CN113358274B - Double-force-source six-dimensional force sensor static calibration device and calibration method - Google Patents
Double-force-source six-dimensional force sensor static calibration device and calibration method Download PDFInfo
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- CN113358274B CN113358274B CN202110648761.8A CN202110648761A CN113358274B CN 113358274 B CN113358274 B CN 113358274B CN 202110648761 A CN202110648761 A CN 202110648761A CN 113358274 B CN113358274 B CN 113358274B
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- 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
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- 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
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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Abstract
The invention discloses a static calibration device and a static calibration method for a double-force-source six-dimensional force sensor, belonging to the technical field of sensor calibration and comprising a calibration table base, a rotary table, two rocker arm supports, two rocker arm mechanisms, two force application mechanisms and a force application beam; the rotating platform is arranged on the calibration platform base in a lifting manner; the bottoms of the two rocker arm supports are fixedly connected to the calibration platform base; one rocker arm bracket is positioned at one side of the rotating platform, and the other rocker arm bracket is positioned at the opposite side of the rotating platform; each rocker arm mechanism is rotationally connected with a corresponding rocker arm bracket; each force application mechanism is erected above the rotating platform through a corresponding rocker arm mechanism; the force application beam is detachably connected with the two force application mechanisms; the middle part of the force application beam is provided with a plurality of sensor mounting holes. The invention can realize the loading calibration of all-dimensional force and moment on the six-dimensional force sensor; the calibration device is simple in structure and low in cost, the calibration method is convenient and easy to use, secondary installation of the sensor is not needed, and the number of loading force sources is effectively reduced.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a static calibration device and a static calibration method for a double-force-source six-dimensional force sensor.
Background
Six-dimensional force sensor for detecting three-dimensional force F in space x 、F y 、F z And three-dimensional moment M x 、M y 、M z The method is widely applied to the fields of aerospace, vehicles, manufacturing industry and the like. The six-dimensional force sensor has the problem that the relation between an input force value and an output voltage is uncertain due to errors in processing and manufacturing, errors of components and the like; after the sensor is used for a period of time, the output of the sensor will also be subject to errors due to the environment and repeated loading and unloading. In order to solve this problem, the sensor needs to be calibrated, and the calibration plays an important role in the manufacturing process of the sensor. At present, a calibration device for a six-dimensional force sensor can be classified into a weight type, a jack type and the like, and has some defects.
Chinese patent No. cn201811198678.x discloses a device and method for loading by using a tension meter, which has the characteristics of large loading force range, continuous and adjustable force, can realize force and torque calibration for different sensors, but has the defect of unstable loading force. Chinese patent No. CN201810599724.0 discloses a calibration device using a pressurizing device as a loading force source, which only needs to provide two force sources, and can realize loading of different forces/moments by adjusting the relative positions of the two force sources, but the pressurizing device needs to be reinstalled to realize loading of forces and moments in different directions, which is complicated in operation. Chinese patent No. CN200810024919.9 discloses a calibration device and method for a weight as a loading force source, which is characterized by simple use, convenient operation and accurate value of the loading force, but the weight cannot provide a linear force source, so that the calibration result has errors.
Disclosure of Invention
The invention provides a static calibration device and a static calibration method for a double-force-source six-dimensional force sensor, which can realize the loading calibration of all-dimensional force and moment of the six-dimensional force sensor; the calibration device is simple in structure and low in cost, the calibration method is convenient and easy to use, secondary installation of the sensor is not needed, and the number of loading force sources is effectively reduced.
In order to achieve the purpose, the invention adopts the technical scheme that:
a double-force-source six-dimensional force sensor static calibration device comprises a calibration table base, a rotary table, two rocker arm supports, two rocker arm mechanisms, two force application mechanisms and a force application beam; the rotating table is arranged on the calibration table base in a lifting manner; the bottoms of the two rocker arm supports are fixedly connected to the calibration table base; one rocker arm bracket is positioned at one side of the rotating platform, and the other rocker arm bracket is positioned at the opposite side of the rotating platform; each rocker arm mechanism is rotatably connected with a corresponding rocker arm bracket; each force application mechanism is arranged above the rotating platform through a corresponding rocker arm mechanism; the force application beam is detachably connected with the two force application mechanisms; and the middle part of the force application beam is provided with a plurality of sensor mounting holes.
Further, the rocker arm mechanism comprises a rocker arm, a rocker arm fastening bolt and a rocker arm fastening nut; the top of the rocker arm bracket is provided with a mounting hole; one end of each rocker arm is rotatably connected with the corresponding mounting hole through the rocker arm fastening bolt; the other end of the rocker arm is fixedly connected with the force application mechanism; the rocker arm fastening nut is in threaded connection with the rocker arm fastening bolt.
Furthermore, the rocker arm is of an L-shaped structure, and a fixed key is arranged at the L-shaped transverse end of the rocker arm; four key grooves which are uniformly distributed are arranged on the periphery of the mounting hole of the rocker arm bracket; the L-shaped transverse end of the rocker arm is attached to the rocker arm bracket, and the fixing key is embedded in one of the key grooves.
Further, the number of the force applying mechanisms is set to two; each force application mechanism is arranged perpendicular to the direction of the L-shaped vertical end corresponding to one rocker arm and is fixedly connected to the end part of the L-shaped vertical end of the rocker arm, and the force application end of each force application mechanism is detachably connected with one end of the force application beam.
Furthermore, the force application end of the force application mechanism is detachably connected with one end of the force application beam through a connecting block; a first threaded hole is formed in the center of the connecting block and is in threaded connection with the force application end of the force application mechanism; the connecting block is located all sides of first screw hole are equipped with a plurality of second screw holes, the connecting block passes through a plurality of the second screw hole with application of force roof beam threaded connection.
Further, the force application direction of the force application mechanism is perpendicular to the length direction of the force application beam.
Furthermore, the rotating platform is connected with the calibration platform base in a lifting mode through a lifting adjusting assembly, and the lifting adjusting assembly comprises four lifting stand columns and eight adjusting nuts; four corners of the rotating platform are respectively provided with a through hole, and each through hole is respectively connected with one corresponding lifting upright column in a sliding manner; every two adjusting nuts are in threaded connection with one corresponding lifting upright column, one adjusting nut is located below one corresponding through hole, and the other adjusting nut is located above one corresponding through hole.
Further, the rotary stage includes a mounting substrate and a rotary base; the middle part of the mounting base plate is provided with a circular chute, and the bottom of the rotating seat is rotationally connected with the circular chute; the through holes are formed at four corners of the mounting substrate; the circular sliding groove is characterized in that a plurality of angle positioning grooves are uniformly distributed on the peripheral side of the circular sliding groove, a plurality of positioning connecting lugs correspondingly extend from the peripheral side of the rotating seat, and each positioning connecting lug is embedded in one corresponding angle positioning groove.
The invention adopts the calibration method for calibrating the six-dimensional sensor by adopting the double-force-source six-dimensional force sensor static calibration device, and adopts the following technical scheme:
fixedly mounting a six-dimensional force sensor on the rotating platform, arranging a double-force-source six-dimensional force sensor static calibration device in a three-dimensional coordinate system, taking the central axis of the six-dimensional force sensor as the Z-axis direction of the three-dimensional coordinate system, taking the connecting line of the two rocker arm supports as the Y-axis direction, and taking the radial direction of the six-dimensional force sensor and the direction vertical to the connecting line of the two rocker arm supports as the X-axis direction;
when the positive force or the negative force of the six-dimensional force sensor along the Z-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to be in the vertical direction, and the directions of the two force application mechanisms are the same;
when the positive force or the negative force of the six-dimensional force sensor along the X-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to the horizontal direction, and the directions of the two force application mechanisms are the same;
when the moment of the six-dimensional force sensor along the Z-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to the horizontal direction, and the directions of the two force application mechanisms are opposite;
when the moment of the six-dimensional force sensor along the X-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to be in the vertical direction, and the directions of the two force application mechanisms are opposite;
when the force and the moment of the six-dimensional force sensor along the Y-axis direction are calibrated, the rotating table is rotated by 90 degrees after the force and the moment of the X-axis direction are calibrated, and then the calibration steps of the force and the moment in the X-axis direction are repeated.
The invention has the beneficial effects that:
the device and the method provided by the invention can be used for calibrating each dimension force and moment of the six-dimension force sensor, do not need to carry out secondary disassembly and assembly on the sensor, are convenient and easy to use, and effectively reduce the number of loading force sources.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a perspective view of a rocker arm of the present invention;
FIG. 3 is a schematic view of the rocker arm stand of the present invention;
FIG. 4 is a perspective view of a mounting substrate in the present invention;
FIG. 5 is a schematic structural diagram of the six-dimensional force sensor of the present invention for calibrating positive or negative force along the Z-axis;
FIG. 6 is a schematic structural diagram of the six-dimensional force sensor of the present invention for calibrating positive or negative force along the X-axis;
FIG. 7 is a schematic structural diagram of the six-dimensional force sensor of the present invention when calibrating the moment along the Z-axis direction;
FIG. 8 is a schematic structural diagram of the six-dimensional force sensor of the present invention when calibrating the moment along the X-axis;
the attached drawings are as follows:
the device comprises a calibration table base, a rotary table 2, a rocker arm support 3, a rocker arm mechanism 4, a force application mechanism 5, a force application beam 6, a connecting block 7, a lifting adjusting component 8, a mounting base plate 21, a rotating base 22, a mounting hole 31, a key groove 32, a rocker arm 41, a rocker arm fastening bolt 42, a rocker arm fastening nut 43, a fixed key 411, a mounting through hole 412, a lifting upright column 81, an adjusting nut 82, a circular sliding groove 211, an angle positioning groove 212 and a positioning connecting lug 221.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or there can be intervening components, and when a component is referred to as being "disposed in the middle," it is not just disposed in the middle, as long as it is not disposed at both ends within the scope defined by the middle. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 8, a double-force-source six-dimensional force sensor static calibration device comprises a calibration table base 1, a rotating table 2, two rocker arm supports 3, two rocker arm mechanisms 4, two force application mechanisms 5 and a force application beam 6; the rotating platform 2 is arranged on the calibration platform base 1 in a liftable manner; the bottoms of the two rocker arm supports 3 are fixedly connected to the calibration table base 1; one rocker arm bracket 3 is positioned at one side of the rotating platform 2, and the other rocker arm bracket 3 is positioned at the opposite side of the rotating platform 2; each rocker arm mechanism 4 is rotatably connected with a corresponding rocker arm bracket 3; each force application mechanism 5 is erected above the rotating platform 2 through a corresponding rocker arm mechanism 4; the force application beam 6 is detachably connected with the two force application mechanisms 5; and the middle part of the force application beam 6 is provided with a plurality of sensor mounting holes. Specifically, the force application mechanism 5 can adopt a hydraulic cylinder or an air cylinder, and can provide linear loading of force for the force application beam 6; the rocker arm bracket 3 is fixedly connected to the calibration table base 1 through bolts; the rotary table 2 is used for fixedly mounting a tested six-dimensional force sensor, a cross-shaped groove is formed in the top of the rotary table 2, the six-dimensional force sensor is convenient to align to a central axis when being mounted, and the angle of the six-dimensional force sensor is adjusted through rotation of the rotary table 2; the force application mechanism 5 is used for applying loading force to the force application beam 6 during calibration; the rocker mechanism 4 is used for rotationally adjusting the direction of the force application mechanism 5 so as to provide loading force in different directions to the force application beam 6.
Referring to fig. 1 to 3, the rocker arm mechanism 4 includes a rocker arm 41, a rocker arm fastening bolt 42, and a rocker arm fastening nut 43; the top of the rocker arm bracket 3 is provided with a mounting hole 31; one end of each rocker arm 41 is rotatably connected with a corresponding mounting hole 31 through the rocker arm fastening bolt 42; the other end of the rocker arm 41 is fixedly connected with the force application mechanism 5; the rocker arm fastening nut 43 is screwed to the rocker arm fastening bolt 42. The rocker arm 41 is of an L-shaped structure, and a fixed key 411 is arranged at the L-shaped transverse end of the rocker arm 41; four key grooves 32 which are uniformly distributed are arranged on the periphery of the mounting hole 31 of the rocker arm bracket 3; the L-shaped lateral end of the rocker arm 41 is attached to the rocker arm bracket 3, and the fixing key 411 is embedded in one of the key slots 32. Specifically, one end of the rocker arm 41 is provided with a mounting through hole 412, and each rocker arm fastening bolt 42 passes through the mounting through hole 412 of a corresponding rocker arm 41 and the mounting hole 31 of the rocker arm bracket 3 to be in threaded connection with the rocker arm fastening nut 43; the four key slots 32 on the rocker arm bracket 3 are distributed in a cross shape, the fixing key 411 of the rocker arm 41 is parallel to the L-shaped transverse end direction of the rocker arm 41, the fixing key 411 is embedded in one key slot 32 to fix the position of the rocker arm 41, the rotating angle of the corresponding rocker arm 41 can be adjusted by loosening the rocker arm fastening nut 43, the two key slots 32 in the vertical direction correspondingly fix the rocker arm 41 in a vertical state, and the two key slots 32 in the left-right direction correspondingly fix the rocker arm 41 in a horizontal state.
With reference to fig. 1, the number of the force applying mechanisms 5 is two; each force application mechanism 5 is arranged perpendicular to the direction of the L-shaped vertical end of the corresponding rocker arm 41, and is fixedly connected to the end portion of the L-shaped vertical end of the rocker arm 41, and the force application end of the force application mechanism 5 is detachably connected with one end of the force application beam 6. The force application end of the force application mechanism 5 is detachably connected with one end of the force application beam 6 through a connecting block 7; a first threaded hole is formed in the center of the connecting block 7 and is in threaded connection with the force application end of the force application mechanism 5; connecting block 7 is located all sides of first screw hole are equipped with a plurality of second screw holes, connecting block 7 is through a plurality of the second screw hole with 6 threaded connection of application of force roof beam. The force applying direction of the force applying mechanism 5 is perpendicular to the length direction of the force applying beam 6. Specifically, the urging direction of the urging mechanism 5 is perpendicular to the L-shaped vertical end direction of the rocker arm 41. The force application beam 6 is of a rectangular structure with a square cross section, through holes corresponding to the second threaded holes are formed in four sides of the periphery of each of two end parts of the force application beam 6, and the connecting block 7 is fixedly connected with the force application beam 6 through a plurality of matched bolts; and the connecting block 7 is used for quickly assembling and disassembling the force application mechanism 5 and the force application beam 6 when the angle of the rocker arm is adjusted. When the two force application mechanisms 5 are in the same direction on the force application beam 6, a force in a certain direction is loaded; when the two force application mechanisms 5 are oppositely oriented on the force application beam 6, a moment in a certain direction is loaded.
Referring to fig. 1 and 4, the rotating table 2 is connected to the calibration table base 1 in a lifting manner through a lifting adjusting assembly 8, and the lifting adjusting assembly 8 includes four lifting columns 81 and eight adjusting nuts 82; four corners of the rotating platform 2 are respectively provided with a through hole, and each through hole is respectively connected with a corresponding lifting upright column 81 in a sliding manner; every two adjusting nuts 82 are in threaded connection with one corresponding lifting upright 81, one adjusting nut 82 is located below one corresponding through hole, and the other adjusting nut 82 is located above one corresponding through hole. The rotary table 2 includes a mounting substrate 21 and a rotary base 22; a circular sliding groove 211 is formed in the middle of the mounting base plate 21, and the bottom of the rotating seat 22 is rotatably connected with the circular sliding groove 211; the through holes are formed at four corners of the mounting substrate 21; a plurality of angle positioning slots 212 are uniformly distributed on the peripheral side of the circular sliding chute 211, a plurality of positioning connection lugs 221 extend from the peripheral side of the rotating base 22, and each positioning connection lug 221 is embedded in a corresponding angle positioning slot 212. Specifically, the four adjusting nuts 82 below the mounting substrate 21 are adjusted to drive the mounting substrate 21 to rise or fall along the lifting upright 81, so as to adjust the height of the six-dimensional force sensor, and the four adjusting nuts above the mounting substrate 21 are used for fixing the mounting substrate 21; the number of the angle positioning grooves 212 is set to four, correspondingly, the number of the positioning connecting lugs 221 is also set to four, and the four angle positioning grooves 212 respectively and correspondingly rotate and adjust the six-dimensional force sensor in the directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees; the rotary base 22 is provided with a cross-shaped clamping groove, the cross-shaped clamping groove is used for fixing and positioning the six-dimensional force sensor, and the center of the cross-shaped clamping groove is overlapped with the central axis of the six-dimensional force sensor.
The working principle of the static calibration device of the double-force-source six-dimensional force sensor is as follows: the rotating angle of the rocker arm 41 is adjusted by loosening and tightening the rocker arm fastening nut 43, so that the force application direction or moment of the force application mechanism 5 is adjusted; the rotation angle of the six-dimensional force sensor can be adjusted through the rotation of the rotating platform 2; the height of the rotating platform is adjusted by rotating the adjusting nut 82, and then the height of the six-dimensional force sensor and the force application beam 6 is adjusted, so that the force application mechanism 5 and the force application beam 6 can be connected in a matching manner.
The invention adopts the calibration method for calibrating the six-dimensional sensor by adopting the double-force-source six-dimensional force sensor static calibration device, and adopts the following technical scheme:
fixedly mounting a six-dimensional force sensor on the rotating platform 2, arranging a double-force-source six-dimensional force sensor static calibration device in a three-dimensional coordinate system, taking the central axis of the sensor as the Z-axis direction of the three-dimensional coordinate system, taking the connecting line of the two rocker arm supports 3 as the Y-axis direction, and taking the radial direction of the sensor and the direction vertical to the connecting line of the two rocker arm supports 3 as the X-axis direction;
referring to fig. 5, when calibrating the positive or negative force of the six-dimensional force sensor along the Z-axis, the rocker arm mechanism 4 is rotated to adjust the force applying mechanism 5 to the vertical direction, and the directions of the two force applying mechanisms 5 are the same;
referring to fig. 6, when calibrating the positive or negative force of the six-dimensional force sensor along the X-axis, the rocker arm mechanism 4 is rotated to adjust the force application mechanism 5 to the horizontal direction, and the directions of the two force application mechanisms 5 are the same;
referring to fig. 7, when calibrating the moment of the six-dimensional force sensor along the Z-axis, the rocker arm mechanism 4 is rotated to adjust the force application mechanisms 5 to the horizontal direction, and the directions of the two force application mechanisms 5 are opposite;
referring to fig. 8, when calibrating the moment of the six-dimensional force sensor along the X-axis direction, the rocker arm mechanism 4 is rotated to adjust the force application mechanisms 5 to the vertical direction, and the directions of the two force application mechanisms 5 are opposite;
when calibrating the force and moment of the six-dimensional force sensor along the Y-axis direction, the rotary table 2 needs to be rotated by 90 degrees after calibrating the force and moment along the X-axis direction, and then the calibration steps of the force and moment along the X-axis direction are repeated.
The method is adopted to calibrate each dimension force and moment of the six-dimension force sensor, secondary disassembly and assembly of the six-dimension force sensor are not needed, the six-dimension force sensor is convenient and easy to use, and the number of loading force sources is effectively reduced. It should be noted that the above method does not limit the calibration step sequence, and a user can adjust the corresponding step sequence according to the actual operation in the actual calibration operation to improve the calibration efficiency.
The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.
Claims (5)
1. A double-force-source six-dimensional force sensor static calibration device is characterized by comprising a calibration table base, a rotary table, two rocker arm supports, two rocker arm mechanisms, two force application mechanisms and a force application beam; the rotary table is arranged on the calibration table base in a liftable manner; the bottoms of the two rocker arm supports are fixedly connected to the calibration table base; one rocker arm bracket is positioned on one side of the rotating platform, and the other rocker arm bracket is positioned on the opposite side of the rotating platform; each rocker arm mechanism is rotatably connected with a corresponding rocker arm bracket; each force application mechanism is arranged above the rotating platform through a corresponding rocker arm mechanism; the force application beam is detachably connected with the two force application mechanisms; the middle part of the force application beam is provided with a plurality of sensor mounting holes; the rocker arm mechanism comprises a rocker arm, a rocker arm fastening bolt and a rocker arm fastening nut; the top of the rocker arm bracket is provided with a mounting hole; one end of each rocker arm is rotatably connected with one corresponding mounting hole through the rocker arm fastening bolt; the other end of the rocker arm is fixedly connected with the force application mechanism; the rocker arm fastening nut is in threaded connection with the rocker arm fastening bolt; the rocker arm is of an L-shaped structure, and a fixed key is arranged at the L-shaped transverse end of the rocker arm; four key grooves which are uniformly distributed are arranged on the periphery of the mounting hole of the rocker arm bracket; the L-shaped transverse end of the rocker arm is attached to the rocker arm bracket, and the fixed key is embedded in one of the key grooves; the number of the force applying mechanisms is two; each force application mechanism is arranged perpendicular to the direction of the L-shaped vertical end of the corresponding rocker arm and is fixedly connected to the end part of the L-shaped vertical end of the rocker arm; the force application end of the force application mechanism is detachably connected with one end of the force application beam through a connecting block; a first threaded hole is formed in the center of the connecting block and is in threaded connection with the force application end of the force application mechanism; the connecting block is located all sides of first screw hole are equipped with a plurality of second screw holes, the connecting block passes through a plurality of the second screw hole with application of force roof beam threaded connection.
2. The static calibration device of a dual-force-source six-dimensional force sensor as claimed in claim 1, wherein the force application direction of the force application mechanism is perpendicular to the length direction of the force application beam.
3. The static calibration device of the dual-force-source six-dimensional force sensor as claimed in claim 1, wherein the rotary table is connected with the base of the calibration table in a lifting manner through a lifting adjustment assembly, and the lifting adjustment assembly comprises four lifting columns and eight adjustment nuts; four corners of the rotating platform are respectively provided with a through hole, and each through hole is respectively connected with one corresponding lifting upright column in a sliding manner; every two adjusting nuts are in threaded connection with one corresponding lifting upright column, one adjusting nut is located below one corresponding through hole, and the other adjusting nut is located above one corresponding through hole.
4. The static calibration device of a dual-force-source six-dimensional force sensor as claimed in claim 3, wherein said rotary table comprises a mounting base plate and a rotary base; the middle part of the mounting base plate is provided with a circular chute, and the bottom of the rotating seat is rotationally connected with the circular chute; the through holes are formed at four corners of the mounting substrate; the circular chute is characterized in that a plurality of angle positioning grooves are uniformly distributed on the peripheral side of the circular chute, a plurality of positioning connecting lugs correspondingly extend from the peripheral side of the rotating seat, and each positioning connecting lug is embedded in one corresponding angle positioning groove.
5. The calibration method of the static calibration device of the dual-force-source six-dimensional force sensor as claimed in any one of claims 1 to 4, wherein the six-dimensional force sensor is fixedly installed on the rotary table, the static calibration device of the dual-force-source six-dimensional force sensor is located in a three-dimensional coordinate system, the central axis of the six-dimensional force sensor is taken as the Z-axis direction of the three-dimensional coordinate system, the connecting line of the two rocker arm supports is taken as the Y-axis direction, and the radial direction of the six-dimensional force sensor and the perpendicular direction of the connecting line of the two rocker arm supports are taken as the X-axis direction;
when the positive force or the negative force of the six-dimensional force sensor along the Z-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to be in the vertical direction, and the directions of the two force application mechanisms are the same;
when the positive force or the negative force of the six-dimensional force sensor along the X-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to the horizontal direction, and the directions of the two force application mechanisms are the same;
when the moment of the six-dimensional force sensor along the Z-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to the horizontal direction, and the directions of the two force application mechanisms are opposite;
when the moment of the six-dimensional force sensor along the X-axis direction is calibrated, the rocker arm mechanism is rotated, the force application mechanisms are adjusted to be in the vertical direction, and the directions of the two force application mechanisms are opposite;
when the force and the moment of the six-dimensional force sensor along the Y-axis direction are calibrated, the rotating table is rotated by 90 degrees after the force and the moment of the X-axis direction are calibrated, and then the calibration steps of the force and the moment in the X-axis direction are repeated.
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