CN114088289A - Three-dimensional force transducer calibration device with adjustable loading - Google Patents
Three-dimensional force transducer calibration device with adjustable loading Download PDFInfo
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- CN114088289A CN114088289A CN202111333167.6A CN202111333167A CN114088289A CN 114088289 A CN114088289 A CN 114088289A CN 202111333167 A CN202111333167 A CN 202111333167A CN 114088289 A CN114088289 A CN 114088289A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
A three-dimensional force sensor calibration device with adjustable loading comprises a rack, a connecting plate, 90-degree and 360-degree rotary tables, rotary table adapter plates, three-dimensional force sensor adapter plates, a load acting plate and a high-precision thrustor. The connecting plate is fixed on the frame; the 90-degree rotary workbench is fixed on the connecting plate, and position adjustment is realized through a T-shaped groove structure on the connecting plate; the rotary worktable adapter plate is fixed on a 90-degree rotary worktable and is adjusted left and right through a T-shaped groove structure; the 360-degree rotary worktable is fixed on the rotary worktable adapter plate; the three-dimensional force sensor adapter plate is fixed on a 360-degree rotating workbench; the three-dimensional force sensor is fixed on the sensor adapter plate; an acting plate to be loaded is fixed on the sensor; the thrustor is fixed on a frame moving panel with adjustable vertical position. The invention has simple structure and low cost. The load acting plate ensures that the load always acts on the same sphere center equivalently, and is suitable for three-dimensional force calibration and couple calibration. The calibration process is scientific, and the calibration precision is improved.
Description
Technical Field
The invention relates to a three-dimensional force sensor calibration device, in particular to a three-dimensional force sensor calibration device with continuous loading and adjustable loading direction.
Background
Force is an important physical parameter which is often concerned in the industrial field, and is one of the process physical quantities/indexes which are important to be concerned in the design/operation and machining research process of some mechanical devices. Force sensors are important devices for measuring force, and particularly, multi-dimensional force sensors are widely applied to various industries such as military industry, aerospace, ships, precision machining and the like. The measurement accuracy and precision of the force sensor are influenced by various factors including hardware performance, software/data processing algorithm, sensor calibration and the like. The calibration is an important link for giving physical significance to the sensor signal and ensuring the measurement precision.
At present, the three-dimensional force sensor is calibrated mainly by independently and discretely loading a gravity or high-precision push-pull dynamometer from three mutually vertical directions of the sensor, namely x, y and z directions. When the three-dimensional force sensor works, the three-dimensional force sensor is simultaneously loaded in three directions, the load during unidirectional calibration is obviously different from the load during actual force measurement, the measurement process cannot be faithfully reflected in the calibration process, and the measurement precision and effect are influenced. In order to improve the load conformity between the three-dimensional force sensor calibration process and the measurement process, the three-dimensional force sensor calibration device with continuous loading size, adjustable loading direction and easy realization is provided.
Disclosure of Invention
The invention provides a three-dimensional force sensor calibration device with adjustable loading, aiming at the loading requirement of three-dimensional force sensor calibration.
The technical scheme adopted by the invention is as follows:
a three-dimensional force sensor calibration device with adjustable loading comprises a rack, a connecting plate, a 90-degree rotary worktable, a rotary worktable adapter plate, a 360-degree rotary worktable, a three-dimensional force sensor adapter plate, a load acting plate and a high-precision thrustometer.
The frame can provide accurate vertical position adjustment for the sensor to be calibrated and the thrustmeter through a hand wheel and a scale, so that load size adjustment is realized;
the connecting plate takes a quadrilateral thin plate as a base body, is provided with two T-shaped grooves and two counter bores, is fixed on the working table of the frame and provides front and back position adjustment.
The 90-degree rotary workbench is fixed on the connecting plate;
the rotary worktable adapter plate is fixed on a 90-degree rotary worktable surface;
the 360-degree rotary worktable is fixed on the rotary worktable adapter plate;
the three-dimensional force sensor adapter plate is fixed on a 360-degree rotating workbench, and a three-dimensional force sensor to be calibrated is fixed on the adapter plate;
the load acting plate adopts a spherical surface structure to ensure that the calibration load always acts on the same spherical center equivalently. The three-dimensional force sensor comprises a square thin plate, a cylinder and a semi-sphere, is provided with four screw through holes, and is fixed on the three-dimensional force sensor to be calibrated;
the high-precision thrustor is fixed on a rack moving panel with an adjustable vertical position.
The T-shaped groove structure on the connecting plate can realize the front and back position adjustment of the three-dimensional force sensor to be calibrated by combining bolts, namely along the global coordinate system yGAnd adjusting the movement in the axial direction.
The 90-degree rotating workbench provides a global coordinate system x for the three-dimensional force sensor to be calibratedGAttitude adjustment by rotation of the axis, the surface of which has T-shaped grooves providing a path along a global coordinate system xGAnd adjusting the movement in the axial direction.
The 360-degree rotating workbench provides a local coordinate system z for the force sensor to be calibrated1And adjusting the rotating posture of the shaft.
The three-dimensional force sensor to be calibrated and the load acting plate convert the thrust provided by the thrust gauge into calibration loading with adjustable direction under a force sensor coordinate system through the comprehensive action of movement adjustment and rotation posture adjustment, and the loading calibration with variable loading direction and continuously variable size can be realized by combining the adjustment of the vertical position of the thrust gauge to control the large thrust.
In the calibration process of the three-dimensional force sensor to be calibrated, the loads in the x, y and z directions are
Wherein gamma is the rotation angle of the 360-degree rotating workbench; alpha is the rotation angle of the 90-degree rotating workbench; f is the thrust exerted by the thrust gauge; m is1The load applying plate and screw mass; g is the acceleration of gravity; m is2The three-dimensional force sensor has local mass with loading effect.
The invention realizes the loading calibration in any load direction by the combination of the two rotary tables with the mutually vertical rotary shafts, and has simple structure, easy realization and strong adaptability. The surface of the ball to be loaded on the load acting plate can ensure that the load always acts on the same sphere center equivalently, and the invention is not only suitable for the three-dimensional force calibration of the three-dimensional force sensor, but also suitable for the couple calibration of the six-dimensional force sensor. The thrust gauge capable of recording continuous load change is adopted, so that the three-dimensional force sensor calibration process is more consistent with the sensor force measurement process, and the calibration precision effect is favorably improved. The invention can be used in the calibration process of the three-dimensional force sensor and can consider the influence of the gravity of the sensor, so that the calibrated force sensor can measure not only dynamic force but also static force.
Drawings
Fig. 1 is an axonometric view of a three-dimensional force sensor calibration device with adjustable loading according to the invention.
Fig. 2 is an exploded view of the overall assembly of the calibration device.
FIG. 3 is a schematic diagram of a rotation transformation relationship among a global coordinate system, a local coordinate system and a coordinate system of a three-dimensional force sensor to be calibrated.
Fig. 4 is a schematic structural view of the connecting plate.
FIG. 5 is a schematic diagram of a rotary worktable adapter plate structure.
Fig. 6 is a schematic diagram of a three-dimensional force sensor adapter plate structure.
FIG. 7 is a schematic view of the structure of the load applying plate.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings and claims.
As shown in fig. 1 to 7, a three-dimensional force sensor calibration device with adjustable loading comprises a frame 1, a connection plate 2, a rotary table 3 capable of realizing adjustment within a range of 90 degrees, a rotary table adapter plate 4, a rotary table 5 capable of realizing adjustment within a range of 360 degrees, a three-dimensional force sensor adapter plate 6, a load acting plate 7, a high-precision thrust gauge 8 and other parts or devices.
Wherein, the frame 1, the 90-degree rotary worktable 3, the 360-degree rotary worktable 5 and the thrust gauge 8 are directly purchased according to the calibrated three-dimensional force sensor 11. And other parts are structurally designed and assembled according to the three-dimensional force sensor 11 to be calibrated, the frame 1, the 90-degree rotating workbench 3, the 360-degree rotating workbench 5 and the thrust gauge 8.
The connecting plate 2 takes a quadrilateral thin plate as a base body and is provided with two T-shaped grooves 21 and two counter bores 22. The connecting plate 2 is fixed on the working table of the frame by two hexagon socket head cap screws 20.
The 90-degree rotary workbench 3 is fixed on the connecting plate 2 through two groups of common hexagon head bolts 19 and hexagon nuts 18, and realizes the purpose of being arranged along the y direction through a T-shaped groove structure 21GAnd adjusting the movement in the axial direction.
The rotary worktable adapter plate 4 takes a quadrilateral thin plate as a base body and is provided with four screw holes 23 with semi-U-shaped groove steps and two semi-U-shaped groove through holes 24. The rotary worktable adapter plate 4 is fixed on the 90-degree rotary worktable 3 by two groups of common hexagonal head bolts 17 and hexagonal nuts 16.
The 360-degree rotary worktable 5 is fixed on the rotary worktable adapter plate 4 through four groups of inner hexagon screws 14 and hexagon nuts 15.
The three-dimensional force sensor adapter plate 6 is a circular thin plate and is provided with two groups of four uniformly distributed counter bores 25 and 26 respectively. The three-dimensional force sensor adapter plate 6 is fixed on the 360-degree rotating workbench 5 through four socket head cap screws 12. The three-dimensional force sensor 11 to be calibrated is fixed on the adapter plate 6 through the socket head cap screws 13.
The load acting plate 7 is composed of a square thin plate, a cylinder 27 and a semi-spherical ball 28, and is provided with four screw through holes 29. The load acting plate 7 is fixed on a three-dimensional force sensor 11 to be calibrated by four inner hexagon screws 10. The high-precision thrust gauge 8 is fixed on a movable panel of the frame 1 by four cross screws 9.
The method for using the loading-adjustable three-dimensional force sensor calibration device comprises the following steps:
step 1: after the hexagon bolts 19 are placed in the T-shaped grooves 21 of the connecting plate 2, the connecting plate 2 is fixedly mounted on the frame 1 by using the hexagon socket screws 20.
Step 2: establishing an accurate three-dimensional model loaded with an adjustable three-dimensional force sensor calibration device 1:1, adjusting and setting the assembly relation of each part in the three-dimensional model according to the position and the posture required by the three-dimensional force sensor 11 to be calibrated, and obtaining the mounting position data of each part for guiding actual mounting.
And step 3: according to the position data in the three-dimensional model, the 90-degree rotary table 3 is fixedly mounted on the connecting plate 2 by using a common hexagonal head bolt 19 and a hexagonal nut 18.
And 4, step 4: the 360-degree rotary table 5 is fixedly mounted on the rotary table adapter plate 4 by means of socket head cap screws 14 and socket head cap nuts 15.
And 5: according to the position data in the three-dimensional model, the rotary table adapter plate 4 is fixed on the 90-degree rotary table 3 by using a common hexagon head bolt 17 and a hexagon nut 16.
Step 6: the three-dimensional force sensor adapter plate 6 is fixed on the three-dimensional force sensor 11 to be calibrated by using the socket head cap screws 13.
And 7: and according to the position data in the three-dimensional model, the three-dimensional force sensor adapter plate 6 is fixedly installed on the 360-degree rotary worktable 5 by using the socket head cap screws 12.
And 8: and adjusting the rotation angle alpha of the rotary worktable 3 and the rotation angle gamma of the rotary worktable 5 to be 0, and setting the zero point and the gain of the three-dimensional force sensor.
And step 9: plate for measuring load by balance7 and mass m of screw 101And then, fixedly mounting the three-dimensional force sensor on the three-dimensional force sensor 11 to be calibrated, and reading the z-axis direction output of the three-dimensional force sensor.
Step 10: adjusting the rotary worktable, placing alpha and gamma at a certain angle, reading the output of the three-dimensional force sensor in the z-axis direction, and solving by combining the reading of the step 9 to obtain the local mass m of the three-dimensional force sensor 11 to be calibrated with the loading function2And resetting the sensor zero. Therefore, a three-dimensional force sensor calibration test can be carried out on the device.
If the loading direction calibrated by the force sensor needs to be adjusted, only the angles of the rotary worktable 3 and the rotary worktable 5 need to be adjusted, and the rotary worktable 3 needs to be adjusted along the y directionGPosition in the axial direction. In the calibration process of the three-dimensional force sensor to be calibrated, the calibration loads in the x, y and z directions are
Wherein gamma is the rotation angle of the 360-degree rotating workbench; alpha is the rotation angle of the 90-degree rotating workbench; f is the thrust exerted by the thrust gauge; m is1The load applying plate and screw mass; g is the acceleration of gravity; m is2The three-dimensional force sensor has local mass with loading effect.
Claims (8)
1. The utility model provides a loading adjustable three-dimensional force sensor calibration device which characterized in that includes: frame, connecting plate, 90 degrees swivel work head, swivel work head keysets, 360 degrees swivel work heads, three-dimensional force sensor keysets, load effect board, high accuracy thrustor:
the frame can provide accurate vertical position adjustment for the sensor to be calibrated and the thrustmeter through the hand wheel and the scale, so as to realize load size adjustment;
the connecting plate takes a quadrilateral thin plate as a base body, is provided with two T-shaped grooves and two counter bores, is fixed on the working table of the rack and provides front and back position adjustment;
the 90-degree rotary workbench is fixed on the rotary workbench connecting plate, and adjustment within the angle of 90 degrees is realized;
the 360-degree rotary workbench is fixed on the rotary workbench adapter plate; the adjustment within the range of 360 degrees can be realized;
the rotary worktable adapter plate is used for being fixed on a 90-degree rotary worktable and a 360-degree rotary worktable;
the three-dimensional force sensor adapter plate is fixed on a 360-degree rotating workbench, and a three-dimensional force sensor to be calibrated is fixed on the adapter plate;
the load acting plate is fixed on the three-dimensional force sensor to be calibrated, and a spherical surface structure is adopted to ensure that the calibration load always acts on the same spherical center equivalently; the three-dimensional force sensor comprises a square thin plate, a cylinder and a semi-sphere, is provided with four screw through holes, and is fixed on the three-dimensional force sensor to be calibrated;
and the high-precision thrustor is fixed on a rack moving panel with an adjustable vertical position.
2. The device for calibrating a three-dimensional force sensor with adjustable loading according to claim 1, wherein the connecting plate is provided with a T-shaped groove structure, and the combination bolt can adjust the front and back positions of the three-dimensional force sensor to be calibrated, namely along the global coordinate system yGAnd adjusting the movement in the axial direction.
3. The device for calibrating a load-adjustable three-dimensional force sensor according to claim 1 or 2, wherein the 90-degree rotating table provides a global coordinate system x for the three-dimensional force sensor to be calibratedGAttitude adjustment by rotation of the axis, with T-shaped grooves in the surface providing a path along a global coordinate system xGAnd adjusting the movement in the axial direction.
4. The device for calibrating a load-adjustable three-dimensional force sensor according to claim 3, wherein the 360-degree rotating table provides a local coordinate system z around the force sensor to be calibrated1And adjusting the rotating posture of the shaft.
5. The device for calibrating the load-adjustable three-dimensional force sensor according to any one of claims 1 to 4, wherein the three-dimensional force sensor to be calibrated and the load acting plate convert the thrust provided by the thrust gauge into the calibration load with adjustable direction under the force sensor coordinate system through the comprehensive action of movement adjustment and rotation attitude adjustment, and the load calibration with variable loading direction and continuously variable size can be realized by controlling the thrust in combination with the adjustment of the vertical position of the thrust gauge.
6. The device for calibrating a three-dimensional force sensor with adjustable loading according to any one of claims 1 to 4, wherein the loads in the x, y and z directions in the calibration process of the three-dimensional force sensor to be calibrated are
Wherein gamma is the rotation angle of the 360-degree rotating workbench; alpha is the rotation angle of the 90-degree rotating workbench; f is the thrust exerted by the thrust gauge; m is1The load applying plate and screw mass; g is the acceleration of gravity; m is2The three-dimensional force sensor has local mass with loading effect.
7. Method for using the load adjustable calibration device for a three-dimensional force sensor according to any of claims 1 to 6, characterized by the following steps:
step 1: after the hexagon head bolt (19) is placed in a T-shaped groove (21) of the connecting plate (2), the connecting plate (2) is fixedly installed on the rack (1) by using an inner hexagon screw (20);
step 2: establishing an accurate three-dimensional model of a loading adjustable three-dimensional force sensor calibration device 1:1, adjusting and setting the assembly relation of each part in the three-dimensional model according to the position and the posture required by a three-dimensional force sensor (11) to be calibrated, and obtaining the mounting position data of each part for guiding actual mounting;
and step 3: according to the position data in the three-dimensional model, a 90-degree rotary worktable (3) is fixedly arranged on a connecting plate (2) by using a common hexagon head bolt (19) and a hexagon nut (18);
and 4, step 4: the 360-degree rotary worktable (5) is fixedly arranged on the rotary worktable adapter plate (4) by using an inner hexagon screw (14) and a hexagon nut (15);
and 5: according to the position data in the three-dimensional model, a common hexagon bolt (17) and a hexagon nut (16) are utilized to fix the rotating workbench adapter plate (4) on the 90-degree rotating workbench (3);
step 6: fixing a three-dimensional force sensor adapter plate (6) on a three-dimensional force sensor (11) to be calibrated by using an inner hexagon screw (13);
and 7: according to the position data in the three-dimensional model, a three-dimensional force sensor adapter plate (6) is fixedly installed on a 360-degree rotating workbench (5) by using an inner hexagon screw (12);
and 8: adjusting the rotation angle alpha of the rotary worktable (3) and the rotation angle gamma of the rotary worktable (5) to be 0, and setting the zero point and the gain of the three-dimensional force sensor;
and step 9: the mass m of the load application plate (7) and the screw (10) is measured by a balance1Then, the three-dimensional force sensor is fixedly arranged on a three-dimensional force sensor (11) to be calibrated, and the output of the three-dimensional force sensor in the z-axis direction is read;
step 10: adjusting a rotary worktable, placing alpha and gamma at a certain angle, reading the output of the three-dimensional force sensor in the z-axis direction, and solving by combining the reading of the step (9) to obtain the local mass m of the three-dimensional force sensor (11) to be calibrated, wherein the local mass m has a loading effect2And resetting the sensor zero.
8. The method of claim 7, wherein:
when the loading direction calibrated by the force sensor is adjusted, the angles of the rotary workbench (3) and the rotary workbench (5) are adjusted, and the rotary workbench (3) is adjusted along yGPosition in the axial direction; in the calibration process of the three-dimensional force sensor to be calibrated, the calibration loads in the x, y and z directions are
Wherein gamma is the rotation angle of the 360-degree rotating workbench; alpha is the rotation angle of the 90-degree rotating workbench; f is the thrust exerted by the thrust gauge; m is1The load applying plate and screw mass; g is the acceleration of gravity; m is2The three-dimensional force sensor has local mass with loading effect.
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Cited By (1)
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