CN105181236B - Six-dimension force sensor calibration method - Google Patents

Abstract

The invention discloses a six-dimensional force sensor calibration method, in which a six-dimensional force sensor calibration device is adopted, and the method comprises the following steps: 1) calibrating 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; 7) Loading in the Mz direction of the six-dimensional force sensor. The calibration method of the six-dimensional force sensor can accurately load each dimension of the six-dimensional force sensor in turn, and obtain its static performance index by analyzing the loading experiment data, and finally analyze the cause of the error, and improve the design of the six-dimensional force sensor It is of great significance; at the same time, the calibration method provides a reference for the establishment of six-dimensional force sensor measurement standards and value traceability.

Description

Calibration method of six-dimensional force sensor

technical field

The invention relates to an experimental method for static calibration of a six-dimensional force sensor, in particular to a calibration method for a six-dimensional force sensor.

Background technique

With the continuous development of robots in the direction of intelligence, the six-dimensional force sensor, an important component of robot intelligence, has received more and more attention and attention. The calibration of the six-dimensional force sensor is a key link before it is put into use. In order to accurately load the sensor during calibration and collect calibration data efficiently, research and design of an advanced high-precision six-dimensional force sensor calibration system is the key to realizing the six-dimensional force sensor calibration system. Guarantee of accurate and efficient calibration of Weili sensors.

At present, compared with the rapid development of new sensors, my country is relatively backward in the measurement and testing technology and testing methods of new sensors. Accurate, traceable, and simple verification methods; at the same time, due to poor product stability, consistency, and reliability, many important sensors are mainly met through imports. Our country still can't meet the needs of economic construction and social development in terms of new sensor measurement detection technology and devices.

Although there are many calibration methods and calibration devices for six-dimensional force sensors, there is no verification method for six-dimensional force sensors in China, and there is no corresponding verification procedure. Therefore, it is urgent to establish a measurement and testing method for six-dimensional force sensors. And devices, and on the basis of the establishment of six-dimensional force / torque sensor verification specifications and standards, and then provide an important guarantee for the use of six-dimensional force and torque sensors.

Contents of the invention

Aiming at the above-mentioned shortcomings existing in the prior art, the present invention provides a six-dimensional force sensor calibration method. The six-dimensional force sensor calibration method not only provides an effective detection method for the test improvement of the six-dimensional force sensor, but also has a good role in promoting the application of the six-dimensional force sensor.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A six-dimensional force sensor calibration method, in which a six-dimensional force sensor calibration device is used, the device includes a workbench, a short bracket, a rotary table, a lower chuck for the sensor, a six-dimensional force sensor to be calibrated, and a sensor loading Plates, beams and support columns; the four sides and the middle of the workbench are provided with mutually perpendicular chutes along the longitudinal and transverse directions; the short brackets are four and are respectively installed in the middle of the four sides of the workbench; the rotary work The table is installed in the middle of the workbench; the support columns are installed vertically on the opposite corners of the workbench, and the beam is installed horizontally on the top of the support column; the lower chuck of the sensor is installed on the rotary table, and the six-dimensional force sensor is installed On the lower chuck of the sensor, the sensor loading plate is installed on the six-dimensional force sensor; horizontal pull rods are respectively set on the four sides of the sensor loading plate, and vertical pull rods are set on the top of the sensor loading plate; the short bracket includes a base, a vertical A straight support plate and a short clamp, the base is fixed on the workbench and slidably matched with the chute, the vertical support plate is vertically fixed on the base, the short clamp is horizontally arranged on the vertical support plate and The vertical support plate can be slidably fitted in the vertical direction; fixed pulley Ⅰ and fixed pulley Ⅱ are arranged on one side of the short fixture near the outer end, and the fixed pulley Ⅱ is located obliquely above the fixed pulley Ⅰ, and on the other side of the short fixture Set a certain pulley III near the outer end; set a certain pulley IV on the beam and directly above the vertical tie rod, and set a certain pulley V on the beam and close to the outer end of the beam;

The six-dimensional force sensor calibration method includes the following steps:

1) Calibration and calibration device: Use a hexagonal wrench to adjust the position of the fixed pulley IV in the middle of the beam, and measure and judge according to the positioning rope, so that the apex of the pendant hammer is aligned with the center of the six-dimensional force sensor, so as to ensure that the Fz loading direction is accurate and consistent; judge and adjust through the height gauge The height of the four short fixtures is to keep the height of the fixed pulley Ⅰ at the bottom of the short fixture at the same height as the six-dimensional force sensor; use a steel ruler to adjust the position of the short brackets around so that it is in the same line as the center of the six-dimensional force sensor, and then Measure and fine-tune according to the positioning rope to ensure that the lateral force direction of the six-dimensional force sensor is in the same line as the short clamp;

2) Loading in the Fx direction: connect one end of a standard sensor to the horizontal pull rod in the x direction on the sensor loading plate through a pull hook, and connect the other end to the standard weight through a thin rope that bypasses the fixed pulley I in the x direction. Gravity exerts a load in the x direction on the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected and transmitted to computer;

3) Loading in the Fy direction: Connect one end of a standard sensor to the horizontal pull rod in the y direction on the sensor loading plate through a pull hook, and connect the other end to the standard weight through a thin rope that bypasses the fixed pulley I in the y direction. Gravity exerts a load in the y direction on the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected by the data acquisition card and transmitted to the computer;

4) Loading in the direction of Fz: Connect one end of a standard sensor to the vertical rod on the sensor loading plate through the pull hook, and connect the other end to the thin rope that passes through the fixed pulley IV and fixed pulley V on the beam and loads the weight. Gravity exerts a load in the z direction on the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected and transmitted to computer;

5) To load the six-dimensional force sensor in the Mx direction, connect one end of a standard sensor to the horizontal pull rod in the y direction on the sensor loading plate through a pull hook, and connect the other end to the fixed pulley I on a short fixture that bypasses the y direction. The rope is connected to the standard weight; then one end of the other standard sensor is connected to the vertical pull rod on the sensor loading plate through the pull hook, and the other end of the other standard sensor is passed through the fixed pulley II on the other short fixture in the y direction. The thin rope is connected to the standard weight; the weights of the same mass are loaded on the two places respectively, and the single-dimensional torque is applied to the six-dimensional force sensor in this way; the signals output by the six-dimensional force sensor and the two standard sensors are respectively passed through the signal conditioning circuit. After the signal is amplified, filtered and isolated, use the data acquisition card to collect the conditioned signal and transmit it to the computer;

6) To load the My direction of the six-dimensional force sensor, one end of a standard sensor is connected to the horizontal pull rod in the x direction on the sensor loading plate through a pull hook, and the other end is passed through a thin fixed pulley I on a short fixture in the x direction. The rope is connected to the standard weight; then one end of the other standard sensor is connected to the vertical pull rod on the sensor loading plate through the pull hook, and the other end of the other standard sensor is passed through the fixed pulley II on the other short fixture in the x direction. The thin rope is connected to the standard weight; the weights of the same mass are loaded on the two places respectively, and the single-dimensional torque is applied to the six-dimensional force sensor in this way; the signals output by the six-dimensional force sensor and the two standard sensors are respectively passed through the signal conditioning circuit. After the signal is amplified, filtered and isolated, use the data acquisition card to collect the conditioned signal and transmit it to the computer;

7) To load the Mz direction of the six-dimensional force sensor, one end of a standard sensor is connected to a horizontal pull rod in the x direction on the sensor loading plate through a pull hook, and the other end is passed through a fixed pulley III on a short fixture in the y direction. The string is connected to the standard weight; then one end of the other standard sensor is connected to another horizontal rod in the x direction on the sensor loading plate through a pull hook, and the other end of the other standard sensor is passed to another short clamp in the y direction The thin rope of the fixed pulley III is connected to the standard weight; the two places are respectively loaded with loads of the same magnitude in opposite directions, and in this way the single-dimensional torque is applied to the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the two standard sensors After the signal is amplified, filtered and isolated through the signal conditioning circuit, the conditioned signal is collected by the data acquisition card and transmitted to the computer.

As a preferred solution of the present invention, a strip-shaped hole is provided on the beam, and the fixed pulley IV is fixed on the beam through a screw passing through the strip-shaped hole.

As another preferred solution of the present invention, the chute on the workbench is a T chute with a small upper opening and a large lower opening, and the bottom of the base is fixedly connected with a T-shaped slider with a small upper part and a larger lower part. The type slide block is located in the chute and can slidably cooperate with the chute.

As an improvement of the present invention, the vertical support plate is provided with a guide chute in the vertical direction, and the short clamp is fixedly connected to the vertical support plate through a locking rod and can slide up and down along the guide chute.

The technical effect of the present invention is: the six-dimensional force sensor calibration method can accurately load each dimension of the six-dimensional force sensor in sequence, and obtain its static performance index by analyzing the loading experimental data, and finally analyze the cause of the error, It is of great significance to improve the design of the six-dimensional force sensor; at the same time, the calibration method provides a reference for the establishment of the measurement standard and value traceability of the six-dimensional force sensor.

Description of drawings

Fig. 1 is a schematic structural diagram of a six-dimensional force sensor calibration device;

Fig. 2 is the structural representation of short support;

Fig. 3 is a structural schematic diagram of a six-dimensional force sensor;

Fig. 4 is a structural schematic diagram of a sensor loading plate;

Fig. 5 is a diagram of the data acquisition system;

Figure 6 is an electrical schematic diagram of the signal acquisition part;

Figure 7 is a structural diagram of the acquisition system.

In the accompanying drawings, 1—working table; 2—short bracket; 3—rotary table; 4—under the sensor chuck; 5—six-dimensional force sensor; 6—sensor loading plate; 7—beam; 8—supporting column; 9 —chute; 10—horizontal tie rod; 11—vertical tie rod; 12—base; 13—vertical support plate; 14—short fixture; 15—fixed pulley I; 16—fixed pulley II; Fixed pulley Ⅳ; 19—fixed pulley Ⅴ; 20—screw rod; 21—slider block; 22—guiding chute.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

A six-dimensional force sensor calibration method, in which a six-dimensional force sensor calibration device is used, as shown in Figure 1, the device includes a workbench 1, a short bracket 2, a rotary table 3, a sensor lower chuck 4, The six-dimensional force sensor 5 to be calibrated, the sensor loading plate 6, the beam 7 and the supporting column 8. The workbench 1 is provided with mutually vertical chutes 9 near the four sides and the middle along the longitudinal and transverse directions, and the chute 9 on the workbench 1 is a T chute with a small upper opening and a larger lower opening. There are four short supports 2 and they are respectively installed in the middle of the four sides of the workbench 1, and the rotary table 3 is installed in the middle of the workbench 1.

On a pair of corner directions of the workbench 1, the support column 8 is vertically installed respectively, and the crossbeam 7 is horizontally installed on the top of the support column 8, and a certain pulley IV 18 is set on the crossbeam 7 and directly above the vertical pull bar 11 (in this embodiment , A strip-shaped hole is set on the crossbeam 7, and the fixed pulley IV 18 is fixed on the crossbeam 7 by the screw rod 20 passing through the strip-shaped hole). A certain pulley V 19 is arranged on the beam 7 and near the outer end of the beam 7 . The sensor lower chuck 4 is installed on the rotary table 3, the six-dimensional force sensor 5 is installed on the sensor lower chuck 4, and the sensor loading plate 6 is installed on the six-dimensional force sensor 5; A horizontal tie rod 10 and a vertical tie rod 11 are arranged on the top of the sensor loading plate 6 .

The structure of the short support is shown in FIG. 2 . The short support 2 includes a base 12 , a vertical support plate 13 and a short clamp 14 . The base 12 is fixed on the workbench 1 and is slidably matched with the chute 9 (in this embodiment, the bottom of the base 12 is fixedly connected to a T-shaped slider 21 with a small upper part and a large lower part, and the T-shaped slider 21 is located in the chute 9 And with chute 9 slidable cooperation). The vertical support plate 13 is vertically fixed on the base 12, and the short clamp 14 is horizontally arranged on the vertical support plate 13 and is slidably matched with the vertical support plate 13 in the vertical direction (in this embodiment, the vertical support plate 13 is provided with guide chute 22 in the vertical direction, and short clamp 14 is fixedly connected on the vertical support plate 13 by locking bar 23 and can slide up and down along guide chute 22). One side of the short fixture 14 is provided with a fixed pulley I 15 and a fixed pulley II 16 near the outer end, the fixed pulley II 16 is located obliquely above the fixed pulley I 15, and a fixed pulley III 17 is arranged on the other side of the short fixture 14 near the outer end.

The six-dimensional force sensor calibration method includes the following steps:

1) Calibration and calibration device: Use a hexagonal wrench to adjust the position of the fixed pulley IV 18 in the middle of the beam 7, and judge according to the measurement of the positioning rope, so that the apex of the pendant hammer is aligned with the center of the six-dimensional force sensor, so as to ensure that the Fz loading direction is accurate and consistent; through the height gauge Determine and adjust the heights of the four short clamps 14 so that the height of the fixed pulley I 15 at the bottom of the short clamps 14 remains the same height as the six-dimensional force sensor 5; The center is on the same straight line, and then it is measured and fine-tuned according to the positioning rope to ensure that the lateral force direction of the six-dimensional force sensor 5 is on the same straight line as the short clamp 14.

2) Loading in the Fx direction: connect one end of a standard sensor to the horizontal pull rod in the x direction on the sensor loading plate through a pull hook, and connect the other end to the standard weight through a thin rope that bypasses the fixed pulley I 15 in the x direction. The gravity of the code applies a load in the x direction to the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected and transmitted using a data acquisition card to the computer.

3) Loading in the Fy direction: connect one end of a standard sensor to the horizontal pull rod in the y direction on the sensor loading plate through a pull hook, and connect the other end to the standard weight through a thin rope that bypasses the fixed pulley I 15 in the y direction. The gravity of the code applies a load in the y direction to the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected and transmitted using a data acquisition card to the computer.

4) Loading in the direction of Fz: Connect one end of a standard sensor to the vertical pull rod on the sensor loading plate through the pull hook, and connect the other end to the string that passes through the fixed pulley IV 18 and the fixed pulley V 19 on the beam 7 and loads the weight. Use the gravity of the weight to apply a load in the z direction to the six-dimensional force sensor; the signals output by the six-dimensional force sensor and the standard sensor are respectively amplified, filtered and isolated through the signal conditioning circuit, and the conditioned signal is collected using a data acquisition card and transfer to the computer.

5) To load the six-dimensional force sensor in the Mx direction, one end of a standard sensor is connected to the horizontal pull rod in the y direction on the sensor loading plate through a pull hook, and the other end is passed through the fixed pulley I 15 on a short fixture in the y direction. The string is connected to the standard weight; then one end of the other standard sensor is connected to the vertical pull rod on the sensor loading plate through the pull hook, and the other end of the other standard sensor is passed through the fixed pulley II on the other short fixture in the y direction 16 strings are connected to standard weights; weights of equal mass are loaded on two places respectively, and single-dimensional torque is applied to the six-dimensional force sensor in this way; the signals output by the six-dimensional force sensor and the two standard sensors are respectively processed by signal conditioning After the circuit amplifies, filters and isolates the signal, a data acquisition card is used to collect the conditioned signal and transmit it to the computer.

6) To load the My direction of the six-dimensional force sensor, one end of a standard sensor is connected to the horizontal pull rod in the x direction on the sensor loading plate through a pull hook, and the other end is passed through the fixed pulley I 15 on a short fixture in the x direction. The string is connected to the standard weight; then one end of another standard sensor is connected to the vertical pull rod on the sensor loading plate through the pull hook, and the other end of the other standard sensor is passed through the fixed pulley II on another short clamp in the x direction 16 strings are connected to standard weights; weights of equal mass are loaded on two places respectively, and single-dimensional torque is applied to the six-dimensional force sensor in this way; the signals output by the six-dimensional force sensor and the two standard sensors are respectively processed by signal conditioning After the circuit amplifies, filters and isolates the signal, a data acquisition card is used to collect the conditioned signal and transmit it to the computer.

7) To load the Mz direction of the six-dimensional force sensor, one end of a standard sensor is connected to a horizontal tie rod in the x direction on the sensor loading plate through a pull hook, and the other end is passed through a fixed pulley on a short fixture in the y direction. III 17 The thin rope is connected to the standard weight; then one end of the other standard sensor is connected to another horizontal rod in the x direction on the sensor loading plate through a pull hook, and the other end of the other standard sensor is passed through another short clamp in the y direction The thin rope of the fixed pulley III 17 on the top is connected with the standard weight; the two places are respectively loaded with loads of the same magnitude in opposite directions, and in this way, the single-dimensional torque is applied to the six-dimensional force sensor; the six-dimensional force sensor and the two standard sensors output Rotary table 3 The signals from the rotary table 3 are respectively amplified, filtered and isolated by the signal conditioning circuit, and then the conditioned signal is collected by the data acquisition card and transmitted to the computer.

The six-dimensional force sensor is installed at the center of the rotary table 3, and the positive and negative loading can be realized by controlling the rotary table 3 to rotate the six-dimensional force sensor, and the system error caused by loading can be offset by exchanging the loading position.

The two threaded holes on the rotary table 3 are used to install two support columns 8, and the crossbeam 7 installed on the support column 8 has two fixed pulleys. The force sensor 5 applies a vertical upward load, and the support column 8 and the beam 7 are mainly used to apply a calibration load in the Fz direction. Adjust the position of the short bracket 2 on the workbench 1, and fix it through the hexagonal bolt and the T-shaped slide block in the slideway. Short clamps 14 are installed on the vertical support plate 13, can slide up and down on the vertical support plate 13, use hex wrench to fix after adjusting the position, and two fixed pulley blocks are installed on each short clamp 14, wherein the two below The distance between two fixed pulleys in the horizontal direction is 160 mm, and the vertical center distance between the upper and lower fixed pulleys is 70 mm, as shown in Figure 2. In order to realize single-dimensional loading and ensure the loading direction, the short brackets 2 are on the same straight line and perpendicular to each other, and the calibration loads are applied to the six-dimensional force sensor Fx, Fy and Mx, My directions through the short brackets 2 and weights.

In this implementation, the shape of the six-dimensional force sensor is a relatively flat cylinder, as shown in Figure 3, the signal output line is drawn from the inside of the six-dimensional force sensor, the transmission line has a shielding function, and the connector is a lemo14-core aviation plug. The six-dimensional force sensor is connected to the objects acting on it through the front and rear end covers, and four screw holes are evenly distributed on the circumference of the rear end cover. Before calibration, the corresponding load loading parts should be designed according to the appearance characteristics of the six-dimensional force sensor. The loading part designed for the six-dimensional force sensor consists of a sensor loading plate 6 (as shown in Figure 4) and tie rods (including horizontal tie rods 10 and vertical tie rods 11 ), wherein the center of the threaded hole where the pull rod is installed on the loading plate is on the same plane as the reference plane of the six-dimensional force sensor, thereby ensuring accurate loading in the horizontal direction, and the sensor loading plate 6 is fixed by screws. The components that install the six-dimensional force sensor on the workbench mainly include: rotary table, sensor loading plate, sensor lower chuck, round nut, key and hexagon nut, etc.

In order to ensure the reliability of the calibration device, firstly, materials with higher hardness should be used in the design and processing stages, and the processing accuracy should be guaranteed; secondly, the calibration device needs to be calibrated before loading. First, after accurately installing the six-dimensional force sensor on the rotary table, fix the rotary table in the middle of the table and adjust its scale to 0°, then rotate the locking lever to lock.

After calibrating the calibration device, calibrate the six-dimensional force sensor in each direction, specifically as follows: (1) Configure the corresponding standard weights according to the measurement range of the six-dimensional force sensor. This calibration configuration: 1kg weight 4 1 piece, 4 pieces of 2kg weight, 4 pieces of 5kg weight, 4 pieces of 10kg weight; at the same time, in order to avoid inaccurate load loading due to factors such as the friction torque generated inside the rolling bearing and the friction force between the rope and the fixed pulley. A high-precision standard single-dimensional force sensor is used to determine the loading value. One end of the standard sensor is connected to the loading part through a hook, and the other end is connected to the standard weight through a string. (2) Within the measurement range of the six-dimensional force sensor, gradually load in the order of increasing from small to large and then decreasing from large to small. After loading, when the weight is in a static state or through the self-developed data acquisition analysis system Check the displayed curve to see if it is stable, then record the calibration data and save it in the specified file.

The acquisition system mainly includes the signal part to be tested, the signal conditioning part, the data acquisition part, and the computer part. These four parts form a complete acquisition system, as shown in Figure 5. Specifically, the sensor converts the original non-electrical signal into a recognizable electrical signal and processes it through signal conditioning equipment (amplification, filtering, isolation, etc.). The conditioned signal is still an analog signal, and the data acquisition card converts the analog signal into a digital signal that can be recognized by the computer.

The conditioning circuit mainly amplifies, filters, and isolates the signal. The data acquisition card sequentially collects the electrical signals (analog or digital signals) output by sensors and other measurement units in the form of a queue, and then transmits them to the host computer, which performs certain analysis and processing operations. The data acquisition card is a computer expansion card, which can realize the data acquisition function, and can be connected to a personal computer through buses such as PCI, PCI Express, PXI, USB, PCMCIA, RS485, RS232, Ethernet, and various wireless networks.

This method needs to collect the signals of a six-dimensional force sensor and two standard single-dimensional force sensors. After being amplified, filtered, and isolated by the conditioning circuit, the conditioned signal is collected by the data acquisition card and transmitted to the computer for analysis and processing. The characteristics and performance of the system require the design and selection of the hardware part of the acquisition system.

The weak (microvolt level) differential signal output by the sensor is amplified by the amplifier and turned into a single-ended signal of 0-10V, then filtered by an active low-pass filter, and then converted into a digital signal by an AD converter, which is processed by an embedded microprocessor The device is controlled and sent to the communication interface. The electrical schematic diagram is shown in Figure 6.

The system is mainly composed of six-dimensional force sensors to be calibrated, two standard single-dimensional force sensors, amplifier circuits, signal processors, NI acquisition cards, computers and related transmission lines. The system composition is shown in Figure 7.

NI USB-6210 data acquisition card is a USB bus powered M series multifunctional external data acquisition module, which can be directly connected to the computer through the USB interface. It is easy to install and use, has strong anti-interference ability, and is not affected by the computer slot Quantity and address restrictions, free interruption, good scalability; in some strong electromagnetic interference test environments, special electromagnetic shielding methods can be used to avoid the distortion of the collected data, and it can also maintain a relatively high sampling rate High precision.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (1)

1. A kind of 1. six-dimension force sensor calibration method, it is characterised in that employ six-dimension force sensor calibration dress in the method Put, the device includes chuck (4), six-dimensional force to be calibrated under workbench (1), short support (2), rotary table (3), sensor Sensor (5), sensor loading disc (6), crossbeam (7) and support column (8)；The workbench (1) is close to four sides and the equal edge in middle part Vertical and horizontal set orthogonal chute (9)；The short support (2) is four and is separately mounted to the four of workbench (1) Middle side part；The rotary table (3) is arranged on the middle part of workbench (1)；Hung down respectively on a pair of angular direction of workbench (1) Straight installation support column (8), crossbeam (7) are horizontally arranged at the top of support column (8)；Chuck (4) is arranged on back under the sensor On revolving worktable (3), six-dimension force sensor (5) is arranged under sensor on chuck (4), sensor loading disc (6) installation On six-dimension force sensor (5)；Girt (10) is set respectively in four sides of sensor loading disc (6), loaded in sensor The top of disk (6) sets vertical ties (11)；The short support (2) includes base (12), vertical gripper shoe (13) and short fixture (14), the base (12) is fixed on workbench (1) and slidably coordinated with chute (9), and the vertical gripper shoe (13) is perpendicular Directly be fixed on base (12), the short fixture (14) be horizontally set in vertical gripper shoe (13) and with vertical gripper shoe (13) In the vertical direction slidably coordinates；The side of short fixture (14) sets fixed pulley I (15) and fixed pulley II (16) close to outer end, The fixed pulley II (16) is located at the oblique upper of fixed pulley I (15), is set necessarily close to outer end in the opposite side of short fixture (14) Pulley III (17)；A fixed pulley IV (18), the crossbeam are arranged above on the crossbeam (7) and positioned at vertical ties (11) (7) one fixed pulley V (19) is set on and close to the outer end of crossbeam (7)；

   The six-dimension force sensor calibration method comprises the following steps：

   1) caliberating device is calibrated：Using fixed pulley IV (18) position among die nut adjustment crossbeam (7), and according to positioning rope Rope measurement judges, makes sash weight summit alignment six-dimension force sensor center, so as to ensure that Fz loading directions are precisely consistent；Pass through height Chi judges the height of the four short fixture (14) of regulation, the height of the fixed pulley I (15) of short fixture (14) bottom is passed with six-dimensional force Sensor (5) keeps sustained height；Using steel ruler adjustment the short support of surrounding (2) position make its with six-dimension force sensor (5) The heart is in same straight line, then measures and is finely adjusted according to positioning rope, ensures the side force side of six-dimension force sensor (5) Same straight line is in short fixture (14)；

   2) loaded in Fx directions：One end of one standard transducer is drawn by the horizontal of x directions on drag hook and sensor loading disc Bar is connected, and the other end is connected by the cord of the fixed pulley I (15) around x directions with standard test weight, using Weight gravity to six Dimensional force sensor applies the load in x directions；Six-dimension force sensor and the signal of standard transducer output pass through signal condition respectively Signal is amplified by circuit, filter and isolation processing after, signal after the collection conditioning of Usage data collection card is simultaneously transferred to meter Calculation machine；

   3) loaded in Fy directions：One end of one standard transducer is drawn by the horizontal of y directions on drag hook and sensor loading disc Bar is connected, and the other end is connected by the cord of the fixed pulley I (15) around y directions with standard test weight, using Weight gravity to six Dimensional force sensor applies the load in y directions；Six-dimension force sensor and the signal of standard transducer output pass through signal condition respectively Signal is amplified by circuit, filter and isolation processing after, signal after the collection conditioning of Usage data collection card is simultaneously transferred to meter Calculation machine；

   4) loaded in Fz directions：One end of one standard transducer is connected by the vertical ties on drag hook and sensor loading disc Connect, the other end connects through fixed pulley IV (18) and fixed pulley V (19) and the cord for loading counterweight on crossbeam (7), utilizes weight Code gravity applies the load in z directions to six-dimension force sensor；Six-dimension force sensor and the signal of standard transducer output lead to respectively Cross signal conditioning circuit signal is amplified, filter and isolation processing after, Usage data collection card collection conditioning after signal And it is transferred to computer；

   5) six-dimension force sensor Mx directions are loaded, one end of a standard transducer is passed through into drag hook and sensor loading disc The girt in upper y directions is connected, the cord and mark that the other end passes through the fixed pulley I (15) on the short fixture around y directions Quasi- counterweight connection；One end of another standard transducer is connected by drag hook with the vertical ties on sensor loading disc again, separately The cord and standard test weight that the other end of one standard transducer passes through the fixed pulley II (16) on another short fixture around y directions Connection；The counterweight of quality such as load at two respectively, one-dimensional torque is loaded to six-dimension force sensor in this way；Six-dimensional force passes Signal is amplified by sensor and the signal of two standard transducers output by signal conditioning circuit respectively, filter and isolation at After reason, Usage data collection card gathers the signal after conditioning and is transferred to computer；

   6) six-dimension force sensor My directions are loaded, one end of a standard transducer is passed through into drag hook and sensor loading disc The girt in upper x directions is connected, the cord and mark that the other end passes through the fixed pulley I (15) on the short fixture around x directions Quasi- counterweight connection；One end of another standard transducer is connected by drag hook with the vertical ties on sensor loading disc again, separately The cord and standard test weight that the other end of one standard transducer passes through the fixed pulley II (16) on another short fixture around x directions Connection；The counterweight of quality such as load at two respectively, one-dimensional torque is loaded to six-dimension force sensor in this way；Six-dimensional force passes Signal is amplified by sensor and the signal of two standard transducers output by signal conditioning circuit respectively, filter and isolation at After reason, Usage data collection card gathers the signal after conditioning and is transferred to computer；

   7) six-dimension force sensor Mz directions are loaded, one end of a standard transducer is passed through into drag hook and sensor loading disc One girt in upper x directions is connected, the other end by the cord of the fixed pulley III (17) on the short fixture around y directions with Standard test weight connects；Another level by one end of another standard transducer by x directions on drag hook and sensor loading disc again Pull bar is connected, and the other end of another standard transducer passes through the thin of the fixed pulley III (17) on another short fixture around y directions Rope is connected with standard test weight；The opposite size identical load of loading direction is distinguished at two, six-dimensional force is sensed in this way Device loads one-dimensional torque；Six-dimension force sensor and the signal of two standard transducer output will be believed by signal conditioning circuit respectively Number be amplified, filter and isolation processing after, signal after the collection conditioning of Usage data collection card is simultaneously transferred to computer；

   One bar hole is set on the crossbeam (7), and the fixed pulley IV (18) is fixed on by the screw rod (20) through bar hole On crossbeam (7)；

   Chute (9) on the workbench (1) is the big T chutes of small lower mouth suitable for reading, and the bottom of the base (12) is fixedly connected The big T-shaped sliding block (21) in the small bottom in top, the T-shaped sliding block (21) are located in chute (9) and slidably coordinated with chute (9)；

   The vertical gripper shoe (13) sets guide chute (22) in vertical direction, and the short fixture (14) passes through check lock lever (23) It is fixedly connected in vertical gripper shoe (13) and can be slided up and down along guide chute (22).