CN113820066B - Six-dimensional miniature force/moment sensor static calibration device - Google Patents
Six-dimensional miniature force/moment sensor static calibration device Download PDFInfo
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- CN113820066B CN113820066B CN202111108145.XA CN202111108145A CN113820066B CN 113820066 B CN113820066 B CN 113820066B CN 202111108145 A CN202111108145 A CN 202111108145A CN 113820066 B CN113820066 B CN 113820066B
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- 230000003068 static effect Effects 0.000 title claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 description 18
- 229920001778 nylon Polymers 0.000 description 18
- 230000005484 gravity Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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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
-
- 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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- Force Measurement Appropriate To Specific Purposes (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model provides a static calibration device of six-dimensional miniature power/moment 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, load adapter, first clamp and second clamp, sliding fit has main workstation and apparatus axle fixed platform on the lifter, first clamp with the apparatus is installed to the inner circle of second clamp, and first clamp is installed on adjusting device, and adjusting device is connected with main workstation, and the second clamp is connected with apparatus axle fixed platform, load adapter installs in the apparatus upper end, and short support end, auxiliary stand end and long support end are all installed on main workstation. The invention can calibrate the instrument with the sensor, and loads multidirectional force and moment by installing a short bracket, a long bracket or an auxiliary bracket in the first rectangular groove 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
Six-dimensional force/moment sensors are the most complete form of 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/moment sensor is widely applied to the fields of robots, medical appliances and the like, and the importance of the six-dimensional force/moment sensor is obvious. 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 accurate work of one sensor. The calibration of the six-dimensional force/moment sensor by using the six-dimensional force/moment sensor calibration device is an important step which cannot be ignored, and the use precision of the sensor is directly influenced by the calibration precision.
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 applicability of the device are not enough, and most of calibration devices are suitable for calibrating large-scale sensors; the patent number CN100529703 provides a calibration device of a six-dimensional force/moment sensor, but the device is suitable for calibrating a large-size six-dimensional force/moment sensor, is not suitable for calibrating a miniature six-dimensional force/moment sensor, and cannot realize independent loading of force and moment components in each dimension. Patent number CN103528755B provides a six-dimensional force/moment sensor calibration device, although the device can realize Shan Weili independent loading in all directions, the device can not calibrate the whole instrument shaft containing the sensor, can not debug the height of the device, and is not flexible enough.
Disclosure of Invention
Aiming at the defects, the invention provides a six-dimensional miniature force/moment sensor static calibration device.
The invention is realized by the following technical scheme: the utility model provides a static calibration device of six-dimensional miniature power/moment sensor, includes the base and installs the lifter on the base, still includes short support, auxiliary stand, long support, main worktable, apparatus axle fixed platform, adjusting device, is used for exerting force and moment load adapter, be used for with first binding clasp on the adjusting device and be used for with the apparatus is fixed second binding clasp on the apparatus axle fixed platform, sliding fit has on the lifter is used for supporting short support long support with auxiliary stand's main worktable, sliding fit has the apparatus axle fixed platform that is used for preventing the apparatus from rocking on the lifter, be close to the outer lane of apparatus upper end with first binding clasp inner circle passes through the jackscrew and is connected, and first binding clasp is axle sleeve class part, has a disk-shaped terminal surface, and first binding clasp's disk-shaped terminal surface is installed on the adjusting device, and adjusting device installs in main worktable inside, and be close to the apparatus lower extreme with second binding clasp inner circle passes through the jackscrew connection, and second binding clasp is a disk-shaped terminal surface, and the second binding clasp is installed at the end on the auxiliary stand, and is installed on the end on the main stand, the end, and is all installed on the auxiliary stand.
The device comprises a device shaft, a sensor and a device hand, wherein the upper end of the sensor is connected with the tail end of the device hand, the lower end of the sensor is connected with the head end of the device shaft, the outer ring of the head end of the device shaft is arranged on the inner ring of the first clamping device, and the outer ring of the tail end of the device shaft is arranged on the inner ring of the second clamping device.
The loading adapter comprises a loading cap and a loading rod, a plurality of second loading holes for applying horizontal force are formed in the edge of the loading cap, a first loading hole 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.
The utility model discloses a device for fixing a lifting rod, including main workstation, instrument axle fixed platform, lifter, auxiliary support, adjusting device, lifting rod, main workstation's platform is regular octagon each edge all be equipped with one be used for installing short support, long support or auxiliary support's first rectangular channel or second rectangular channel of main workstation, main workstation inner circle is equipped with a through-hole, is equipped with six countersunk holes that are used for connecting the adjusting device around the through-hole, one side of main workstation be equipped with lifter complex first dovetail spout, the lifter with first dovetail spout sliding connection, instrument axle fixed platform is located main workstation directly under, instrument axle fixed platform's platform is regular octagon, instrument axle fixed platform's one side be equipped with lifter complex second dovetail spout, the lifter with second dovetail spout sliding connection.
The adjusting device comprises an adjusting table, an adjusting bolt, a fixing nut, a first adjusting nut and a second adjusting nut, wherein the adjusting table is provided with a disc-shaped end part, six through holes corresponding to the countersunk holes in the main workbench are uniformly formed in the disc-shaped end part, the adjusting bolt is installed in the countersunk holes in the main workbench and the through holes in the adjusting table in a penetrating mode, the fixing nut is installed on the adjusting bolt, the upper end of the fixing nut is attached to the lower end surface of the main workbench, the first adjusting nut is installed 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, the second adjusting nut is installed 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.
The center of the adjusting device and the center of the instrument shaft fixing platform are respectively provided with a through hole, the instrument is installed in the through holes formed in the center of the adjusting device and the center of the instrument shaft fixing platform in a penetrating mode, the disc-shaped end portion of the first clamping device is connected with threaded holes around the through holes of the adjusting device in a threaded mode, and the disc-shaped end portion of the second clamping device is connected with threaded holes around the through holes of the instrument shaft fixing platform in a threaded mode.
The short bracket comprises a short pulley rod and a first pulley, the first pulley is installed at the head end of the short pulley rod through a pin, and the tail end of the short pulley rod 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, wherein 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 connected to two ends of the beam through pins respectively, 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 bolts.
The long support comprises a long pulley rod and a second pulley, the second pulley is installed at the head end of the long pulley rod through a pin, and the tail end of the long pulley rod is fastened in the first rectangular groove or the second rectangular groove of the main workbench through a bolt.
The invention has the advantages that by arranging the loading adapter and the first clamping device, the instrument with the sensor can be accurately calibrated, and the invention is longitudinally distributed, so that the required space is small.
The loading cap and the loading rod of the loading adapter are provided with a first loading hole or a second loading hole, one end of the nylon rope bypasses the short bracket, the auxiliary bracket or the long bracket to hang weights, the other end of the nylon rope is tied in the first loading hole or the second loading hole, so that force loading can be realized, and the loading cap is provided with a plurality of second loading holes required by direction loading, so that the loading of a plurality of direction forces can be realized.
The position of main workstation can be adjusted on the lifter, and the setting of first dovetail spout and second dovetail spout makes flexibility and the suitability of device obtain improving, and apparatus axle fixed platform is used for preventing that the apparatus from rocking, realizes that multiple spot is fixed, and a plurality of first rectangular channel or second rectangular channel that set up on the main workstation has increased the direction that the force 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 clamp is used for connecting a calibrated instrument with the adjusting device, the jackscrew is tightly pressed on the circumferential surface of the instrument shaft through the threaded hole of the shaft sleeve part of the first clamp, the jackscrew is tightly pressed on the circumferential surface of the instrument hand through the threaded hole of the loading adapter, the force or the moment acts on the sensor of the instrument through the loading adapter, and the second clamp is used for connecting the instrument with the instrument shaft fixing platform together, so that two-point fixation is realized and the instrument is prevented from shaking.
The loading of horizontal forces is achieved by mounting a short bracket in the first rectangular slot or the second rectangular slot.
The loading of force in the vertical direction is achieved by mounting the auxiliary bracket in the first rectangular slot or the second rectangular slot.
The moment loading can be realized by installing the long bracket in the first rectangular groove or the second rectangular groove and matching with the short bracket, and the sequential loading of a plurality of directions Shan Weili such as x, y, z and the like and the loading of the moment of the x plane, the y plane and the z plane can be realized by installing the short bracket, the long bracket or the auxiliary bracket; the first pulley, the second pulley, the third pulley and the fourth pulley are respectively connected with the short pulley rod, the long pulley rod and the cross beam through pins, so that the friction resistance is small, and the calibration accuracy is ensured.
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 schematic view of a partial structure of the present invention;
FIG. 4 is a partial enlarged view at B in FIG. 3;
FIG. 5 is a schematic view of the structure of the apparatus of the present invention;
FIG. 6 is a schematic diagram of a loading adapter of the present invention;
FIG. 7 is a schematic view of the structure of the first clamping device of the present invention;
FIG. 8 is a schematic view of a second clamp according to the present invention;
FIG. 9 is a schematic view of the structure of the short stent of the present invention;
FIG. 10 is a schematic view of the structure of the long stent of the present invention;
FIG. 11 is a schematic view of the structure of the auxiliary bracket of the present invention;
FIG. 12 is a schematic view of the structure of the cross beam of the present invention;
FIG. 13 is a partial schematic view of a force applied in the X direction;
FIG. 14 is a partial schematic view of a force applied in the Y direction;
FIG. 15 is a partial schematic view of the application of force in the Z direction;
FIG. 16 is a partial schematic view of torque applied in the X direction;
FIG. 17 is a partial schematic view of a torque applied in the Y direction;
Fig. 18 is a partial schematic view of the application of torque in the Z direction.
In the figure, 1, base, 2, lifter, 3, instrument, 4, loading adapter, 5, short bracket, 6, auxiliary bracket, 7, long bracket, 8, main table, 801, first dovetail chute, 802, second dovetail chute, 803, first rectangular groove, 804, second rectangular groove, 9, instrument shaft fixing platform, 10, adjusting device, 101, adjusting table, 102, adjusting bolt, 103, fixing nut, 104, first adjusting nut, 105, second adjusting nut, 11, first clamp, 12, instrument shaft, 13, sensor, 14, instrument hand, 15, loading cap, 1501, second loading hole, 16, loading rod, 1601, first loading hole, 17, short pulley rod, 18, first pulley, 19, long pulley rod, 20, second pulley, 21, beam bracket, 22, beam, 2201, notch, 23, third pulley, 24, fourth pulley, 25, second clamp.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "first", "last", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The first embodiment is as follows: as shown in fig. 1 to 18, the static calibration device of the six-dimensional miniature force/moment sensor comprises a base 1, a lifting rod 2 arranged on the base 1, a short bracket 5, an auxiliary bracket 6, a long bracket 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 moment, a first clamping device 11 for fixing the instrument 3 on the adjusting device 10 and a second clamping device 25 for fixing the instrument 3 on the instrument shaft fixing platform 9, wherein the lifting rod 2 is in sliding fit with a main workbench 8 for supporting the short bracket 5, the long bracket 7 and the auxiliary bracket 6, an outer ring close to the upper end of the instrument 3 is connected with the first clamping device 11 through a jackscrew, the first clamping device 11 is a disc-shaped end face, the disc-shaped end face of the first clamping device 11 is arranged on the adjusting device 10, the adjusting device 10 is arranged in the inner part of the main workbench 8 and is arranged at the end face of the second clamping device, the inner ring is arranged at the end of the auxiliary workbench 8 and is connected with the inner ring of the main workbench 8 through a jackscrew, and the inner ring of the auxiliary workbench 9 is arranged at the end face of the auxiliary workbench 25, and the inner ring of the auxiliary workbench 8 is connected with the inner ring of the main workbench 25 through the jackscrew, and the inner ring of the clamping device is arranged at the end of the main workbench 25.
By providing the loading adapter 4 and the first gripper 11, an accurate calibration of the instrument 3 with the microsensor is possible, and the invention is longitudinally distributed with little space.
The instrument 3 comprises an instrument shaft 12, a sensor 13 and an instrument hand 14, wherein the upper end of the sensor 13 is connected with the tail end of the instrument hand 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 clamp 11, and the outer ring of the tail end of the instrument shaft 12 is arranged on the inner ring of the second clamp 25.
The loading adapter 4 comprises a loading cap 15 and a loading rod 16, 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 jackscrews.
The first loading hole 1601 or the second loading hole 1501 is formed in the loading cap 15 and the loading rod 16 of the loading adapter 4, the weight is hung around the short bracket 5, the auxiliary bracket 6 or the long bracket 7 at one end of the nylon rope, the other end is tied in the first loading hole 1601 or the second loading hole 1501, so that the loading of force can be realized, and the second loading hole 1501 required by the loading in multiple directions is formed in the loading cap 15, so that the loading of the force in multiple directions can be realized.
The main worktable 8 is regular octagon in the table surface, each edge of the main worktable 8 is provided with a first rectangular groove 803 or a second rectangular groove 804 for installing a short bracket 5, a long bracket 7 or an auxiliary bracket 6, the inner ring of the main worktable 8 is provided with a through hole, six countersunk holes for connecting an adjusting device are arranged around the through hole, one side of the main worktable 8 is provided with a first dovetail chute 801 matched with a lifting rod 2, the lifting rod 2 is in sliding connection with the first dovetail chute 801, an instrument shaft fixing platform 9 is positioned under the main worktable 8, the table surface of the instrument shaft fixing platform 9 is regular octagon, one side of the instrument shaft fixing platform 9 is provided with a second dovetail chute 802 matched with the lifting rod 2, and the lifting rod 2 is in sliding connection with the second dovetail chute 802.
The position of the main workbench 8 can be adjusted on the lifting rod 2, and the arrangement of the first dovetail sliding groove 801 and the second dovetail 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 first rectangular grooves 803 or the second rectangular grooves 804 provided on the main table 8 increase the direction of force application.
The adjusting device 10 comprises an adjusting table 101, an adjusting bolt 102, a fixing nut 103, a first adjusting nut 104 and a second adjusting nut 105, wherein the adjusting table 101 is provided with a disc-shaped end part, six through holes corresponding to the counter bores on the main workbench 8 are uniformly formed in the disc-shaped end part, the adjusting bolt 102 is installed in the counter bores of the main workbench 8 and the through holes of the adjusting table 101 in a penetrating mode, the fixing nut 103 is installed on the adjusting bolt 102, the upper end of the fixing nut 103 is attached to the lower end surface of the main workbench 8, the first adjusting nut 104 is installed on the adjusting bolt 102, the lower end of the first adjusting nut 104 is attached to the upper surface of the disc-shaped end part of the adjusting table 101, the second adjusting nut 105 is installed on the adjusting bolt 102, and the upper end of the second adjusting nut 105 is attached to the lower surface of the disc-shaped end part of the adjusting table 101.
The adjustment device 10 connects the instrument 3, the first clamp 11 and the main table 8 together, the fixing nut 103 fixes the position of the adjustment bolt 102, and the first adjustment nut 104 and the second adjustment nut 105 are adjusted to correct the spatial position of the instrument 3.
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 installed 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 threaded holes around the through holes of the adjusting device 10 in a threaded mode, and the disc-shaped end portion of the second clamping device 25 is connected with threaded holes around the through holes of the instrument shaft fixing platform 9 in a threaded mode.
The first clamping device 11 is used for connecting the calibrated instrument 3 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 instrument hand 14 through the threaded hole of the loading adapter 4, the force or moment acts on the sensor 13 of the instrument 3 through the loading adapter 4, the second clamping device 25 is used for connecting the instrument 3 with the instrument shaft fixing platform 9, and two-point fixation is realized, so that the instrument 3 is prevented from shaking.
The short bracket 5 comprises a short pulley rod 17 and a first pulley 18, the first pulley 18 is mounted at the head end of the short pulley rod 17 through a pin, and the tail end of the short pulley rod 17 is fastened in a first rectangular groove 803 or a second rectangular groove 804 of the main workbench 8 through a bolt.
Loading of horizontal forces is achieved by mounting the short brackets 5 in the first 803 or second 804 rectangular grooves.
The auxiliary bracket 6 comprises a beam bracket 21, a beam 22, a third pulley 23 and a fourth pulley 24, wherein a notch 2201 is formed in the bottom of the beam 22, the beam bracket 21 is welded to the notch 2201 in the bottom of the beam 22, the third pulley 23 and the fourth pulley 24 are respectively connected to two ends of the beam 22 through pins, the third pulley 23 is located on the side close to the loading adapter 4, the fourth pulley 24 is located on the side away from the loading adapter 4, and the tail end of the beam bracket 21 is fastened in the first rectangular groove 803 or the second rectangular groove 804 of the main workbench 8 through bolts.
The loading of the force in the vertical direction is achieved by mounting the auxiliary bracket 6 in the first rectangular slot 803 or the second rectangular slot 804.
The long support 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 a first rectangular groove 803 or a second rectangular groove 804 of the main workbench 8 through a bolt.
Moment loading can be realized by installing a long bracket 7 in the first rectangular groove 803 or the second rectangular groove 804 and matching with the short bracket 5, and sequential loading of a plurality of directions Shan Weili such as x, y, z and the like and loading of moment of an x plane, a y plane and a z plane can be realized by installing the short bracket 5, the long bracket 7 or the auxiliary bracket 6; the first pulley 18, the second pulley 20, the third pulley 23 and the fourth pulley 24 are respectively connected with the short pulley rod 17, the long pulley rod 19 and the cross beam 22 through pins, so that the friction resistance is small, and the calibration accuracy is ensured.
When the device is used, the positions of the main worktable 8 and the instrument shaft fixing platform 9 on the lifting rod 2 are adjusted according to the length of the instrument 3, the positions are fixed by screwing the bolts on the first dovetail sliding groove 801 and the second dovetail sliding groove 802, the jackscrew is pressed on the outer ring of the instrument shaft 12 of the instrument 3 through the threaded hole of the shaft sleeve part of the first clamping device 11, the instrument 3 is installed in the through hole formed in the center of the adjusting device 10 and the instrument shaft fixing platform 9 in a penetrating way, the disc-shaped end part of the first clamping device 11 is connected in the threaded hole around the through hole of the adjusting device 10 in a threaded way, the adjusting device 10 is connected with the main worktable 8 through the bolts, at the moment, the instrument 3 is fixed on the main worktable 8, the disc-shaped end of the second clamping device 25 is connected with screw holes around the through hole of the instrument shaft fixing platform 9 in a threaded manner to realize two-point fixing, the loading adapter 4 is fixed on the circumferential surface of the instrument hand 14 of the instrument 3 through jackscrews, the first adjusting nut 104 and the second adjusting nut 105 are rotated to correct the spatial position of the instrument 3, the short bracket 5, the long bracket 6 or the auxiliary bracket 7 is arranged in the first rectangular groove 803 or the second rectangular groove 804, the weight is hung around the short bracket 5, the auxiliary bracket 6 or the long bracket 7 at one end of the nylon rope, the other end is tied in the first loading hole 1601 or the second loading hole 1501 of the loading adapter 4, and force loading can be realized, and force or moment can act 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 tightening bolts on the first dovetail sliding groove 801 and the second dovetail sliding groove 802, jackscrews are pressed on the outer ring of the instrument shaft 12 of the instrument 3 through threaded holes of shaft sleeve parts of the first clamp 11, the instrument 3 penetrates through holes formed in the centers of the adjusting device 10 and the instrument shaft fixing platform 9, the bolts enable the first clamp 11 to be fixed on the adjusting device 10 through threaded holes of disc-shaped ends of the first clamp 11, the jackscrews are pressed on the lower end of the instrument shaft 12 through the shaft sleeve parts of the second clamp 25, the disc-shaped ends of the second clamp 25 are connected with threaded holes around the through holes of the instrument shaft fixing platform 9 through the jackscrews, two-point fixing is achieved, the loading adapter 4 is fixed on the circumferential surface of an instrument hand 14 of the instrument 3 through jackscrews, 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 first rectangular groove 1501 is wound on the first rectangular groove 8 or the second rectangular groove 1501 or the second rectangular groove 803, the other end of the auxiliary support frame 7 is hung on the second rectangular support frame 803 or the second rectangular support frame 803, and the load weight is loaded on the second rectangular support frame 803 or the second rectangular support frame 803.
And a third specific embodiment: referring to fig. 13, the x-direction loading force will be described, a short bracket 5 is placed in the first rectangular groove 803 of the main table 8, one end of the nylon rope is wound around the first pulley 18 on the installed short pulley bar 17 and the weight is hung, the other end is tied in the 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 fig. 13, and the above steps are repeated, so that the loading of the force in the x-direction can be realized.
The specific embodiment IV is as follows: describing the y-direction loading force with reference to fig. 14, a short bracket 5 is placed in a second rectangular groove 804 of the main table 8, one end of a nylon rope is wound around a first pulley 18 on the installed short pulley bar 17 and is hung with a weight, the other end 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 a second rectangular groove 804 opposite to fig. 14, and the above steps are repeated, so that the loading of the y-direction force can be realized.
Fifth embodiment: referring to fig. 15, the z-direction loading force will be described, an auxiliary frame 6 is placed in the second rectangular groove 804 of the main table 8, one end of the nylon rope is wound around the third pulley 23 and the fourth pulley 24 on the mounted cross beam 22 and the weight is hung, and the other end is tied in the first loading hole 1601, and the z-direction load is applied to the instrument 3 by the weight force of the weight.
Specific embodiment six: referring to fig. 16 for describing the x-direction loading moment, a short bracket 5 is placed in a second rectangular groove 804 of the main workbench 8 shown in fig. 16, a long bracket 7 is placed in the second rectangular groove 804 opposite to the short bracket, one end of a nylon rope bypasses a first pulley 18 on the installed short pulley rod 17 and hangs weights, the other end of the nylon rope is tied in a second loading hole 1501, one end of the other nylon rope bypasses a second pulley 20 on the installed long pulley rod 19 and hangs weights, the other end of the nylon rope is tied in the first loading hole 1601, the force of gravity of the weights is utilized to apply 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, so that the loading of the x-direction moment can be realized.
Seventh embodiment: referring to fig. 17 for describing the y-direction loading moment, a short bracket 5 is placed in a second rectangular groove 804 of the main workbench 8 shown in fig. 17, a long bracket 7 is placed in the second rectangular groove 804 opposite to the short bracket, one end of a nylon rope bypasses a first pulley 18 on the installed short pulley rod 17 and hangs weights, the other end of the nylon rope is tied in a second loading hole 1501, one end of the other nylon rope bypasses a second pulley 20 on the installed long pulley rod 19 and hangs weights, the other end of the nylon rope is tied in the first loading hole 1601, the y-direction moment is applied to the instrument 3 by utilizing the gravity of the weights, the positions of the short bracket 5 and the long bracket 7 are interchanged, and the steps are repeated, so that the loading of the y-direction moment can be realized.
Eighth embodiment: the z-direction loading moment will be described with reference to fig. 18, 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 a nylon rope bypasses the first pulley 18 on the installed short pulley rod 17 and hangs a 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 moment in the z-direction is applied to the instrument 3 by utilizing 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 moment in the z-direction can be realized by repeating the steps.
Other than the technical features described in the specification, all are known to those skilled in the art.
Claims (8)
1. The six-dimensional miniature force/moment sensor static calibration device comprises a base and a lifting rod arranged on the base, and is characterized by further comprising a short bracket, an auxiliary bracket, a long bracket, a main workbench, an instrument shaft fixing platform, an adjusting device, a loading adapter for applying force and moment, a first clamping device for fixing the instrument on the adjusting device and a second clamping device for fixing the instrument on the instrument shaft fixing platform, wherein the lifting rod is in sliding fit with a main workbench for supporting the short bracket, the long bracket and the auxiliary bracket, 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 sleeve-type part, a disc-shaped end face is arranged on the adjusting device, the adjusting device is arranged 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 a jackscrew, the second clamping device is a sleeve-type part, the second clamping device is a disc-shaped end face, the second clamping device is arranged on the main workbench, the long bracket is arranged on the tail end of the main workbench, and the auxiliary bracket is arranged on the tail end of the main workbench, and the main workbench is fixed on the tail end of the main workbench, and the main workbench is provided with a disc-shaped end;
The device comprises a device shaft, a sensor and a device hand, wherein the upper end of the sensor is connected with the tail end of the device hand, the lower end of the sensor is connected with the head end of the device shaft, the outer ring of the head end of the device shaft is arranged on the inner ring of the first clamping device, and the outer ring of the tail end of the device shaft is arranged on the inner ring of the second clamping device.
2. The six-dimensional miniature force/moment sensor static calibration device according to claim 1, wherein the loading adapter comprises a loading cap and a loading rod, a plurality of second loading holes for applying horizontal force are formed in the edge of the loading cap, a first loading hole 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.
3. The six-dimensional miniature force/moment sensor static calibration device according to claim 1, wherein the table surface of the main table is regular octagon, each edge of the main table is provided with a first rectangular groove or a second rectangular groove for installing a short bracket, a long bracket or an auxiliary bracket, the inner ring of the main table is provided with a through hole, six counter sunk holes for connecting an adjusting device are arranged around the through hole, one side of the main table is provided with a first dovetail-shaped sliding groove matched with a lifting rod, the lifting rod is in sliding connection with the first dovetail-shaped sliding groove, the instrument shaft fixing platform is positioned under the main table, the table surface 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 in sliding connection with the second dovetail-shaped sliding groove.
4. The static calibration device of the six-dimensional miniature force/moment sensor according to claim 3, wherein the adjustment device comprises an adjustment table, an adjustment bolt, a fixing nut, a first adjustment nut and a second adjustment nut, the adjustment table is provided with a disc-shaped end part, six through holes corresponding to the counter bores on the main workbench are uniformly formed in the disc-shaped end part, the adjustment bolt is installed in the counter bores of the main workbench and the through holes of the adjustment table in a penetrating manner, the fixing nut is installed on the adjustment bolt, the upper end of the fixing nut is attached to the lower end surface of the main workbench, the first adjustment nut is installed on the adjustment bolt, the lower end of the first adjustment nut is attached to the upper surface of the disc-shaped end part of the adjustment table, the second adjustment nut is installed on the adjustment bolt, and the upper end of the second adjustment nut is attached to the lower surface of the disc-shaped end part of the adjustment table.
5. The static calibration device of the six-dimensional miniature force/moment sensor according to claim 1, wherein the center of the adjusting device and the center of the instrument shaft fixing platform are respectively provided with a through hole, the instrument is installed in the through holes 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 part of the first clamping device is connected with threaded holes around the through holes of the adjusting device in a threaded manner, and the disc-shaped end part of the second clamping device is connected with threaded holes around the through holes of the instrument shaft fixing platform in a threaded manner.
6. The six-dimensional miniature force/moment sensor static calibration device according to claim 1, wherein the short bracket comprises a short pulley rod and a first pulley, the first pulley is mounted at the head end of the short pulley rod through a pin, and the tail end of the short pulley rod is fastened in the first rectangular groove or the second rectangular groove of the main workbench through a bolt.
7. The static calibration device of the six-dimensional miniature force/moment sensor according to claim 1, wherein the auxiliary bracket comprises a beam bracket, a beam, a third pulley and a fourth pulley, a notch is formed in the bottom of the beam, the beam bracket is welded to the notch at 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 the side close to the loading adapter, the fourth pulley is located on the side away from the loading adapter, and the tail end of the beam bracket is fastened in the first rectangular groove or the second rectangular groove of the main workbench through bolts.
8. The six-dimensional miniature force/moment sensor static calibration device according to claim 1, wherein the long support comprises a long pulley rod and a second pulley, the second pulley is installed at the head end of the long pulley rod through a pin, and the tail end of the long pulley rod is fastened in the first rectangular groove or the second rectangular groove of the main workbench through a bolt.
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