loading disc 6.
As shown in Figure 2, short support 2 comprises base 12, vertically back up pad 13 and short fixture 14 to the structure of short support.Base 12 to be fixed on worktable 1 and slidably to coordinate with chute 9 (in the present embodiment, the bottom of base 12 is fixedly connected with the large T-shaped slide block 21 in little bottom, top, and T-shaped slide block 21 is positioned at chute 9 and slidably coordinates with chute 9).Vertical back up pad 13 is vertically fixed on base 12, short fixture 14 to be horizontally set in vertical back up pad 13 and slidably to coordinate (in the present embodiment with vertical back up pad 13 in the vertical direction, vertical back up pad 13 arranges guide chute 22 at vertical direction, and short fixture 14 is fixedly connected in vertical back up pad 13 by check lock lever 23 and also can slides up and down along guide chute 22).The side of short fixture 14 arranges fixed pulley I 15 and fixed pulley II 16 near outer end, fixed pulley II 16 is positioned at the oblique upper of fixed pulley I 15, arranges a fixed pulley III 17 at the opposite side of short fixture 14 near outer end.
This six-dimension force sensor calibration method comprises the steps:
1) calibrate device: use fixed pulley IV 18 position in the middle of hex wrench adjustment crossbeam 7, and measure judgement according to positioning rope, make sash weight summit aim at six-dimension force sensor center, thus ensure that Fz loading direction is accurately consistent; Judged the height of the short fixture 14 of adjustment four by height gauge, make the height of the fixed pulley I 15 bottom short fixture 14 and six-dimension force sensor 5 keep sustained height; The position utilizing steel ruler to adjust surrounding short support 2 makes it be in same straight line with the center of six-dimension force sensor 5, then measures according to positioning rope and finely tunes, and side force direction and the short fixture 14 of guarantee six-dimension force sensor 5 are in same straight line.
2) load in Fx direction: one end of a standard transducer is connected with the girt in x direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I 15 walking around x direction, utilizes Weight gravity to apply the load in x direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
3) load in Fy direction: one end of a standard transducer is connected with the girt in y direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I 15 walking around y direction, utilizes Weight gravity to apply the load in y direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
4) load in Fz direction: one end of a standard transducer is connected with the vertical ties on sensor loading disc by drag hook, the other end connects by the fixed pulley IV 18 on crossbeam 7 and fixed pulley V 19 and loads the cord of counterweight, utilizes Weight gravity to apply the load in z direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
5) six-dimension force sensor Mx direction is loaded, be connected with the girt in y direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I 15 on a short fixture of walking around y direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II16 on another short fixture in y direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
6) six-dimension force sensor My direction is loaded, be connected with the girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I 15 on a short fixture of walking around x direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II 16 on another short fixture in x direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
7) six-dimension force sensor Mz direction is loaded, be connected with a girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley III 17 on a short fixture of walking around y direction; Be connected with another girt in x direction on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley III 17 on another short fixture in y direction again; The two places load that the contrary size of loading direction is identical respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducer defeated rotary table 3 rotary tables 3 go out, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
Six-dimension force sensor is arranged on the center of rotary table 3, can six-dimension force sensor is rotated by controlling rotary table 3 thus realize positive and negative loading and offset because loading the systematic error produced by exchanging loading position.
Two threaded holes on rotary table 3 are for installing two support columns 8, the crossbeam 7 that support column 8 is installed has two fixed pulleys, the effect of loading direction is changed by two fixed pulleys, utilize Weight gravity to apply loading vertically upward to six-dimension force sensor 5, support column 8 and crossbeam 7 are mainly used in the demarcation load applying Fz direction.Adjust the short position of support 2 on worktable 1, and be fixed by the T-shaped slide block in hex bolts and slideway.Short fixture 14 is arranged in vertical back up pad 13, can slide up and down in vertical back up pad 13, hex wrench is used to fix after adjusting position, and each short fixture 14 is provided with two fixed pulley groups, wherein the distance of two fixed pulley horizontal directions of below is 160mm, the centre distance 70mm of upper and lower two fixed pulley vertical directions, as shown in Figure 2.Load for realizing one-dimensional and ensure loading direction, making short support 2 mutually on the same line and orthogonal, with the use of counterweight by short support 2 six-dimension force sensor Fx, Fy and Mx, My direction are loaded and demarcate load.
In this enforcement, its external form of six-dimension force sensor is comparatively flat right cylinder, and as shown in Figure 3, draw output line from this six-dimension force sensor inside, this transmission line has function of shielding, and joint is lemo14 core aviation plug.This six-dimension force sensor is connected with the object acted on it by former and later two end caps, and end cap is circumferentially uniformly distributed 4 screw holes thereafter.Need before demarcation to design corresponding load loading component according to the resemblance of six-dimension force sensor, the loading component of this six-dimension force sensor design is made up of sensor loading disc 6 (as shown in Figure 4) and pull bar (comprising girt 10 and vertical ties 11), wherein loading disc is installed the threaded hole center of pull bar and six-dimension force sensor reference field at grade, thus ensureing that the loading of horizontal direction is accurate, sensor loading disc 6 is fixed by screw.Parts six-dimension force sensor being installed on worktable mainly contain: chuck, round nut, key and hexagonal nut etc. under rotary table, sensor loading disc, sensor.
For ensureing the reliability of caliberating device, first, should use in design and process segment the material that hardness is higher, and ensureing its machining precision, secondly, before loading, need caliberating device to calibrate.First accurately install six-dimension force sensor on rotary table after, rotary table be fixed on work top centre position and adjust its scale to 0 °, rotation lock rod locking.
After calibrate device, the all directions of six-dimension force sensor are demarcated respectively, specifically carry out as follows: (1) configures corresponding standard test weight according to six-dimension force sensor measurement range, this demarcation is configured with: 1kg counterweight 4,2kg counterweight 4,5kg counterweight 4,10kg counterweight 4; Simultaneously, the impact of the factors such as the moment of friction produced for avoiding rolling bearing inside and the friction force between rope and fixed pulley makes load loading inaccurate, by using high-precision standard one-dimensional force snesor determination loaded value, standard transducer one end is connected with loading component by drag hook, and the other end is connected with standard test weight by cord.(2) in the measurement range of six-dimension force sensor, progressively load by the order of successively decreasing successively from big to small after increasing progressively successively from small to large, after loading when counterweight remains static or observe it by the display curve of the analytic system of independently developed data acquisition and whether stablize, then record nominal data and be kept at specified file.
Acquisition system mainly comprises measured signal part, signal condition part, part of data acquisition and computing machine part, and these four parts constitute a complete acquisition system, as shown in Figure 5.Specifically, be exactly that sensor changes the original signal of non electrical quantity into discernible electric signal and through signal condition device processes (amplification, filtering, isolation etc.).Signal after conditioning remains simulating signal, and simulating signal is converted to by data collecting card can by the digital signal of computer recognizing.
The process such as signal mainly carries out amplifying by modulate circuit, filtering, isolation.The electric signal (analog or digital signal) that data collecting card exports with measuring units such as queue forms successively pick-up transducers, is transferred to thereafter in host computer, is carried out the operations such as certain analyzing and processing by host computer.Data collecting card is a kind of computer extender card, and it can realize data acquisition function, can pass through the bus access personal computers such as PCI, PCIExpress, PXI, USB, PCMCIA, RS485, RS232, Ethernet, various wireless networks.
The method need gather the signal of a six-dimension force sensor, two standard one-dimensional force snesor, after the process such as modulate circuit amplification, filtering, isolation, signal after Usage data collection card collection conditioning is also transferred to computing machine and carries out analyzing and processing, carries out design and selection according to system compositing characteristic and performance requirement to acquisition system hardware components.
Faint (microvolt level) differential signal that sensor exports becomes the single-ended signal of 0 ~ 10V after amplifier amplifies, then filtering is carried out by active low-pass filter, digital signal is converted to again by AD converter, controlled by embedded microprocessor, mail to communication interface, electrical schematics as shown in Figure 6.
System is primarily of six-dimension force sensor to be calibrated, two standard one-dimensional force snesor, amplifying circuit, signal processor, NI capture card, computing machine and associated transport line compositions, and system composition is as Fig. 7.
NIUSB-6210 data collecting card is that a usb bus is powered M series multifunctional external hanging type data acquisition module, directly be connected with computing machine by USB interface, its be easy to install, easy to use, antijamming capability is strong, do not limit by the quantity of computer slot and address, freely can interrupt, there is extensibility good; Under some strong electromagnetic test environments, by special electromagnetic shielding method, the data distortion that it gathers can be avoided, and can degree of precision be kept equally under high sampling rate.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (4)
1. six-dimension force sensor calibration method, it is characterized in that, have employed a kind of six-dimension force sensor calibration device in the method, this device comprises chuck (4), six-dimension force sensor to be calibrated (5), sensor loading disc (6), crossbeam (7) and support column (8) under worktable (1), short support (2), rotary table (3), sensor; Described worktable (1) is near four sides and the middle part all longitudinally orthogonal chute (9) with horizontally set; Described short support (2) is four and is arranged on four middle side parts of worktable (1) respectively; Described rotary table (3) is arranged on the middle part of worktable (1); Difference at right angle setting support column (8) on the pair of horns direction of worktable (1), crossbeam (7) level is arranged on the top of support column (8); Under described sensor, chuck (4) is arranged on rotary table (3), six-dimension force sensor (5) is arranged under sensor on chuck (4), and described sensor loading disc (6) is arranged on six-dimension force sensor (5); Girt (10) is set respectively in four sides of sensor loading disc (6), vertical ties (11) is set at the top of sensor loading disc (6); Described short support (2) comprises base (12), vertically back up pad (13) and short fixture (14), described base (12) is fixed on worktable (1) and goes up and slidably coordinate with chute (9), described vertical back up pad (13) is vertically fixed on base (12), and described short fixture (14) is horizontally set on vertical back up pad (13) and goes up and slidably coordinate with vertical back up pad (13) in the vertical direction; The side of short fixture (14) arranges fixed pulley I (15) and fixed pulley II (16) near outer end, described fixed pulley II (16) is positioned at the oblique upper of fixed pulley I (15), arranges a fixed pulley III (17) at the opposite side of short fixture (14) near outer end; Described crossbeam (7) is gone up and is positioned at directly over vertical ties (11) and arranges a fixed pulley IV (18), and described crossbeam (7) is upper and outer end that is close crossbeam (7) arranges a fixed pulley V (19);
This six-dimension force sensor calibration method comprises the steps:
1) calibrate device: use fixed pulley IV (18) position in the middle of hex wrench adjustment crossbeam (7), and measure judgement according to positioning rope, make sash weight summit aim at six-dimension force sensor center, thus ensure that Fz loading direction is accurately consistent; Judged the height of adjustment four short fixtures (14) by height gauge, make the height of the fixed pulley I (15) of short fixture (14) bottom and six-dimension force sensor (5) keep sustained height; The position utilizing steel ruler to adjust the short support of surrounding (2) makes the center of itself and six-dimension force sensor (5) be in same straight line, then measure according to positioning rope and finely tune, ensureing that the side force direction of six-dimension force sensor (5) and short fixture (14) are in same straight line;
2) load in Fx direction: one end of a standard transducer is connected with the girt in x direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I (15) walking around x direction, utilizes Weight gravity to apply the load in x direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
3) load in Fy direction: one end of a standard transducer is connected with the girt in y direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I (15) walking around y direction, utilizes Weight gravity to apply the load in y direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
4) load in Fz direction: one end of a standard transducer is connected with the vertical ties on sensor loading disc by drag hook, the other end connects by the fixed pulley IV (18) on crossbeam (7) and fixed pulley V (19) and loads the cord of counterweight, utilizes Weight gravity to apply the load in z direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
5) six-dimension force sensor Mx direction is loaded, be connected with the girt in y direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I (15) on a short fixture of walking around y direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II (16) on another short fixture in y direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
6) six-dimension force sensor My direction is loaded, be connected with the girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I (15) on a short fixture of walking around x direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II (16) on another short fixture in x direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine;
7) six-dimension force sensor Mz direction is loaded, be connected with a girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley III (17) on a short fixture of walking around y direction; Be connected with another girt in x direction on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley III (17) on another short fixture in y direction again; The two places load that the contrary size of loading direction is identical respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
2. six-dimension force sensor calibration method according to claim 1, it is characterized in that, (7) arrange a bar hole to described crossbeam, and described fixed pulley IV (18) is fixed on crossbeam (7) by the screw rod (20) through bar hole.
3. six-dimension force sensor calibration method according to claim 1, it is characterized in that, chute (9) on described worktable (1) is the large T chute of upper young end opening, the bottom of described base (12) is fixedly connected with the large T-shaped slide block (21) in little bottom, top, and described T-shaped slide block (21) is positioned at chute (9) and slidably coordinates with chute (9).
4. six-dimension force sensor calibration method according to claim 1, it is characterized in that, described vertical back up pad (13) arranges guide chute (22) at vertical direction, and described short fixture (14) is fixedly connected on vertical back up pad (13) by check lock lever (23) and above also can slides up and down along guide chute (22).
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