CN111174969A - Dynamic calibration equipment for multi-dimensional force sensor generating negative step - Google Patents
Dynamic calibration equipment for multi-dimensional force sensor generating negative step Download PDFInfo
- Publication number
- CN111174969A CN111174969A CN202010152055.XA CN202010152055A CN111174969A CN 111174969 A CN111174969 A CN 111174969A CN 202010152055 A CN202010152055 A CN 202010152055A CN 111174969 A CN111174969 A CN 111174969A
- Authority
- CN
- China
- Prior art keywords
- force sensor
- electromagnet
- dimensional force
- dynamic calibration
- negative step
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a multi-dimensional force sensor dynamic calibration device generating negative step, which relates to the technical field of multi-dimensional force sensors and comprises a rack and a rotating device rotatably arranged on the rack, wherein a rotating shaft of the rotating device is arranged along the horizontal direction; the multi-dimensional force sensor is fixedly arranged on the rotating device, the front end of the force loading rod is connected to the center of the multi-dimensional force sensor, and the tail end of the force loading rod is connected with a magnetic weight in a hanging mode through a rope; the electromagnet device is arranged right below the magnetic weight. The invention utilizes the electromagnet to generate attraction force to the magnetic weight instantly when electrified, thereby achieving the effect of dynamic calibration of generating negative step force to the multidimensional force sensor, the whole negative step response time is short, and the measurement result is accurate; the method solves the problem that the conventional method for shearing the rope and extruding the brittle material can only carry out single-direction dynamic calibration of the negative step force, can carry out rapid dynamic calibration of the negative step force in three directions of the multi-dimensional force sensor in a short time, and ensures the repeatability of the experiment.
Description
Technical Field
The invention relates to the technical field of multi-dimensional force sensors, in particular to dynamic calibration equipment for dynamic calibration of a multi-dimensional force sensor.
Background
The multi-dimensional force sensor is a force sensor capable of measuring force and moment components in more than two directions simultaneously, and along with the development of industrial technology and the improvement of robot industry production, the use requirement of the multi-dimensional force sensor is gradually expanded. Before the multi-dimensional force sensor is used, the sensor needs to be calibrated by using a standard tool, namely the calibration of the multi-dimensional force sensor is carried out. At present, the calibration of multidimensional force sensors is mainly focused on the static aspect: such as digital decoupling of the sensor, calibration of linearity and sensitivity, or analysis of output errors caused by input force point of action deviation and line of action deviation. The dynamic performance and calibration thereof are less studied, and a standard for dynamic calibration of multi-dimensional force sensors has not yet been formed. In many cases of actual measurement, however, the force to be measured is a force that changes sharply with time, so-called dynamic force, such as various mechanical shocks, explosions, etc. Multi-dimensional force sensors tend to have different input signal amplitudes and phases when measuring dynamic forces than when measuring static forces. How to avoid or correct errors caused by dynamic force, the dynamic characteristics of the multi-dimensional force sensor must be researched, and a dynamic calibration experiment must be carried out on the sensor to acquire the dynamic performance of the multi-dimensional force sensor.
The method is that a load with certain mass is applied to the sensor in advance, the sensor is acted by a certain force, then the load attached to the sensor is unloaded instantly, the stress of the sensor is instantly reduced to 0 from a certain value, and a negative step load is formed, so that the effect of applying transient force to the sensor is achieved.
Through patent search, the following known technical solutions exist:
patent 1: application No.: 201811014094.2, filing date: 2018.08.31, application publication date: 2018.11.27, a dynamic calibration device for generating negative step load, comprising a device shell, a pressure lever, an upper bearing disc, an upper cushion block, a glass block, a lower cushion block, a lower bearing disc, a supporting block, a cam, a rotating shaft, a base and a handle. The invention adopts a series-type combined structure: each part is fixed according to a certain sequence and is installed in a matching way with a sensor to be measured, and the application of load is realized by rotating the rotating shaft and the cam through the handle. The instantaneous breakage of the glass block completely releases the space between the upper pad and the lower pad, resulting in a negative step load. The dynamic calibration device is reasonable and compact in structure, simple and convenient to manufacture, suitable for dynamic calibration of the medium-range sensor, capable of meeting the requirements of a small dynamic calibration laboratory, high in application value in the field of sensor testing and capable of being used as key equipment in dynamic calibration of the multi-axis force sensor.
This patent can only carry out the developments to the direction that can only be to the sensor and mark the experiment, can not carry out the developments to the multiple direction of sensor and mark the experiment, and measuring equipment has the limitation, can not satisfy multidimension force transducer's test requirement completely. In addition, this patent utilizes manual extrusion brittle material to produce the negative step load, can not accurately survey the size of the negative step load that produces in the twinkling of an eye, and the human error to the experiment production is great.
Patent 2: application No.: 201611040435.4, filing date: 2016.11.10, application publication date: 2017.05.24
The invention relates to a step force generating device for dynamically calibrating a force sensor, which is suitable for a force sensor dynamic calibration experiment that a load end tool structure is irregular or force/torque loading in multiple directions is required. The steel wire is adopted to transmit force, a stable load is applied to the force sensor through the directional loading assembly, then the force transmission steel wire is sheared by sudden impact to carry out step unloading on the force sensor, and negative step excitation on the force sensor is realized. The impact shearing device adopts an impact cylinder with high speed and large impact force as an impact actuating mechanism to widen the dynamic calibration frequency band and the load range of the force sensor, and is matched with the impact cushion block to inhibit disturbance in the impact shearing process, thereby improving the dynamic calibration precision. The step edge detection circuit obtains the step edge time by detecting the moment when the impact head starts to contact the force transmission steel wire and the moment when the force transmission steel wire is completely sheared.
This patent can carry out the developments calibration experiment to a plurality of directions of sensor, but utilizes the impact to cut off biography power steel wire and carry out the step uninstallation to force transducer, and this though can also reach the effect of burden step excitation, in the twinkling of an eye of cutting the steel wire, the assurance steel wire that can not be fine keeps the coincidence completely with the required direction that carries out the developments calibration of sensor, influences the accuracy of experimental result.
It is found from the above search that the prior art does not affect the novelty of the present application, and the combination of the prior art does not affect the inventive step of the present application.
Disclosure of Invention
The invention provides the dynamic calibration equipment for the multi-dimensional force sensor generating the negative step, which aims to avoid the defects in the prior art.
The invention adopts the following technical scheme for solving the technical problems: a multi-dimensional force sensor dynamic calibration device generating negative step comprises a rack and a rotating device rotatably mounted on the rack, wherein a rotating shaft of the rotating device is arranged along the horizontal direction; the multi-dimensional force sensor is fixedly arranged on the rotating device, the front end of the force loading rod is connected to the center of the multi-dimensional force sensor, and the tail end of the force loading rod is connected with a magnetic weight in a hanging mode through a rope; the electromagnet device is arranged right below the magnetic weight;
the electromagnet device comprises an electromagnet support arranged below the force loading rod, a central groove is formed in the middle of the electromagnet support, and an electromagnet is embedded in the central groove; the centers of the electromagnet and the electromagnet support frame are in a vertical and coaxial through hole structure, the rope penetrates through the through hole structure and is overlapped with the axis of the through hole structure, and a magnetic weight is hung and connected below the electromagnet; the electromagnet is communicated with a power supply and is provided with a power switch; and the acceleration acquisition device is used for acquiring the acceleration signal of the multi-dimensional force sensor.
Further, the acceleration acquisition device is an acceleration sensor arranged on one side of the edge of the multi-dimensional force sensor, or a laser vibrometer irradiating laser beams on the multi-dimensional force sensor.
Furthermore, the rack and the rotating device are correspondingly provided with positioning holes, and the positioning pins respectively penetrate through the rack and a group of corresponding positioning holes of the rotating device to be detachably matched.
Furthermore, the tail end of the force loading rod is provided with a threading hole, and the rope passes through the threading hole and is connected with the force loading rod.
Furthermore, the horizontal distance between the upper end surface of the magnetic weight and the lower end surface of the electromagnet is not more than.
Furthermore, the diameter of the magnetic weight is smaller than the inner diameter of the central groove of the electromagnet support frame and larger than the inner diameter of the electromagnet.
The invention provides a multi-dimensional force sensor dynamic calibration device capable of generating negative step, which has the following beneficial effects:
1. the attraction force to the magnetic weight is generated instantly when the electromagnet is electrified, so that the effect of dynamic calibration of negative step force generated by the multi-dimensional force sensor is achieved, the whole negative step response time is short, and the measurement result is accurate;
2. the problem that the conventional method for shearing a rope and extruding a brittle material can only carry out dynamic calibration of negative step force in a single direction is solved, and the quick dynamic calibration of the negative step force in three directions of the multi-dimensional force sensor can be carried out in a short time, so that the repeatability of an experiment can be guaranteed;
3. the experimental device has the advantages of simple structure, low manufacturing cost, small occupied area of experimental instruments, simple experimental operation, and good practicability and popularization value.
Drawings
FIG. 1 is a schematic view of a first operating state of the present invention;
FIG. 2 is a schematic view of a second operating state of the present invention;
fig. 3 is a schematic view of a partial cross-sectional structure of the electromagnet device, the rope and the magnetic weight of the present invention.
In the figure:
1. a frame 11 and a positioning pin; 2. a rotating device 21, a rotating platform 22 and an acceleration sensor; 23. a multi-dimensional force sensor 24, a force loading rod 25, a rope 26 and a magnetic weight; 3. the device comprises an electromagnet device 31, an electromagnet support frame 32, an electromagnet 33 and a power switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the structural relationship is as follows: the device comprises a rack 1 and a rotating device 2 rotatably arranged on the rack 1, wherein a rotating shaft of the rotating device 2 is arranged along the horizontal direction; the multidimensional force sensor 23 is fixedly arranged on the rotating device 2, the front end of the force loading rod 24 is connected to the center of the multidimensional force sensor 23, and the tail end of the force loading rod is connected with a magnetic weight 26 in a hanging mode through a rope 25; the electromagnet device 3 is arranged right below the magnetic weight 26;
the electromagnet device 3 comprises an electromagnet bracket 31 arranged below the force loading rod 24, a central groove is arranged in the middle of the electromagnet bracket 31, and an electromagnet 32 is embedded in the central groove; the centers of the electromagnet 32 and the electromagnet support frame 31 are in a vertical and coaxial through hole structure, the rope 25 penetrates through the through hole structure and is overlapped with the axis of the through hole structure, and the magnetic weight 26 is hung below the electromagnet 32; the electromagnet 32 is communicated with a power supply and is provided with a power switch 33; an acceleration acquisition device for acquiring acceleration signals of the multi-dimensional force sensor 23 is also provided.
Preferably, the acceleration collecting device is an acceleration sensor disposed on one side of the edge of the multi-dimensional force sensor 23, or a laser vibrometer with laser beams irradiated on the multi-dimensional force sensor.
Preferably, the rack 1 and the rotating device 2 are correspondingly provided with positioning holes, and the positioning pins respectively penetrate through the rack 1 and a group of corresponding positioning holes of the rotating device 2 to be detachably matched.
Preferably, the end of the force loading bar 24 is provided with a threaded hole, and the rope 25 is threaded through the threaded hole and connected with the force loading bar 24.
Preferably, the horizontal distance between the upper end face of the magnetic weight 26 and the lower end face of the electromagnet 32 does not exceed.
Preferably, the diameter of the magnetic weight 26 is smaller than the inner diameter of the central groove of the electromagnet support 31 and larger than the inner diameter of the electromagnet 32.
In a specific experiment, the dynamic calibration process for each direction is as follows:
and (3) dynamic calibration process in the z direction: the rotating device 2 is limited and fixed with the frame 1 through the positioning pin 11, the multidimensional force sensor 23 can be installed on the rotating platform 21 of the rotating device 2 through bolts, the force loading rod 24 is fixedly installed below the multidimensional force sensor 23, and the acceleration sensor is installed at the edge of one side of the multidimensional force sensor 23.
At the beginning of the experiment, the magnetic weight 26 suspended by the rope 25 should be coaxial with the electromagnet 32, and the magnetic weight 26 should be kept completely stationary, so that the multidimensional force sensor 23 receives a certain initial load force G in the z direction, and the magnitude of G is the weight of the magnetic weight 26. After the electromagnet 32 is powered on, the magnetic weight 26 is instantly adsorbed to the electromagnet 32, the initial load G is instantly changed to 0, that is, the multidimensional force sensor 23 to be measured is excited by a negative step force, at this time, the acceleration sensor collects an acceleration response signal a of the multidimensional force sensor 23 in real time, and finally, the dynamic performance of the multidimensional force sensor 23 is analyzed according to the initial load G and the acceleration signal a.
And (3) dynamic calibration process in the x direction: after the dynamic calibration in the z direction is completed, the positioning pin 11 is taken down, the rotating device 1 is rotated to enable the x direction to rotate to the vertical direction, then the positioning pin 11 is installed, and the rack 1 and the rotating device 2 are fixed; the electromagnet arrangement 3 is correspondingly translated directly below the magnetic weight 26. And then, carrying out the dynamic calibration in the x direction according to the dynamic calibration process in the z direction.
And dynamic calibration process in the y direction: after the x-direction dynamic calibration is completed, the bolts are disassembled, the multi-dimensional force sensor 23 is rotated to enable the y-direction to rotate to the vertical direction, and then the bolts are fastened again. And then, carrying out y-direction dynamic calibration according to the z-direction dynamic calibration process.
In practical experiments, dynamic calibration in the x, y, and z directions can be performed in any order, and only the relative position and direction between the negative step force excitation provided by the magnetic weight 26 and the multidimensional force sensor 23 need to be ensured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The dynamic calibration equipment for the multi-dimensional force sensor generating the negative step is characterized in that: the device comprises a rack (1) and a rotating device (2) rotatably mounted on the rack (1), wherein a rotating shaft of the rotating device (2) is arranged along the horizontal direction; the multi-dimensional force sensor (23) is fixedly arranged on the rotating device (2), the front end of the force loading rod (24) is connected to the center of the multi-dimensional force sensor (23), and the tail end of the force loading rod is connected with a magnetic weight (26) through a rope (25); the electromagnet device (3) is arranged right below the magnetic weight (26);
the electromagnet device (3) comprises an electromagnet support (31) arranged below the force loading rod (24), a central groove is formed in the middle of the electromagnet support (31), and an electromagnet (32) is embedded in the central groove; the centers of the electromagnet (32) and the electromagnet support frame (31) are in a vertical and coaxial through hole structure, the rope (25) penetrates through the through hole structure and is overlapped with the axis of the through hole structure, and a magnetic weight (26) is hung below the electromagnet (32); the electromagnet (32) is communicated with a power supply and is provided with a power switch (33); and an acceleration acquisition device for acquiring an acceleration signal of the multi-dimensional force sensor (23) is also arranged.
2. The dynamic calibration device for the multi-dimensional force sensor generating the negative step as claimed in claim 1, wherein: the acceleration acquisition device is an acceleration sensor arranged on one side of the edge of the multi-dimensional force sensor (23) or a laser vibrometer irradiating laser beams on the multi-dimensional force sensor.
3. The dynamic calibration device for the multi-dimensional force sensor generating the negative step as claimed in claim 1, wherein: the frame (1) and the rotating device (2) are correspondingly provided with positioning holes, and the positioning pins respectively penetrate through the frame (1) and a group of corresponding positioning holes of the rotating device (2) to be detachably matched.
4. The dynamic calibration device for the multi-dimensional force sensor generating the negative step as claimed in claim 1, wherein: the tail end of the force loading rod (24) is provided with a threading hole, and the rope (25) penetrates through the threading hole and is connected with the force loading rod (24).
5. The dynamic calibration device for the multi-dimensional force sensor generating the negative step as claimed in claim 1, wherein: the horizontal distance between the upper end surface of the magnetic weight (26) and the lower end surface of the electromagnet (32) is not more than 5 mm.
6. The dynamic calibration device for the multi-dimensional force sensor generating the negative step as claimed in claim 1, wherein: the diameter of the magnetic weight (26) is smaller than the inner diameter of the central groove of the electromagnet support frame (31) and larger than the inner diameter of the electromagnet (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152055.XA CN111174969A (en) | 2020-03-06 | 2020-03-06 | Dynamic calibration equipment for multi-dimensional force sensor generating negative step |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152055.XA CN111174969A (en) | 2020-03-06 | 2020-03-06 | Dynamic calibration equipment for multi-dimensional force sensor generating negative step |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111174969A true CN111174969A (en) | 2020-05-19 |
Family
ID=70648453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010152055.XA Pending CN111174969A (en) | 2020-03-06 | 2020-03-06 | Dynamic calibration equipment for multi-dimensional force sensor generating negative step |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111174969A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112484945A (en) * | 2020-10-20 | 2021-03-12 | 北京电子工程总体研究所 | Interference-free negative step force applying device and method |
| CN112729672A (en) * | 2020-12-17 | 2021-04-30 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
| CN113189367A (en) * | 2021-04-01 | 2021-07-30 | 中国第一汽车股份有限公司 | Acceleration sensor detection device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571441A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device with medium measurement range |
| CN102175388A (en) * | 2011-01-21 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Three-dimensional calibration device for curve flexible touch sensor array |
| CN102252803A (en) * | 2011-04-29 | 2011-11-23 | 中国计量科学研究院 | Dynamic force calibrating device by laser absolute method |
| CN202133503U (en) * | 2011-06-17 | 2012-02-01 | 上海理工大学 | Calibration device for mini-type three-dimensional force sensor |
| CN102749169A (en) * | 2012-07-13 | 2012-10-24 | 襄樊五二五泵业有限公司 | Simple and easy pressure calibration device of annular pressure sensor |
| CN105333993A (en) * | 2015-11-18 | 2016-02-17 | 北京理工大学 | Micro-force sensor dynamic calibration system and method based on micro negative step force |
| WO2017086625A1 (en) * | 2015-11-18 | 2017-05-26 | 황재은 | Shape measurement apparatus |
| CN107655623A (en) * | 2017-08-15 | 2018-02-02 | 杭州电子科技大学 | Contactless Jing Dongtaibiaodingshiyantai |
| CN107991018A (en) * | 2017-12-20 | 2018-05-04 | 西安航天计量测试研究所 | Negative step force generating system, thrust measurement dynamic characteristic caliberating device and method |
| CN109696396A (en) * | 2018-12-19 | 2019-04-30 | 珠海市精实测控技术有限公司 | A kind of material damping test method |
| CN209541987U (en) * | 2018-11-12 | 2019-10-25 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | The caliberating device of piezoelectric pressure indicator |
-
2020
- 2020-03-06 CN CN202010152055.XA patent/CN111174969A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571441A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device with medium measurement range |
| CN102175388A (en) * | 2011-01-21 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Three-dimensional calibration device for curve flexible touch sensor array |
| CN102252803A (en) * | 2011-04-29 | 2011-11-23 | 中国计量科学研究院 | Dynamic force calibrating device by laser absolute method |
| CN202133503U (en) * | 2011-06-17 | 2012-02-01 | 上海理工大学 | Calibration device for mini-type three-dimensional force sensor |
| CN102749169A (en) * | 2012-07-13 | 2012-10-24 | 襄樊五二五泵业有限公司 | Simple and easy pressure calibration device of annular pressure sensor |
| CN105333993A (en) * | 2015-11-18 | 2016-02-17 | 北京理工大学 | Micro-force sensor dynamic calibration system and method based on micro negative step force |
| WO2017086625A1 (en) * | 2015-11-18 | 2017-05-26 | 황재은 | Shape measurement apparatus |
| CN107655623A (en) * | 2017-08-15 | 2018-02-02 | 杭州电子科技大学 | Contactless Jing Dongtaibiaodingshiyantai |
| CN107991018A (en) * | 2017-12-20 | 2018-05-04 | 西安航天计量测试研究所 | Negative step force generating system, thrust measurement dynamic characteristic caliberating device and method |
| CN209541987U (en) * | 2018-11-12 | 2019-10-25 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | The caliberating device of piezoelectric pressure indicator |
| CN109696396A (en) * | 2018-12-19 | 2019-04-30 | 珠海市精实测控技术有限公司 | A kind of material damping test method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112484945A (en) * | 2020-10-20 | 2021-03-12 | 北京电子工程总体研究所 | Interference-free negative step force applying device and method |
| CN112484945B (en) * | 2020-10-20 | 2022-08-19 | 北京电子工程总体研究所 | Interference-free negative step force applying device and method |
| CN112729672A (en) * | 2020-12-17 | 2021-04-30 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
| CN112729672B (en) * | 2020-12-17 | 2021-10-22 | 南京航空航天大学 | Ground calibration device of aerial towing cable system and working method thereof |
| CN113189367A (en) * | 2021-04-01 | 2021-07-30 | 中国第一汽车股份有限公司 | Acceleration sensor detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111174969A (en) | Dynamic calibration equipment for multi-dimensional force sensor generating negative step | |
| EP1043579B1 (en) | Test apparatus for measuring stresses and strains | |
| CN110595685B (en) | Calibration device and calibration method for contrast type six-dimensional force sensor | |
| US8984928B2 (en) | Moment calibrating apparatus for multi-component force gauge and method of moment calibration | |
| US4856342A (en) | Process and device for measuring the adhesion of fibres in fibre-reinforced synthetic materials | |
| CN104655002A (en) | Rock specimen deformation measurement device and radial and axial deformation measurement method | |
| CN113340526B (en) | Static and dynamic calibration device and calibration method for six-dimensional force sensor | |
| CN106644687A (en) | Small-punch and continuous indentation integrated tester system | |
| Qin et al. | A novel dynamometer for monitoring milling process | |
| CN109571140A (en) | Vertical machining centre reliability device for fast detecting | |
| CN2833506Y (en) | Flange shoulder plane depth measurer | |
| CN207881655U (en) | A kind of integrated correction device | |
| JP2008111739A (en) | Tool for thickness-wise shear test on sheet-like material and thickness-wise shear test machine | |
| Chen et al. | Calibration technology of optical fiber strain sensor | |
| CN112066903A (en) | Strain calibration device and method of optical fiber sensor | |
| CN103196992B (en) | The scanning detection apparatus of portable cylindrical ferromagnetic component | |
| CN203287264U (en) | Micro-structure mechanical property piece external-bending testing device | |
| JP2505786B2 (en) | Cylindrical object size measuring device | |
| CN211263028U (en) | Shearing force testing machine suitable for three-leg shaft sleeve | |
| CN114993162A (en) | Device and method for measuring circumferential strain and axial stress of grouting material | |
| JP2002202212A (en) | Low torque transducer and torque measuring device using the same | |
| CN107621357A (en) | A kind of engine-mounting bracket detects tool | |
| CN107764470B (en) | Lever type mechanical standard machine | |
| CN221147578U (en) | Novel coaxiality standard device | |
| CN219607892U (en) | Hand-held bearing instrument checking fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200519 |
|
| RJ01 | Rejection of invention patent application after publication |