CN113820066A - Six-dimensional miniature force/torque sensor static calibration device - Google Patents
Six-dimensional miniature force/torque sensor static calibration device Download PDFInfo
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- CN113820066A CN113820066A CN202111108145.XA CN202111108145A CN113820066A CN 113820066 A CN113820066 A CN 113820066A CN 202111108145 A CN202111108145 A CN 202111108145A CN 113820066 A CN113820066 A CN 113820066A
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- 230000000149 penetrating effect Effects 0.000 claims description 6
- 239000004677 Nylon Substances 0.000 description 25
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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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Abstract
The utility model provides a static calibration device of six-dimensional miniature power/torque sensor, belongs to sensor calibration technical field, includes the base and installs the lifter on the base, still includes short support, auxiliary stand, long support, main workstation, apparatus axle fixed platform, adjusting device, loading adapter, first binding clasp and second binding clasp, sliding fit has main workstation and apparatus axle fixed platform on the lifter, first binding clasp with the apparatus is installed to the inner circle of second binding clasp, and first binding clasp is installed on adjusting device, and adjusting device is connected with the main workstation, and the second binding clasp is connected with apparatus axle fixed platform, the loading adapter is installed in the apparatus upper end, and short support end, auxiliary stand end and long support end are all installed on the main workstation. The invention can calibrate the instrument with the sensor, and realize the loading of multi-directional force and the loading of moment by installing the short bracket, the long bracket or the auxiliary bracket in the first or the second rectangular groove.
Description
Technical Field
The invention relates to a calibration device, in particular to a six-dimensional force/torque sensor calibration device and a calibration method, and belongs to the technical field of sensor calibration.
Background
A six-dimensional force/moment sensor is the most complete form of a multi-dimensional force sensor, i.e. a sensor capable of measuring three force components and three moment components simultaneously. At present, the six-dimensional force/torque sensor is widely applied to the fields of robots, medical instruments and the like, and the important position of the six-dimensional force/torque sensor is obvious. The calibration of the six-dimensional force/torque sensor is an important step before the six-dimensional force/torque sensor is put into use, and is also an important guarantee for ensuring the accurate work of one sensor. The calibration of the six-dimensional force/torque sensor by using the calibration device of the six-dimensional force/torque sensor is an important step which cannot be ignored, and the calibration precision directly influences the use precision of the sensor.
The existing six-dimensional force/torque sensor calibration device cannot accurately calibrate the whole instrument shaft containing the sensor, the height position of a calibration platform cannot be changed, the flexibility and the applicability of the device are not enough, and most of the calibration devices are suitable for calibrating large sensors; the patent with the patent number of CN100529703 provides a calibration device for six-dimensional force/torque sensors, but the device is suitable for the calibration of large-sized six-dimensional force/torque sensors, is not suitable for the calibration of miniature six-dimensional force/torque sensors, and cannot realize the independent loading of force and torque components in various dimensions. Patent No. CN103528755B provides a six-dimensional force/torque sensor calibration device, and although this device can realize the single-dimensional force individual loading of all directions, this device can't mark the whole apparatus axle that contains the sensor, can't debug the device height, and is not flexible enough.
Disclosure of Invention
Aiming at the defects, the invention provides a six-dimensional miniature force/torque sensor static calibration device.
The invention is realized by the following technical scheme: a six-dimensional miniature force/torque sensor static calibration device comprises a base, a lifting rod arranged on the base, a short support, an auxiliary support, a long support, a main workbench, an instrument shaft fixing platform, an adjusting device, a loading adapter used for applying force and torque, a first clamping device used for fixing the instrument on the adjusting device, and a second clamping device used for fixing the instrument on the instrument shaft fixing platform, wherein the lifting rod is provided with the main workbench used for supporting the short support, the long support and the auxiliary support in a sliding fit manner, the lifting rod is provided with the instrument shaft fixing platform used for preventing the instrument from shaking in a sliding fit manner, an outer ring close to the upper end of the instrument is connected with the inner ring of the first clamping device through a jackscrew, the first clamping device is a shaft sleeve type part and is provided with a disc-shaped end face, the disc-shaped end face of the first clamping device is arranged on the adjusting device, the adjusting device is installed inside the main workbench, an outer ring close to the lower end of the instrument is connected with an inner ring of the second clamping device through a jackscrew, the second clamping device is a shaft sleeve type part and is provided with a disc-shaped end face, the disc-shaped end face of the second clamping device is installed on an instrument shaft fixing platform, the loading adapter is installed at the upper end of the instrument, and the tail end of the short support, the tail end of the auxiliary support and the tail end of the long support are all installed on the main workbench.
The instrument comprises an instrument shaft, a sensor and an instrument hand, wherein the upper end of the sensor is connected with the tail end of the instrument hand, the lower end of the sensor is connected with the head end of the instrument shaft, the outer ring of the head end of the instrument shaft is arranged on the inner ring of the first clamping device, and the outer ring of the tail end of the instrument shaft is arranged on the inner ring of the second clamping device.
The loading adapter comprises a loading cap and a loading rod, wherein a plurality of second loading holes used for applying horizontal force are formed in the edge of the loading cap, a first loading hole used for applying vertical force is formed in the upper end of the loading rod, the tail end of the loading rod is connected to the head end of the loading cap in a threaded mode, and the tail end of the loading cap is connected with the upper end of an instrument through a jackscrew.
Regular octagon is personally submitted to main workstation's platform each edge all is equipped with a first rectangular channel or the second rectangular channel that is used for installing short support, long support or auxiliary stand, and main workstation inner circle is equipped with a through-hole, is equipped with six counter bores that are used for connecting adjusting device around the through-hole, and one side of main workstation is equipped with the first dovetail spout with the lifter complex, the lifter with first dovetail spout sliding connection, apparatus axle fixed platform are located under the main workstation, regular octagon is personally submitted to apparatus axle fixed platform's platform, one side of apparatus axle fixed platform be equipped with lifter complex second dovetail spout, the lifter with second dovetail spout sliding connection.
Adjusting device is including adjusting platform, adjusting bolt, fixation nut, first adjusting nut, second adjusting nut, the adjusting platform has a disciform tip, evenly be equipped with on the disciform tip with the corresponding six through-holes of counter sink on the main workstation, adjusting bolt run through install in the counter sink of main workstation and the through-hole of adjusting platform, fixation nut installs on adjusting bolt, and the laminating of fixation nut upper end is at main workstation lower extreme surface, first adjusting nut installs on adjusting bolt, and the laminating of first adjusting nut lower extreme is at the upper surface of adjusting platform disciform tip, second adjusting nut installs on adjusting bolt, and the laminating of second adjusting nut upper end is at the lower surface of adjusting platform disciform tip.
The center of the adjusting device and the center of the instrument shaft fixing platform are respectively provided with a through hole, an instrument is arranged in the through holes formed in the centers of the adjusting device and the instrument shaft fixing platform in a penetrating mode, the disc-shaped end portion of the first clamping device is connected with the threaded holes around the through hole of the adjusting device in a threaded mode, and the disc-shaped end portion of the second clamping device is connected with the threaded holes around the through hole of the instrument shaft fixing platform in a threaded mode.
The short support comprises a short pulley lever and a first pulley, the first pulley is mounted at the head end of the short pulley lever through a pin, and the tail end of the short pulley lever is fastened in a first rectangular groove or a second rectangular groove of the main workbench through a bolt.
The auxiliary support comprises a beam support, a beam, a third pulley and a fourth pulley, a notch is formed in the bottom of the beam, the beam support is welded to the notch in the bottom of the beam, the two ends of the beam are respectively connected with the third pulley and the fourth pulley through pins, the third pulley is located on one side close to the loading adapter, the fourth pulley is located on one side away from the loading adapter, and the tail end of the beam support is fastened in a first rectangular groove or a second rectangular groove of the main workbench through a bolt.
The long support comprises a long pulley lever and a second pulley, the second pulley is installed at the head end of the long pulley lever through a pin, and the tail end of the long pulley lever is fastened in a first rectangular groove or a second rectangular groove of the main workbench through a bolt.
The invention has the advantages that the instrument with the sensor can be accurately calibrated by arranging the loading adapter and the first clamping device, and the instrument is longitudinally distributed and requires small space.
The loading adapter is characterized in that a first loading hole or a second loading hole is formed in a loading cap and a loading rod of the loading adapter, weights are hung at one end of the nylon rope by bypassing the short support, the auxiliary support or the long support, the other end of the nylon rope is tied in the first loading hole or the second loading hole, force loading can be achieved, and the loading cap is provided with second loading holes required by multi-direction loading, so that the loading of multi-direction force can be achieved.
The position of main workstation can be adjusted on the lifter, and the setting up of first dovetail spout and second dovetail spout makes the flexibility and the suitability of device obtain improving, and apparatus axle fixed platform is used for preventing that the apparatus from rocking, realizes that the multiple spot is fixed, and the first rectangular channel of a plurality of or the second rectangular channel that set up on the main workstation have increased the direction that the power was applyed.
The adjusting device connects the instrument, the first clamping device and the main workbench together, the fixing nut fixes the position of the adjusting bolt, and the space position of the instrument is corrected by adjusting the first adjusting nut and the second adjusting nut.
The first clamping device connects an instrument for calibration with the adjusting device, the jackscrew is pressed on the circumferential surface of the instrument shaft through the threaded hole of the shaft sleeve part of the first clamping device, the jackscrew is pressed on the circumferential surface of the instrument hand through the threaded hole of the loading adapter, force or torque acts on a sensor of the instrument through the loading adapter, and the second clamping device connects the instrument with the instrument shaft fixing platform together to realize two-point fixation and prevent the instrument from shaking.
And the loading of force in the horizontal direction is realized by installing a short bracket in the first rectangular groove or the second rectangular groove.
And the auxiliary bracket is arranged in the first rectangular groove or the second rectangular groove to realize the loading of vertical force.
The long bracket is arranged in the first rectangular groove or the second rectangular groove, so that the long bracket can be matched with the short bracket to realize the loading of the moment, and the short bracket, the long bracket or the auxiliary bracket can realize the sequential loading of the single-dimensional forces in the directions of x, y, z and the like and the loading of the moments of the x plane, the y plane and the z plane; first pulley, second pulley, third pulley and fourth pulley pass through pin connection between with short pulley lever, long pulley lever and the crossbeam respectively, and frictional resistance is little, and calibration accuracy obtains guaranteeing.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a partial schematic view of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at B;
FIG. 5 is a schematic structural view of the apparatus of the present invention;
FIG. 6 is a schematic structural diagram of a load adapter according to the present invention;
FIG. 7 is a schematic view of the first gripper of the present invention;
FIG. 8 is a schematic view of a second gripper of the present invention;
FIG. 9 is a schematic structural view of a short stent of the present invention;
FIG. 10 is a schematic structural view of an elongated stent of the present invention;
FIG. 11 is a schematic view of the structure of the auxiliary stand according to the present invention;
FIG. 12 is a schematic structural view of a beam according to the present invention;
FIG. 13 is a partial schematic view of the force applied in the X direction;
FIG. 14 is a partial schematic view of the force applied in the Y direction;
FIG. 15 is a partial schematic view of the Z-direction application of force;
FIG. 16 is a partial schematic view of the X direction applied torque;
FIG. 17 is a partial schematic view of the application of torque in the Y direction;
FIG. 18 is a partial schematic view of the Z direction applied torque.
In the figures, 1, a base, 2, a lifting rod, 3, an instrument, 4, a loading adapter, 5, a short support, 6, an auxiliary support, 7, a long support, 8, a main workbench, 801, a first dovetail sliding groove, 802, a second dovetail sliding groove, 803, a first rectangular groove, 804, a second rectangular groove, 9, an instrument shaft fixing platform, 10, an adjusting device, 101, an adjusting platform, 102, an adjusting bolt, 103, a fixing nut, 104, a first adjusting nut, 105, a second adjusting nut, 11, a first clamping device, 12, an instrument shaft, 13, a sensor, 14, a manipulator, 15, a loading cap, 1501, a second loading hole, 16, a loading rod, 1601, a first loading hole, 17, a short pulley rod, 18, a first pulley, 19, a long pulley rod, 20, a second pulley, 21, a cross beam support, 22, a cross beam, 2201, a notch, 23, a third pulley, 24, a fourth pulley, 25. and a second gripper.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "first", "last", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows: as shown in fig. 1 to 18, a six-dimensional micro force/torque sensor static calibration device comprises a base 1 and a lifting rod 2 mounted on the base 1, and further comprises a short support 5, an auxiliary support 6, a long support 7, a main workbench 8, an instrument 3, an instrument shaft fixing platform 9, an adjusting device 10, a loading adapter 4 for applying force and torque, a first clamp 11 for fixing the instrument 3 on the adjusting device 10, and a second clamp 25 for fixing the instrument 3 on the instrument shaft fixing platform 9, wherein the lifting rod 2 is slidably fitted with the main workbench 8 for supporting the short support 5, the long support 7 and the auxiliary support 6, the lifting rod 2 is slidably fitted with the instrument shaft fixing platform 9 for preventing the instrument 3 from shaking, an outer ring near the upper end of the instrument 3 is connected with an inner ring of the first clamp 11 through a jackscrew, first binding clasp 11 is axle sleeve class part, has a disciform terminal surface, and the disciform terminal surface of first binding clasp 11 is installed adjusting device 10 is last, and adjusting device 10 is installed inside main workstation 8, be close to the outer lane of apparatus 3 lower extreme with second binding clasp 25 inner circle is connected through the jackscrew, and second binding clasp 25 is axle sleeve class part, has a disciform terminal surface, and the disciform terminal surface of second binding clasp 25 is installed on apparatus axle fixed platform 9, loading adapter 4 is installed in apparatus 3 upper end, and short 5 terminal, the terminal and the long 7 terminal of support of auxiliary stand all install on main workstation 8.
By providing the loading adapter 4 and the first gripper 11, the instrument 3 with the microsensors can be accurately calibrated, and the invention is longitudinally distributed and requires little space.
The instrument 3 comprises an instrument shaft 12, a sensor 13 and a manipulator 14, the upper end of the sensor 13 is connected with the tail end of the manipulator 14, the lower end of the sensor 13 is connected with the head end of the instrument shaft 12, the outer ring of the head end of the instrument shaft 12 is arranged on the inner ring of the first clamping device 11, and the outer ring of the tail end of the instrument shaft 12 is arranged on the inner ring of the second clamping device 25.
The loading adapter 4 comprises a loading cap 15 and a loading rod 16, wherein a plurality of second loading holes 1501 for applying horizontal force are formed in the edge of the loading cap 15, a first loading hole 1601 for applying vertical force is formed in the upper end of the loading rod 16, the tail end of the loading rod 16 is connected to the head end of the loading cap 15 in a threaded mode, and the tail end of the loading cap 15 is connected with the upper end of the instrument 3 through a jackscrew.
The first loading hole 1601 or the second loading hole 1501 is arranged on the loading cap 15 and the loading rod 16 of the loading adapter 4, a weight is hung at one end of the nylon rope by bypassing the short support 5, the auxiliary support 6 or the long support 7, the other end of the nylon rope is tied in the first loading hole 1601 or the second loading hole 1501, and force loading can be achieved, and the second loading hole 1501 required by multi-direction loading is arranged on the loading cap 15, so that force loading in multiple directions can be achieved.
The mesa of main workstation 8 is regular octagon 8 each edge of main workstation all is equipped with a first rectangular channel 803 or second rectangular channel 804 that is used for installing short support 5, long support 7 or auxiliary stand 6, and 8 inner circles of main workstation are equipped with a through-hole, are equipped with six counter bores that are used for connecting adjusting device around the through-hole, and one side of main workstation 8 is equipped with the first dovetail spout 801 of lifter 2 complex, lifter 2 with first dovetail spout 801 sliding connection, instrument axle fixed platform 9 is located under the main workstation 8, instrument axle fixed platform 9's mesa is regular octagon, one side of instrument axle fixed platform 9 be equipped with lifter 2 complex second dovetail spout 802, lifter 2 with second dovetail spout 802 sliding connection.
The position of the main worktable 8 can be adjusted on the lifting rod 2, and the arrangement of the first dovetail-shaped sliding groove 801 and the second dovetail-shaped sliding groove 802 improves the flexibility and the applicability of the device; the instrument shaft fixing platform 9 is used for preventing the instrument 3 from shaking and realizing multi-point fixing; the provision of a number of first 803 or second 804 rectangular grooves on the main table 8 increases the direction in which the force is applied.
Adjusting device 10 includes adjusting station 101, adjusting bolt 102, fixation nut 103, first adjusting nut 104, second adjusting nut 105, adjusting station 101 has a disciform tip, evenly be equipped with six through-holes corresponding with the counter bore on the main workstation 8 on the disciform tip, adjusting bolt 102 run through install in the counter bore of main workstation 8 and the through-hole of adjusting station 101, fixation nut 103 installs on adjusting bolt 102, and the laminating of fixation nut 103 upper end is at main workstation 8 lower extreme surface, first adjusting nut 104 installs on adjusting bolt 102, and the laminating of first adjusting nut 104 lower extreme is at the upper surface of adjusting station 101 disciform tip, second adjusting nut 105 installs on adjusting bolt 102, and the laminating of second adjusting nut 105 upper end is at the lower surface of adjusting station 101 disciform tip.
The adjusting device 10 connects the implement 3, the first clamp 11 and the main table 8 together, the fixing nut 103 fixes the position of the adjusting bolt 102, and the spatial position of the implement 3 is corrected by adjusting the first adjusting nut 104 and the second adjusting nut 105.
The center of the adjusting device 10 and the center of the instrument shaft fixing platform 9 are respectively provided with a through hole, the instrument 3 is arranged in the through holes formed in the centers of the adjusting device 10 and the instrument shaft fixing platform 9 in a penetrating mode, the disc-shaped end portion of the first clamping device 11 is connected with the threaded hole around the through hole of the adjusting device 10 in a threaded mode, and the disc-shaped end portion of the second clamping device 25 is connected with the threaded hole around the through hole of the instrument shaft fixing platform 9 in a threaded mode.
The first clamping device 11 connects the instrument 3 for calibration with the adjusting device 10, the jackscrew is pressed on the circumferential surface of the instrument shaft 12 through the threaded hole of the shaft sleeve part of the first clamping device 11, the jackscrew is pressed on the circumferential surface of the manipulator 14 through the threaded hole of the loading adapter 4, force or torque acts on the sensor 13 of the instrument 3 through the loading adapter 4, and the second clamping device 25 connects the instrument 3 with the instrument shaft fixing platform 9 to realize two-point fixing and prevent the instrument 3 from shaking.
The short bracket 5 comprises a short pulley lever 17 and a first pulley 18, the first pulley 18 is mounted at the head end of the short pulley lever 17 through a pin, and the tail end of the short pulley lever 17 is fastened in the first rectangular groove 803 or the second rectangular groove 804 of the main workbench 8 through a bolt.
The loading of the force in the horizontal direction is achieved by mounting the short bracket 5 in the first rectangular groove 803 or the second rectangular groove 804.
The auxiliary support 6 comprises a beam support 21, a beam 22, a third pulley 23 and a fourth pulley 24, a notch 2201 is formed in the bottom of the beam 22, the beam support 21 is welded to the notch 2201 in the bottom of the beam 22, the third pulley 23 and the fourth pulley 24 are connected to two ends of the beam 22 through pins respectively, the third pulley 23 is located on one side close to the loading adapter 4, the fourth pulley 24 is located on one side away from the loading adapter 4, and the tail end of the beam support 21 is fastened in a first rectangular groove 803 or a second rectangular groove 804 of the main workbench 8 through bolts.
The vertical force loading is achieved by mounting the auxiliary bracket 6 in the first rectangular groove 803 or the second rectangular groove 804.
The long bracket 7 comprises a long pulley rod 19 and a second pulley 20, the second pulley 20 is mounted at the head end of the long pulley rod 19 through a pin, and the tail end of the long pulley rod 19 is fastened in the first rectangular groove 803 or the second rectangular groove 804 of the main workbench 8 through a bolt.
The long bracket 7 is arranged in the first rectangular groove 803 or the second rectangular groove 804, so that the moment loading can be realized by matching with the short bracket 5, and the short bracket 5, the long bracket 7 or the auxiliary bracket 6 are arranged to sequentially load the single-dimensional force in the directions of x, y, z and the like and load the moment of the plane x, y and z; the first pulley 18, the second pulley 20, the third pulley 23 and the fourth pulley 24 are respectively connected with the short pulley lever 17, the long pulley lever 19 and the cross beam 22 through pins, so that the friction resistance is small, and the calibration accuracy is guaranteed.
When the device is used, the positions of a main working table 8 and an instrument shaft fixing platform 9 on a lifting rod 2 are adjusted according to the length of an instrument 3, bolts on a first dovetail-shaped sliding groove 801 and a second dovetail-shaped sliding groove 802 are screwed down to fix the positions, jackscrews are tightly pressed on the outer ring of an instrument shaft 12 of the instrument 3 through threaded holes of a shaft sleeve part of a first clamping device 11, the instrument 3 is installed in a through hole formed in the center of an adjusting device 10 and the instrument shaft fixing platform 9 in a penetrating way, a disc-shaped end part of the first clamping device 11 is in threaded connection with the threaded holes around the through hole of the adjusting device 10, the adjusting device 10 is in threaded connection with the main working table 8 through the bolts, at the moment, the instrument 3 is fixed on the main working table 8, a disc-shaped end part of a second clamping device 25 is in threaded connection with the threaded holes around the through hole of the instrument shaft fixing platform 9 to realize two-point fixation, and a loading adapter 4 is fixed on the circumferential surface of a manipulator 14 of the instrument 3 through the jackscrews, the first adjusting nut 104 and the second adjusting nut 105 are rotated to correct the space position of the instrument 3, the short bracket 5, the long bracket 6 or the auxiliary bracket 7 is installed in the first rectangular groove 803 or the second rectangular groove 804, a weight is hung around the short bracket 5, the auxiliary bracket 6 or the long bracket 7 at one end of the nylon rope, and the other end of the nylon rope is tied in the first loading hole 1601 or the second loading hole 1501 of the loading adapter 4, so that the loading of force can be realized, and the force or the moment is acted on the sensor 13 of the instrument 3 through the loading adapter 4.
The second embodiment is as follows: the lifting rod 2 is fastened on the base 1 through bolts, the positions of the main workbench 8 and the instrument shaft fixing platform 9 on the lifting rod 2 are adjusted according to the length of the instrument 3, after the height is determined, the positions of the main workbench 8 and the instrument shaft fixing platform 9 are fixed through screwing bolts on the first dovetail-shaped sliding groove 801 and the second dovetail-shaped sliding groove 802, a jackscrew is tightly pressed on the outer ring of an instrument shaft 12 of the instrument 3 through a threaded hole of a shaft sleeve part of a first clamping device 11, the instrument 3 is installed in a through hole formed in the center of the adjusting device 10 and the instrument shaft fixing platform 9 in a penetrating mode, the first clamping device 11 is fixed on the adjusting device 10 through a threaded hole of a disc-shaped end part of the first clamping device 11, the jackscrew is tightly pressed on the lower end of the instrument shaft 12 through a shaft sleeve part of a second clamping device 25, the disc-shaped end part of the second clamping device 25 is in threaded connection with the threaded hole around the through hole of the instrument shaft fixing platform 9, and two-point fixing is realized, the loading adapter 4 is fixed on the circumferential surface of a manipulator 14 of the instrument 3 through a jackscrew, the first adjusting nut 104 and the second adjusting nut 105 are rotated to correct the spatial position of the instrument 3, after correction, the short bracket 5, the auxiliary bracket 6 or the long bracket 7 are installed in the first rectangular groove 803 or the second rectangular groove 804 of the main workbench 8, one end of a nylon rope is wound around a pulley on the installed bracket and is hung with a weight, and the other end of the nylon rope is tied in the first loading hole 1601 or the second loading hole 1501, so that force loading can be realized.
The third concrete implementation mode: referring to fig. 13 for explaining the loading force in the x direction, a short bracket 5 is placed in a first rectangular groove 803 of a main worktable 8, one end of a nylon rope is wound around a first pulley 18 on a short pulley lever 17 installed and a weight is hung, the other end of the nylon rope is tied in a second loading hole 1501, the force in the x direction is applied to the instrument 3 by the gravity of the weight, the short bracket 5 is placed in the first rectangular groove 803 opposite to the direction shown in fig. 13, and the steps are repeated, so that the loading of the force in the x direction can be realized.
The fourth concrete implementation mode: referring to fig. 14, the y-direction loading force is described, a short bracket 5 is placed in a second rectangular groove 804 of the main workbench 8, one end of a nylon rope is wound around a first pulley 18 on a short pulley lever 17 installed and a weight is hung, the other end of the nylon rope is tied in a second loading hole 1501, the y-direction force is applied to the instrument 3 by the gravity of the weight, the short bracket 5 is placed in the second rectangular groove 804 opposite to the direction shown in fig. 14, and the steps are repeated, so that the loading of the y-direction force can be achieved.
The fifth concrete implementation mode: referring to fig. 15 for explaining the z-direction loading force, an auxiliary bracket 6 is placed in the second rectangular groove 804 of the main table 8, one end of a nylon rope is wound around the third pulley 23 and the fourth pulley 24 on the installed beam 22 and a weight is suspended, the other end of the nylon rope is tied in the first loading hole 1601, and the weight is used for applying the z-direction load to the instrument 3.
The sixth specific implementation mode: referring to fig. 16, the x-direction loading moment will be described, a short bracket 5 is placed in the second rectangular groove 804 of the main table 8 shown in fig. 16, a long bracket 7 is placed in the second rectangular groove 804 opposite to the long bracket 7, one end of a nylon rope is wound around the first pulley 18 on the installed short pulley lever 17 and hangs a weight, the other end of the nylon rope is tied in the second loading hole 1501, one end of the other nylon rope is wound around the second pulley 20 on the installed long pulley lever 19 and hangs a weight, the other end of the nylon rope is tied in the first loading hole 1601, the weight applies the x-direction moment to the instrument 3, the positions of the short bracket 5 and the long bracket 7 are interchanged, and the steps are repeated to load the x-direction moment.
The seventh embodiment: referring to fig. 17, to explain the y-direction loading moment, a short support 5 is placed in the second rectangular groove 804 of the main table 8 shown in fig. 17, a long support 7 is placed in the second rectangular groove 804 opposite to the long support, one end of a nylon rope is wound around the first pulley 18 on the installed short pulley lever 17 and hangs a weight, the other end of the nylon rope is tied in the second loading hole 1501, one end of the other nylon rope is wound around the second pulley 20 on the installed long pulley lever 19 and hangs a weight, the other end of the nylon rope is tied in the first loading hole 1601, the weight applies y-direction moment to the instrument 3, the positions of the short support 5 and the long support 7 are interchanged, and the above steps are repeated to load y-direction moment.
The specific implementation mode is eight: the z-direction loading moment is described with reference to fig. 18, the two short brackets 5 are respectively placed in the first rectangular groove 803 of the main workbench 8 and are staggered with each other, one end of the nylon rope goes around the first pulley 18 on the installed short pulley lever 17 and hangs the weight, the other end of the nylon rope is tied in the second loading hole 1501, the two nylon ropes are parallel but not collinear, the z-direction moment is applied to the instrument 3 by using the gravity of the weight, the two short brackets 5 are respectively installed on the other side of the first rectangular groove 803, and the loading of the z-direction moment can be realized by repeating the steps.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
Claims (9)
1. A six-dimensional miniature force/torque sensor static calibration device comprises a base and a lifting rod arranged on the base, and is characterized by further comprising a short support, an auxiliary support, a long support, a main working table, an instrument shaft fixing platform, an adjusting device, a loading adapter for applying force and torque, a first clamp for fixing the instrument on the adjusting device and a second clamp for fixing the instrument on the instrument shaft fixing platform, wherein the lifting rod is in sliding fit with the main working table for supporting the short support, the long support and the auxiliary support, the lifting rod is in sliding fit with the instrument shaft fixing platform for preventing the instrument from shaking, an outer ring close to the upper end of the instrument is connected with an inner ring of the first clamp through a jackscrew, the first clamp is a shaft sleeve type part and has a disc-shaped end face, the disc-shaped end face of the first clamping device is installed on the adjusting device, the adjusting device is installed inside the main workbench, the outer ring close to the lower end of the instrument is connected with the inner ring of the second clamping device through jackscrews, the second clamping device is a shaft sleeve type part and is provided with a disc-shaped end face, the disc-shaped end face of the second clamping device is installed on the instrument shaft fixing platform, the loading adapter is installed at the upper end of the instrument, and the tail end of the short support, the tail end of the auxiliary support and the tail end of the long support are all installed on the main workbench.
2. The six-dimensional miniature force/torque sensor static calibration device according to claim 1, wherein the instrument comprises an instrument shaft, a sensor and an instrument hand, the upper end of the sensor is connected with the tail end of the instrument hand, the lower end of the sensor is connected with the head end of the instrument shaft, the outer ring of the head end of the instrument shaft is mounted on the first clamper inner ring, and the outer ring of the tail end of the instrument shaft is mounted on the second clamper inner ring.
3. The six-dimensional micro force/torque sensor static calibration device according to claim 1, wherein the loading adapter comprises a loading cap and a loading rod, the edge of the loading cap is provided with a plurality of second loading holes for applying horizontal force, the upper end of the loading rod is provided with a first loading hole for applying vertical force, the tail end of the loading rod is connected with the head end of the loading cap through a screw, and the tail end of the loading cap is connected with the upper end of the apparatus through a jackscrew.
4. The static calibration device of six-dimensional micro force/torque sensor as claimed in claim 1, wherein the platform of the main workbench is regular octagon, each edge of the main workbench is provided with a first rectangular groove or a second rectangular groove for mounting the short bracket, the long bracket or the auxiliary bracket, the inner ring of the main workbench is provided with a through hole, six counter bores for connecting the adjusting device are arranged around the through hole, one side of the main workbench is provided with a first dovetail-shaped sliding groove matched with the lifting rod, the lifting rod is connected with the first dovetail-shaped sliding groove in a sliding manner, the instrument shaft fixing platform is located under the main workbench, the platform of the instrument shaft fixing platform is regular octagon, one side of the instrument shaft fixing platform is provided with a second dovetail-shaped sliding groove matched with the lifting rod, and the lifting rod is connected with the second dovetail-shaped sliding groove in a sliding manner.
5. The six-dimensional micro force/torque sensor static calibration device according to claim 4, it is characterized in that the adjusting device comprises an adjusting table, an adjusting bolt, a fixed nut, a first adjusting nut and a second adjusting nut, the adjusting table is provided with a disc-shaped end part, six through holes corresponding to the counter bores on the main working table are uniformly arranged on the disc-shaped end part, the adjusting bolt is arranged in the counter bore of the main workbench and the through hole of the adjusting platform in a penetrating way, the fixing nut is arranged on the adjusting bolt, the upper end of the fixing nut is attached to the surface of the lower end of the main workbench, the first adjusting nut is arranged on the adjusting bolt, the lower end of the first adjusting nut is attached to the upper surface of the disc-shaped end part of the adjusting table, and the second adjusting nut is arranged on the adjusting bolt, and the upper end of the second adjusting nut is attached to the lower surface of the disc-shaped end part of the adjusting table.
6. The six-dimensional micro force/torque sensor static calibration device according to claim 1, wherein a through hole is respectively formed in the center of the adjusting device and the center of the instrument shaft fixing platform, an instrument is installed in the through hole formed in the center of the adjusting device and the center of the instrument shaft fixing platform in a penetrating manner, the disc-shaped end of the first clamp is in threaded connection with the threaded hole around the through hole of the adjusting device, and the disc-shaped end of the second clamp is in threaded connection with the threaded hole around the through hole of the instrument shaft fixing platform.
7. The static calibration device of the six-dimensional micro force/torque sensor according to claim 1, wherein the short support comprises a short pulley bar and a first pulley, the first pulley is mounted at the head end of the short pulley bar through a pin, and the tail end of the short pulley bar is fastened in the first rectangular groove or the second rectangular groove of the main worktable through a bolt.
8. The six-dimensional miniature force/torque sensor static calibration device according to claim 1, wherein the auxiliary support comprises a beam support, a beam, a third pulley and a fourth pulley, a notch is formed in the bottom of the beam, the beam support is welded to the notch in the bottom of the beam, the third pulley and the fourth pulley are respectively connected to two ends of the beam through pins, the third pulley is located on one side close to the loading adapter, the fourth pulley is located on one side away from the loading adapter, and the tail end of the beam support is fastened in the first rectangular groove or the second rectangular groove of the main workbench through a bolt.
9. The static calibration device of the six-dimensional micro force/torque sensor as claimed in claim 1, wherein the long support comprises a long pulley bar and a second pulley, the second pulley is mounted at the head end of the long pulley bar through a pin, and the tail end of the long pulley bar is fastened in the first rectangular groove or the second rectangular groove of the main worktable through a bolt.
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