CN115839796B - 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 cradle head and a force application structure, wherein the test cradle head and the force application structure are arranged on a test platform; the test cradle head is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a test terminal; the testing cradle head comprises a single rocker structure, a turntable and a fixed base, wherein the turntable is arranged on the single rocker structure, the turntable is rotatably arranged on the single rocker structure, the single rocker structure changes a normal angle through rotation, and the turntable changes a tangential angle through rotation; 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. The calibration equipment is simpler in structure, and realizes automatic calibration, data writing and factory testing of the three-dimensional force sensor by utilizing a curve of linear fitting calibration data.
Description
Technical Field
The invention relates to the technical field of three-dimensional force sensor calibration, in particular to a calibration device, 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 three-axis information, converts three-axis component force into voltage signals, and outputs the voltage signals through an RS485 bus after acquisition, 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, the sensor has a certain zero point error due to the numerical error of circuit elements, the non-uniformity of a measuring structure, the non-uniform screw pretightening force during the overall installation of the sensor and other factors; on the other hand, the tangential force transmission coefficient and the normal force transmission coefficient of the three-dimensional force sensor need to be accurately calibrated, so that a proper calibration method needs to be formulated according to the measurement principle. In addition, errors and uncertainties caused by manual calibration can amplify errors of the sensor, so that a set of automatic calibration equipment is also required to be designed, manual operation is simplified, and human errors generated in the calibration process are reduced.
Application number 2021113331676 discloses a three-dimensional force sensor calibration device with adjustable loading, which adopts a combination of two rotary tables with mutually perpendicular rotation shafts, and records force through a thrust meter. The structure is complex, the error of recording force through the thrust meter is large, the angle range which can be calibrated is small, and the calibration efficiency is low. And the calibration equipment can only realize the function of calibration loading, and can not finish the test and recalibration of the sensor delivery.
Disclosure of Invention
The invention aims to provide a calibration device, a calibration test system and a calibration method for a three-dimensional force sensor, wherein the calibration device is simpler in structure and large in angle range, and realizes automatic calibration, data writing and factory testing of the three-dimensional force sensor by utilizing a curve of calibration data obtained by linear fitting.
The technical solution for realizing the purpose of the invention is as follows:
the calibration equipment of the three-dimensional force sensor comprises a test cradle head and a force application structure, wherein the test cradle head and the force application structure are arranged on a test platform; the test cradle head is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a test terminal;
the test cradle head comprises a single rocker structure, a rotary table and a fixed base, wherein the rotary table is arranged on the single rocker structure, the single rocker structure is rotatably arranged at the upper end of the first bracket, the rotary table is rotatably arranged on the single rocker structure, the single rocker structure changes a normal angle through rotation, the rotary table changes a tangential angle through rotation, and the fixed base is fixed on the rotary table and rotates along with the rotary table;
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, wherein 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 arranged on the transverse sliding mechanism, the transverse sliding mechanism is used for horizontally moving the push rod head so as to apply force to the test terminal, and the force is measured through the single-dimensional force sensor and fed back to the upper computer.
In the preferred technical scheme, the test terminal comprises a spherical structure for loading force and a connecting column connected with the spherical structure, wherein a screw hole is formed in the connecting column, and the sensor to be calibrated is connected through screw pre-tightening.
In the preferred technical scheme, the push rod head is a cylinder, and the front end is of a concave spherical structure.
In a preferred embodiment, the concave spherical structure fully encloses the spherical structure of the test terminal.
In the preferred technical scheme, the sensor to be calibrated is arranged on a fixed base of the test holder, the inside of the sensor to be calibrated is 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 perform automatic calibration, data writing and factory testing according to the built-in calibration flow, and meanwhile, a curve of calibration data is linearly fitted.
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 comprises the following steps:
s01: through moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and simultaneously the turntable is controlled to rotate, so that the force application direction of the push rod head is opposite to the to-be-tested strain gauge circuit;
s02: applying a set of forces F of different magnitudes to the force terminals j Calculating the change value delta V of the output voltage of the strain gauge circuit 1j ；
S03: by means of linear fitting, the tangential coefficient d is calculated vi The calibration of the tangential coefficient is completed;
s04: the test cradle head forms 90 degrees with the plane of the calibration equipment, and a group of forces F with different magnitudes are exerted on the stress terminal vertically downwards j Also, the voltage change values DeltaV of the strain foil circuits at the three different angles are measured 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating tangential coefficient d by means of linear fitting vi 。
In a preferred embodiment, the method for applying force in steps S02 and S04 includes: the push rod head advances at a constant speed when contacting the test terminal, namely, a constant-rate-of-change force is applied to the test terminal, and the push rod main 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 realizes the calibration method of the three-dimensional force sensor.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The calibration device disclosed by the invention has a simpler structure, a large angle range can be calibrated, the calibration process is closer to the actual application environment, meanwhile, the curve of calibration data is linearly fitted, the possible error is reduced, the three-dimensional force can be displayed in an upper computer, and the automatic calibration, data writing and delivery test of the three-dimensional force sensor are realized through the control of the upper computer.
(2) According to the force measuring structure of the three-dimensional force sensor, a simple and accurate calibration method is designed aiming at the force measuring principle of the force sensor, the whole calibration process is simplified, the calibration is automated, and the calibration efficiency is improved.
Drawings
FIG. 1 is a front view of a three-dimensional force sensor calibration apparatus of the present embodiment;
FIG. 2 is a schematic diagram of a test cradle head structure of the three-dimensional force sensor calibration apparatus according to the present embodiment;
FIG. 3 is a schematic diagram of a force application structure of the calibration device of the three-dimensional force sensor according to the present embodiment;
FIG. 4 is a schematic diagram of tangential coefficient calibration of the three-dimensional force sensor according to the present embodiment;
FIG. 5 is a schematic diagram of calibration of normal coefficients of the three-dimensional force sensor according to the present embodiment;
fig. 6 is a graph of tangential and normal data fitting linearity for this example.
In the figure: a three-dimensional force sensor 1; testing the cradle head 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; spherical structure 2021; a connection column 2022; m4 connection holes 203; m5 connection holes 204; a servo motor 205; a turret structure 206; a fixing base 207; an industrial control screen 301; a fixing bolt 302; a putter head 303; a single-dimensional force sensor 304; a servo motor 305; a pushrod body 306; a longitudinal screw slide 307; a transverse lead screw slide rail 308.
Detailed Description
The principle of the invention is as follows: the calibration equipment disclosed by the invention has a simpler structure, the calibration process is closer to the actual application environment, meanwhile, the curve of the calibration data is linearly fitted, the possible error is reduced, the three-dimensional force can be displayed in an upper computer, and the automatic calibration, data writing and delivery test of the three-dimensional force sensor are realized through the control of the upper computer.
Example 1:
1-3, the calibration device of the three-dimensional force sensor comprises a test cradle head 2 and a force application structure 3, wherein the test cradle head 2 and the force application structure 3 are arranged on a test platform 4; the three-dimensional force sensor 1 to be calibrated is mounted on the test cradle head 2, and the test terminal 202 is mounted on the three-dimensional force sensor 1 to be calibrated;
the test cradle head 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 bracket 20, the rotary table 206 is rotatably arranged on the single rocker arm structure 201, the single rocker arm structure 201 changes a normal angle through rotation, the rotary table 206 changes a tangential angle 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 single-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 arranged on the second bracket 30, one end of the single-dimensional force sensor 304 is fixed on the push rod head 303, the other end of the single-dimensional force sensor is fixed on the push rod main body 306, the push rod main body 306 is arranged on the transverse sliding mechanism, and the transverse sliding mechanism is used for horizontally moving the push rod head 303 so as to apply force to the test terminal 202, and the force is measured through the single-dimensional force sensor 304 and fed back to the upper computer 301.
Specifically, the three-dimensional force sensor 1 is mounted on the turntable 206 of the test head 2 through the M5 connection hole 204 by an M5 socket head cap screw. The test terminal 202 is fixed to the three-dimensional force sensor 1 by an M4 screw passing through the M3 connection hole 203.
The single rocker arm structure 201 and turntable 206 are provided with rotary power by a servo motor 205.
In one embodiment, as shown in fig. 2, the test terminal 202 includes a ball structure 2021 for loading force and a connecting column 2022 for connecting the ball structure 2021, and the connecting column 2022 is provided with a screw hole, and is pre-tightened by a screw to connect the sensor 1 to be calibrated. The spherical surface of the spherical structure 2021 ensures that the load always acts equivalently to the same center of sphere.
In one embodiment, the putter head 303 is a cylinder with a concave spherical structure at the front end. The stability of the applied force can be improved.
In one embodiment, the concave spherical structure fully encloses the spherical 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 a fixed base 207 of the test cradle head 2, and the inside of the sensor is composed of three 120-degree distributed strain gauge circuits and a measuring circuit, wherein 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 is fixed to the putter head 303 with a bolt 302 at the front end and to the putter body 306 with a bolt 302 at the rear end. The push rod body 306 is mounted on a longitudinal lead screw slide rail 307, and the longitudinal lead screw slide rail 307 is mounted on a transverse lead screw slide rail 308. The longitudinal lead screw slide 307 and the transverse lead screw slide 308 are powered by the servo motor 305.
Specifically, the force 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,is the normal angle of the force, V Pi (i=1, 2, 3) is the voltage value measured by three strain gauge circuits in the three-dimensional force sensor, d vi (i=1, 2, 3) is the ratio coefficient of tangential component force received by the three-dimensional force sensor and voltage measured by the three strain gauge circuits, which is simply called tangential coefficient, d hi (i=1, 2, 3) is the ratio coefficient of the normal component force received by the three-dimensional force sensor and the output voltage of the three strain gauge circuits, which is simply called as the normal coefficient, ch i (i=1, 2, 3) is the voltage output of the three strain gauge circuits in the initial state, simply referred to as zero point.
In another embodiment, a calibration test system of a three-dimensional force sensor 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 perform automatic calibration, data writing and factory testing according to the built-in calibration flow, and meanwhile, a curve of calibration data is obtained through linear fitting.
In another embodiment, a calibration method of a three-dimensional force sensor, which adopts the test system of the three-dimensional force sensor, includes the following steps:
s01: through moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and simultaneously the turntable is controlled to rotate, so that the force application direction of the push rod head is opposite to the to-be-tested strain gauge circuit;
s02: applying a set of forces F of different magnitudes to the force terminals j Calculating the change value delta V of the output voltage of the strain gauge circuit 1j ；
S03: by means of linear fitting, the tangential coefficient d is calculated vi The calibration of the tangential coefficient is completed;
s04: the test cradle head forms 90 degrees with the plane of the calibration equipment, and a group of forces F with different magnitudes are exerted on the stress terminal vertically downwards j Also, the voltage change values DeltaV of the strain foil circuits at the three different angles are measured 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating tangential coefficient d by means of linear fitting vi 。
In a preferred implementation, the method comprises the following steps:
1) Fixing the three-dimensional force sensor on a fixed base of the test cradle head;
2) A test terminal is arranged on the three-dimensional force sensor;
3) For calibration of tangential coefficients, 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 turntable is controlled to rotate, so that the force application direction of the push rod head is opposite to the to-be-tested strain gauge circuit;
4) Taking a strain gauge circuit corresponding to 0 DEG as an example, a group of forces F with different magnitudes are respectively applied j (j=1, 2, …, N), the variable value Δv of the output voltage of the foil circuit is calculated 1j (j＝1,2,…,N)；
5) From the force principle formula, F j And DeltaV 1i There is a linear relationship d between v1 Therefore, the tangential coefficient d can be calculated by linear fitting v1 The other two tangential coefficients are the same;
6) For normal coefficient calibration, as shown in FIG. 5, the calibration isThe method is similar to tangential coefficient, so that the test cradle head forms 90 degrees with the plane of the calibration equipment, and a group of vertically downward forces F with different magnitudes are applied on the stress terminal j (j=1, 2, …, N), and likewise, measuring the voltage change value DeltaV of the strain gage circuit at three different angles 1j ，ΔV 2j ，ΔV 3j (j＝1,2,…,N)；
7) Finally, calculating tangential coefficient d by means of linear fitting vi (i＝1,2,3)。
8) The whole process adopts a dynamic calibration method. The above-described process of applying force can be described as: the push rod head advances at a constant speed when contacting the test terminal, namely, a constant-rate-of-change force 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 collects 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 nonlinear part of the measured data, the linear characteristics are fitted by a least square method. As shown in fig. 6 below, the output voltages of the three strain gauge circuits collected are in an obvious linear relationship with the magnitude of the force.
In yet another embodiment, a computer storage medium has a computer program stored thereon, which when executed implements the method for calibrating a three-dimensional force sensor described above.
The foregoing examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the foregoing examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made therein and are intended to be equivalent substitutes within the scope of the present invention.
Claims (9)
1. The calibration equipment of the three-dimensional force sensor is characterized by comprising a test cradle head and a force application structure, wherein the test cradle head and the force application structure are arranged on a test platform; the test cradle head is provided with a three-dimensional force sensor to be calibrated, and the three-dimensional force sensor to be calibrated is provided with a test terminal;
the testing cradle head 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 single rocker arm structure is rotatably arranged at the upper end of the first bracket, the rotary table is rotatably arranged on the single rocker arm structure, the single rocker arm structure changes a normal angle through rotation, the rotary table changes a tangential angle through rotation, and the fixed base is fixed on the rotary table and rotates along with the rotary table;
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, wherein 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 arranged on the transverse sliding mechanism, the transverse sliding mechanism is used for horizontally moving the push rod head so as to apply force to the test terminal, and the force is measured through the single-dimensional force sensor and fed back to the upper computer.
2. The calibration device of a three-dimensional force sensor according to claim 1, wherein the test terminal comprises a spherical structure for loading force and a connecting column connected with the spherical structure, the connecting column is provided with a screw hole, and the sensor to be calibrated is connected with the connecting column in a pre-tightening mode through a screw.
3. The apparatus for calibrating a three-dimensional force sensor according to claim 2, wherein the pusher head is a cylinder with a concave spherical structure at a front end.
4. A calibration device for a three-dimensional force sensor according to claim 3, wherein the concave spherical structure fully encloses the spherical structure of the test terminal.
5. The calibration device of a three-dimensional force sensor according to claim 1, wherein the sensor to be calibrated is mounted on a fixed base of the test cradle head, and the inside of the sensor to be calibrated is composed of three 120-degree distributed strain gauge circuits and a measuring circuit, and the measuring circuit is communicated with an upper computer.
6. A calibration test system for a three-dimensional force sensor, which is characterized by comprising the calibration equipment for the three-dimensional force sensor and an upper computer, wherein the calibration flow is arranged in the upper computer, the calibration equipment is controlled to perform automatic calibration, data writing and factory testing according to the built-in calibration flow, and meanwhile, a curve of calibration data is fitted by utilizing linearity.
7. A method for calibrating a three-dimensional force sensor, characterized in that the three-dimensional force sensor testing system according to claim 6 is used, the calibrating method comprising the following steps:
s01: through moving the push rod main body, the push rod head horizontally applies force to the test terminal on a normal plane, and simultaneously the turntable is controlled to rotate, so that the force application direction of the push rod head is opposite to the to-be-tested strain gauge circuit;
s02: applying a set of forces F of different magnitudes to the force terminals j Calculating the change value delta V of the output voltage of the strain gauge circuit 1j ；
S03: by means of linear fitting, the tangential coefficient d is calculated vi The calibration of the tangential coefficient is completed;
s04: the test cradle head forms 90 degrees with the plane of the calibration equipment, and a group of forces F with different magnitudes are exerted on the stress terminal vertically downwards j Similarly, three different angles of the voltage change value DeltaV of the strain foil circuit are measured 1j ，ΔV 2j ，ΔV 3j ；
S05: finally, calculating tangential coefficient d by means of linear fitting vi 。
8. The method for calibrating a three-dimensional force sensor according to claim 7, wherein the method for applying force in steps S02 and S04 comprises: the push rod head advances at a constant speed when contacting the test terminal, namely, a constant-rate-of-change force is applied to the test terminal, and the push rod main 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.
9. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the method of calibrating a three-dimensional force sensor according to claim 7.
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