CN109580089A - A kind of six-dimension force sensor calibration device and its method of calibration - Google Patents

A kind of six-dimension force sensor calibration device and its method of calibration Download PDF

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Publication number
CN109580089A
CN109580089A CN201910022049.XA CN201910022049A CN109580089A CN 109580089 A CN109580089 A CN 109580089A CN 201910022049 A CN201910022049 A CN 201910022049A CN 109580089 A CN109580089 A CN 109580089A
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driving
force
axis
stress
slot
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CN109580089B (en
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杨述焱
陈望隆
胡权
孙东杰
李丹若
宋爱国
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Southeast University
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Southeast University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency

Abstract

The present invention proposes that a kind of six-dimension force sensor calibration device, the six-dimension force sensor include sensor elastomer, and the sensor elastomer is provided centrally with stress hole;The six-dimension force sensor calibration device includes rack, rotating mechanism, stressing device, the first loading device, the second loading device, third loading device and control system.The present invention realizes power/torque input and output Accurate Determining of each dimension by loading to elastomer for six-dimensional force sensor both ends are synchronous;By the way of fixed force source, mobile sensor to be calibrated, five power sources are used only, only rotating platform is once moved, entire calibration can be completed;Rotating platform electronic rotation, automatic spacing, loading device and stress axis can synchronous rotary, reduce manually-operated difficulty, avoid human error, calibration it is reproducible;Using spring as power element is stored, the unstability error of motor rotation is avoided, and realizes load calibration synchronous with uninstall process.

Description

A kind of six-dimension force sensor calibration device and its method of calibration
Technical field
The present invention relates to force sensor caliberating fields, more particularly to a kind of six-dimension force sensor calibration device and its calibration Method.
Background technique
Most intact form of the six-dimension force sensor as multi-dimension force sensor, can detect space arbitrary system simultaneously Three-dimensional force component (Fx, Fy, Fz) and three-dimensional moment component (Mx, My, Mz), are widely used in aerospace, machine-building With the every field such as assembly, engineering in medicine, automobile industry, sports.The sensor for designing and completing the process is demarcated, It determines the input/output relation of its each dimension, and then carries out solution calculating, be the important link during sensor design, directly Connect the measurement accuracy for affecting sensor.Since dimension is more, retinoic acid syndrome is affected six-dimension force sensor, thus is difficult to make It is demarcated with the caliberating device of traditional one-dimensional force snesor and scaling method.Therefore, to the caliberating device of six-dimension force sensor And scaling method is studied and is designed with very important application value.
The caliberating device of multi-dimension force sensor mainly has counterweight loaded type, planer-type and speed reducer formula etc. at present.It is Chinese special Sharp publication number CN103604561A discloses a kind of counterweight loaded type caliberating device, is carried out by counterweight and pulley blocks to sensor Rating test has the advantages that force value is stable, but not can be carried out automatic Calibration, heavy workload, and is readily incorporated manual operation mistake Difference.China Patent Publication No. CN103196629A is disclosed a kind of to be demarcated using speed reducer and high-precision one-dimensional force snesor Device, by grating control mobile displacement and angle, and then realize the automatic Calibration of sensor all directions, but cannot be real The independent load of existing torque.China Patent Publication No. CN103616128A disclose it is a kind of using servo motor and spring assembly as The independent and combination calibration between multiple dimensions, but loading unit high number, operation may be implemented in the caliberating device of loading unit Complexity, and equally can not achieve being kept completely separate for power and torque on all directions.
Summary of the invention
To solve the above problems, a kind of method that the present invention proposes six-dimension force sensor calibration device and its calibration, automatically Change and be accurately positioned and accurately load, the power and torque separation calibration of six dimensions, stated accuracy is high, operates simply.
Technical solution: the present invention proposes that a kind of six-dimension force sensor calibration device, the six-dimension force sensor include sensing Device elastomer, the sensor elastomer are provided centrally with stress hole;The six-dimension force sensor calibration device include rack, Rotating mechanism, stressing device, the first loading device, the second loading device, third loading device and control system;
The rack includes support platform, supporting leg and the portal support being fixed in support platform;
The rotating mechanism includes the rotating platform being arranged in above support platform, and the rotation center of the rotating platform is located at door The underface at formula rack beam midpoint, and the peace for fixing sensor elastomer is provided at the rotation center of rotating platform Fill hole;
The stressing device includes across the stress axis being fixed in stress hole, and the midpoint of stress axis is located at stress hole center Place;
First loading device includes the first driving mechanism that can produce left and right Xiang Li, the first force arm and is used to measure first The first force snesor of driving mechanism or so Xiang Li;First driving mechanism is fixed on column on the left of portal support and is located at branch It supports above platform;The left end of first force arm is connected to the first driving mechanism output end, right end and stress axis upper end Connection, Xiang Shouli axis apply left and right Xiang Li;
Second loading device is arranged symmetrically with the first loading device along the midpoint of stress axis;Second loading device includes that can produce The second driving mechanism, the second force arm and the second power sensing for measuring the second driving mechanism or so Xiang Li of raw left and right Xiang Li Device;Second driving mechanism is fixed on portal support right side uprights and is located at below support platform;Second force arm Right end is connected to the second driving mechanism output end, and left end is connect with stress axis lower end, and Xiang Shouli axis applies left and right Xiang Li;
The third loading device includes the third driving mechanism that can produce upward and downward power, the 4th driving that can produce preceding rearward-directed force Mechanism, the 5th driving mechanism and third force arm that can produce preceding rearward-directed force;The third driving mechanism, the 4th driving mechanism and 5th driving mechanism is each attached on portal support crossbeam;The upper surface of the third force arm and the output of third driving mechanism End is connected;The upper end of third force arm is additionally provided with the transverse arm for being parallel to portal support crossbeam;The front end face of the transverse arm Right side be connected with the 4th driving mechanism output end, the left side of the transverse arm rear end face and the 5th driving mechanism output end phase Even;The lower end of the third force arm is connect with stress axis upper end, and Xiang Shouli axis is applied with downward force and along stress axis axis The rotary force of heart line;The third loading device further includes the upward and downward applied for measuring the third force arm to stress axis The third force snesor of power and the rotary force along stress axis axial line applied for measuring the third force arm to stress axis Torque sensor;
The control system according to receive the first force snesor, the second force snesor, third force snesor signal, issue It controls signal and controls the first driving mechanism, the power output of the second driving mechanism and third driving mechanism;Control system is according to reception The signal of the torque sensor arrived issues the power output that control signal controls the 4th driving mechanism and the 5th driving mechanism.
Further, the top and bottom of the stress axis are respectively fixed with upper end stress disk and lower end stress disk, it is described on End stress disk and lower end stress disk are respectively arranged with the rotation through slot being arranged symmetrically along stress axis midpoint;The rotation through slot includes One cular arc groove and the straight line through slot clockwise and straight line through slot counterclockwise for being separately positioned on cular arc groove circular arc both ends;Institute It states straight line through slot clockwise and straight line through slot counterclockwise is vertical;
The right end of first force arm is provided with one and hangs in the stress disc spins through slot of upper end and can spiral along upper end stress Turn the first hook of through slot sliding;The left end of second force arm is provided with one and hangs in the stress disc spins through slot of lower end simultaneously The second hook that can be slided along lower end stress disc spins through slot;
When the first hook is located at the straight line through slot clockwise of upper end stress disk, the second hook is located at the clockwise of lower end stress disk Straight line through slot, and after the rotating platform is rotated by 90 ° counterclockwise, the first hook is located at the straight line through slot counterclockwise of upper end stress disk Place, the second hook are located at the straight line through slot counterclockwise of lower end stress disk.
Further, the upper end of the stress axis is provided with guide pile, and the guide pile includes a positioning disc and company It connects and rotates clockwise locating rod and rotational positioning bar counterclockwise in positioning disc outer rim;The lower end surface of the third force arm with The upper surface of positioning disc connects, and the lower end of third force arm is additionally provided with L-type location hook;Under the L-type location hook Bottom edge connects with the lower end surface of the positioning disc;The vertical edge of the L-type location hook is rotating clockwise locating rod and inverse time The maximum angle that relatively rotates between needle rotational positioning bar along positioning disc outer rim is 90 °;When the first hook is located at upper end stress When the straight line through slot clockwise of disk, the vertical edge of L-type location hook connects with locating rod is rotated clockwise;When the first hook is positioned at upper When holding the straight line through slot counterclockwise of stress disk, the vertical edge of L-type location hook connects with rotational positioning bar counterclockwise.
Further, the rotating platform is a gear disk;The rotating mechanism further includes being fixed in support platform Rotating platform driving motor and the rotating platform being fixed in rotating platform driving motor output shaft drive gear;The rotary flat Platform driving gear is connected with the outer tooth engagement of rotating platform;The control system issues control signal control rotating platform driving electricity The switch of machine and steering.
Further, the upper end of the rotating platform, which is provided with, radial rotate clockwise baffle and rotates counterclockwise baffle; It is fixed with to be arranged in the support platform and rotates clockwise baffle and rotate counterclockwise the limit plate on the rotation path of baffle, And the limit plate is 90 ° rotating clockwise baffle and rotating counterclockwise the maximum relative rotation angle between baffle;When When first hook is located at the straight line through slot clockwise of upper end stress disk, limit plate connects with baffle is rotated clockwise;When the first extension When hook is located at the straight line through slot counterclockwise of upper end stress disk, limit plate connects with baffle is rotated counterclockwise.
Further, the end of the limit plate is provided with groove type photoelectric switch, the baffle and counterclockwise of rotating clockwise Demarcation plate is provided on flap shutter;When the rotating platform turns to and rotates clockwise baffle and connect with limit plate, institute It states and rotates clockwise the demarcation plate of baffle and be inserted into the letter of the transmitting-receiving slot of disabling signal in the signal transmitting and receiving slot of the groove type photoelectric switch Number;When the rotating platform turns to and rotates counterclockwise baffle and connect with limit plate, the separation for rotating counterclockwise baffle Plate is inserted into the signal of disabling signal transmitting-receiving slot in the signal transmitting and receiving slot of the groove type photoelectric switch;The control system receives signal After the disabling signal for receiving and dispatching slot, turn signal is issued to rotating platform driving motor.
Further, first driving mechanism, the second driving mechanism, third driving mechanism, the 4th driving mechanism and the 5th Driving mechanism is straight line screw rod stepper motor;
First force arm further includes the first spring for being connected to the first hook left end, the first driving of the first spring left end connection Drive shaft;First force snesor is arranged between the first driving mechanism drive shaft and the first spring;
Second force arm includes the second spring for being connected to the second hook right end, and second spring right end connects the second driving machine Structure drive shaft;Second force snesor is arranged between the second driving mechanism drive shaft and second spring;
The third force arm includes the interconnecting piece fixed with stress axis upper end and the third spring for being fixed on interconnecting piece upper end, institute The upper end for stating third spring connects with transverse arm;The third force snesor and torque sensor are successively set on third spring and cross Between arm.
Further, the vertical chute of up and down direction is provided on two columns of the portal support and along vertical chute The upright slide block of sliding is additionally provided with positioning bolt between the vertical chute and upright slide block;First driving mechanism is set It sets on the left of the portal support on the upright slide block of column, the vertical of portal support right side uprights is arranged in second driving mechanism On sliding block.
Further, it is provided with horizontal concrete chute in left-right direction on the crossbeam of the portal support and is slided along horizontal concrete chute Horizontal slider, be additionally provided with positioning bolt between the horizontal concrete chute and horizontal slider;The third driving mechanism, 4 wheel driven Motivation structure and the 5th driving mechanism are arranged on horizontal slider.
It the use of the method that foregoing six-dimension force sensor calibration device carries out six-dimension force sensor calibration include following Step:
S1. control system operation rotating platform is rotated clockwise to limit plate and connects with baffle is rotated clockwise, while described the One hook is located at the straight line through slot clockwise of upper end stress disk, and the second hook is located at the straight line through slot clockwise of lower end stress disk, L The vertical edge of type location hook connects with locating rod is rotated clockwise;This position is set as initial position, sets initial position Under sensor elastomer on the right side of be that x-axis is positive, rear side is that y-axis is positive, and upside is that z-axis is positive;
S2. it controls the first driving mechanism to produce, the second driving mechanism is transferred to, and applies x-axis positive force Fx+;Control system is by connecing Receive the pressure value of the first force snesor and the pressure value of the second force snesor, the first driving mechanism of feedback control and the second driving machine Structure exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;Record the first driving machine The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of structure and the second driving mechanism;
S3. it controls the first driving mechanism to be transferred to, the second driving mechanism produces, and applies x-axis negative force Fx-;Control system is by connecing Receive the pressure value of the first force snesor and the pressure value of the second force snesor, the first driving mechanism of feedback control and the second driving machine Structure exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;Record the first driving machine The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of structure and the second driving mechanism;
S4. it controls the first driving mechanism to produce, the second driving mechanism produces, and applies y-axis forward direction torque My+;Control system passes through Receive the pressure value of the first force snesor and the pressure value of the second force snesor, the first driving mechanism of feedback control and the second driving Mechanism exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;The first driving of record The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of mechanism and the second driving mechanism;
S5. it controls the first driving mechanism to be transferred to, the second driving mechanism is transferred to, and applies y-axis negative sense torque My-;Control system passes through The pressure value of the first force snesor and the pressure value of the second force snesor are received, the first driving mechanism of feedback control and second is driven Motivation structure exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;Record first drives The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of motivation structure and the second driving mechanism;
S6. control third driving mechanism is transferred to, and applies z-axis positive force Fz+;Control system is by receiving third force snesor Pressure value, feedback control third driving mechanism export multiple groups force value;It records the output force value of third driving mechanism and corresponds to shape The survey of sextuple sensor regards data under state;
S7. control third driving mechanism produces, and applies z-axis negative force Fz-;Control system is by receiving third force snesor Pressure value, feedback control third driving mechanism export multiple groups force value;It records the output force value of third driving mechanism and corresponds to shape The survey of sextuple sensor regards data under state;
S8. the 4th driving mechanism of control produces, and the 5th driving mechanism produces, and applies z-axis forward direction torque Mz+;Control system passes through The measured value of torque sensor is received, the 4th driving mechanism of feedback control and the 5th driving mechanism export multiple groups force value;Record the The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of four driving mechanisms and the 5th driving mechanism;
S9. control system operation rotating platform is rotated by 90 ° counterclockwise, until limit plate connects with baffle is rotated counterclockwise, while institute The straight line through slot counterclockwise that the first hook is located at upper end stress disk is stated, the straight line counterclockwise that the second hook is located at lower end stress disk is logical Slot, the vertical edge of L-type location hook connect with rotational positioning bar counterclockwise;
S10. the 4th driving mechanism of control is transferred to, and the 5th driving mechanism is transferred to, and applies z-axis negative sense torque Mz-;Control system is logical The measured value for receiving torque sensor is crossed, the 4th driving mechanism of feedback control and the 5th driving mechanism export multiple groups force value;Record The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of 4th driving mechanism and the 5th driving mechanism;
S11. it controls the first driving mechanism to produce, the second driving mechanism is transferred to, and applies y-axis negative force Fy-;Control system passes through Receive the pressure value of the first force snesor and the pressure value of the second force snesor, the first driving mechanism of feedback control and the second driving Mechanism exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;The first driving of record The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of mechanism and the second driving mechanism;
S12. it controls the first driving mechanism to be transferred to, the second driving mechanism produces, and applies y-axis positive force Fy+;Control system passes through Receive the pressure value of the first force snesor and the pressure value of the second force snesor, the first driving mechanism of feedback control and the second driving Mechanism exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;The first driving of record The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of mechanism and the second driving mechanism;
S13. it controls the first driving mechanism to produce, the second driving mechanism produces, and applies x-axis forward direction torque Mx+;Control system is logical The pressure value of the pressure value and the second force snesor that receive the first force snesor is crossed, the first driving mechanism of feedback control and second drive Motivation structure exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;Record first drives The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of motivation structure and the second driving mechanism;
S14. it controls the first driving mechanism to be transferred to, the second driving mechanism is transferred to, and applies x-axis negative sense torque Mx-;Control system is logical The pressure value of the pressure value and the second force snesor that receive the first force snesor is crossed, the first driving mechanism of feedback control and second drive Motivation structure exports multiple groups force value, and keeps the first driving mechanism identical with the output force value of the second driving mechanism;Record first drives The survey of sextuple sensor regards data under the multiple groups output force value and corresponding states of motivation structure and the second driving mechanism;
S15. the data by above-mentioned steps acquisition carry out calculation process, demarcate six-dimension force sensor precision.
The utility model has the advantages that (1) present invention by synchronizing load to elastomer for six-dimensional force sensor both ends, realizes each The power of dimension/torque input/output relation Accurate Determining;
(2) by the way of fixed force source, mobile sensor to be calibrated five power sources are used only, only to rotating platform in the present invention It is once moved, entire calibration task can be completed, so that apparatus structure is more simplified, cost is lower, and stability is more preferable;
(3) rotating platform electronic rotation of the invention, automatic spacing, loading device and stress axis can synchronous rotary, be not required to dismount, Entire calibration process is manually adjusted without any, and assembly can carry out automation calibration by PC control after completing, significantly Manually-operated difficulty is reduced, staking-out work amount is reduced, avoids human error, the repeatability of calibration is more preferable;
(4) present invention avoids the unstability error of motor rotation using spring as power element is stored, and realizes load Calibration synchronous with uninstall process;
(5) position of loading device of the invention can be corrected and be matched accordingly by sliding block, can be used for different ranges, Various sizes of six-dimension force sensor is demarcated, universality with higher.
Detailed description of the invention
Fig. 1 is the schematic perspective view at upper side visual angle of the present invention;
Fig. 2 is the schematic perspective view at side-lower visual angle of the present invention;
Fig. 3 is rotating mechanism structural schematic diagram of the invention;
Fig. 4 is stressing device structural schematic diagram of the invention;
Fig. 5 is the partial structural diagram of upper end stress Pan Chu of the invention;
Fig. 6 is the top view of upper end stress Pan Chu of the invention;
Fig. 7 is the first loading device structural schematic diagram of the invention;
Fig. 8 is third loading device structural schematic diagram of the invention;
Fig. 9 is the structural schematic diagram of stress axis and third force arm junction of the invention;
Figure 10 is the top view of stress axis of the invention.
Specific embodiment
As shown in Figure 1, the present invention proposes that a kind of six-dimension force sensor calibration device, the six-dimension force sensor include sensing Device elastomer, the sensor elastomer are provided centrally with stress hole, the six-dimension force sensor calibration device include rack, Rotating mechanism, stressing device, the first loading device, the second loading device, third loading device and control system.This specification Orientation is on the basis of Fig. 1, and setting on the right side of the sensor elastomer under Fig. 1 location status is that x-axis is positive, rear side be y-axis just To upside is that z-axis is positive.
The rack includes support platform 1, supporting leg 2 and the portal support 3 being fixed in support platform 1.
The rotating mechanism includes the rotating platform 4 being arranged in above support platform, the rotation center of the rotating platform 4 It is provided with positioned at the underface at portal support crossbeam midpoint, and at the rotation center of rotating platform 4 for fixing sensor bullet The mounting hole 5 of property body.Rotating platform 4 described in this specification rotates clockwise and rotated counterclockwise to overlook support platform Subject to 1 visual angle.
The stressing device includes across the stress axis 6 being fixed in stress hole, and the midpoint of stress axis 6 is located at stress At the center of hole.
First loading device include the first driving mechanism A01 that can produce left and right Xiang Li, the first force arm (A02) and For measuring the first force snesor A03 of the first driving mechanism A01 or so Xiang Li;The first driving mechanism A01 is fixed on door 3 left side column of formula bracket and it is located at the top of support platform 2;The left end of the first force arm A02 is connected to the first driving mechanism A01 output end, the right end of the first force arm A02 are connect with 6 upper end of stress axis, and Xiang Shouli axis 6 applies left and right Xiang Li.
Such as Fig. 2, second loading device is arranged symmetrically with the first loading device along the midpoint of stress axis;Second load dress It sets the second driving mechanism B01, the second force arm B02 including can produce left and right Xiang Li and is used to measure the second driving mechanism B01 The second force snesor B03 of left and right Xiang Li;The second driving mechanism B01 is fixed on 3 right side uprights of portal support and is located at branch Support 1 lower section of platform;The right end of the second force arm B02 is connected to the second driving mechanism B01 output end, the second force arm B02 Left end is connect with 6 lower end of stress axis, and Xiang Shouli axis 6 applies left and right Xiang Li.
When the rotation of rotating platform 4 is to a certain position, the first driving mechanism A01 and the second driving mechanism B01 simultaneously to Stress axis applies power in the same direction, stress axis to the stress hole of six-dimension force sensor apply x-axis to power, and sensed by the first power Device A03 and the second force snesor B03 carry out detection calculating, for demarcate six-dimension force sensor x-axis to power;First driving Mechanism A01 and the second driving mechanism B01 applies opposite force to stress axis simultaneously, and stress axis applies the stress hole of six-dimension force sensor It is subject to y-axis and is the positive and negative rotation torque of axial line, and is examined by the first force snesor A03 and the second force snesor B03 It surveys and calculates, for demarcating six-dimension force sensor using y-axis as the positive and negative rotation torque of axial line.
When rotating platform 4 is rotated by 90 ° from the position, then the stress hole of situ stress axis and six-dimension force sensor is along y The contact surface of axis is rotated to x-axis direction.The first driving mechanism A01 and the second driving mechanism B01 applies to stress axis simultaneously Power in the same direction, stress axis to the stress hole of six-dimension force sensor apply y-axis to power, and pass through the first force snesor A03 and the Two force snesor B03 carry out detection calculating, for demarcate six-dimension force sensor y-axis to power;The first driving mechanism A01 and Second driving mechanism B01 applies opposite force to stress axis simultaneously, and stress axis, which applies with x-axis the stress hole of six-dimension force sensor, is The positive and negative rotation torque of axial line, and detection calculating is carried out by the first force snesor A03 and the second force snesor B03, it uses In calibration six-dimension force sensor using x-axis as the positive and negative rotation torque of axial line.
The third loading device includes the third driving mechanism C01 that can produce upward and downward power, can produce preceding rearward-directed force 4th driving mechanism C02, the 5th driving mechanism C03 and third force arm C04 that can produce preceding rearward-directed force;The third driving machine Structure C01, the 4th driving mechanism C02 and the 5th driving mechanism C03 are each attached on 3 crossbeam of portal support;The third force arm The upper surface of C04 is connected with the output end of third driving mechanism C01;The upper end of third force arm C04 is additionally provided with one in parallel In the transverse arm C05 of 3 crossbeam of portal support;The right side of the front end face of the transverse arm C05 and the 4th driving mechanism C02 output end It is connected, the left side of the transverse arm C05 rear end face is connected with the 5th driving mechanism C03 output end;Under the third force arm C04 End is connect with 6 upper end of stress axis, and Xiang Shouli axis 6 is applied with downward force and the rotary force along 6 axial line of stress axis;Described Three loading devices further include sensing for measuring the third power for the upward and downward power that the third force arm C04 applies to stress axis 6 Device C06 and torque for measuring the rotary force along 6 axial line of stress axis that the third force arm C04 applies to stress axis 6 Sensor C07.
The upward and downward power that third driving mechanism applies stress axis 6, and detected by third force snesor C06, For demarcate six-dimension force sensor z to power.
4th driving mechanism C02 and the 5th driving mechanism C03 applies thrust simultaneously to transverse arm C05, third force arm C04 to Stress axis 6 applies the counterclockwise rotating force square along 6 axial line of stress axis;4th driving mechanism C02 and the 5th C03 pairs of driving mechanism Transverse arm C05 applies pulling force simultaneously, and third force arm C04 applies the clockwise rotating force along 6 axial line of stress axis to stress axis 6 Square.Detect counterclockwise rotating force square and right-handed moment by torque sensor C07, for demarcate six-dimension force sensor with Z is the positive and negative turning moment of axial line.
The control system is according to the first force snesor A03, the second force snesor B03, third force snesor received The signal of C03 issues control signal and controls the first driving mechanism A01, the second driving mechanism B01 and third driving mechanism C01 Power output;Control system issues control signal and controls the 4th driving mechanism according to the signal of the torque sensor C07 received The power output of C02 and the 5th driving mechanism C03.
Such as Fig. 4, the top and bottom of the stress axis 6 are respectively fixed with upper end stress disk 7 and lower end stress disk 8, described Upper end stress disk 7 and lower end stress disk 8 are respectively arranged with the rotation through slot being arranged symmetrically along 6 midpoint of stress axis;It is described such as Fig. 6 Rotating through slot includes a cular arc groove 9 and 10 He of straight line through slot clockwise for being separately positioned on 9 circular arc both ends of cular arc groove Straight line through slot 11 counterclockwise;The straight line through slot 10 clockwise and straight line through slot counterclockwise 11 are vertical.
Such as Fig. 5, the right end of the first force arm A02, which is provided with one and hangs over upper end stress disk 7, to be rotated in through slot and can The first hook A04 of through slot sliding is rotated along upper end stress disk 7;The left end of the second force arm B02 is provided with one and hangs over Lower end stress disk 8 rotates the second hook B04 that can rotate in through slot and along lower end stress disk 8 through slot sliding.
When the first hook A04 is located at the straight line through slot 10 clockwise of upper end stress disk 7, the second hook B04 is located at lower end The straight line through slot 10 clockwise of stress disk 8, and the rotating platform 4 counterclockwise be rotated by 90 ° after, first hook A04 is located at upper end At the straight line through slot 11 counterclockwise of stress disk 7, the second hook B04 is located at the straight line through slot 11 counterclockwise of lower end stress disk 8.
Such as Fig. 9 and Figure 10, the upper end of the stress axis 6 is provided with guide pile, and the guide pile includes a positioning disc 12 and be connected to 12 outer rim of positioning disc rotate clockwise locating rod 13 and rotational positioning bar 14 counterclockwise;The third is applied The lower end surface of arm of force C04 connects with the upper surface of positioning disc 12, and the lower end of third force arm C04 is additionally provided with L-type and determines Position hook C08;The bottom of the L-type location hook C08 connects with the lower end surface of the positioning disc 12;The L-type location hook C08 Vertical edge rotating clockwise the maximum phase between locating rod 13 and counterclockwise rotational positioning bar 14 along 12 outer rim of positioning disc It is 90 ° to rotational angle;When the first hook A04 is located at the straight line through slot 10 clockwise of upper end stress disk 7, L-type location hook C08 Vertical edge connect with locating rod 13 is rotated clockwise;When the first hook A04 is located at the straight line through slot counterclockwise of upper end stress disk 7 When 11, the vertical edge of L-type location hook C08 connects with rotational positioning bar 14 counterclockwise.
Such as Fig. 3, the rotating platform 4 is a gear disk;The rotating mechanism further includes being fixed in support platform 1 Rotating platform driving motor 15 and the rotating platform being fixed on 15 output shaft of rotating platform driving motor drive gear 16;It is described Rotating platform driving gear 16 is connected with the outer tooth engagement of rotating platform 4;The control system issues control signal control rotation The switch of platform driving motor 15 and steering.
The upper end of the rotating platform 4, which is provided with, radial to be rotated clockwise baffle 17 and rotates counterclockwise baffle 18;Institute It states to be fixed with to be arranged in support platform 1 and rotates clockwise baffle 17 and rotate counterclockwise the limit on the rotation path of baffle 18 Plate 19, and the limit plate 19 is rotating clockwise baffle 17 and is rotating counterclockwise the maximum relative rotation angle between baffle 18 Degree is 90 °;When first hook A04 be located at the straight line through slot 10 clockwise of upper end stress disk 7 when, limit plate 19 with rotate clockwise Baffle 17 connects;When the first hook A04 is located at the straight line through slot 11 counterclockwise of upper end stress disk 7, limit plate 19 with it is counterclockwise Flap shutter 18 connects.
The end of the limit plate 16 is provided with groove type photoelectric switch 20, described to rotate clockwise baffle 17 and turn counterclockwise Demarcation plate 21 is provided on dynamic baffle 18;Baffle 17 and 19 phase of limit plate are rotated clockwise when the rotating platform 4 turns to When connecing, the demarcation plate 21 for rotating clockwise baffle 17, which is inserted into the signal transmitting and receiving slot of the groove type photoelectric switch 20, blocks letter Number transmitting-receiving slot signal;When the rotating platform 4 turns to and rotates counterclockwise baffle 18 and connect with limit plate 19, the inverse time The demarcation plate 21 of needle flap shutter 18 is inserted into the letter of disabling signal transmitting-receiving slot in the signal transmitting and receiving slot of the groove type photoelectric switch 20 Number;After the control system receives the disabling signal of signal transmitting and receiving slot, turn signal is issued to rotating platform driving motor 13.
90 ° of rotary stopper is arranged in the rotating mechanism, realizes that rotating platform 4 rotates in 90 ° of sections automatically.Rotation Turn platform 4 in rotary course, the first hook A04 and upper end stress disk 7, second links up with B04 and lower end stress disk 8, and third is applied Arm of force C04 and stress axis can 90 ° of synchronous relative rotation, do not need any disassembling operations, realize automation calibration.
The first driving mechanism A01, the second driving mechanism B01, three driving mechanism C01, the 4th driving mechanism C02 and Five driving mechanism C03 are straight line screw rod stepper motors.
If Fig. 7, the first force arm A02 further include the first spring A05 for being connected to the first left end hook A04, first The left end spring A05 connects the first driving mechanism A01 drive shaft;The first force snesor A03 is arranged in the first driving mechanism A01 Between drive shaft and the first spring A05.
The second force arm B02 further includes the second spring for being connected to the second hook B04 right end, and second spring right end connects Connect the second driving mechanism B01 drive shaft;The second force snesor B03 is arranged in the second driving mechanism B01 drive shaft and second Between spring.
Such as Fig. 8, the connection third upper end force arm C04 and lower end are provided in the middle part of the third force arm C04 The third spring C09 in portion, the upper end of the third spring C09 connects with transverse arm C05;The third force snesor C06 and torque Sensor C07 is successively set between third spring C09 and transverse arm C05.
Loading device of the invention is all made of spring as power element is stored, and avoids the unstability error of motor rotation, And realize load calibration synchronous with uninstall process.
It is provided with the vertical chute 22 of up and down direction on two columns of the portal support 3 and is slided along vertical chute 22 Dynamic upright slide block 23 is additionally provided with positioning bolt between the vertical chute 22 and upright slide block 23;First driving machine Structure A01 is arranged on the upright slide block 23 of 3 left side column of portal support, and the second driving mechanism B01 is arranged in portal support 3 On the upright slide block 23 of right side uprights.
It is provided with horizontal concrete chute 24 in left-right direction on the crossbeam of the portal support 3 and is slided along horizontal concrete chute 24 Horizontal slider 25 is additionally provided with positioning bolt between the horizontal concrete chute 25 and horizontal slider 25;The third driving mechanism C01, the 4th driving mechanism C02 and the 5th driving mechanism C03 are arranged on horizontal slider 25.The structure is for adjusting the first load The position of device, the second loading device and third loading device.
The method for carrying out six-dimension force sensor calibration using the six-dimension force sensor calibration device of the present embodiment, including it is following Step:
S1. control system operation rotating platform 4 is rotated clockwise to limit plate 19 and connects with baffle 17 is rotated clockwise, simultaneously The first hook A04 is located at the straight line through slot 10 clockwise of upper end stress disk 7, and the second hook B04 is located at lower end stress disk 8 Straight line through slot 10 clockwise, the vertical edge of L-type location hook C08 connects with locating rod 13 is rotated clockwise;It is first for setting this position Beginning position, setting on the right side of the sensor elastomer under initial position is that x-axis is positive, and rear side is that y-axis is positive, and upside is z-axis It is positive;
S2. it controls the first driving mechanism A01 to produce, the second driving mechanism B01 is transferred to, and applies x-axis positive force Fx+;Control system By receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving mechanism of feedback control A01 and the second driving mechanism B01 exports multiple groups force value, and keeps the output of the first driving mechanism A01 and the second driving mechanism B01 Force value is identical;It records sextuple under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey of sensor regards data;
S3. it controls the first driving mechanism A01 to be transferred to, the second driving mechanism B01 is produced, and applies x-axis negative force Fx-;Control system By receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving mechanism of feedback control A01 and the second driving mechanism B01 exports multiple groups force value, and keeps the output of the first driving mechanism A01 and the second driving mechanism B01 Force value is identical;It records sextuple under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey of sensor regards data;
S4. it controls the first driving mechanism A01 to produce, the second driving mechanism B01 is produced, and applies y-axis forward direction torque My+;Control system System is by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving machine of feedback control Structure A01 and the second driving mechanism B01 exports multiple groups force value, and holding the first driving mechanism A01's and the second driving mechanism B01 is defeated Power generating value is identical;It records six under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey for tieing up sensor regards data;
S5. it controls the first driving mechanism A01 to be transferred to, the second driving mechanism B01 is transferred to, and applies y-axis negative sense torque My-;Control system System is by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving machine of feedback control Structure A01 and the second driving mechanism B01 exports multiple groups force value, and holding the first driving mechanism A01's and the second driving mechanism B01 is defeated Power generating value is identical;It records six under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey for tieing up sensor regards data;
S6. control third driving mechanism C01 is transferred to, and applies z-axis positive force Fz+;Control system is by receiving third force snesor The pressure value of C06, feedback control third driving mechanism C01 export multiple groups force value;Record the output force value of third driving mechanism C01 And the survey of sextuple sensor regards data under corresponding states;
S7. control third driving mechanism C01 is produced, and applies z-axis negative force Fz-;Control system is by receiving third force snesor The pressure value of C06, feedback control third driving mechanism C01 export multiple groups force value;Record the output force value of third driving mechanism C01 And the survey of sextuple sensor regards data under corresponding states;
S8. the 4th driving mechanism C02 of control is produced, and the 5th driving mechanism C03 is produced, and applies z-axis forward direction torque Mz+;Control system Measured value of the system by reception torque sensor C07, feedback control the 4th driving mechanism C02 and the 5th driving mechanism C03 output Multiple groups force value;It records sextuple under the multiple groups output force value and corresponding states of the 4th driving mechanism C02 and the 5th driving mechanism C03 The survey of sensor regards data;
S9. control system operation rotating platform 4 is rotated by 90 ° counterclockwise, until limit plate 19 connects with baffle 18 is rotated counterclockwise, The first hook A04 is located at the straight line through slot 11 counterclockwise of upper end stress disk 7 simultaneously, and the second hook B04 is located at lower end stress The straight line through slot 11 counterclockwise of disk 8, the vertical edge of L-type location hook C08 connect with rotational positioning bar 14 counterclockwise;
S10. the 4th driving mechanism C02 of control is transferred to, and the 5th driving mechanism C03 is transferred to, and applies z-axis negative sense torque Mz-;Control System passes through the measured value for receiving torque sensor C07, and feedback control the 4th driving mechanism C02 and the 5th driving mechanism C03 is defeated Multiple groups force value out;It records six under the multiple groups output force value and corresponding states of the 4th driving mechanism C02 and the 5th driving mechanism C03 The survey for tieing up sensor regards data;
S11. it controls the first driving mechanism A01 to produce, the second driving mechanism B01 is transferred to, and applies y-axis negative force Fy-;Control system System is by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving machine of feedback control Structure A01 and the second driving mechanism B01 exports multiple groups force value, and holding the first driving mechanism A01's and the second driving mechanism B01 is defeated Power generating value is identical;It records six under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey for tieing up sensor regards data;
S12. it controls the first driving mechanism A01 to be transferred to, the second driving mechanism B01 is produced, and applies y-axis positive force Fy+;Control system System is by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, the first driving machine of feedback control Structure A01 and the second driving mechanism B01 exports multiple groups force value, and holding the first driving mechanism A01's and the second driving mechanism B01 is defeated Power generating value is identical;It records six under the multiple groups output force value and corresponding states of the first driving mechanism A01 and the second driving mechanism B01 The survey for tieing up sensor regards data;
S13. it controls the first driving mechanism A01 to produce, the second driving mechanism B01 is produced, and applies x-axis forward direction torque Mx+;Control System is driven by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, feedback control first Mechanism A01 and the second driving mechanism B01 exports multiple groups force value, and keeps the first driving mechanism A01's and the second driving mechanism B01 Output force value is identical;Under the multiple groups output force value and corresponding states that record the first driving mechanism A01 and the second driving mechanism B01 The survey of sextuple sensor regards data;
S14. it controls the first driving mechanism A01 to be transferred to, the second driving mechanism B01 is transferred to, and applies x-axis negative sense torque Mx-;Control System is driven by receiving the pressure value of the first force snesor A03 and the pressure value of the second force snesor B03, feedback control first Mechanism A01 and the second driving mechanism B01 exports multiple groups force value, and keeps the first driving mechanism A01's and the second driving mechanism B01 Output force value is identical;Under the multiple groups output force value and corresponding states that record the first driving mechanism A01 and the second driving mechanism B01 The survey of sextuple sensor regards data;
S15. the data by above-mentioned steps acquisition carry out calculation process, demarcate six-dimension force sensor precision.

Claims (10)

1. a kind of six-dimension force sensor calibration device, the six-dimension force sensor includes sensor elastomer, the sensor bullet Property body is provided centrally with stress hole, it is characterised in that: including rack, rotating mechanism, stressing device, the first loading device, Two loading devices, third loading device and control system;
The rack includes support platform (1), supporting leg (2) and the portal support (3) being fixed on support platform (1);
The rotating mechanism includes the rotating platform (4) being arranged in above support platform, the rotation center of the rotating platform (4) It is provided with positioned at the underface at portal support crossbeam midpoint, and at the rotation center of rotating platform (4) for fixing sensor The mounting hole (5) of elastomer;
The stressing device includes across the stress axis (6) being fixed in stress hole, and the midpoint of stress axis (6) is located at stress At the center of hole;
First loading device includes the first driving mechanism (A01) that can produce left and right Xiang Li, the first force arm (A02) and uses In the first force snesor (A03) of measurement the first driving mechanism (A01) left and right Xiang Li;First driving mechanism (A01) is fixed In portal support (3) left side column and it is located above support platform (2);The left end of first force arm (A02) is connected to One driving mechanism (A01) output end, the right end of the first force arm (A02) are connect with stress axis (6) upper end, Xiang Shouli axis (6) apply left and right Xiang Li;
Second loading device is arranged symmetrically with the first loading device along the midpoint of stress axis;Second loading device includes that can produce The second driving mechanism (B01) of raw left and right Xiang Li, the second force arm (B02) and for measuring the left and right the second driving mechanism (B01) To the second force snesor (B03) of power;Second driving mechanism (B01) is fixed on portal support (3) right side uprights and is located at Below support platform (1);The right end of second force arm (B02) is connected to the second driving mechanism (B01) output end, and second applies The arm of force left end (B02) is connect with stress axis (6) lower end, and Xiang Shouli axis (6) applies left and right Xiang Li;
The third loading device includes the third driving mechanism (C01) that can produce upward and downward power, can produce the of preceding rearward-directed force Four driving mechanisms (C02), the 5th driving mechanism (C03) and third force arm (C04) that can produce preceding rearward-directed force;The third is driven Motivation structure (C01), the 4th driving mechanism (C02) and the 5th driving mechanism (C03) are each attached on portal support (3) crossbeam;Institute The upper surface for stating third force arm (C04) is connected with the output end of third driving mechanism (C01);Third force arm (C04) it is upper End is additionally provided with the transverse arm (C05) for being parallel to portal support (3) crossbeam;The right side of the front end face of the transverse arm (C05) with 4th driving mechanism (C02) output end is connected, the left side of transverse arm (C05) rear end face and the 5th driving mechanism (C03) Output end is connected;The lower end of the third force arm (C04) is connect with stress axis (6) upper end, and Xiang Shouli axis (6) is applied with Downward force and rotary force along stress axis (6) axial line;The third loading device further includes for measuring the third force Arm (C04) Xiang Shouli axis (6) apply upward and downward power third force snesor (C06) and for measuring the third force arm (C04) torque sensor (C07) for the rotary force along stress axis (6) axial line that Xiang Shouli axis (6) applies;
The control system is according to the first force snesor (A03), the second force snesor (B03), third force snesor received (C03) signal issues control signal control the first driving mechanism (A01), the second driving mechanism (B01) and third driving mechanism (C01) power output;Control system issues control signal control the 4th according to the signal of the torque sensor (C07) received The power output of driving mechanism (C02) and the 5th driving mechanism (C03).
2. six-dimension force sensor calibration device according to claim 1, it is characterised in that: the upper end of the stress axis (6) Upper end stress disk (7) and lower end stress disk (8), the upper end stress disk (7) and lower end stress disk (8) are respectively fixed with lower end It is respectively arranged with the rotation through slot being arranged symmetrically along stress axis (6) midpoint;The rotation through slot include cular arc groove (9) with And it is separately positioned on straight line through slot (10) clockwise and the straight line through slot counterclockwise (11) at cular arc groove (9) circular arc both ends;It is described Straight line through slot (10) and straight line through slot counterclockwise (11) clockwise are vertical;
The right end of first force arm (A02) be provided with one hang over upper end stress disk (7) rotation through slot in and can be along upper end Stress disk (7) rotates the first hook (A04) of through slot sliding;The left end of second force arm (B02) is provided with one and hangs over Lower end stress disk (8) rotates the second hook (B04) that can rotate in through slot and along lower end stress disk (8) through slot sliding;
When the first hook (A04) is located at straight line through slot (10) clockwise of upper end stress disk (7), the second hook (B04) is located at The straight line through slot (10) clockwise of lower end stress disk (8), and the rotating platform (4) counterclockwise be rotated by 90 ° after, first hook (A04) at the straight line through slot (11) counterclockwise of upper end stress disk (7), the second hook (B04) is located at lower end stress disk (8) Straight line through slot (11) counterclockwise.
3. six-dimension force sensor calibration device according to claim 2, it is characterised in that: the upper end of the stress axis (6) It is provided with guide pile, the guide pile is including a positioning disc (12) and is connected to the clockwise of positioning disc (12) outer rim Rotational positioning bar (13) and rotational positioning bar counterclockwise (14);The lower end surface of the third force arm (C04) and positioning disc (12) upper surface connects, and the lower end of third force arm (C04) is additionally provided with L-type location hook (C08);The L-type positioning The bottom of hook (C08) connects with the lower end surface of the positioning disc (12);The vertical edge of the L-type location hook (C08) is suitable Maximum between hour hands rotational positioning bar (13) and rotational positioning bar counterclockwise (14) along positioning disc (12) outer rim relatively rotates Angle is 90 °;When the first hook (A04) is located at straight line through slot (10) clockwise of upper end stress disk (7), L-type location hook (C08) vertical edge connects with locating rod (13) is rotated clockwise;When the first hook (A04) is located at the inverse of upper end stress disk (7) When hour hands straight line through slot (11), the vertical edge of L-type location hook (C08) connects with rotational positioning bar (14) counterclockwise.
4. six-dimension force sensor calibration device according to claim 3, it is characterised in that: the rotating platform (4) is one Gear disk;The rotating mechanism further includes the rotating platform driving motor (15) being fixed on support platform (1) and is fixed on Rotating platform on rotating platform driving motor (15) output shaft drives gear (16);Rotating platform driving gear (16) with The outer tooth engagement of rotating platform (4) is connected;The control system issues control signal control rotating platform driving motor (15) Switch and steering.
5. six-dimension force sensor calibration device according to claim 4, it is characterised in that: the rotating platform (4) it is upper End, which is provided with, radial to be rotated clockwise baffle (17) and rotates counterclockwise baffle (18);It is fixed on the support platform (1) It is arranged and is rotating clockwise the limit plate (19) on baffle (17) and the rotation path for rotating counterclockwise baffle (18), and is described Limit plate (19) is rotating clockwise baffle (17) and rotate counterclockwise the maximum relative rotation angle between baffle (18) 90°;When the first hook (A04) is located at straight line through slot (10) clockwise of upper end stress disk (7), limit plate (19) with it is clockwise Flap shutter (17) connects;When the first hook (A04) is located at straight line through slot (11) counterclockwise of upper end stress disk (7), limit Plate (19) connects with baffle (18) is rotated counterclockwise.
6. six-dimension force sensor calibration device according to claim 5, it is characterised in that: the end of the limit plate (16) Be provided with groove type photoelectric switch (20), it is described rotate clockwise baffle (17) and rotate counterclockwise be provided on baffle (18) point Partition (21);When the rotating platform (4) turns to and rotates clockwise baffle (17) and connect with limit plate (19), the up time The demarcation plate (21) of needle flap shutter (17) is inserted into disabling signal transmitting-receiving in the signal transmitting and receiving slot of the groove type photoelectric switch (20) The signal of slot;When the rotating platform (4) turns to and rotates counterclockwise baffle (18) and connect with limit plate (19), the inverse time The demarcation plate (21) of needle flap shutter (18) is inserted into disabling signal transmitting-receiving in the signal transmitting and receiving slot of the groove type photoelectric switch (20) The signal of slot;After the control system receives the disabling signal of signal transmitting and receiving slot, issues and turn to rotating platform driving motor (13) To signal.
7. according to six-dimension force sensor calibration device described in claim 2-6 any one, it is characterised in that: described first drives Motivation structure (A01), the second driving mechanism (B01), three driving mechanisms (C01), the 4th driving mechanism (C02) and the 5th driving mechanism It (C03) is straight line screw rod stepper motor;
First force arm (A02) further includes the first spring (A05) for being connected to the left end the first hook (A04), the first spring (A05) left end connects the first driving mechanism (A01) drive shaft;First force snesor (A03) is arranged in the first driving mechanism (A01) between drive shaft and the first spring (A05);
Second force arm (B02) further includes the second spring for being connected to the second hook (B04) right end, and second spring right end connects Connect the second driving mechanism (B01) drive shaft;Second force snesor (B03) is arranged in the second driving mechanism (B01) drive shaft Between second spring;
The of the connection upper and lower end third force arm (C04) is provided in the middle part of the third force arm (C04) The upper end of three springs (C09), the third spring (C09) connects with transverse arm (C05);The third force snesor (C06) and torsion Square sensor (C07) is successively set between third spring (C09) and transverse arm (C05).
8. six-dimension force sensor calibration device according to claim 1, it is characterised in that: the two of the portal support (3) The vertical chute (22) of up and down direction and the upright slide block (23) along vertical chute (22) sliding are provided on a column, it is described Positioning bolt is additionally provided between vertical chute (22) and upright slide block (23);First driving mechanism (A01) is arranged in door On the left of formula bracket (3) on the upright slide block (23) of column, the second driving mechanism (B01) setting is on the right side of portal support (3) On the upright slide block (23) of column.
9. six-dimension force sensor calibration device according to claim 8, it is characterised in that: the cross of the portal support (3) Horizontal concrete chute (24) in left-right direction and the horizontal slider (25) along horizontal concrete chute (24) sliding, the level are provided on beam Positioning bolt is additionally provided between sliding slot (25) and horizontal slider (25);The third driving mechanism (C01), the 4th driving mechanism (C02) it is arranged on horizontal slider (25) with the 5th driving mechanism (C03).
10. a kind of carry out six-dimension force sensor using the six-dimension force sensor calibration device described in any one of claim 1-9 The method of calibration, it is characterised in that: include the following steps
S1. control system operation rotating platform (4) is rotated clockwise to limit plate (19) and rotates clockwise baffle (17) phase It connects, while first hook (A04) is located at the straight line through slot (10) clockwise of upper end stress disk (7), second hook position (B04) In the straight line through slot (10) clockwise of lower end stress disk (8), the vertical edge of L-type location hook (C08) and locating rod is rotated clockwise (13) connect;This position is set as initial position, setting on the right side of the sensor elastomer under initial position is that x-axis is positive, Rear side is that y-axis is positive, and upside is that z-axis is positive;
S2. it controls the first driving mechanism (A01) to produce, the second driving mechanism (B01) is transferred to, and applies x-axis positive force Fx+;Control System is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control first Driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and the first driving mechanism (A01) and second is kept to drive The output force value of motivation structure (B01) is identical;Record the multiple groups output of the first driving mechanism (A01) and the second driving mechanism (B01) The survey of sextuple sensor regards data under force value and corresponding states;
S3. it controls the first driving mechanism (A01) to be transferred to, the second driving mechanism (B01) produces, and applies x-axis negative force Fx-;Control System is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control first Driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and the first driving mechanism (A01) and second is kept to drive The output force value of motivation structure (B01) is identical;Record the multiple groups output of the first driving mechanism (A01) and the second driving mechanism (B01) The survey of sextuple sensor regards data under force value and corresponding states;
S4. it controls the first driving mechanism (A01) to produce, the second driving mechanism (B01) produces, and applies y-axis forward direction torque My+;Control System processed is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control the One driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and second The output force value of driving mechanism (B01) is identical;The multiple groups for recording the first driving mechanism (A01) and the second driving mechanism (B01) are defeated The survey of sextuple sensor regards data under power generating value and corresponding states;
S5. it controls the first driving mechanism (A01) to be transferred to, the second driving mechanism (B01) is transferred to, and applies y-axis negative sense torque My-;Control System processed is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control the One driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and second The output force value of driving mechanism (B01) is identical;The multiple groups for recording the first driving mechanism (A01) and the second driving mechanism (B01) are defeated The survey of sextuple sensor regards data under power generating value and corresponding states;
S6. control third driving mechanism (C01) is transferred to, and applies z-axis positive force Fz+;Control system is by receiving third power sensing The pressure value of device (C06), feedback control third driving mechanism (C01) export multiple groups force value;Record third driving mechanism (C01) The survey of sextuple sensor regards data under output force value and corresponding states;
S7. control third driving mechanism (C01) is produced, and applies z-axis negative force Fz-;Control system is by receiving third power sensing The pressure value of device (C06), feedback control third driving mechanism (C01) export multiple groups force value;Record third driving mechanism (C01) The survey of sextuple sensor regards data under output force value and corresponding states;
S8. the 4th driving mechanism (C02) of control produces, and the 5th driving mechanism (C03) produces, and applies z-axis forward direction torque Mz+;Control System processed passes through the measured value for receiving torque sensor (C07), the 4th driving mechanism (C02) of feedback control and the 5th driving mechanism (C03) multiple groups force value is exported;Record the 4th driving mechanism (C02) and the 5th driving mechanism (C03) multiple groups output force value and The survey of sextuple sensor regards data under corresponding states;
S9. control system operation rotating platform (4) be rotated by 90 ° counterclockwise, until limit plate (19) with rotate counterclockwise baffle (18) Connect, while first hook (A04) is located at the straight line through slot (11) counterclockwise of upper end stress disk (7), the second hook (B04) Positioned at the straight line through slot (11) counterclockwise of lower end stress disk (8), the vertical edge of L-type location hook (C08) and rotational positioning counterclockwise Bar (14) connects;
S10. the 4th driving mechanism (C02) of control is transferred to, and the 5th driving mechanism (C03) is transferred to, and applies z-axis negative sense torque Mz-; Control system passes through the measured value for receiving torque sensor (C07), the 4th driving mechanism (C02) of feedback control and the 5th driving machine Structure (C03) exports multiple groups force value;Record the multiple groups output force value of the 4th driving mechanism (C02) and the 5th driving mechanism (C03) with And the survey of sextuple sensor regards data under corresponding states;
S11. it controls the first driving mechanism (A01) to produce, the second driving mechanism (B01) is transferred to, and applies y-axis negative force Fy-;Control System processed is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control the One driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and second The output force value of driving mechanism (B01) is identical;The multiple groups for recording the first driving mechanism (A01) and the second driving mechanism (B01) are defeated The survey of sextuple sensor regards data under power generating value and corresponding states;
S12. it controls the first driving mechanism (A01) to be transferred to, the second driving mechanism (B01) produces, and applies y-axis positive force Fy+;Control System processed is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control the One driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and second The output force value of driving mechanism (B01) is identical;The multiple groups for recording the first driving mechanism (A01) and the second driving mechanism (B01) are defeated The survey of sextuple sensor regards data under power generating value and corresponding states;
S13. it controls the first driving mechanism (A01) to produce, the second driving mechanism (B01) produces, and applies x-axis forward direction torque Mx+; Control system is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control First driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and the The output force value of two driving mechanisms (B01) is identical;Record the multiple groups of the first driving mechanism (A01) and the second driving mechanism (B01) The survey of sextuple sensor regards data under output force value and corresponding states;
S14. it controls the first driving mechanism (A01) to be transferred to, the second driving mechanism (B01) is transferred to, and applies x-axis negative sense torque Mx-; Control system is by receiving the pressure value of the first force snesor (A03) and the pressure value of the second force snesor (B03), feedback control First driving mechanism (A01) and the second driving mechanism (B01) export multiple groups force value, and keep the first driving mechanism (A01) and the The output force value of two driving mechanisms (B01) is identical;Record the multiple groups of the first driving mechanism (A01) and the second driving mechanism (B01) The survey of sextuple sensor regards data under output force value and corresponding states;
S15. the data by above-mentioned steps acquisition carry out calculation process, demarcate six-dimension force sensor precision.
CN201910022049.XA 2019-01-10 2019-01-10 Six-dimensional force sensor calibration device and calibration method thereof Active CN109580089B (en)

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