CN115839796A - Calibration equipment, calibration test system and calibration method of three-dimensional force sensor - Google Patents
Calibration equipment, calibration test system and calibration method of three-dimensional force sensor Download PDFInfo
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Abstract
The invention discloses calibration equipment of a three-dimensional force sensor, which comprises a test holder and a force application structure, wherein the test holder is arranged on a test platform; the testing holder is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a testing terminal; the test holder comprises a single rocker arm structure, a rotary table and a fixed base, wherein the rotary table is arranged on the single rocker arm structure, the rotary table is rotatably arranged on the single rocker arm structure, the normal angle of the single rocker arm structure is changed through rotation, and the tangential angle of the rotary table is changed through rotation; the force application structure comprises a transverse sliding mechanism, a longitudinal sliding mechanism, a one-dimensional force sensor, a push rod main body and a push rod head. The calibration equipment has a simpler structure, and realizes automatic calibration, data writing and delivery test of the three-dimensional force sensor by utilizing a curve of calibration data obtained by linear fitting.
Description
Technical Field
The invention relates to the technical field of three-dimensional force sensor calibration, in particular to calibration equipment, a calibration test system and a calibration method of a three-dimensional force sensor.
Background
The three-dimensional force sensor aims at detecting torque or moment in three directions in a three-dimensional space, can accurately measure triaxial information, converts triaxial component force into a voltage signal, and outputs the voltage signal through an RS485 bus after collection, so that the three-dimensional force sensor is widely applied to the fields of robot joint correction, motor vibration detection, nonstandard automation and the like. On one hand, in the production process of the three-dimensional force sensor, factors such as numerical errors of circuit elements, non-uniformity of a measuring structure, inconsistent pretightening force of screws in the overall installation of the sensor and the like cause the sensor to have a certain zero point error; on the other hand, the tangential force transfer coefficient and the normal force transfer coefficient of the three-dimensional force sensor need to be accurately calibrated, so a proper calibration method needs to be established according to the measurement principle of the three-dimensional force sensor. In addition, errors and uncertainty caused by manual calibration can amplify errors of the sensor, so that a set of automatic calibration equipment needs to be designed, manual operation is simplified, and human errors generated in the calibration process are reduced.
Application number 2021113331676 discloses a loading-adjustable three-dimensional force sensor calibration device, which adopts a combination of two rotary tables with mutually perpendicular rotating shafts, and records force through a thrust gauge. The structure is relatively complex, the force error recorded by the thrustor is relatively large, the angle calibration range is small, and the calibration efficiency is relatively low. Moreover, the calibration equipment can only realize the function of calibration loading and cannot complete the factory test and recalibration of the sensor.
Disclosure of Invention
The invention aims to provide calibration equipment, a calibration test system and a calibration method of a three-dimensional force sensor.
The technical solution for realizing the purpose of the invention is as follows:
a calibration device of a three-dimensional force sensor comprises a test holder and a force application structure, wherein the test holder is arranged on a test platform; the testing holder is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a testing terminal;
the test holder comprises a single rocker arm structure, a rotary table and a fixed base, wherein the rotary table and the fixed base are arranged on the single rocker arm structure;
the force application structure comprises a transverse sliding mechanism, a longitudinal sliding mechanism, a single-dimensional force sensor, a push rod main body and a push rod head, one end of the single-dimensional force sensor is fixed on the push rod head, the other end of the single-dimensional force sensor is fixed on the push rod main body, the push rod main body is installed on the transverse sliding mechanism, and the transverse sliding mechanism is used for horizontal movement of the push rod head, so that force is applied to the test terminal, the force is measured by the single-dimensional force sensor to output force, and the force is fed back to the upper computer.
In a preferred technical scheme, the test terminal comprises a spherical structure for loading force and a connecting column connected with the spherical structure, a screw hole is formed in the connecting column, and the connecting column is connected with the sensor to be calibrated through a screw in a pre-tightening mode.
In a preferred technical scheme, the push rod head is a cylinder, and the front end of the push rod head is of a concave spherical structure.
In a preferred technical solution, the concave spherical structure entirely wraps the spherical structure of the test terminal.
In the preferred technical scheme, the sensor to be calibrated is mounted on a fixed base of the test holder, the sensor to be calibrated is internally composed of three 120-degree distributed strain gauge circuits and a measuring circuit, and the measuring circuit is communicated with an upper computer.
The invention also discloses a calibration test system of the three-dimensional force sensor, which comprises the calibration equipment of the three-dimensional force sensor and an upper computer, wherein a calibration flow is arranged in the upper computer, the calibration equipment is controlled to carry out automatic calibration, data writing and delivery test according to the built-in calibration flow, and a curve of calibration data is fitted linearly.
The invention also discloses a calibration method of the three-dimensional force sensor, which adopts the test system of the three-dimensional force sensor, and the calibration method comprises the following steps:
s01: by moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and the rotary table is controlled to rotate at the same time, so that the force application direction of the push rod head is opposite to the strain gage circuit to be tested;
s02: respectively applying a group of forces F with different magnitudes on the stressed terminal j Calculating the change value delta V of the output voltage of the strain gage circuit 1j ；
S03: calculating the tangential coefficient d by means of linear fitting vi Completing the calibration of the tangential coefficient;
s04: the test holder and the plane of the calibration equipment form 90 degrees, and a group of vertically downward forces F with different sizes are applied on the stressed terminal j And measuring the voltage change value delta V of the three strain gauge circuits at different angles 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating a tangential coefficient d by a linear fitting mode vi 。
In a preferred embodiment, the method of applying force in steps S02 and S04 includes: the push rod head is pushed at a constant speed when contacting the test terminal, namely, a force with a constant change rate is applied to the test terminal, and the push rod body stops when the upper limit of force measurement is reached; in the process, the upper computer continuously collects data of the three strain gauge circuits of the single-dimensional force sensor and the three-dimensional force sensor to be calibrated.
The invention also discloses a computer storage medium, on which a computer program is stored, which when executed implements the calibration method of the three-dimensional force sensor.
Compared with the prior art, the invention has the following remarkable advantages:
(1) The calibration equipment has a simpler structure, a large calibration angle range and a calibration process closer to the actual application environment, utilizes linear fitting to obtain a curve of calibration data, reduces possible errors, can display the three-dimensional force in the upper computer, and realizes automatic calibration, data writing and delivery test of the three-dimensional force sensor through the control of the upper computer.
(2) According to the force measuring structure of the three-dimensional force sensor, the simple and accurate calibration method is designed according to the force measuring principle of the force measuring structure, the whole calibration process is simplified, the calibration automation is realized, and the calibration efficiency is improved.
Drawings
FIG. 1 is a front view of a three-dimensional force sensor calibration device according to the present embodiment;
fig. 2 is a schematic structural diagram of a testing holder of the three-dimensional force sensor calibration device according to the embodiment;
FIG. 3 is a schematic diagram of a force application structure of the three-dimensional force sensor calibration apparatus according to the present embodiment;
FIG. 4 is a schematic diagram illustrating the calibration of the tangential coefficient of the three-dimensional force sensor according to the present embodiment;
FIG. 5 is a schematic diagram illustrating normal coefficient calibration of the three-dimensional force sensor according to the present embodiment;
FIG. 6 is a tangential and normal data fitting line graph of the present embodiment.
In the figure: a three-dimensional force sensor 1; the test cloud deck 2; a force application structure 3; a test platform 4; a first bracket 20; a second bracket 30; a single rocker arm structure 201; a test terminal 202; a spherical structure 2021; a connecting post 2022; m4 connecting hole 203; m5 connects to the hole 204; a servo motor 205; a turret structure 206; a fixed base 207; an industrial control screen 301; a fixing bolt 302; a putter head 303; a one-dimensional force sensor 304; a servo motor 305; a putter body 306; a longitudinal screw slide 307; a transverse lead screw slide 308.
Detailed Description
The principle of the invention is as follows: the calibration equipment has a simpler structure, the calibration process is closer to the actual application environment, simultaneously, a curve of calibration data is linearly fitted, possible errors are reduced, the three-dimensional force can be displayed in the upper computer, and automatic calibration, data writing and delivery test of the three-dimensional force sensor are realized through the control of the upper computer.
Example 1:
as shown in fig. 1 to 3, a calibration apparatus for a three-dimensional force sensor includes a testing platform 2 and a force application structure 3, which are disposed on a testing platform 4; the testing holder 2 is provided with a three-dimensional force sensor 1 to be calibrated, and the three-dimensional force sensor 1 to be calibrated is provided with a testing terminal 202;
the testing holder 2 comprises a single rocker arm structure 201, a rotary table 206 and a fixed base 207, wherein the rotary table 206 and the fixed base 207 are arranged on the single rocker arm structure 201, the single rocker arm structure 201 is rotatably arranged at the upper end of the first support 20, the rotary table 206 is rotatably arranged on the single rocker arm structure 201, the normal angle of the single rocker arm structure 201 is changed through rotation, the tangential angle of the rotary table 206 is changed through rotation, and the fixed base 207 is fixed on the rotary table 206 and rotates together with the rotary table 206;
the force application structure 3 comprises a transverse sliding mechanism, a longitudinal sliding mechanism, a one-dimensional force sensor 304, a push rod main body 306 and a push rod head 303, wherein the transverse sliding mechanism and the longitudinal sliding mechanism are mounted on the second support 30, one end of the one-dimensional force sensor 304 is fixed on the push rod head 303, the other end of the one-dimensional force sensor 304 is fixed on the push rod main body 306, the push rod main body 306 is mounted on the transverse sliding mechanism, and the transverse sliding mechanism is used for horizontal movement of the push rod head 303 so as to apply force to the test terminal 202, measure the magnitude of the applied force through the one-dimensional force sensor 304, and feed the force back to the upper computer 301.
Specifically, the three-dimensional force sensor 1 passes through the M5 connecting hole 204 through an M5 socket head cap screw and is mounted on the turntable 206 of the testing holder 2. The test terminal 202 is fixed to the three-dimensional force sensor 1 by an M4 screw through the M3 connection hole 203.
The single-arm structure 201 and the turntable 206 are provided with rotational power by a servo motor 205.
In an embodiment, as shown in fig. 2, the test terminal 202 includes a spherical structure 2021 for loading force and a connection post 2022 connected to the spherical structure 2021, the connection post 2022 is provided with a screw hole, and is connected to the sensor 1 to be calibrated through a screw. The spherical surface of the spherical structure 2021 ensures that the load is always equally effective on the same center.
In one embodiment, the putter head 303 is a cylinder with a concave ball-like structure at the front end. The stability of the application of force can be improved.
In one embodiment, the recessed ball structure completely surrounds the ball structure 2021 of the test terminal 202. Further improving the stability of the applied force.
In one embodiment, the sensor 1 to be calibrated is mounted on the fixed base 207 of the testing platform 2, and the inside of the sensor is composed of three 120 ° distributed strain gauge circuits and a measuring circuit, and the measuring circuit is in communication with an upper computer. Specifically, an RS-485 interface is used for communicating with an upper computer.
Specifically, as shown in fig. 3, the single-dimensional force sensor 304 has a front end fixed to the putter head 303 with a bolt 302, and a rear end fixed to the putter body 306 with the bolt 302. The ram body 306 is mounted on a longitudinal lead screw rail 307, and the longitudinal lead screw rail 307 is mounted on a transverse lead screw rail 308. The longitudinal lead screw slide 307 and the lateral lead screw slide 308 are powered by a servo motor 305.
Specifically, the force measurement principle formula of the three-dimensional force sensor to be calibrated is as follows:
wherein F is the stress of the three-dimensional force sensor, theta is the tangential angle of the force,
normal angle of force, V Pi (i =1,2, 3) is a voltage value measured by three strain gauge circuits in the three-dimensional force sensor, d vi (i =1,2, 3) is a proportionality coefficient of a tangential component force applied to the three-dimensional force sensor and voltages measured by three strain gauge circuits, which is referred to as a tangential coefficient for short, d hi (i =1,2, 3) is the normal component force and three applied to the three-dimensional force sensorThe proportionality coefficient of the output voltage of the individual strain gage circuits, referred to as the normal coefficient, ch i (i =1,2, 3) is the voltage output of the three strain gauge circuits in the initial state, which is simply referred to as zero.
In another embodiment, a calibration test system of a three-dimensional force sensor comprises the calibration device of the three-dimensional force sensor and an upper computer, wherein a calibration flow is arranged in the upper computer, the calibration device is controlled to perform automatic calibration, data writing and factory test according to the built-in calibration flow, and a curve of calibration data is linearly fitted.
In another embodiment, a calibration method of a three-dimensional force sensor, which uses the above test system of a three-dimensional force sensor, includes the following steps:
s01: by moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and the rotary table is controlled to rotate at the same time, so that the force application direction of the push rod head is opposite to the strain gage circuit to be tested;
s02: respectively applying a group of forces F with different magnitudes on the stressed terminal j Calculating the change value delta V of the output voltage of the strain gage circuit 1j ；
S03: calculating the tangential coefficient d by means of linear fitting vi Completing the calibration of the tangential coefficient;
s04: the test holder and the plane of the calibration equipment form 90 degrees, and a group of vertically downward forces F with different sizes are applied on the stressed terminal j And measuring the voltage change value delta V of the three strain gauge circuits at different angles 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating a tangential coefficient d by a linear fitting mode vi 。
In a preferred implementation, the method comprises the following steps:
1) Fixing a three-dimensional force sensor on a fixed base of a test holder;
2) Mounting a test terminal on the three-dimensional force sensor;
3) For the calibration of the tangential coefficient, as shown in fig. 4, by moving the push rod body, the push rod head horizontally applies force to the test terminal on the normal plane, and simultaneously, the rotary table is controlled to rotate, so that the force application direction of the push rod head is opposite to the strain gage circuit to be tested;
4) Taking 0 ° strain gauge circuit as an example, a set of forces F with different magnitudes is applied respectively j (j =1,2, \8230;, N), calculating the strain gage circuit output voltage variation value Δ V 1j (j＝1,2,…,N)；
5) According to the force measurement principle formula, F j And Δ V 1i Has a linear relation d between v1 Therefore, the tangential coefficient d can be calculated by means of linear fitting v1 The other two tangential coefficients are the same;
6) For the calibration of the normal coefficient, as shown in fig. 5, the calibration method is similar to the tangential coefficient, so that the plane of the test platform and the calibration device forms 90 degrees, and a group of vertically downward forces F with different magnitudes are applied to the stressed terminal j (j =1,2, \8230;, N), and likewise, the strain gage circuit voltage change values Δ V were measured for three different angles 1j ，ΔV 2j ，ΔV 3j (j＝1,2,…,N)；
7) Finally, calculating a tangential coefficient d by a linear fitting mode vi (i＝1,2,3)。
8) The whole process adopts a dynamic calibration method. The above process of applying force can be described as: the push rod head is pushed at a constant speed when contacting the test terminal, namely, a force with a constant change rate is applied to the test terminal, and the push rod body stops when the upper limit of the force measurement is reached. In the process, the upper computer continuously acquires data of three strain gauge circuits of the single-dimensional force sensor and the three-dimensional force sensor to be calibrated
9) After removing the non-linear part of the measured data, the linear characteristics are fitted by the least square method. As shown in FIG. 6 below, the collected output voltages of the three strain gauge circuits have a significant linear relationship with the magnitude of the force value.
In a further embodiment, a computer storage medium has stored thereon a computer program which, when executed, implements the above-described calibration method for a three-dimensional force sensor.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be regarded as equivalent replacements within the protection scope of the present invention.
Claims (9)
1. A calibration device of a three-dimensional force sensor is characterized by comprising a test holder and a force application structure, wherein the test holder is arranged on a test platform; the testing holder is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a testing terminal;
the test holder comprises a single rocker arm structure, a rotary table and a fixed base, wherein the rotary table and the fixed base are arranged on the single rocker arm structure;
the force application structure comprises a transverse sliding mechanism, a longitudinal sliding mechanism, a single-dimensional force sensor, a push rod main body and a push rod head, one end of the single-dimensional force sensor is fixed on the push rod head, the other end of the single-dimensional force sensor is fixed on the push rod main body, the push rod main body is installed on the transverse sliding mechanism, and the transverse sliding mechanism is used for horizontal movement of the push rod head, so that force is applied to the test terminal, the force is measured by the single-dimensional force sensor to output force, and the force is fed back to the upper computer.
2. The three-dimensional force sensor calibration device according to claim 1, wherein the test terminal comprises a spherical structure for loading force and a connection column connected with the spherical structure, the connection column is provided with a screw hole, and the connection column is connected with the sensor to be calibrated through a screw in a pre-tightening manner.
3. The calibration device of the three-dimensional force sensor as recited in claim 2, wherein the putter head is a cylinder and the front end is a concave spherical structure.
4. The calibration device for three-dimensional force sensor according to claim 1, wherein the concave spherical structure completely wraps the spherical structure of the test terminal.
5. The calibration device of the three-dimensional force sensor according to claim 1, wherein the sensor to be calibrated is mounted on the fixed base of the testing holder, and the inside of the sensor to be calibrated is composed of three 120 ° distributed strain gauge circuits and a measuring circuit, and the measuring circuit is in communication with an upper computer.
6. A calibration test system of a three-dimensional force sensor is characterized by comprising calibration equipment of the three-dimensional force sensor and an upper computer, wherein a calibration flow is arranged in the upper computer, the calibration equipment is controlled to carry out automatic calibration, data writing and delivery test according to the built-in calibration flow, and a curve of calibration data is obtained by linear fitting.
7. A calibration method of a three-dimensional force sensor, which is characterized in that the test system of the three-dimensional force sensor of claim 6 is adopted, and the calibration method comprises the following steps:
s01: by moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and the rotary table is controlled to rotate at the same time, so that the force application direction of the push rod head is opposite to the strain gage circuit to be tested;
s02: respectively applying a group of forces F with different magnitudes on the stressed terminal j Calculating the change value delta V of the output voltage of the strain gage circuit 1j ；
S03: calculating the tangential coefficient d by means of linear fitting vi Completing the calibration of the tangential coefficient;
s04: the test holder and the plane of the calibration equipment form 90 degrees, and a group of vertically downward forces F with different sizes are applied on the stressed terminal j Likewise, measuredThe voltage change value delta V of the three strain gauge circuits with different angles 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating a tangential coefficient d by a linear fitting mode vi 。
8. The method for calibrating a three-dimensional force sensor according to claim 7, wherein the method applied in steps S02 and S04 comprises: the push rod head is pushed at a constant speed when contacting the test terminal, namely, a force with a constant change rate is applied to the test terminal, and the push rod body stops when the force measurement upper limit is reached; in the process, the upper computer continuously collects data of the three strain gauge circuits of the single-dimensional force sensor and the three-dimensional force sensor to be calibrated.
9. A computer storage medium on which a computer program is stored, characterized in that the computer program, when executed, implements the calibration method of a three-dimensional force sensor of claim 7.
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