CN105181236B - Six-dimension force sensor calibration method - Google Patents
Six-dimension force sensor calibration method Download PDFInfo
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- CN105181236B CN105181236B CN201510232268.2A CN201510232268A CN105181236B CN 105181236 B CN105181236 B CN 105181236B CN 201510232268 A CN201510232268 A CN 201510232268A CN 105181236 B CN105181236 B CN 105181236B
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Abstract
The invention discloses a kind of six-dimension force sensor calibration method, a kind of six-dimension force sensor calibration device is employed in the method, and this method comprises the following steps：1) caliberating device is calibrated；2) loaded in Fx directions；3) loaded in Fy directions；4) loaded in Fz directions；5) six-dimension force sensor Mx directions are loaded；6) six-dimension force sensor My directions are loaded；7) six-dimension force sensor Mz directions are loaded.The six-dimension force sensor calibration method each to six-dimension force sensor can be tieed up and accurately loaded successively, by analyzing loading experiment data, its static performance index is obtained, finally the reason for generation error is analyzed, is designed for six-dimension force sensor and improves important in inhibiting；The scaling method provides reference to establish six-dimension force sensor measurement criteria and magnitude tracing simultaneously.
Description
Technical field
The present invention relates to a kind of six-dimension force sensor to have carried out the experimental method of static demarcating, more particularly to a kind of six-dimensional force
Transducer calibration method.
Background technology
As robot continues to develop towards intelligent direction, the critical elements six-dimension force sensor of robot automtion by
To increasing concern and pay attention to.It is key link before coming into operation that demarcation is carried out to six-dimension force sensor, for demarcation when
Accurately sensor can be loaded, and can efficiently gather nominal data, research and design advanced high-precision six
Dimensional force sensor calibration system is to realize guarantee that is accurate to six-dimension force sensor, efficiently demarcating.
At present, for the fast development of novel sensor, China novel sensor metrological testing technology and
Comparatively fall behind in terms of method of testing, many novel sensors there is no corresponding standard, also without the standard detection hand of correlation
Section and detection device, and can accurately, can trace to the source, simplicity calibration method；Simultaneously as the stability of product, uniformity,
Reliability is poor, and many important sensors are mainly met by import.China is in novel sensor gauge check technology and dress
The needs of economic construction and social development can not still be met by putting aspect.
Although the scaling method and caliberating device on six-dimension force sensor have more, but domestic 6 DOF is not yet set up
The calibration method of force snesor, also without corresponding vertification regulation, therefore, there is an urgent need to set up the metering survey of six-dimension force sensor
Method for testing and device, and establish the calibrating codes and standards of six-dimensional force/torque sensor on its basis, so for six-dimensional force with
The use of torque sensor provides important guarantee.
The content of the invention
For in place of above shortcomings in the prior art, the invention provides a kind of six-dimension force sensor calibration side
Method.The six-dimension force sensor calibration method not only provides effective detection method for the testing improvement of six-dimension force sensor, while right
The application of six-dimension force sensor also has good facilitation.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme：
Six-dimension force sensor calibration method, a kind of six-dimension force sensor calibration device is employed in the method, the device
Including chuck under workbench, short support, rotary table, sensor, six-dimension force sensor to be calibrated, sensor loading disc,
Crossbeam and support column；The workbench sets orthogonal chute close to four sides and middle part along vertical and horizontal；It is described short
Support is four and is separately mounted to four middle side parts of workbench；The rotary table is arranged on the middle part of workbench；In work
Make to be respectively perpendicular installation support column on a pair of angular direction of platform, crossbeam is horizontally arranged at the top of support column；Under the sensor
Chuck is arranged on rotary table, and six-dimension force sensor is arranged under sensor on chuck, the sensor loading disc installation
On six-dimension force sensor；Girt is set respectively in four sides of sensor loading disc, set at the top of sensor loading disc
Put vertical ties；The short support includes base, vertical gripper shoe and short fixture, the base fix on the table and with cunning
Groove slidably coordinates, and the vertical gripper shoe is fixed on base vertically, and the short fixture is horizontally set in vertical gripper shoe
And slidably coordinate with vertical gripper shoe in the vertical direction；The side of short fixture sets fixed pulley I and fixed pulley close to outer end
II, the fixed pulley II is located at the oblique upper of fixed pulley I, and a fixed pulley III is set close to outer end in the opposite side of short fixture；Institute
State on crossbeam and set one on the fixed pulley IV that is arranged above of vertical ties, the crossbeam and close to the outer end of crossbeam
Fixed pulley V；
The six-dimension force sensor calibration method comprises the following steps：
1) caliberating device is calibrated：Using the position of fixed pulley IV among die nut adjustment crossbeam, and according to positioning 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 gauge
Judge the height of four short fixtures of regulation, the height of the fixed pulley I of short clamp base is kept same height with six-dimension force sensor
Degree；Position using the steel ruler adjustment short support of surrounding makes the center of itself and six-dimension force sensor be in same straight line, Ran Hougen
Measure and be finely adjusted according to positioning rope, the lateral force direction and short fixture for ensureing six-dimension force sensor are in same straight line；
2) loaded in Fx directions：Water by one end of a standard transducer by x directions on drag hook and sensor loading disc
Horizontal drawing bar is connected, and the other end is connected by the cord of the fixed pulley I 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：Water by one end of a standard transducer by y directions on drag hook and sensor loading disc
Horizontal drawing bar is connected, and the other end is connected by the cord of the fixed pulley I 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 passed through into the vertical ties on drag hook and sensor loading disc
Connection, the other end connect through fixed pulley IV and fixed pulley V and the cord for loading counterweight on crossbeam, utilize Weight gravity pair
Six-dimension force sensor applies the load in z directions；Six-dimension force sensor and the signal of standard transducer output are adjusted by signal respectively
Reason circuit signal is amplified, filter and isolation processing after, Usage data collection card collection conditioning after signal and be transferred to
Computer；
5) six-dimension force sensor Mx directions are loaded, one end of a standard transducer is added by drag hook and sensor
The girt in y directions is connected on load plate, the cord and mark that the other end passes through the fixed pulley I 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 other end of one standard transducer is connected by the cord of the fixed pulley II on another short fixture around y directions with standard test weight
Connect；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 senses
Signal is amplified by device and the signal of two standard transducers output by signal conditioning circuit respectively, is filtered and isolation processing
Afterwards, 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 added by drag hook and sensor
The girt in x directions is connected on load plate, the cord and mark that the other end passes through the fixed pulley I 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 other end of one standard transducer is connected by the cord of the fixed pulley II on another short fixture around x directions with standard test weight
Connect；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 senses
Signal is amplified by device and the signal of two standard transducers output by signal conditioning circuit respectively, is filtered and isolation processing
Afterwards, 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 added by drag hook and sensor
A girt in x directions is connected on load plate, the other end by the cord of the fixed pulley III 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, the other end of another standard transducer by the cord of the fixed pulley III on another short fixture around y directions with
Standard test weight connects；The opposite size identical load of loading direction is distinguished at two, six-dimension force sensor is added in this way
Carry one-dimensional torque；Six-dimension force sensor and the signal of two standard transducer outputs are respectively entered signal by signal conditioning circuit
After row amplification, filtering and isolation processing, Usage data collection card gathers the signal after conditioning and is transferred to computer.
As a preferred embodiment of the present invention, a bar hole is set on the crossbeam, the fixed pulley IV by through
The screw rod of bar hole is fixed on crossbeam.
As another preferred scheme of the present invention, the chute on the workbench is the big T chutes of small lower mouth suitable for reading, institute
The bottom for stating base is fixedly connected with the big T-shaped sliding block in the small bottom in top, and the T-shaped sliding block is located in chute and with chute slidably
Coordinate.
As a modification of the present invention scheme, the vertical gripper shoe sets guide chute in vertical direction, described short
Fixture is fixedly connected in vertical gripper shoe by check lock lever and can slided up and down along guide chute.
The solution have the advantages that：The six-dimension force sensor calibration method each to six-dimension force sensor can be tieed up to enter successively
The accurate loading of row, by analyzing loading experiment data, obtains its static performance index, finally to producing error the reason for
Analyzed, designed for six-dimension force sensor and improve important in inhibiting；The scaling method senses to establish six-dimensional force simultaneously
Device measurement criteria and magnitude tracing provide reference.
Brief description of the drawings
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 collecting system figure；
Fig. 6 is signal acquisition part electrical schematics；
Fig. 7 is that acquisition system forms structure chart.
In accompanying drawing, 1-workbench；2-short support；3-rotary table；Chuck under 4-sensor；5-six-dimensional force
Sensor；6-sensor loading disc；7-crossbeam；8-support column；9-chute；10-girt；11-vertical
Pull bar；12-base；13-vertical gripper shoe；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-sliding block；22-guide chute.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Six-dimension force sensor calibration method, a kind of six-dimension force sensor calibration device is employed in the method, such as Fig. 1 institutes
Show, the device include workbench 1, short support 2, rotary table 3, chuck 4 under sensor, six-dimension force sensor 5 to be calibrated,
Sensor loading disc 6, crossbeam 7 and support column 8.Workbench 1 sets along vertical and horizontal close to four sides and middle part and is mutually perpendicular to
Chute 9, the chute 9 on workbench 1 is the big T chutes of small lower mouth suitable for reading.Short support 2 is four and is separately mounted to workbench
1 four middle side parts, rotary table 3 are arranged on the middle part of workbench 1.
Installation support column 8 is respectively perpendicular on a pair of angular direction of workbench 1, crossbeam 7 is horizontally arranged at the top of support column 8
Portion, (in the present embodiment, set on crossbeam 7 and positioned at the fixed pulley IV 18 that is arranged above of vertical ties 11 on crossbeam 7
One bar hole, fixed pulley IV 18 are fixed on crossbeam 7 by the screw rod 20 through bar hole).On crossbeam 7 and close to crossbeam 7
Outer end sets a fixed pulley V 19.Chuck 4 is arranged on rotary table 3 under sensor, and six-dimension force sensor 5, which is arranged on, to be passed
Under sensor on chuck 4, sensor loading disc 6 is arranged on six-dimension force sensor 5；Set respectively in four sides of sensor loading disc 6
Girt 10 is put, vertical ties 11 are set at the top of sensor loading disc 6.
The structure of short support is as shown in Fig. 2 short support 2 includes base 12, vertical gripper shoe 13 and short fixture 14.Base 12
Be fixed on workbench 1 and slidably coordinate with chute 9 (in the present embodiment, the bottom of base 12 be fixedly connected top it is small under
The big T-shaped sliding block 21 in portion, T-shaped sliding block 21 are located in chute 9 and slidably coordinated with chute 9).Vertical gripper shoe 13 is fixed vertically
On base 12, short fixture 14 be horizontally set in vertical gripper shoe 13 and with the in the vertical direction of vertical gripper shoe 13 slidably
(in the present embodiment, vertical gripper shoe 13 sets guide chute 22 in vertical direction, and short fixture 14 is fixed by check lock lever 23 for cooperation
It is connected in vertical gripper shoe 13 and can be slided up and down along guide chute 22).The side of short fixture 14 sets fixed sliding close to outer end
I 15 and fixed pulley II 16 are taken turns, fixed pulley II 16 is located at the oblique upper of fixed pulley I 15, close in the opposite side of short fixture 14
Outer end sets a fixed pulley III 17.
The six-dimension force sensor calibration method comprises the following steps：
1) caliberating device is calibrated：Using the position of fixed pulley IV 18 among die nut adjustment crossbeam 7, and according to positioning
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
Spend chi to judge to adjust the height of four short fixture 14, make the height and six-dimension force sensor of the fixed pulley I 15 of the short bottom of fixture 14
5 keep sustained height；The center for making itself and six-dimension force sensor 5 using the position of the steel ruler adjustment short support 2 of surrounding is in same
Bar straight line, then measure and be finely adjusted according to positioning rope, ensure the lateral force direction of six-dimension force sensor 5 and short fixture 14
In same straight line.
2) loaded in Fx directions：Water by one end of a standard transducer by x directions on drag hook and sensor loading disc
Horizontal drawing 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, utilizes Weight gravity pair
Six-dimension force sensor applies the load in x directions；Six-dimension force sensor and the signal of standard transducer output are adjusted by signal respectively
Reason circuit signal is amplified, filter and isolation processing after, Usage data collection card collection conditioning after signal and be transferred to
Computer.
3) loaded in Fy directions：Water by one end of a standard transducer by y directions on drag hook and sensor loading disc
Horizontal drawing 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, utilizes Weight gravity pair
Six-dimension force sensor applies the load in y directions；Six-dimension force sensor and the signal of standard transducer output are adjusted by signal respectively
Reason circuit signal is amplified, filter and isolation processing after, Usage data collection card collection conditioning after signal and be transferred to
Computer.
4) loaded in Fz directions：One end of one standard transducer is passed through into the vertical ties on drag hook and sensor loading disc
Connection, the other end connect through fixed pulley IV 18 and fixed pulley V 19 and the cord for loading counterweight on crossbeam 7, utilize counterweight
Gravity applies the load in z directions to six-dimension force sensor；Six-dimension force sensor and the signal of standard transducer output pass through respectively
Signal is amplified by signal conditioning circuit, filter and isolation processing after, the signal after the collection conditioning of Usage data collection card is simultaneously
It is transferred to computer.
5) six-dimension force sensor Mx directions are loaded, one end of a standard transducer is added by drag hook and sensor
The girt in y directions is connected on load plate, the other end by the cord of the fixed pulley I 15 on the short fixture around y directions with
Standard test weight connects；One end of another standard transducer is connected by drag hook with the vertical ties on sensor loading disc again,
The cord and standard weight that the other end of another standard transducer passes through the fixed pulley II 16 on another short fixture around y directions
Code 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
Signal is amplified, filtered and isolated by signal conditioning circuit respectively by sensor and the signal of two standard transducer outputs
After processing, 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 added by drag hook and sensor
The girt in x directions is connected on load plate, the other end by the cord of the fixed pulley I 15 on the short fixture around x directions with
Standard test weight connects；One end of another standard transducer is connected by drag hook with the vertical ties on sensor loading disc again,
The cord and standard weight that the other end of another standard transducer passes through the fixed pulley II 16 on another short fixture around x directions
Code 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
Signal is amplified, filtered and isolated by signal conditioning circuit respectively by sensor and the signal of two standard transducer outputs
After processing, 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 added by drag hook and sensor
A girt in x directions is connected on load plate, and the other end is thin by the fixed pulley III 17 on the short fixture around y directions
Rope is connected with standard test weight；Again by one end of another standard transducer by drag hook with sensor loading disc x directions it is another
Girt is connected, and the other end of another standard transducer passes through the fixed pulley III 17 on another short fixture around y directions
Cord is connected with standard test weight；The opposite size identical load of loading direction is distinguished at two, six-dimensional force is passed in this way
Sensor loads one-dimensional torque；The signal that six-dimension force sensor and the defeated rotary table 3 of rotary table 3 of two standard transducers go out
Signal is amplified by signal conditioning circuit respectively, filter and isolation processing after, Usage data collection card collection conditioning after
Signal and be transferred to computer.
Six-dimension force sensor is arranged on to the center of rotary table 3, can be by controlling rotary table 3 to rotate
Six-dimension force sensor so as to realize it is positive and negative loading and by exchange loading position offset because of systematic error caused by loading.
Two screwed holes on rotary table 3 are used to install two support columns 8, and the crossbeam 7 installed on support column 8 has two
Individual fixed pulley, change the effect of loading direction by two fixed pulleys, six-dimension force sensor 5 is applied vertically using Weight gravity
Upward loading, support column 8 and crossbeam 7 are mainly used in applying the demarcation load in Fz directions.Short support 2 is adjusted on workbench 1
Position, and be fixed by the T-shaped sliding block in hex bolts and slideway.Short fixture 14 is arranged in vertical gripper shoe 13,
It can slide up and down in vertical gripper shoe 13, be fixed after adjusting good position using die nut, and be installed on each short fixture 14
There are two fixed pulley groups, wherein the distance of two fixed pulley horizontal directions of lower section is 160mm, upper and lower two fixed pulleys are square vertically
To centre distance 70mm, as shown in Figure 2.To realize one-dimensional loading and ensureing loading direction, make short support 2 mutually with always
It is on line and orthogonal, by short support 2 with the use of counterweight to six-dimension force sensor Fx, Fy and Mx, the loading demarcation of My directions
Load.
In this implementation, its external form of six-dimension force sensor is more flat cylinder, as shown in figure 3, being passed from the six-dimensional force
Output line is drawn inside sensor, the transmission line has function of shielding, and joint is lemo14 core aviation plugs.The six-dimensional force passes
Sensor is connected by former and later two end caps with the object acted on therewith, is uniformly distributed 4 screw holes on end cap circumference thereafter.Demarcation
It is preceding that corresponding load loading component, the loading of six-dimension force sensor design need to be designed according to the resemblance of six-dimension force sensor
Part is made up of sensor loading disc 6 (as shown in Figure 4) and pull bar (including girt 10 and vertical ties 11), wherein loading
Screwed hole center and the six-dimension force sensor reference plane of pull bar are installed at grade on disk, so as to ensure horizontal direction plus
It is accurate to carry, and sensor loading disc 6 is fixed by screw.The part that six-dimension force sensor is installed on workbench is mainly had：Revolution
Chuck, round nut, key and hex nut etc. under workbench, sensor loading disc, sensor.
To ensure the reliability of caliberating device, first, the higher material of hardness should be used in design and process segment, and protect
Its machining accuracy is demonstrate,proved, secondly, needs caliberating device to calibrate before loading.Six-dimension force sensor is accurately installed first in rotary table
After upper, rotary table is fixed on work top centre position and adjusts its scale to 0 °, rotation lock rod locking.
After calibrating caliberating device, all directions of six-dimension force sensor are demarcated respectively, specifically carried out as follows：
(1) corresponding standard test weight is configured according to six-dimension force sensor measurement range, this demarcation is configured with：1kg counterweights 4,2kg weights
Code 4,5kg counterweights 4,10kg counterweights 4；Meanwhile to avoid moment of friction and rope caused by rolling bearing inside with determining
The influence of the factors such as the frictional force of pulley room makes load loading inaccurate, true by using high-precision standard one-dimensional force snesor
Determine loaded value, standard transducer one end is connected by drag hook with loading component, and the other end is connected by cord with standard test weight.
(2) in the measurement range of six-dimension force sensor, by the order successively decreased successively from big to small after incremented by successively from small to large progressively
Loading, after loading when counterweight remains static or the display curve of the analysis system that passes through independently developed data acquisition is seen
Examine whether it stablizes, then record nominal data and be stored in specified file.
Acquisition system mainly includes measured signal part, signal condition part, part of data acquisition and computer portion
Point, this four parts constitute a complete acquisition system, as shown in Figure 5.Specifically, exactly sensor is by non electrical quantity
Primary signal is changed into recognizable electric signal and handled (amplification, filtering, isolation etc.) through signal condition equipment.After conditioning
Signal be still analog signal, data collecting card converts analog signals into the data signal that can be identified by computer.
Signal such as is mainly amplified, filtered, isolating at the processing by modulate circuit.Data collecting card is adopted successively in the form of queue
Collect the electric signal (analog or digital signal) of the measuring units such as sensor output, be transferred in host computer thereafter, entered by host computer
The operations such as the certain analyzing and processing of row.Data collecting card is a kind of computer extender card, and it can realize data acquisition function, energy
Enough connect by buses such as PCI, PCI Express, PXI, USB, PCMCIA, RS485, RS232, Ethernet, various wireless networks
Enter personal computer.
This method need to gather the signal of a six-dimension force sensor, two standard one-dimensional force snesors, and conditioned circuit is put
Greatly, after the processing such as filtering, isolation, Usage data collection card gathers the signal after conditioning and is transferred to computer and carries out at analysis
Reason, according to system compositing characteristic and acquisition system hardware components are designed performance requirement and type selecting.
Faint (microvolt level) differential signal of sensor output becomes 0~10V single-ended signal after amplifier amplifies, so
It is filtered afterwards by active low-pass filter, then data signal is converted into by a/d converter, controlled by embedded microprocessor, is sent out
It is as shown in Figure 6 toward communication interface, electrical schematics.
System is mainly by six-dimension force sensor to be calibrated, two standard one-dimensional force snesors, amplifying circuit, signal transactings
Device, NI capture cards, computer and associated transport line composition, system composition such as Fig. 7.
NI USB-6210 data collecting cards are a usb bus power supply M series multifunctional external hanging type data acquisition modules,
It can be directly connected by USB interface with computer, it is easily installed, is easy to use, strong antijamming capability, not by computer slot
Quantity and address limitation, can freely interrupt, have scalability it is good；, can be with some strong electromagnetic test environments
By special electromagnetic shielding method, to avoid the data distortion that it is gathered, and equally it can keep more high-precision under high sampling rate
Degree.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (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).
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| CN106153248A (en) * | 2016-08-09 | 2016-11-23 | 浙江大学 | A kind of high accuracy static three-dimensional force sensor caliberating device |
| CN106595950A (en) * | 2016-12-19 | 2017-04-26 | 中国科学院长春光学精密机械与物理研究所 | Force loading apparatus for calibrating force sensor |
| CN109015758A (en) * | 2018-08-31 | 2018-12-18 | 重庆电子工程职业学院 | The robot six-dimension force sensor calibration device for being moved easily and operating |
| CN109580089B (en) * | 2019-01-10 | 2020-04-21 | 东南大学 | Six-dimensional force sensor calibration device and calibration method thereof |
| CN110631765B (en) * | 2019-10-30 | 2023-10-24 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| KR102184183B1 (en) * | 2019-12-12 | 2020-11-27 | 한국해양과학기술원 | Correction device of multi component load cell |
| CN113340526B (en) * | 2021-07-19 | 2022-08-19 | 合肥工业大学 | Static and dynamic calibration device and calibration method for six-dimensional force sensor |
| CN113820066B (en) * | 2021-09-22 | 2024-05-24 | 山东建筑大学 | Six-dimensional miniature force/moment sensor static calibration device |
| CN115524058A (en) * | 2022-08-11 | 2022-12-27 | 东南大学 | Automatic calibration device and calibration method for six-dimensional force/torque sensor |
| CN117073970B (en) * | 2023-10-16 | 2024-01-23 | 中国空气动力研究与发展中心高速空气动力研究所 | Load holding, vibration suppressing and fast stabilizing method for large mass loading head |
| CN118464285B (en) * | 2024-07-12 | 2024-09-06 | 中北大学 | Six-dimensional force sensor static/dynamic calibration system and calibration method |
| CN118565706A (en) * | 2024-08-01 | 2024-08-30 | 常州瑞尔特测控系统有限公司 | On-site rapid calibration loading device and method for multidimensional force sensor |
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