CN114034429A - Torque sensor calibration device, method and system and robot calibration system - Google Patents
Torque sensor calibration device, method and system and robot calibration system Download PDFInfo
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- CN114034429A CN114034429A CN202111233035.6A CN202111233035A CN114034429A CN 114034429 A CN114034429 A CN 114034429A CN 202111233035 A CN202111233035 A CN 202111233035A CN 114034429 A CN114034429 A CN 114034429A
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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
Abstract
The invention relates to a torque sensor calibration device, a torque sensor calibration method, a torque sensor calibration system and a robot calibration system. The moment sensor calibration device comprises a swing arm and a support, wherein the moment sensor comprises a fixed end and a movable end, the fixed end of the moment sensor is fixedly connected to the support, the movable end of the moment sensor comprises a rotating shaft, the swing arm is installed at the movable end of the moment sensor and comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for connecting the movable end of the moment sensor, the swing arm body is used for connecting a reference load, and the swing arm body extends along a first diameter direction of the rotating shaft; the moment sensor calibration device further comprises a level bubble, wherein the level bubble is arranged in a second diameter direction of the rotating shaft, and the second diameter direction is obtained by anticlockwise rotating a target angle in the first diameter direction. The moment sensor calibration device can simply, quickly and directly judge the angle between the swing arm and the horizontal plane, and has low processing and using cost.
Description
Technical Field
The invention relates to the technical field of robot calibration, in particular to a torque sensor calibration device, a torque sensor calibration method, a torque sensor calibration system and a robot calibration system.
Background
With the development of the robot technology, the human-computer cooperative type mechanical arm gets more and more attention, and a robot joint is used as an important ring in the human-computer cooperative type mechanical arm and plays a very important role in the operation precision of the mechanical arm. Therefore, the moment sensor is arranged in the robot joint, the moment sensor can transmit moment on one hand, can measure the moment on the other hand, and can calculate the difference between the measured actual moment and the theoretical moment.
Therefore, in order to enable the ergonomic robot arm to operate accurately, calibration of the torque sensor in the robot joint becomes important. In the prior art, when calibrating the torque sensor, one end of the torque sensor is firstly fixedly mounted on the bracket, and the supporting arm is mounted on the other end transmission shaft of the torque sensor. After this, the support arm is adjusted and held at a plurality of preset angles with respect to the horizontal plane, and test objects of different weights are mounted on the end of the support arm. The moment value directly measured by the moment sensor is compared with the theoretical moment calculated according to the actual mounting condition, so that whether the moment sensor needs to be calibrated or not can be judged.
However, in the calibration method of the torque sensor in the prior art, when the angle between the support arm and the horizontal plane is adjusted, most of the persons skilled in the art can only adjust the support arm by visual observation in a way that there is a large error, so that the measurement result of the torque also has a certain error, which adversely affects the calibration accuracy of the torque sensor.
Disclosure of Invention
Based on this, it is necessary to provide a torque sensor calibration apparatus, a torque sensor calibration method, a torque sensor calibration system, and a robot calibration system, for solving the problem in the prior art that the error of the calibration process of the torque sensor is large.
The invention discloses a moment sensor calibration device in a first aspect, which comprises a swing arm and a bracket, wherein the moment sensor comprises a fixed end and a movable end, the fixed end of the moment sensor is fixedly connected on the bracket, the movable end of the moment sensor comprises a rotating shaft, the swing arm is arranged at the movable end of the moment sensor,
the swing arm comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for connecting the movable end of the torque sensor, the swing arm body is used for connecting a reference load, and the swing arm body extends along a first diameter direction of the rotating shaft;
the torque sensor calibration device further includes a level bubble disposed in a second diametrical direction of the rotary shaft, the second diametrical direction being obtained by counterclockwise rotating a target angle in the first diametrical direction.
In one embodiment, the torque sensor calibration device further comprises an angle marking device capable of indicating an angle between the second diameter direction and the first diameter direction.
In one embodiment, the angle marking means is an angle dial centered on the axis of rotation.
In one embodiment, the vial is adhesively or magnetically attached to the swing arm.
In one embodiment, the swing arm is provided with one or more mounting grooves arranged in a radial direction of the rotation axis, and the level bubble can be disposed in the mounting grooves.
In one embodiment, there are more than one vial.
In one embodiment, the swing arm is provided with a plurality of hanging holes, the hanging holes are sequentially arranged in the first diameter direction, and the distances from the hanging holes to the rotating shaft are different.
The second aspect of the present invention discloses a calibration method for a torque sensor, which uses any one of the aforementioned torque sensor calibration devices, and comprises the following steps:
(1) rotating the swing arm to enable the level bubble at the target angle to be in a horizontal state;
(2) connecting a reference load to the swing arm, acquiring a sensor torque value measured by a torque sensor, and calculating a theoretical torque value according to the actual load condition;
(3) calculating the difference value between the sensor torque value and the theoretical torque value,
(4) judging whether the difference value is within a threshold value; and (3) if the difference is within the threshold value, returning to the step (1), and if the difference is not within the threshold value, adjusting the torque sensor.
The third aspect of the present invention discloses a torque sensor calibration system, comprising any one of the torque sensor calibration devices described above, and:
the interaction module is used for acquiring a reference load, an angle between the swing arm and the horizontal plane, a distance between a connection end of the reference load and the rotating shaft and a threshold value;
the first control module is connected with the torque sensor and acquires a sensor torque value measured by the torque sensor;
the second control module is connected with the interaction module and used for calculating a theoretical moment value according to the reference load in the interaction module, the distance between the reference load and the rotating shaft and the angle between the swing arm and the horizontal plane;
and the third control module is respectively connected with the first control module, the second control module and the interaction module, acquires and calculates a difference value between a sensor torque value and a theoretical torque value, and compares the difference value with a threshold value in the interaction module.
The invention discloses a robot calibration system in a fourth aspect, which comprises the torque sensor calibration system.
Advantageous effects
According to the moment sensor calibration device, an angle measurement device is not needed to measure the included angle between the swing arm and the horizontal plane, and whether the swing arm rotates to the target angle or not is judged by arranging the level bubble which extends in the radial direction and forms the target angle with the swing arm and observing whether the level bubble is in the horizontal state or not. The structural design of the torque sensor calibration system enables a person skilled in the art to simply, rapidly and directly judge the angle between the swing arm and the horizontal plane, and the processing and using cost is low.
Drawings
FIG. 1 is a schematic diagram of a torque sensor calibration apparatus according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a swing arm of a torque sensor calibration apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a torque sensor calibration apparatus according to an embodiment of the present invention;
FIG. 4 is a flow chart of a torque sensor calibration method according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a torque sensor calibration system according to an embodiment of the invention;
wherein 100 is a swing arm, 200 is a bracket, 300 is a torque sensor, 101 is a swing arm fixing seat, 102 is a swing arm body, 103 is a level bubble, and 104 is a hanging hole.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, the moment sensor calibration apparatus according to the present invention includes a swing arm 100 and a bracket 200, the moment sensor 300 includes a fixed end and a movable end, the fixed end of the moment sensor 300 is fixedly connected to the bracket 200, the movable end of the moment sensor 300 includes a rotation axis, which can rotate around the rotation axis, the swing arm 100 is installed at the movable end of the moment sensor 300, and the swing arm 100 can rotate around the rotation axis along with the movable end of the moment sensor 300. As shown in fig. 2, which is a schematic view of the swing arm 100 according to the present invention, the swing arm 100 includes a swing arm fixing seat 101 and a swing arm body 102, the swing arm body 102 is connected to the swing arm fixing seat 101, the swing arm fixing seat 101 is used for connecting to a movable end of the torque sensor 300, the swing arm body 102 is used for connecting to a reference load, and the swing arm body 102 extends along a first diameter direction of the rotating shaft. The movable end of the torque sensor 300 drives the swing arm fixing seat 101 to rotate, and drives the swing arm body 102 to rotate and form a certain angle with the horizontal direction.
For convenience of description, the counterclockwise rotation angle is defined as positive, and the clockwise rotation angle is defined as negative. In order to ensure that the swing arm body 102 can be precisely adjusted to form a target angle with the horizontal direction, the moment sensor calibration device of the present invention further includes a level bubble 103, wherein the level bubble 103 can indicate that the level bubble is in a horizontal state, the level bubble 103 is arranged in a second diameter direction of the rotating shaft, and the second diameter direction is obtained by rotating the target angle along a first rotating direction from the first diameter direction.
For example, in the embodiment shown in FIG. 3, where the target angle between the swing arm body 102 and the horizontal direction is-30 degrees, the second diameter direction in which the vial 103 is located should be set to be 30 degrees counterclockwise from the first diameter direction in which the swing arm body 102 is located.
This is because, since the vials 103 move in synchronization with the swing arm body 102, if it is desired that the swing arm body 102 rotate 30 degrees clockwise from the horizontal, it is also desired that the vials 103 rotate 30 degrees clockwise. In the technical solution of this embodiment, since the vial 103 is disposed at a position that is rotated 30 degrees counterclockwise from the first diameter direction of the swing arm body 102, and the swing arm body 102 is initially in the horizontal direction, when the vial 103 starts to rotate and the rotated vial 103 shows that it is in the horizontal state, it indicates that the vial 103 rotates 30 degrees clockwise, and at this time, the swing arm body 102 also rotates 30 degrees clockwise relative to the horizontal direction, that is, the target angle-30 degrees between the swing arm body 102 and the horizontal direction is reached, thereby achieving precise adjustment of the swing arm body 102.
As can be easily understood from the above embodiments, the torque sensor calibration device according to the present invention does not need to use an angle measurement device to accurately measure the angle between the swing arm body 102 and the horizontal plane, but instead, a level bubble 103 is disposed at a position on the swing arm 100 that forms a specified included angle with the swing arm body 102, and the rotation of the swing arm body 102 to the specified angle is determined by observing whether the level bubble 103 is in a horizontal state. The angle judgment mode of the torque sensor calibration device is simple, rapid and direct, basically has no possibility of misoperation, and provides a high-precision angle judgment method on the premise of ensuring low processing and use cost, so that the torque sensor calibration device can more accurately calibrate the torque sensor.
It can be understood that, in order to rotate the swing arm body 102 to a target angle, the torque sensor calibration device of the present invention is provided with an angle marking device, and the angle marking device can indicate an included angle between the second diameter direction and the first diameter direction. It is obvious that the angle marking means have a plurality of implementations. In some embodiments, the angle marking device is an angle dial which takes the rotating shaft as a center, and a first diameter direction of the swing arm body 102 has a definite scale on the angle dial, so that a scale which the level bubble 103 should be located in a second diameter direction can be found on the angle dial according to an angle which the swing arm body 102 needs to rotate. Specifically, the angle marking device is disposed on the swing arm fixing seat 101.
It is to be understood that the torque sensor calibration device of the present invention is not limited to the connection of the vial 103 to the swing arm 100. In some embodiments, the vial 103 is bonded to the swing arm 100, and in other embodiments, the vial 103 and the swing arm 100 may be magnetically coupled. Still alternatively, in some embodiments as shown in fig. 2, the swing arm 100 is provided with an installation groove arranged along the radial direction of the rotation axis, and the vial 103 may be disposed in the installation groove. The mounting groove can be obtained by machining the swing arm 100, and the angle accuracy is high, so that the mounting groove scheme can ensure that the level bubble 103 is stably mounted and the level bubble 103 is at an accurate angle, and the requirements on the usability and the accuracy of the torque sensor calibration device are effectively met.
It should be noted that, in the torque sensor calibration device of the present invention, the number of target angles between the swing arm body and the horizontal direction is obviously more than one, and through the calibration test of multiple target angles, whether the torque sensor needs to be calibrated can be more comprehensively judged. Taking the above-mentioned vial 103 as an example to be mounted through mounting grooves, as shown in fig. 2, the mounting grooves are several and are respectively located at target angle positions of 0 degrees, 30 degrees, 45 degrees, 60 degrees, or 90 degrees with respect to the first diameter direction. By arranging the level bubble 103 in the installation groove, a person skilled in the art can quickly and accurately adjust the swing arm body 102 to be at 0 degree, 30 degrees, 45 degrees, 60 degrees or 90 degrees with the horizontal direction, so that the person skilled in the art can quickly and continuously perform multi-angle calibration test on the torque sensor by using the torque sensor calibration device provided by the invention. Of course, the mounting groove can also be arranged at other angular positions as required, and the accuracy of the torque sensor can be fully verified by continuously changing the included angle between the swing arm body 102 and the horizontal plane in the test. It will be apparent that the number of vials 103 may be more than one. For example, only a single level bubble 103 may be used, and a person skilled in the art can adjust the swing arm body 102 to a target angle corresponding to different mounting grooves by switching the level bubble 103 in different mounting grooves. Or, a plurality of level bubbles 103 can be correspondingly arranged in a plurality of mounting grooves respectively by a person skilled in the art, and when the swing arm body 102 needs to be adjusted to a target angle, the horizontal state display condition of the level bubbles 103 in the mounting groove corresponding to the target angle can be directly observed, so that the operation is effectively simplified. Specifically, in some embodiments, as shown in fig. 2, a plurality of hanging holes 104 are disposed on the swing arm body 102 of the torque sensor calibration apparatus according to the present invention, the hanging holes 104 are used for connecting a reference load for testing, the hanging holes 104 are sequentially arranged in the first diameter direction, and distances from the hanging holes 104 to the rotation axis are different. So set up, through connecting the reference load on different lewis holes 104, can adjust the arm of force length of reference load for the rotation axis to can change the test moment to moment sensor, increase the calibration experiment number of times to moment sensor, improve moment sensor's accuracy.
In another aspect, the present invention discloses a calibration method for a torque sensor, which uses the aforementioned calibration device for a torque sensor, as shown in fig. 4, and includes the following steps:
(1) rotating the swing arm 100 to enable the level bubble 103 with the target angle to be in a horizontal state;
(2) connecting a reference load to the swing arm 100, acquiring a sensor torque value measured by a torque sensor, and calculating a theoretical torque value according to an actual load condition;
(3) calculating the difference value between the sensor torque value and the theoretical torque value,
(4) judging whether the difference value is within a threshold value; and (3) if the difference is within the threshold value, returning to the step (1), and if the difference is not within the threshold value, adjusting the torque sensor.
For example, in some embodiments, the number of the level bubbles is two, and the level bubbles include a first target angle level bubble and a second target angle level bubble, the first diameter direction of the level bubbles is rotated by 30 degrees and 60 degrees counterclockwise from the second diameter direction of the swing arm body 102, the reference load is a weight in this embodiment, and the length of the connection end of the reference load on the swing arm body 102 from the rotation axis is 0.8 m. After the torque sensor is installed in the torque sensor calibration device of the present invention, the swing arm 100 is first adjusted to rotate the swing arm body 102, and at this time, the first target angle level bubble and the second target angle level bubble start to rotate. First, the first target angle level bubble is adjusted to be in a horizontal state, and at the moment, the swing arm body 102 is kept at-30 degrees from the horizontal direction. A reference load is connected to the swing arm body 102 in this state, and the torque sensor measures the torque value of the first sensor at this time. Since the angle of the swing arm body 102 is determined to be-30 degrees, the length from the reference load to the rotation axis, that is, the length of the first moment arm in this state can also be determined to be 0.8 × COS30 °, and the first theoretical moment value can be easily calculated according to the calculation formula of the moment M being the reference load M × moment arm L. The moment sensor is judged to be accurate or not in the state by comparing the first theoretical moment value with the first sensor moment value, calculating a difference value, comparing and judging the difference value with a preset threshold range, if the difference value is not in the threshold range, proving that the moment sensor needs to be calibrated, if the difference value is in the threshold range, proving that the moment sensor does not need to be calibrated at the first target angle, further adjusting the second target angle level bubble to be in a horizontal state, and further connecting the swing arm body 102 in the state with a reference load, so that the second theoretical moment value can be further calculated and compared with the second sensor moment value.
On the other hand, the invention discloses a torque sensor calibration system, as shown in fig. 5, which includes the torque sensor calibration device, a first control module, a second control module, a third control module and an interaction module, wherein the interaction module is used for acquiring a reference load, an angle between the swing arm body 102 and a horizontal plane, a distance between the reference load and a rotating shaft, and a threshold, the first control module is electrically connected with the torque sensor, the first control module can acquire a sensor torque value measured by the torque sensor, the second control module is connected with the interaction module, and can calculate a theoretical torque value according to weight information of the reference load in the interaction module, the angle between the swing arm body 102 and the horizontal plane, and the distance between a reference load connecting end and the rotating shaft, and the third control module is respectively connected with the first control module, the second control module, the third control module, and the third control module, The second control module is connected with the interaction module, the third control module reads the sensor torque value in the first control module and compares the sensor torque value with the theoretical torque value in the second control module, and judges whether the difference value is within a threshold value in the interaction module.
In some embodiments, the interaction module is a memory, and the skilled person inputs preset reference load information, the angle of the swing arm body 102 to the horizontal plane, the distance from the reference load connection end to the rotation axis, and a threshold value into the memory. And the second control module reads the information in the memory and calculates a theoretical moment value according to the information. The technical personnel in the field set the torque sensor calibration device according to preset information, the first control module is connected with the torque sensor and obtains a sensor torque value of the torque sensor at the moment, and the third control module compares the sensor torque value with a theoretical torque value and judges whether the difference value is within the range of a threshold value.
Through the moment sensor calibration system, technicians in the field do not need to manually calculate a theoretical moment value, and do not need to manually judge whether a difference value between the theoretical moment value and a sensor moment value meets a threshold requirement, so that the operation process of the technicians in the field is greatly simplified, errors possibly caused by manual operation are effectively avoided, and the moment sensor is more accurately calibrated.
The invention further discloses a robot calibration system, which comprises the torque sensor calibration system. Through fusing the torque sensor calibration system into the robot calibration system, the efficiency of robot calibration can be effectively improved, the operation accuracy of the robot is improved, and therefore the low working efficiency of the robot caused by operation errors is effectively avoided, and even safety accidents of property and personnel are avoided.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A torque sensor calibration device is characterized by comprising a swing arm and a bracket, wherein the torque sensor comprises a fixed end and a movable end, the fixed end of the torque sensor is fixedly connected to the bracket, the movable end of the torque sensor comprises a rotating shaft, the swing arm is arranged at the movable end of the torque sensor,
the swing arm comprises a swing arm fixing seat and a swing arm body, the swing arm body is connected with the swing arm fixing seat, the swing arm fixing seat is used for connecting the movable end of the torque sensor, the swing arm body is used for connecting a reference load, and the swing arm body extends along a first diameter direction of the rotating shaft;
the moment sensor calibration device further comprises a level bubble, wherein the level bubble is arranged in a second diameter direction of the rotating shaft, and the second diameter direction is obtained by rotating a target angle along a first rotating direction in the first diameter direction.
2. The torque sensor calibration device according to claim 1, further comprising angle marking means capable of indicating an angle between the second diameter direction and the first diameter direction.
3. The torque sensor calibration device according to claim 2, wherein the angle marking device is an angle dial centered on the rotational axis.
4. The torque sensor calibration device according to claim 1, wherein the vial is bonded or magnetically attached to the swing arm.
5. The torque sensor calibration device according to claim 1, wherein said swing arm is provided with one or more mounting slots arranged radially along said axis of rotation, said level vial being positionable in said mounting slots.
6. The torque sensor calibration device of claim 1, wherein there is more than one vial.
7. The torque sensor calibration device according to claim 1, wherein the swing arm is provided with a plurality of hanging holes, the plurality of hanging holes are sequentially arranged in the first diameter direction, and distances from the plurality of hanging holes to the rotation axis are different.
8. A method for calibrating a torque sensor, using the torque sensor calibration device according to any one of claims 1 to 7, comprising the steps of:
(1) rotating the swing arm to enable the level bubble at the target angle to be in a horizontal state;
(2) connecting a reference load to the swing arm, acquiring a sensor torque value measured by a torque sensor, and calculating a theoretical torque value according to the actual load condition;
(3) calculating the difference value between the sensor torque value and the theoretical torque value,
(4) judging whether the difference value is within a threshold value; and (3) if the difference is within the threshold value, returning to the step (1), and if the difference is not within the threshold value, adjusting the torque sensor.
9. A torque sensor calibration system, comprising the torque sensor calibration device of any one of claims 1-7, and:
the interaction module is used for acquiring a reference load, an angle between the swing arm and the horizontal plane, a distance between a connection end of the reference load and the rotating shaft and a threshold value;
the first control module is connected with the torque sensor and acquires a sensor torque value measured by the torque sensor;
the second control module is connected with the interaction module and used for calculating a theoretical moment value according to the reference load in the interaction module, the distance between the reference load and the rotating shaft and the angle between the swing arm and the horizontal plane;
and the third control module is respectively connected with the first control module, the second control module and the interaction module, acquires and calculates a difference value between a sensor torque value and a theoretical torque value, and compares the difference value with a threshold value in the interaction module.
10. A robot calibration system comprising the torque sensor calibration system of claim 9.
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| 郑熙云等: "多参数扭矩传感器的校准方法", 《上海计量测试》, no. 1, 29 February 2020 (2020-02-29), pages 25 - 27 * |
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