CN117109804B - Calibration device and calibration method for large deformation six-dimensional force sensor - Google Patents

Abstract

The invention provides a calibration device and a calibration method for a large-deformation six-dimensional force sensor. The eighth straight notch of the sensor base is connected with the lower end of the six-dimensional force sensor, the upper end of the six-dimensional force sensor is connected with the second through hole of the circular mounting plate in the stress rod assembly, the seventh threaded hole in the stress rod assembly is connected with the first end of the miniature tension-compression sensor, the second end of the miniature tension-compression sensor is connected with the fixed end of the ring nut, and the working end of the ring nut passes through the small hole in the gravity compensation wheel assembly through the first steel wire rope and is connected with the lock catch. The invention is not only used for calibrating the large-deformation six-dimensional force sensor, but also ensures that the loaded position can be automatically adjusted when each dimension is loaded and deformed by adjusting the rolling contact of the elliptical surface in the seat assembly, so that the loading direction and moment are kept unchanged, the coupling caused by loading force is eliminated, and the calibration precision of each dimension is ensured.

Description

Calibration device and calibration method for large deformation six-dimensional force sensor

Technical Field

The present invention relates to the field of multi-dimensional force sensor calibration, and in particular to a calibration device and a calibration method for a large deformation six-dimensional force sensor.

Background technique

The calibration of the six-dimensional force sensor refers to the separate calibration of each dimension after the sensor is prepared, that is, applying load to each channel of each dimension, collecting the signal output value of the corresponding channel, and then solving the calibration matrix between the load and the signal output value. In order for the six-dimensional force sensor to meet the requirements of accurate measurement function, it is essential to carry out calibration work.

Domestic and foreign researchers have conducted various forms of research and design work on calibration devices. The most common ones are the hanging weight type and the combined force application device of the actuator and the standard uniaxial dynamometer. The accuracy of the calibration device determines the accuracy of the six-axis force sensor. Therefore, the calibration device plays a very important role in the design and development of the six-axis force sensor. The existing six-axis force sensor calibration devices are all designed and developed for high-rigidity six-axis force sensors. If they are used to calibrate large-strain six-axis force sensors, it will inevitably lead to the coupling of loading force/torque to other dimensions, which seriously affects the accuracy of large-deformation six-axis force sensors. Among them, large deformation is relative to traditional strain gauges, piezoelectric/piezoresistive materials, etc., and the deformation of the six-axis force sensor based on strain gauges is generally at the micron level, while the deformation of the sensor calibrated by this calibration device reaches the millimeter level.

In the field of medical rehabilitation equipment and wearable devices, large deformation six-axis force sensors with compliance advantages have received more and more attention and research and development, but calibration devices suitable for large deformation six-axis force sensors are rarely reported. In addition, the existing calibration devices for high-rigidity six-axis force sensors cannot achieve one-time clamping of the six-axis force sensor to meet the six-axis force/torque calibration. It is necessary to adjust the posture of the six-axis force sensor or adjust the position of the force source to achieve calibration of each dimension, and the overall calibration work is relatively complicated.

Summary of the invention

In view of the problems existing in the prior art, the present invention provides a calibration device and a calibration method for a large deformation six-dimensional force sensor, which automatically adjusts the force position by utilizing the rolling contact of the adjusting wheel assembly at the end of the force-bearing rod assembly within the elliptical surface of the adjusting seat, so that the calibration device has the characteristics of keeping the direction and lever arm of the loading force/torque in each dimension unchanged, thereby eliminating the coupling of the loading force/torque when the six-dimensional force sensor is subjected to large deformation. In addition, by relying on the rolling adjustment of the gravity compensation wheel assembly in the guide groove of the upper crossbeam, the gravity of the force-bearing rod assembly can be always offset under different loading states, thereby making the calibration device have a higher calibration accuracy, while satisfying the one-time positioning installation of the six-dimensional force sensor, and realizing the full calibration of the six-dimensional force/torque.

The present invention provides a calibration device for a large deformation six-dimensional force sensor, which includes a mounting platform, a guide wheel mounting frame, an upper crossbeam, a force rod assembly, a sensor base, a miniature tension and compression sensor, a ring nut, a gravity compensation wheel assembly, a lock buckle, a notch transition plate, a guide wheel assembly and a base frame. The positioning groove of the mounting platform is connected to the mounting end of the vertical beam of the base frame, the sixth straight notch of the guide wheel mounting frame and the second mounting hole of the sensor base are respectively connected to the first threaded hole and the second threaded hole of the mounting platform, the second positioning hole of the sensor base is connected to the first positioning hole of the mounting platform, the six-dimensional force sensor is located in the circular groove of the sensor base, the eighth straight notch of the sensor base is connected to the lower end of the six-dimensional force sensor, the upper end of the six-dimensional force sensor is connected to the second through hole of the circular mounting plate in the force rod assembly, and the force rod assembly The seventh threaded hole in the middle is connected to the first end of the miniature tension and compression sensor, the second end of the miniature tension and compression sensor is connected to the fixed end of the annular nut, the working end of the annular nut is connected to the lock buckle through the small hole in the gravity compensation wheel assembly through the first steel wire rope, the step hole of the upper beam is connected to the fourth threaded hole of the guide wheel mounting frame, the notch transition plate and the gravity compensation wheel assembly are respectively located in the guide groove of the upper beam, the fourth through hole of the notch transition plate is connected to the sixth threaded hole of the upper beam, and the guide wheel assembly is located in the limiting groove of the guide wheel mounting frame. The force-bearing rod assembly comprises a force-bearing rod, a support frame, an adjustment seat assembly, a T-shaped sleeve, a set screw and a bolt, the end flange of the force-bearing rod is connected to the mounting threaded hole of the support frame by a bolt, the round shaft of the adjustment seat assembly is respectively connected to the first axial hole of the force-bearing rod and the second axial hole of the support frame by a T-shaped sleeve, and the set screw is located in the limiting screw hole of the support frame; the force-bearing rod comprises a cross beam, an end flange, a first through hole, a seventh threaded hole, a first axial hole, a positioning flange, a circular mounting plate and a second through hole, the end of the cross beam is provided with an end flange, the first through hole and a positioning flange are provided around the end flange, the middle part of the end flange is provided with a first axial hole, the first end of the middle part of the cross beam is provided with a seventh threaded hole, the second end of the middle part of the cross beam is provided with a circular mounting plate, and the circular mounting plate is provided with a second through hole. The adjustment seat assembly includes an adjustment seat, an end cover, an adjustment wheel assembly and a screw. The screw hole of the adjustment seat is connected to the third through hole of the end cover through the screw. The columnar long arm of the transition piece in the adjustment wheel assembly is located in the seventh straight slot of the adjustment seat. The first bearing in the adjustment wheel assembly contacts the curved through hole of the adjustment seat. The gravity compensation wheel assembly includes a second pin shaft, a second retaining spring, a transition ring and a second bearing. The second bearing is symmetrically distributed at both ends of the transition ring. The retaining spring groove of the second pin shaft sequentially passes through the inner ring of the second bearing and the inner ring of the transition ring and is connected to the second retaining spring. The guide wheel assembly includes a third pin shaft, a third retaining spring, a guide wheel and a guide wheel seat. The guide wheel is connected to the mounting hole of the guide wheel seat through the third pin shaft and the third retaining spring. The middle part of the guide wheel seat is provided with a through hole for passing the wire. The guide wheel seat is symmetrically provided with straight slot holes around it. The straight slot holes are respectively connected to the third threaded hole and the fourth threaded hole of the guide wheel mounting frame.

Preferably, the support frame includes a first base, a second axial hole, a protrusion, a mounting threaded hole and a limiting screw hole, a second axial hole is provided in the middle of the first base, protrusions are evenly provided around the first base, mounting threaded holes are provided at the overhanging ends of the protrusions, and limiting screw holes are symmetrically provided on the side walls of the protrusions.

Preferably, the adjustment seat includes a second base, a curved through hole, a circular axis, a screw hole and a seventh straight slot, a curved through hole is provided in the middle of the second base, screw holes are symmetrically provided around the second base, the seventh straight slot is symmetrically distributed at the side ends of the second base along the length direction, and the circular axis is symmetrically distributed at the side ends of the second base along the width direction.

Preferably, the end cover comprises a rectangular panel, an annular boss and a third through hole, wherein the annular boss is provided in the middle of the rectangular panel, and the third through holes are symmetrically provided around the rectangular panel.

Preferably, the transition piece comprises a sleeve, a columnar long arm and a fourth through hole, the columnar long arms are symmetrically arranged on two side surfaces of the sleeve, and the fourth through hole is arranged at the overhanging end of the columnar long arm.

Preferably, the adjusting wheel assembly comprises a first pin, a first retaining spring, a first bearing and a transition piece, wherein the first bearing is symmetrically distributed at both ends of a sleeve in the transition piece, and the retaining spring groove of the first pin sequentially passes through the inner ring of the first bearing and the inner ring of the sleeve in the transition piece and is connected to the first retaining spring.

Another aspect of the present invention provides a calibration method for a large deformation six-axis force sensor, comprising the following steps:

Specify the coordinates of the six-axis force sensor in the calibration device and calibrate each dimension of the six-axis force sensor to be calibrated:

S1, using the first steel wire rope connected to the micro tension and compression sensor through the ring nut, making the force value of the micro tension and compression sensor equal to the gravity of the force-bearing rod assembly, and locking the first steel wire rope with a lock buckle;

S2. According to the calibration of the six-dimensional force sensor in different directions, respectively select to adjust the state of the cross beam, the position of the guide wheel assembly, the position of the adjustment seat assembly, the position of the notch transition plate and the position of the gravity compensation wheel assembly;

S3. According to the calibration of the six-dimensional force sensor in different directions, the two ends of the second steel wire rope are respectively connected to different positions in the calibration device;

S4. Calibrate the six-dimensional force sensor.

Preferably, the specific implementation process of step S2 is:

If the six-dimensional force sensor needs to be calibrated along the x-axis direction, adjust the adjustment seat assembly in the two branches of the cross beam in the force-bearing rod assembly that are perpendicular to the x-axis to a horizontal state, and adjust the set screws on the support frame in the branch to support the surface of the adjustment seat assembly to keep the columnar long arm in the adjustment wheel assembly in a horizontal posture, and adjust the position of the guide wheel assembly in the side end limit groove of the guide wheel mounting frame;

If the six-dimensional force sensor needs to be calibrated along the y-axis direction, adjust the adjustment seat assembly in the two branches of the cross beam in the force-bearing rod assembly that are perpendicular to the y-axis to a horizontal state, and use the set screws on the support frame in the branch to support the surface of the adjustment seat assembly to keep the columnar long arm in the adjustment wheel assembly in a horizontal posture, adjust the position of the guide wheel assembly in the side end limit groove of the guide wheel mounting frame, and at the same time, rotate the notch transition plate and the gravity compensation wheel assembly symmetrically arranged in the guide groove by 90 degrees respectively;

If the six-dimensional force sensor needs to be calibrated along the positive direction of the z-axis, adjust the adjustment seat assembly in the two branches of the cross beam in the force-bearing rod assembly on the same axis to a vertical state, and use the set screws on the support frame in the branch to support the surface of the adjustment seat assembly to keep the columnar long arm in the adjustment wheel assembly in a vertical posture, and adjust the position of the guide wheel assembly in the limit groove of the guide wheel mounting frame respectively;

If the six-dimensional force sensor needs to be calibrated around the x-axis, adjust the adjustment seat assembly in the two branches of the cross beam in the force-bearing rod assembly on the same axis to a vertical state, and use the set screws on the support frame in the branch to support the surface of the adjustment seat assembly to keep the columnar long arm in the adjustment wheel assembly in a vertical posture, and adjust the position of the guide wheel assembly in the top limit groove of the guide wheel mounting frame;

If the six-dimensional force sensor needs to be calibrated around the z-axis, adjust the adjustment seat assembly in the two branches of the cross beam in the force-bearing rod assembly on the x-axis to a horizontal state, and adjust the fixing screws on the support frame in the branch to support the surface of the adjustment seat assembly to keep the cylindrical long arm in the adjustment wheel assembly in a horizontal posture, and adjust the position of the guide wheel assembly in the side limit groove of the guide wheel mounting frame.

Preferably, the specific implementation process of step S3 is:

If the six-dimensional force sensor needs to be calibrated along the positive direction of the x-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively passed through the fifth straight notch of the corresponding guide wheel mounting frame along the positive direction of the x-axis, and then turned 90 degrees downward through the guide wheel, and passed through the notch of the corresponding guide wheel mounting frame and the first straight notch of the mounting platform to be connected to the counterweight block;

If the six-dimensional force sensor needs to be calibrated along the negative direction of the x-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively passed through the fifth straight notch of the corresponding guide wheel mounting frame along the negative direction of the x-axis, and then turned 90 degrees downward through the guide wheel, and passed through the notch of the corresponding guide wheel mounting frame and the first straight notch of the mounting platform to be connected to the counterweight block;

If the six-dimensional force sensor needs to be calibrated along the positive direction of the y-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively passed through the fifth straight notch of the corresponding guide wheel mounting frame along the positive direction of the y-axis, and then turned 90 degrees downward through the guide wheel, and passed through the notch of the corresponding guide wheel mounting frame and the first straight notch of the mounting platform to be connected to the counterweight block;

If the six-dimensional force sensor needs to be calibrated along the negative direction of the y-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively passed through the fifth straight notch of the corresponding guide wheel mounting frame along the negative direction of the y-axis, and then turned 90 degrees downward through the guide wheel, and passed through the notch of the corresponding guide wheel mounting frame and the first straight notch of the mounting platform to be connected to the counterweight block;

If the six-dimensional force sensor needs to be calibrated along the positive direction of the z-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively passed through the first fourth straight slot in the top limit slot of the corresponding guide wheel mounting frame along the positive direction of the z-axis, and then pass through the first guide wheel located at the top of the guide wheel mounting frame, turn 90° to the right, pass through the second guide wheel located at the top of the guide wheel mounting frame, turn 90° downward, and pass through the second fourth straight slot in the top limit slot of the corresponding guide wheel mounting frame and the first second straight slot of the mounting platform to be connected to the counterweight block;

If the six-dimensional force sensor needs to be calibrated along the negative direction of the z-axis, the first ends of the two identical second steel wire ropes are connected to the fourth through holes on the transition piece in the adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and the second ends of the two identical second steel wire ropes are respectively connected to the counterweight block through the third straight slots of the corresponding mounting platform along the negative direction of the z-axis;

If it is necessary to calibrate the six-dimensional force sensor around the x-axis or y-axis, connect the first end of the first second steel wire rope to the fourth through hole on the transition piece in the first adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and pass the second end of the first second steel wire rope through the first fourth straight slot in the top limit slot of the corresponding guide wheel mounting frame along the positive direction of the z-axis, and then turn 90° to the left through the first guide wheel located at the top of the guide wheel mounting frame, and then turn 90° downward through the third guide wheel located at the top of the guide wheel mounting frame, and pass through the third fourth straight slot in the top limit slot of the corresponding guide wheel mounting frame and the second second straight slot of the mounting platform to connect with the counterweight block; connect the first end of the second second steel wire rope to the fourth through hole on the transition piece in the second adjusting wheel assembly symmetrically distributed at both ends of the force-bearing rod assembly, and pass the second end of the second second steel wire rope through the third straight slot of the corresponding mounting platform along the negative direction of the z-axis to connect with the counterweight block;

If it is necessary to calibrate the six-dimensional force sensor around the z-axis, connect the first ends of two identical second steel wire ropes to the fourth through holes on the transition piece in the adjusting wheel assembly at both ends of the force-bearing rod assembly symmetrically distributed on the x-axis, and pass the second ends of the two identical second steel wire ropes through the fifth straight slot of the corresponding guide wheel mounting frame along the positive direction of the x-axis and the negative direction of the x-axis respectively, then turn downward 90° through the guide wheel, and pass through the notch of the corresponding guide wheel mounting frame and the two first straight slots of the mounting platform to connect with the counterweight block.

Preferably, the specific implementation process of step S4 is:

If the six-axis force sensor is calibrated along the x-axis or y-axis direction, the gravity compensation wheel assembly connected to the force-bearing rod assembly through the second steel wire rope is subjected to the component force along the x-axis or y-axis direction by locking the lock buckle. At this time, the gravity compensation wheel assembly rolls a certain distance along the guide groove in the upper crossbeam, thereby eliminating the gravity of the force-bearing rod assembly when the six-axis force sensor is deformed by force in the x-axis or y-axis direction. The step length is defined according to the range of the six-axis force sensor in the x-axis or y-axis direction, the load is gradually loaded, and the output signal of the six-axis force sensor along the x-axis or y-axis direction is read. By repeatedly measuring the relationship between multiple sets of counterweights and the six-axis force sensor The electrical signal parameters output by the sensor are measured and the average value is taken to complete the calibration of the six-dimensional force sensor in the x-axis or y-axis direction; if the six-dimensional force sensor is calibrated along the z-axis direction, the step length is defined according to the range of the six-dimensional force sensor in the z-axis direction, and the load is gradually loaded. After each load is loaded, the first steel wire rope is tightened so that the force value monitored by the micro tension and compression sensor is equal to the gravity of the force-bearing rod assembly, and the output signal of the six-dimensional force sensor along the z-axis direction is read. The electrical signal parameters output by multiple sets of counterweights and the six-dimensional force sensor are repeatedly measured and the average value is taken to complete the calibration of the six-dimensional force sensor in the z-axis direction;

If the six-axis force sensor is calibrated around the x-axis, y-axis or z-axis, the sum of the moments obtained by multiplying the gravity of the counterweights on both sides of the cross beam by the corresponding stress arms is the moment acting on the six-axis force sensor around the x-axis, y-axis or z-axis. The load is gradually loaded according to the step size specified by the six-axis force sensor. After each loading and adjustment is stable, the signal output by the six-axis force sensor is read. The calibration of the six-axis force sensor around the x-axis, y-axis or z-axis is completed by repeating multiple groups of measurements and taking the average value.

Compared with the prior art, the present invention has the following advantages:

1. The present invention is suitable for the calibration of six-dimensional force sensors with large deformation. By setting the elliptical surface rolling contact of the adjustment seat assembly at the end of the force-bearing rod assembly, the load position can be automatically adjusted when the sensor is loaded and deformed in each dimension, so that the loading direction and torque remain unchanged, the loading coupling is eliminated, and the calibration accuracy of each dimension is ensured.

2. The force-bearing rod assembly of the structure of the present invention is connected to the gravity compensation wheel assembly, which can eliminate the influence of the gravity of the force-bearing rod assembly itself on the calibration when calibrating in different directions.

3. The present invention can realize one-time clamping of the six-dimensional force sensor and complete calibration of the six-dimensional force/torque components, solve the calibration problem of the large deformation six-dimensional force sensor, and simplify the calibration work.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is an overall structural diagram of a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG2 is a structural diagram of a guide wheel mounting frame in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

3 is a structural diagram of an upper crossbeam in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG4 is a structural diagram of an adjustment seat assembly in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG5 is a structural diagram of a force-bearing rod in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG6 is a structural diagram of a support frame in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

7 is a structural diagram of a force-bearing rod assembly in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG8 is a structural diagram of an adjustment seat in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

9 is a schematic diagram of automatic adjustment of the loading point in the calibration device for a large deformation six-dimensional force sensor according to the present invention;

10 is a structural diagram of an end cap in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

11 is a structural diagram of a transition piece in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

12 is a structural diagram of an adjustment wheel assembly in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

13 is a structural diagram of a gravity compensation wheel assembly in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

14 is a structural diagram of a mounting platform in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

15 is a structural diagram of a sensor base in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

16 is a structural diagram of a transition ring in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

17 is a structural diagram of a second pin in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG18 is a structural diagram of a guide wheel assembly in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG19 is a structural diagram of a chassis in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG20 is a structural diagram of a notched transition plate in a calibration device for a large deformation six-dimensional force sensor according to the present invention;

FIG21 is a schematic diagram of calibration along the positive x-axis in the calibration device for a large deformation six-axis force sensor of the present invention;

FIG22 is a schematic diagram of calibration along the positive z-axis in the calibration device for a large deformation six-axis force sensor of the present invention;

FIG23 is a schematic diagram of calibration along the negative direction of the z-axis in the calibration device for a large deformation six-dimensional force sensor of the present invention;

FIG24 is a schematic diagram of calibration around the x-axis in the calibration device for a large deformation six-axis force sensor of the present invention;

FIG. 25 is a schematic diagram of positive calibration around the z-axis in the calibration device for a large deformation six-axis force sensor of the present invention.

Main reference numerals:

Mounting platform 1, first straight slot 101, second straight slot 102, third straight slot 103, first threaded hole 104, first mounting hole 105, second threaded hole 106, first positioning hole 107, positioning groove 108, guide wheel mounting frame 2, fourth straight slot 201, third threaded hole 202, limiting groove 203, fourth threaded hole 204, fifth straight slot 205, fifth threaded hole 206, connecting flange 207, sixth straight slot 208, notch 209, upper crossbeam 3, groove 301, guide groove 302, large round hole 303, sixth threaded hole 304, step hole 30 5, force rod assembly 4, force rod 41, cross beam 411, end flange 412, first through hole 413, seventh threaded hole 414, first shaft hole 415, positioning flange 416, circular mounting plate 417, second through hole 418, support frame 42, first base 421, second shaft hole 422, protrusion 423, mounting threaded hole 424, limiting screw hole 425, adjustment seat assembly 43, adjustment seat 431, second base 4311, curved through hole 4312, round shaft 4313, screw hole 4314, seventh straight notch 4315, end cover 432, rectangular panel 4321, annular protrusion Table 4322, third through hole 4323, screw 433, adjustment wheel assembly 434, transition piece 4341, sleeve 43411, columnar long arm 43412, fourth through hole 43413, first pin 4342, first retaining ring 4343, first bearing 4344, T-type bushing 44, set screw 45, bolt 46, sensor base 5, circular groove 501, eighth straight notch 502, rib plate 503, second mounting hole 504, second positioning hole 505, micro tension and compression sensor 6, ring nut 7, gravity compensation wheel assembly 8, second pin 81, cap end 8101, pin Body 8102, first small hole 8103, retaining spring groove 8104, second retaining spring 82, transition ring 83, second small hole 8301, second bearing 84, lock buckle 9, notched transition plate 10, inclined end 1001, straight end 1002, fourth through hole 1003, chamfer 1004, counterweight 11, guide wheel assembly 12, third pin shaft 121, guide wheel 122, guide wheel seat 123, wire through hole 1231, straight slot hole 1232, third retaining spring 124, base frame 13, vertical beam 1301, horizontal beam 1302, connecting piece 1303, first steel wire rope 18, second steel wire rope 19.

Detailed ways

In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

The calibration device for the large deformation six-dimensional force sensor, as shown in Figure 1, includes a mounting platform 1, a guide wheel mounting frame 2, an upper crossbeam 3, a force rod assembly 4, a sensor base 5, a miniature tension and compression sensor 6, a ring nut 7, a gravity compensation wheel assembly 8, a lock buckle 9, a notch transition plate 10, a guide wheel assembly 12 and a base frame 13.

The positioning groove 108 of the mounting platform 1 is connected to the mounting end of the vertical beam 1301 of the base frame 13, the guide wheel mounting frame 2 is arranged in a circular array on the mounting platform 1, the sixth straight slot 208 of the guide wheel mounting frame 2 and the second mounting hole 504 of the sensor base 5 are respectively connected to the first threaded hole 104 and the second threaded hole 106 of the mounting platform 1, the horizontal and vertical spacings of the first threaded hole 104 on the mounting platform 1 are equal to the corresponding spacings of the sixth straight slot 208 of the guide wheel mounting frame 2, and the second positioning hole 504 of the sensor base 5 is connected to the first threaded hole 104 and the second threaded hole 106 of the mounting platform 1. 05 is connected to the first positioning hole 107 of the mounting platform 1, and the horizontal and vertical spacings of the second threaded hole 106 are equal to the corresponding spacings of the four second mounting holes 504; the first positioning hole 107 and the second positioning hole 505 are equal in size, and the horizontal and vertical spacings of the two are correspondingly equal, the six-dimensional force sensor is located in the circular groove 501 of the sensor base 5, the eighth straight notch 502 of the sensor base 5 is connected to the lower end of the six-dimensional force sensor, and the upper end of the six-dimensional force sensor is connected to the second through hole 4 of the circular mounting plate 417 in the force-bearing rod assembly 4 18 is connected, the seventh threaded hole 414 in the force-bearing rod assembly 4 is connected to the first end of the micro tension and compression sensor 6, the second end of the micro tension and compression sensor 6 is connected to the fixed end of the ring nut 7, the working end of the ring nut 7 passes through the small hole in the gravity compensation wheel assembly 8 through the first steel wire rope 18 and is connected to the lock buckle 9, the force detected by the micro tension and compression sensor 6 is equal to the gravity of the force-bearing rod assembly 4, the step hole 305 of the upper crossbeam 3 and the fourth threaded hole 204 of the guide wheel mounting frame 2 are coaxially matched and connected, the notch transition plate 10 and the gravity compensation wheel assembly Parts 8 are respectively located in the guide groove 302 of the upper cross beam 3, the notch transition plate 10 has the chamfered surface 1004 facing upward, the two notch transition plates 10 are symmetrically embedded in the guide groove 302 of the upper cross beam 3, the fourth through hole 1003 of the notch transition plate 10 is connected to the sixth threaded hole 304 of the upper cross beam 3 through screws, the gravity compensation wheel assembly 8 is located at the cross position of the guide groove 302, and is limited by the parallel groove formed by the two embedded notch transition plates 10, and the guide wheel assembly 12 is located in the limiting groove 203 of the guide wheel mounting frame 2.

As shown in FIG14 , the mounting platform 1 is a square plate structure, the side length of the mounting platform 1 is equal to the side length of the outer contour of the base frame 13, a third straight slot 103 is provided on the central symmetry line of the mounting platform 1, the first straight slot 101 and the second straight slot 102 are symmetrically distributed on both sides of the third straight slot 103, the long axes of the first straight slot 101 and the second straight slot 102 are collinear and parallel to the edges of the mounting platform 1 adjacent to each other, and the spacing along the center line direction of the two first straight slots 101 on each side of the mounting platform 1 that share the same center line is equal to the spacing of the guide wheel mounting frame 2. The spacing between the notches 209 on the mounting platform 1 is the same, and the radii of the two are equal; the first threaded hole 104 is located between the first straight slot 101 and the second straight slot 102, and the first threaded holes 104 are symmetrically distributed along the center line of the mounting platform 1, the first mounting hole 105 is located between the second straight slot 102 and the third straight slot 103, the second threaded hole 106 and the first positioning hole 107 are located in the middle of the mounting platform 1, and the positioning grooves 108 are symmetrically distributed at the four vertex corners of the mounting platform 1, and the length and width of the positioning grooves 108 are equal to the length and width of the vertical beam 1301 of the base frame 13.

As shown in Figure 2, the guide wheel mounting frame 2 has a U-shaped structure, and a limiting groove 203 is provided in the middle of the mounting surface of the guide wheel mounting frame 2, and the width of the limiting groove 203 is equal to the width of the guide wheel seat 123 of the guide wheel assembly 12; the horizontal sections of the limiting groove 203 are respectively provided with a fourth straight slot 201 and a third threaded hole 202, and the horizontal and vertical spacings of the third threaded hole 202 are equal to the corresponding spacings of the straight slot holes 1232 of the guide wheel assembly 12, and fourth threaded holes 204 are symmetrically provided on both sides of the limiting groove 203 at the upper end of the mounting surface of the guide wheel mounting frame 2. The spacing of the holes 204 along the long axis direction is equal to the spacing of the stepped holes 305 on one side of the upper cross beam 3, and the spacing of the stepped holes 305 on both sides of the upper cross beam 3 is equal to the spacing of the fourth threaded holes 204 on the inner side of the two guide wheel mounting frames 2 installed in the same posture on the mounting platform 1. The limiting grooves 203 at the side ends of the mounting surface of the guide wheel mounting frames 2 are respectively provided with fifth straight slots 205 and fifth threaded holes 206, and the fixed ends of the limiting slots 203 at the side ends are provided with connecting flanges 207, and the connecting flanges 207 are respectively provided with sixth straight slots 208 and notches 209.

The horizontal and vertical spacing of the threaded holes 206 in the vertical segment limit groove 203 is equal to the corresponding spacing of the straight slot holes 1232 of the guide wheel assembly 12. Two guide wheels 12 are installed at the designated positions of the horizontal segment limit groove 203 of each guide wheel mounting frame 2, and one guide wheel 12 is installed at the designated positions in the vertical limit grooves 203 on the left and right sides of the guide wheel mounting frame 2, respectively, for guiding the wire rope when calibrating in different directions.

As shown in FIG3 , grooves 301 are symmetrically arranged on the lower surface of both ends of the upper cross beam 3, stepped holes 305 are symmetrically arranged on both ends of the upper cross beam 3, a cross-intersecting guide groove 302 is arranged in the middle of the upper cross beam 3, a 45° chamfer is arranged at the cross intersection of the guide groove 302, a large circular hole 303 is arranged in the middle of the guide groove 302, the radius of the large circular hole 303 is greater than the deformation amount caused by the six-dimensional force sensor under force in a certain direction, and a sixth threaded hole 304 is evenly arranged in the circumferential direction of the large circular hole 303. The width and depth of the guide groove 302 are respectively equal to the width and thickness of the straight end 1002 of the notch transition plate 10, and the inclination angle of the inclined end 1001 is 45°, the size of the inclined end 1001 is consistent with the chamfer size on the guide groove 302, and the width of the guide groove 302 is equal to the outer spacing of the second bearings 84 on both sides of the gravity compensation wheel assembly 8.

As shown in FIG7 , the force-bearing rod assembly 4 comprises a force-bearing rod 41, a support frame 42, an adjustment seat assembly 43, a T-shaped shaft sleeve 44, a set screw 45 and a bolt 46. The end flange 412 of the force-bearing rod 41 is connected to the mounting threaded hole 424 of the support frame 42 by a bolt 46. The inner side of the circular size of the positioning flange 416 on the end flange 412 of the force-bearing rod 41 cooperates with the outer edge of the protrusion 423 of the support frame 42 to limit the position. The positioning flange 416 on the force-bearing rod 41 limits the position to ensure that the second axial hole 422 of the support frame 42 is coaxial with the first axial hole 415 on the force-bearing rod 41. The adjustment seat The round shaft 4313 of the component 43 is connected to the first shaft hole 413 of the force-bearing rod 41 and the second shaft hole 422 of the support frame 42 through a T-shaped shaft sleeve 44. The flange outer diameter of the T-shaped shaft sleeve 44 is larger than the diameter of the first shaft hole 415 on the end flange 412 and the second shaft hole 422 of the support frame 42. The fixing screw 45 is located in the limiting screw hole 425 of the support frame 42. The adjustment seat component 43 can rotate around the axis in the space formed by the end flange 412 of the support frame 42 and the force-bearing rod 41. After rotating to the target position, it can be fixed with the fixing screw 45 arranged on the support frame 42.

Furthermore, when the torque calibration is performed on the six-dimensional force sensor with large deformation, as shown in Figure 9, the force-bearing rod assembly 4 will be tilted. Therefore, the curved surface of the adjustment seat 431 is coordinated with the adjusting wheel assembly 434. The adjusting wheel assembly 434 adjusts the force application point by itself in the deformed state, and specifically rolls to the new highest or lowest point position on the curved surface. The highest or lowest point position is always on the straight line where the force of the undeformed state of the six-dimensional force sensor to be calibrated is located, ensuring that the loading direction and torque remain unchanged, effectively eliminating the loading coupling effect caused by the deformation of the six-dimensional force sensor itself, so as to ensure the calibration accuracy of the large deformation six-dimensional force sensor.

As shown in Figure 5, the force-bearing rod 41 is a cross structure, including a cross beam 411, an end flange 412, a first through hole 413, a seventh threaded hole 414, a first axial hole 415, a positioning flange 416, a circular mounting plate 417 and a second through hole 418. The bottom surface of the circular mounting plate 417 is coplanar with the axis of the first axial hole 415 at the center of the end flange 412. The end of the cross beam 411 is provided with an end flange 412, and the end flange 412 is provided with a first through hole 413 and a positioning flange 416 around it. The middle of the end flange 412 is provided with a first axial hole 415, the first end of the middle of the cross beam 411 is provided with a seventh threaded hole 414, the second end of the middle of the cross beam 411 is provided with a circular mounting plate 417, and the circular mounting plate 417 is provided with a second through hole 418.

In a specific embodiment of the present invention, the force arm of the stress rod 41 is 250 mm. Since the stress rod 41 can keep the direction of applied load and the force arm unchanged when being loaded and deflected at different angles, the surface equation of the curved through hole 4312 is obtained, and the specific expression is:

y＝-2.466× ^{10-5 x4} -4.157× ^{10-19 x3} -0.01531x2 ⁺ 2.207× ^10-16 x+15

Among them, the intersection point of the central symmetry line of the adjustment seat 431 is the origin. In the coordinate system with the central symmetry line as the coordinate axis, x represents the axis coordinate of the central symmetry line of the adjustment seat 431 in the length direction, and y represents the axis coordinate of the central symmetry line of the adjustment seat 431 in the width direction.

The support frame 42 is a square-like structure, as shown in Figure 6, including a first base 421, a second axial hole 422, a protrusion 423, a mounting threaded hole 424 and a limiting screw hole 425. The second axial hole 422 is provided in the middle of the first base 421, and protrusions 423 are evenly provided around the first base 421. The overhanging end of the protrusion 423 is provided with a mounting threaded hole 424, and the side wall of the protrusion 423 is symmetrically provided with limiting screw holes 425.

The adjusting seat assembly 43, as shown in Figure 4, includes an adjusting seat 431, an end cover 432, an adjusting wheel assembly 434 and a screw 433. The center line of the long axis direction of the adjusting seat assembly 43 is coplanar with the bottom surface of the circular mounting plate 417 on the force-bearing rod 41. The screw hole 4314 of the adjusting seat 431 is connected to the third through hole 4323 of the end cover 432 through the screw 433. The columnar long arm 43412 of the transition piece 4341 in the adjusting wheel assembly 434 is located in the seventh straight slot 4315 of the adjusting seat 431. The first bearing 4344 in the adjusting wheel assembly 434 and the arc surface of the curved through hole 4312 of the adjusting seat 431 are in rolling contact. The outer edge of the annular boss 4322 and the third through hole 4323 on the end cover 432 respectively correspond to the curved through hole 4312 and the screw hole 4314 in the adjustment seat 431, and the top surface spacing of the annular boss 4322 of the end cover 432 is greater than the outer edge spacing of the first bearings 4344 on both sides of the adjustment wheel assembly 434. Specifically, the spacing between the opposite surfaces of the annular boss 4322 of the two end covers 432 at both ends of the adjustment seat 431 is greater than the spacing between the outer side surfaces of the two bearings 8D symmetrically distributed on both sides of the transition piece 4341 in the adjustment wheel assembly 434.

The adjustment seat 431, as shown in FIG8, includes a second base 4311, a curved through hole 4312, a round shaft 4313, a screw hole 4314 and a seventh straight slot 4315. The curved through hole 4312 is composed of two symmetrical curved surfaces, the long axis of the curved through hole 4312 coincides with the long axis of the second base 4311. The second base 4311 is a chamfered rectangular parallelepiped structure. The curved through hole 4312 is provided in the middle of the second base 4311. Screw holes 4314 are symmetrically arranged around the transition piece 11, and the seventh straight slots 4315 are symmetrically distributed on the side ends of the second base 4311 along the length direction. The length of the seventh straight slots 4315 is equal to the long axis length of the curved through hole 4312, and the width of the seventh straight slots 4315 is greater than the thickness of the columnar long arm 43412 of the transition piece 4341. The circular shafts 4313 are symmetrically distributed on the side ends of the second base 4311 along the width direction.

The end cover 432, as shown in Figure 10, includes a chamfered rectangular panel 4321, an elliptical annular boss 4322 and a third through hole 4323. The middle part of the rectangular panel 4321 is provided with an annular boss 4322, and the third through holes 4323 are symmetrically provided around the rectangular panel 4321. The elliptical curvature of the annular boss 4322 is consistent with the curved through hole 4312.

The adjusting wheel assembly 434, as shown in Figure 12, includes a first pin shaft 4342, a first retaining spring 4343, a first bearing 4344 and a transition piece 4341. The outer structure of the first pin shaft 4342 is the same as that of the second pin shaft 81. The first bearing 4344 is symmetrically distributed at both ends of the sleeve 43411 in the transition piece 4341. The retaining spring groove of the first pin shaft 4342 passes through the inner ring of the first bearing 4344 and the inner ring of the sleeve 43411 in the transition piece 4341 in turn and is connected to the first retaining spring 4343. The first retaining spring 4343 limits the axial movement of parts on the first pin shaft 4342. The annular inner diameter of the transition piece 4341 and the inner diameter of the first bearing 4344 are respectively matched with the outer diameter of the first pin shaft 4342.

The transition piece 4341 is widest at the position of the sleeve 43411, as shown in FIG11, and includes a sleeve 43411, a columnar long arm 43412 and a fourth through hole 43413. The columnar long arms 43412 are symmetrically arranged on both sides of the sleeve 43411, and the fourth through hole 43413 is arranged at the overhanging end of the columnar long arm 43412. Specifically, the width of the sleeve 43411 is equal to the width of the seventh straight slot 4315, and the thickness of the columnar long arm 43412 along the axial direction of the sleeve 43411 is less than the thickness of the sleeve 43411. After being installed in the adjustment seat assembly 43, the columnar long arm 43412 does not contact the seventh straight slot 4315 and the spacing between the two sides is equal.

The gravity compensation wheel assembly 8, as shown in Figure 13, includes a second pin shaft 81, a second retaining spring 82, a transition ring 83 and a second bearing 84. The second bearing 84 is symmetrically distributed at both ends of the transition ring 83. The retaining spring groove 8104 of the second pin shaft 81 passes through the inner ring of the second bearing 84 and the inner ring of the transition ring 83 in sequence and is connected to the second retaining spring 82; the outer diameter of the lock buckle 9 is smaller than the inner side spacing of the second bearings 84 on both sides of the gravity compensation wheel assembly 8.

The second pin shaft 81, as shown in FIG17, includes a cap end 8101, a pin body 8102, a first small hole 8103 and a retaining spring groove 8104. The first end of the pin body 8102 is provided with a cap end 8101, the second end of the pin body 8102 is provided with a retaining spring groove 8104, and the middle portion of the pin body 8102 is provided with a first small hole 8103. As shown in FIG16, the middle portion of the transition ring 83 is provided with a second small hole 8301, the centers of the first small hole 8103 and the second small hole 8301 coincide, and the diameters of the first small hole 8103 and the second small hole 8301 are equal.

The guide wheel assembly 12, as shown in Figure 18, includes a third pin shaft 121, a third retaining spring 124, a guide wheel 122 and a guide wheel seat 123. The outer structure of the third pin shaft 121 is the same as the outer structure of the second pin shaft 81. The guide wheel 122 is connected to the mounting hole of the guide wheel seat 123 through the third pin shaft 121 and the third retaining spring 124. A wire through hole 1231 is provided in the middle of the guide wheel seat 123. Straight slot holes 1232 are symmetrically provided around the guide wheel seat 123. The straight slot holes 1232 are respectively connected to the third threaded hole 202 and the fourth threaded hole 204 of the guide wheel mounting frame 2.

As shown in Figure 15, the sensor base 5 has a U-shaped outer flange structure, and a circular groove 501 is provided in the middle of the U-shaped top surface of the sensor base 5. The inner circumference of the circular groove 501 is evenly provided with an eighth straight slot 502, and the U-shaped side of the sensor base 5 is symmetrically provided with a rib plate 503, a second mounting hole 504 and a second positioning hole 505.

As shown in Figure 20, a fourth through hole 1003 is provided in the middle of the intersection of the inclined end 1001 and the straight end 1002 of the notch transition plate 10, and a chamfer 1004 is provided at the straight end. The distance from the end face of the inclined end 1001 to the fourth through hole 1003 is equal to the distance from the edge line of the guide groove 302 of the upper beam 3 to the sixth threaded hole 304 on the same side thereof.

The base frame 13, as shown in Figure 19, includes a vertical beam 1301, a horizontal beam 1302 and a connecting piece 1303. The vertical beam is connected to the horizontal beam through the connecting piece. The vertical beam 1301 is inserted into the positioning groove 108 of the installation platform 1 for limited assembly. At the same time, the top surface of the horizontal beam 1302 contacts the bottom surface of the installation platform 1 for enhanced support.

The following is a further description of a calibration device and a calibration method for a large deformation six-axis force sensor of the present invention in conjunction with an embodiment:

In this specific embodiment, the calibration method for the large deformation six-axis force sensor is implemented as follows:

The coordinates of the six-dimensional force sensor in the calibration device are specified and each dimension of the six-dimensional force sensor to be calibrated is calibrated. The calibration of each dimension of the six-dimensional force sensor to be calibrated includes the positive and negative directions along the coordinate axis and the positive and negative directions around the three axes. The six-dimensional force sensor to be calibrated is divided into several loading steps according to the maximum range of each dimension, and the load is gradually loaded according to the step load, and then gradually unloaded. Each time the device to be calibrated is stable, the corresponding output signal of the six-dimensional force sensor is recorded separately. Each dimension calibration is performed in the same way to take the average value of multiple groups to improve the calibration accuracy.

S1. Use the first steel wire rope 18 connected to the micro tension and compression sensor 6 through the ring nut 7 to make the force value of the micro tension and compression sensor 6 equal to the gravity of the force-bearing rod assembly 4, and lock the first steel wire rope 18 with the lock buckle 9 to obtain the gravity of the force-bearing rod assembly 4 to eliminate or compensate for the subsequent calibration process.

Install the six-dimensional force sensor to be calibrated, install its bottom surface in the circular groove 501 of the sensor fixing seat 5, adjust the bottom surface mounting hole of the six-dimensional force sensor to be calibrated to correspond to the eighth straight slot 502, and use connecting bolts to connect and fix from the bottom. Make the top surface of the six-dimensional force sensor to be calibrated contact and connect with the bottom surface of the circular mounting plate 417 of the force-bearing rod 41 on the force-bearing rod assembly 4, adjust the top surface mounting hole of the six-dimensional force sensor to be calibrated to correspond to the second through hole 418 of the circular mounting plate 417, and connect and fix from the upper side with bolts.

S2. If the six-dimensional force sensor needs to be calibrated along the x-axis direction, as shown in Figure 21, first connect the miniature tension and compression sensor 6 to the seventh threaded hole 414 of the cross beam 411 of the force-bearing rod assembly 4, connect the annular nut 7 to the upper end stud of the miniature tension and compression sensor 6, connect the first steel wire rope 18 to the annular nut 7, and the other end of the first steel wire rope 18 passes through the large circular hole 303 of the upper cross beam 3, and then passes through the first small hole 8103 and the second small hole 8301 coaxial with the transition ring 83 of the second pin shaft 81 in the guide groove 302 parallel to the x-axis in the upper cross beam 3, and further passes through the lock buckle 9. At this time, gradually tighten the first steel wire rope 18, and observe the force value monitored by the miniature tension and compression sensor 6. When When the monitored force value is equal to the gravity of the force-bearing rod assembly 4, it remains stable, and the first wire rope 18 is locked with the lock buckle 9, thereby eliminating the influence of the gravity of the force-bearing rod assembly 4 itself on the calibrated six-dimensional force sensor; then adjust the adjustment seat assembly 43 in the two branches of the cross beam 411 in the force-bearing rod assembly 4 perpendicular to the x-axis to a horizontal state, and adjust the fixing screws 45 on the support frame 42 in the branch to support the surface of the adjustment seat assembly 43 to keep the columnar long arm 43412 in the adjustment wheel assembly 434 in a horizontal posture, adjust the position of the guide wheel assembly 12 in the limiting groove 203 located at the side end of the guide wheel mounting frame 2, and ensure that the central axis of the adjustment seat assembly 43 is within the upper edge horizontal section of the minimum diameter of the rope groove of the guide wheel 122.

If the six-dimensional force sensor needs to be calibrated along the y-axis direction, first use the method used for calibration in the x-axis direction to use the micro tension and pressure sensor 6 to eliminate the gravity influence of the force-bearing rod assembly 4, then adjust the adjustment seat assembly 43 in the two branches of the cross beam 411 in the force-bearing rod assembly 4 perpendicular to the y-axis to a horizontal state, and use the set screws 45 on the support frame 42 in the branch to support the surface of the adjustment seat assembly 43 to keep the columnar long arm 43412 in the adjustment wheel assembly 434 in a horizontal posture, adjust the position of the guide wheel assembly 12 in the limiting groove 203 located at the side end of the guide wheel mounting frame 2, and ensure that the central axis of the adjustment seat assembly 43 is within the horizontal section of the upper edge of the minimum diameter of the rope groove of the guide wheel 122; at the same time, the notched transition plate 10 and the gravity compensation wheel assembly 8 symmetrically arranged in the guide groove 302 are respectively rotated 90°.

If the six-dimensional force sensor needs to be calibrated along the z-axis direction, as shown in Figures 22 and 23, the method used for calibration in the x-axis direction is first used to eliminate the gravity influence of the force-bearing rod assembly 4 using the micro tension and pressure sensor 6, and then the adjustment seat assembly 43 in the two branches of the cross beam 411 in the force-bearing rod assembly 4 on the same axis is adjusted to a vertical state, and the surface of the adjustment seat assembly 43 is supported by the set screws 45 on the support frame 42 in the branch to keep the columnar long arm 43412 in the adjustment wheel assembly 434 in a vertical posture, and the guide wheel mounting frame 43 is respectively adjusted. 2, ensure that the central axis of the adjustment seat assembly 43 is within the vertical section of the left edge of the minimum diameter of the rope groove of the guide wheel 122 in the limiting groove 203 at the side end, and ensure that the vertical section of the right edge of the minimum diameter of the rope groove of the guide wheel 122 in the limiting groove 203 at the top passes through the fourth straight slot 201 on the right side of the limiting groove 203 at the top, and passes through the straight slot 102 on the right side of the corresponding edge on the installation platform 1, and passes through the second straight slot 102 on the right side of the corresponding edge on the installation platform 1.

If the six-dimensional force sensor needs to be calibrated around the x-axis, as shown in Figure 24, first use the method for calibrating the x-axis direction to use the micro tension and pressure sensor 6 to eliminate the gravity influence of the force-bearing rod assembly 4, then adjust the adjustment seat assembly 43 in the two branches of the cross beam 411 in the force-bearing rod assembly 4 on the same axis to a vertical state, and use the set screws 45 on the support frame 42 in the branch to support the surface of the adjustment seat assembly 43 to keep the columnar long arm 43412 in the adjustment wheel assembly 434 in a vertical posture, adjust the position of the guide wheel assembly 12 in the limiting groove 203 at the top of the guide wheel mounting frame 2, and ensure that the right edge vertical section of the minimum diameter of the rope groove of the guide wheel 122 in the limiting groove 203 at the top passes through the fourth straight groove 201 on the right side of the limiting groove 203 at the top.

If the six-dimensional force sensor needs to be calibrated around the z-axis, first use the method used for calibration in the x-axis direction to eliminate the gravity influence of the force-bearing rod assembly 4 using the micro-tension and pressure sensor 6, then adjust the adjustment seat assembly 43 in the two branches of the cross beam 411 in the force-bearing rod assembly 4 on the x-axis to a horizontal state, and adjust the fixing screws 45 on the support frame 42 in the branch to support the surface of the adjustment seat assembly 43 to keep the columnar long arm 43412 in the adjustment wheel assembly 434 in a horizontal posture, adjust the position of the guide wheel assembly 12 in the limiting groove 203 located at the side end of the guide wheel mounting frame 2, and ensure that the central axis of the adjustment seat assembly 43 is within the upper edge horizontal section of the minimum diameter of the rope groove of the guide wheel 122.

S3. If the six-dimensional force sensor needs to be calibrated along the positive direction of the x-axis, as shown in Figure 21, the first ends of the two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the fifth straight slot 205 of the corresponding guide wheel mounting frame 2 along the positive direction of the x-axis, and then turned 90° downward through the guide wheel 122, and passed through the notch 209 of the corresponding guide wheel mounting frame 2 and the first straight slot 101 of the mounting platform 1 to be connected to the counterweight 11.

If the six-dimensional force sensor needs to be calibrated along the negative direction of the x-axis, the first ends of two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the fifth straight slot 205 of the corresponding guide wheel mounting frame 2 along the negative direction of the x-axis, and then turned 90° downward through the guide wheel 122, and passed through the notch 209 of the corresponding guide wheel mounting frame 2 and the first straight slot 101 of the mounting platform 1 to be connected to the counterweight 11.

If the six-dimensional force sensor needs to be calibrated along the positive direction of the y-axis, the first ends of the two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the fifth straight slot 205 of the corresponding guide wheel mounting frame 2 along the positive direction of the y-axis, and then turned 90° downward through the guide wheel 122, and passed through the notch 209 of the corresponding guide wheel mounting frame 2 and the first straight slot 101 of the mounting platform 1 to be connected to the counterweight 11.

If the six-dimensional force sensor needs to be calibrated along the negative direction of the y-axis, as shown in Figure 23, the first ends of two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the fifth straight slot 205 of the corresponding guide wheel mounting frame 2 along the negative direction of the y-axis, and then turned 90° downward through the guide wheel 122, and passed through the notch 209 of the corresponding guide wheel mounting frame 2 and the first straight slot 101 of the mounting platform 1 to be connected to the counterweight 11.

If the six-dimensional force sensor needs to be calibrated along the positive direction of the z-axis, as shown in FIG22, the first ends of the two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjustment wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the first fourth straight slot 201 in the limiting slot 203 at the top of the corresponding guide wheel mounting frame 2 along the positive direction of the z-axis, and then pass through the first guide wheel 122 at the top of the guide wheel mounting frame 2 to turn right 90°, and then pass through the second guide wheel 122 at the top of the guide wheel mounting frame 2 to turn downward 90°, and pass through the second fourth straight slot 201 in the limiting slot 203 at the top of the corresponding guide wheel mounting frame 2 and the first second straight slot 102 of the mounting platform 1 to connect with the counterweight 11. On the guide wheel mounting frame 2 on the opposite side, the two guide wheel assemblies 12 and the second steel wire ropes 19 are arranged in a 180° circular axis array with the z-axis as the center.

If the six-dimensional force sensor needs to be calibrated along the negative direction of the z-axis, as shown in Figure 23, the first ends of two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second ends of the two identical second steel wire ropes 19 are respectively connected to the counterweight block 11 through the third straight slot 103 of the corresponding mounting platform 1 along the negative direction of the z-axis.

If the six-dimensional force sensor needs to be calibrated around the x-axis or y-axis, the first end of the first second steel wire rope 19 is connected to the fourth through hole 43413 on the transition piece 4341 in the first adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second end of the first second steel wire rope 19 is passed through the first fourth straight slot 201 in the top limit slot 203 of the corresponding guide wheel mounting frame 2 along the positive direction of the z-axis, and then passes through the first guide wheel 122 at the top of the guide wheel mounting frame 2 to turn 90 degrees to the left, and then passes through the first guide wheel 122 at the top of the guide wheel mounting frame 2. The third guide wheel 122 turns downward 90°, and passes through the third fourth straight slot 201 in the limiting slot 203 at the top of the corresponding guide wheel mounting frame 2 and the second second straight slot 102 of the mounting platform 1 to be connected to the counterweight 11; the first end of the second second steel wire rope 19 is connected to the fourth through hole 43413 on the transition piece 4341 in the second adjusting wheel assembly 434 symmetrically distributed at both ends of the force-bearing rod assembly 4, and the second end of the second second steel wire rope 19 passes through the third straight slot 103 of the corresponding mounting platform 1 along the negative direction of the z-axis to be connected to the counterweight 11.

If the six-dimensional force sensor needs to be calibrated around the z-axis, as shown in Figure 25, the first ends of two identical second steel wire ropes 19 are connected to the fourth through holes 43413 on the transition piece 4341 in the adjusting wheel assembly 434 at both ends of the force-bearing rod assembly 4 symmetrically distributed on the x-axis, and the second ends of the two identical second steel wire ropes 19 are respectively passed through the fifth straight slot 205 of the corresponding guide wheel mounting frame 2 along the positive direction of the x-axis and the negative direction of the x-axis, and then turned 90° downward through the guide wheel 122, and passed through the notch 209 of the corresponding guide wheel mounting frame 2 and the two first straight slots 101 of the mounting platform 1 to be connected to the counterweight 11.

S4. If the six-dimensional force sensor is to be calibrated along the x-axis or y-axis direction, the second steel wire ropes 19 on both sides are mounted with the same counterweights 11, and the sum of the gravity of the counterweights 11 on both sides is the force acting on the six-dimensional force sensor to be calibrated in the x-axis or y-axis direction; during the calibration process, as the load increases, the force-bearing rod assembly 4 transmits the force to the six-dimensional force sensor to be calibrated, so that the gravity compensation wheel assembly 8 connected to the force-bearing rod assembly 4 through the second steel wire rope 19 is subjected to the component force along the x-axis or y-axis direction. At this time, the gravity compensation wheel assembly 8 moves along the inner side of the upper crossbeam 3 The guide groove 302 rolls a distance equal to the deformation of the six-axis force sensor to be calibrated, thereby eliminating the gravity of the force rod assembly when the six-axis force sensor is deformed by force in the x-axis or y-axis direction. The step size is defined according to the measuring range of the six-axis force sensor in the x-axis or y-axis direction, the load is gradually loaded, and the output signal of the six-axis force sensor along the x-axis or y-axis direction is read. By repeatedly measuring the electrical signal parameters of multiple sets of counterweight blocks 11 and the output of the six-axis force sensor and taking the average value, the calibration of the six-axis force sensor in the x-axis or y-axis direction is completed.

If the six-dimensional force sensor is calibrated along the z-axis, the second steel wire rope 19 on both sides is mounted with the same counterweight 11, and the sum of the gravity of the counterweight 11 on both sides is the force acting on the six-dimensional force sensor to be calibrated in the positive direction of the z-axis. Similarly, it is divided into several loading steps according to the maximum range in the z-direction, and gradually loaded according to the step load, and then gradually unloaded. Each time a step of loading or unloading is performed, the initial elimination of the gravity of the force-bearing rod assembly 4 fails due to the deformation along the z-direction caused by the six-dimensional force sensor to be calibrated under load. It is necessary to eliminate the gravity of the force-bearing rod assembly 4 again. Specifically, the lock buckle 9 is unlocked, and the first steel wire rope 18 is gradually tightened at this time, and the force value monitored by the micro tension and compression sensor 6 is observed. When the monitored force value is equal to the gravity of the force-bearing rod assembly 4 again, it remains stable, and then the second steel wire rope 18 is locked with the lock buckle 9. In this way, the influence of the gravity of the force-bearing rod assembly 4 itself on the six-dimensional force sensor to be calibrated is eliminated. After each stabilization, read the signal output by the six-dimensional force sensor. The calibration of each dimension is performed in the same way and the average value is taken to improve the calibration accuracy.

If the six-axis force sensor is calibrated around the x-axis, y-axis or z-axis, the sum of the moments obtained by multiplying the gravity of the counterweights 11 on both sides of the cross beam 411 by the corresponding stress arms is the moment acting on the six-axis force sensor around the x-axis, y-axis or z-axis. The load is loaded step by step according to the step size defined by the six-axis force sensor. After each loading and adjustment is stable, the signal output by the six-axis force sensor is read. The calibration of each dimension is performed in the same way for multiple groups and the average value is taken to improve the calibration accuracy.

The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims (10)

1. The calibration device for the large-deformation six-dimensional force sensor comprises a mounting platform, a guide wheel mounting frame, an upper cross beam, a stress rod assembly, a sensor base, a miniature tension-compression sensor, a ring nut, a gravity compensation wheel assembly, a lock catch, a notch transition plate, a guide wheel assembly and a chassis, and is characterized in that,

The positioning groove of the mounting platform is connected with the mounting end of the vertical beam of the underframe, the sixth straight notch of the guide wheel mounting frame and the second mounting hole of the sensor base are respectively connected with the first threaded hole and the second threaded hole of the mounting platform, the second positioning hole of the sensor base and the first positioning hole of the mounting platform are connected, the six-dimensional force sensor is positioned in the circular groove of the sensor base, the eighth straight notch of the sensor base and the lower end of the six-dimensional force sensor are connected, the upper end of the six-dimensional force sensor is connected with the second through hole of the circular mounting plate in the stress rod assembly, the seventh threaded hole in the stress rod assembly is connected with the first end of the miniature tension and compression sensor, the second end of the miniature tension and compression sensor is connected with the fixed end of the ring nut, the working end of the ring nut passes through the first steel wire rope and is connected with the lock catch in the small hole of the gravity compensation wheel assembly, the step hole of the upper cross beam is connected with the fourth threaded hole of the guide wheel base, the upper cross beam passes through the gap of the guide wheel assembly and the fourth through hole of the guide wheel assembly, and the guide wheel assembly is positioned in the gap of the guide wheel assembly;

The bearing rod assembly comprises a bearing rod, a support frame, an adjusting seat assembly, a T-shaped shaft sleeve, a set screw and a bolt, wherein an end flange of the bearing rod is connected with an installation threaded hole of the support frame through the bolt, a round shaft of the adjusting seat assembly is respectively connected with a first shaft hole of the bearing rod and a second shaft hole of the support frame through the T-shaped shaft sleeve, and the set screw is positioned in a limit threaded hole of the support frame; the stress rod comprises a cross beam, an end flange, a first through hole, a seventh threaded hole, a first shaft hole, a positioning flange, a circular mounting plate and a second through hole, wherein the end flange is arranged at the end part of the cross beam, the first through hole and the positioning flange are arranged around the end flange, the first shaft hole is arranged in the middle of the end flange, the seventh threaded hole is formed in the first end of the middle of the cross beam, the circular mounting plate is arranged at the second end of the middle of the cross beam, and the second through hole is formed in the circular mounting plate;

The adjusting seat assembly comprises an adjusting seat, an end cover, an adjusting wheel assembly and a screw, wherein a screw hole of the adjusting seat is connected with a third through hole of the end cover through the screw, a columnar long arm of a transition piece in the adjusting wheel assembly is positioned in a seventh straight notch of the adjusting seat, and a first bearing in the adjusting wheel assembly is in contact with a curved surface through hole of the adjusting seat;

The gravity compensation wheel assembly comprises a second pin shaft, a second clamp spring, a transition ring and a second bearing, wherein the second bearing is symmetrically distributed at two ends of the transition ring, and clamp spring grooves of the second pin shaft sequentially penetrate through an inner ring of the second bearing and an inner ring of the transition ring to be connected with the second clamp spring; the guide wheel assembly comprises a third pin shaft, a third clamp spring, a guide wheel and a guide wheel seat, wherein the guide wheel is connected with a mounting hole of the guide wheel seat through the third pin shaft and the third clamp spring, a wire passing through hole is formed in the middle of the guide wheel seat, straight slot holes are symmetrically formed in the periphery of the guide wheel seat, and the straight slot holes are respectively connected with a third threaded hole and a fourth threaded hole of the guide wheel mounting frame.

2. The calibration device for the large-deformation six-dimensional force sensor according to claim 1, wherein the support frame comprises a first base, a second shaft hole, a protrusion, a mounting threaded hole and a limiting threaded hole, the second shaft hole is formed in the middle of the first base, protrusions are uniformly formed in the periphery of the first base, the mounting threaded hole is formed in the protruding overhanging end of the first base, and the limiting threaded hole is symmetrically formed in the side wall of the protrusion.

3. The calibration device for the large-deformation six-dimensional force sensor according to claim 1, wherein the adjusting seat comprises a second base, a curved surface through hole, a round shaft, a screw hole and a seventh straight notch, the curved surface through hole is arranged in the middle of the second base, the screw hole is symmetrically arranged around the second base, the seventh straight notch is symmetrically distributed at the side face end of the second base along the length direction, and the round shaft is symmetrically distributed at the side face end of the second base along the width direction.

4. The calibration device for the large-deformation six-dimensional force sensor according to claim 1, wherein the end cover comprises a rectangular panel, an annular boss and a third through hole, the annular boss is arranged in the middle of the rectangular panel, and the third through hole is symmetrically arranged around the rectangular panel.

5. The calibration device for a large deformation six-dimensional force sensor according to claim 1, wherein the transition piece comprises a sleeve, a columnar long arm and a fourth through hole, the columnar long arm is symmetrically arranged on two side surfaces of the sleeve, and a fourth through hole is arranged at the overhanging end of the columnar long arm.

6. The calibration device for the large-deformation six-dimensional force sensor according to claim 1, wherein the adjusting wheel assembly comprises a first pin shaft, a first clamp spring, a first bearing and a transition piece, the first bearing is symmetrically distributed at two ends of a sleeve in the transition piece, and clamp spring grooves of the first pin shaft sequentially penetrate through an inner ring of the first bearing and an inner ring of the sleeve in the transition piece to be connected with the first clamp spring.

7. Calibration method of a calibration device for a large deformation six-dimensional force sensor according to one of the claims 1-6, characterized in that it comprises the following steps:

The method comprises the steps of defining coordinates of the six-dimensional force sensor in a calibration device and calibrating each dimension of the six-dimensional force sensor to be calibrated:

S1, using a first steel wire rope connected with a miniature tension-compression sensor through a ring nut, enabling the force value of the miniature tension-compression sensor to be equal to the gravity of a stress rod assembly, and locking the first steel wire rope by using a lock catch;

S2, respectively selecting and adjusting the state of the cross beam, the position of the guide wheel assembly, the position of the adjusting seat assembly, the positions of the notch transition plate and the gravity compensation wheel assembly according to the calibration of the six-dimensional force sensor along different directions;

s3, according to calibration of the six-dimensional force sensor along different directions, connecting two ends of the second steel wire rope with different positions in the calibration device respectively;

and S4, calibrating the six-dimensional force sensor.

8. The calibration method of the calibration device for the large-deformation six-dimensional force sensor according to claim 7, wherein the specific implementation process of the step S2 is as follows:

If the six-dimensional force sensor is required to be calibrated along the x-axis direction, adjusting an adjusting seat assembly in two branches of a cross beam in a stress rod assembly, which are perpendicular to the x-axis, to be in a horizontal state, and adjusting a set screw on a support frame in the branch to prop against the surface of the adjusting seat assembly so as to keep a columnar long arm in an adjusting wheel assembly in a horizontal posture, and adjusting the position of a guide wheel assembly in a side end limiting groove of a guide wheel mounting frame;

If the six-dimensional force sensor is required to be calibrated along the y-axis direction, adjusting an adjusting seat assembly in two branches of a cross beam in a stress rod assembly, which are perpendicular to the y-axis, to be in a horizontal state, and propping against the surface of the adjusting seat assembly through a set screw on a support frame in the branch so as to keep a columnar long arm in an adjusting wheel assembly in a horizontal posture, adjusting the position of the guiding wheel assembly in a side end limiting groove of a guiding wheel mounting frame, and simultaneously respectively indexing a gap transition plate and a gravity compensation wheel assembly which are symmetrically arranged in the guiding groove by 90 degrees;

If the six-dimensional force sensor is required to be calibrated along the positive direction of the z axis, adjusting the adjusting seat assemblies in two branches of the cross beam positioned on the same axis in the stress rod assembly to be in a vertical state, and propping against the surface of the adjusting seat assembly through a set screw on a support frame in the branch so as to keep a columnar long arm in the adjusting wheel assembly in a vertical posture, and respectively adjusting the positions of the guide wheel assemblies in a limit groove of the guide wheel mounting frame;

If the six-dimensional force sensor is required to be calibrated around the x-axis direction, adjusting the adjusting seat assembly in two branches of the cross beam on the same axis in the stress rod assembly to be in a vertical state, and propping against the surface of the adjusting seat assembly through a set screw on a support frame in the branch so as to keep a columnar long arm in the adjusting wheel assembly in a vertical posture, and adjusting the position of the guide wheel assembly in a top limit groove of the guide wheel mounting frame;

If the six-dimensional force sensor is required to be calibrated around the z-axis direction, adjusting seat assemblies in two branches of a cross beam on the x-axis in the stress rod assembly are adjusted to be in a horizontal state, and a set screw on a support frame in the branch is adjusted to prop against the surface of the adjusting seat assembly so as to keep a columnar long arm in the adjusting wheel assembly in a horizontal posture, and the position of the guide wheel assembly in a side end limiting groove of the guide wheel mounting frame is adjusted.

9. The calibration method of the calibration device for the large-deformation six-dimensional force sensor according to claim 7, wherein the specific implementation process of the step S3 is as follows:

If the six-dimensional force sensor is required to be calibrated along the positive direction of the x-axis, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second ends of the two identical second steel wire ropes to pass through fifth straight notches of corresponding guide wheel mounting frames along the positive direction of the x-axis, steering downwards by 90 degrees through guide wheels, and connecting the guide wheel mounting frames with the balancing weights through the notches of the corresponding guide wheel mounting frames and the first straight notches of the mounting platforms;

If the six-dimensional force sensor is required to be calibrated along the negative x-axis direction, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second ends of the two identical second steel wire ropes to pass through fifth straight notches of corresponding guide wheel mounting frames along the negative x-axis direction, steering the six-dimensional force sensor downwards by 90 degrees through guide wheels, and connecting the six-dimensional force sensor with a balancing weight through the notches of the corresponding guide wheel mounting frames and the first straight notches of a mounting platform;

If the six-dimensional force sensor is required to be calibrated along the positive direction of the y axis, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second ends of the two identical second steel wire ropes to pass through fifth straight notches of corresponding guide wheel mounting frames along the positive direction of the y axis, steering the six-dimensional force sensor downwards by 90 degrees through guide wheels, and connecting the six-dimensional force sensor with a balancing weight through the notches of the corresponding guide wheel mounting frames and the first straight notches of a mounting platform;

if the six-dimensional force sensor is required to be calibrated along the negative y-axis direction, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second ends of the two identical second steel wire ropes to pass through fifth straight notches of corresponding guide wheel mounting frames along the negative y-axis direction, steering the six-dimensional force sensor downwards by 90 degrees through guide wheels, and connecting the six-dimensional force sensor with a balancing weight through the notches of the corresponding guide wheel mounting frames and the first straight notches of a mounting platform;

If the six-dimensional force sensor is required to be calibrated along the positive direction of the z axis, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second ends of the two identical second steel wire ropes to pass through first and fourth straight notch openings in top limit grooves in corresponding guide wheel mounting frames along the positive direction of the z axis, steering the six-dimensional force sensor to the right by 90 degrees through the first guide wheels at the top ends of the guide wheel mounting frames, steering the six-dimensional force sensor to the lower by 90 degrees through second guide wheels at the top ends of the guide wheel mounting frames, and connecting the two identical second steel wire ropes with a balancing weight through second and fourth straight notch openings in top limit grooves in the corresponding guide wheel mounting frames and first and second straight notch openings of mounting platforms;

If the six-dimensional force sensor is required to be calibrated along the negative direction of the z axis, connecting the first ends of two identical second steel wire ropes with fourth through holes symmetrically distributed on transition pieces in the adjusting wheel assemblies at the two ends of the stress rod assembly, and respectively connecting the second ends of the two identical second steel wire ropes with the balancing weights by penetrating through third straight notch corresponding to the mounting platform along the negative direction of the z axis;

if the six-dimensional force sensor is required to be calibrated around the x axis or the y axis, connecting the first end of a first second steel wire rope with fourth through holes symmetrically distributed on transition pieces in first adjusting wheel assemblies at two ends of a stress rod assembly, respectively enabling the second end of the first second steel wire rope to pass through a first straight notch in a top limit groove in a corresponding guide wheel mounting frame along the positive direction of the z axis, steering the six-dimensional force sensor to the left by 90 degrees through a first guide wheel positioned at the top end of the guide wheel mounting frame, steering the six-dimensional force sensor to the right by 90 degrees through a third guide wheel positioned at the top end of the guide wheel mounting frame, and connecting the six-dimensional force sensor with a balancing weight through a third straight notch in a top limit groove in the corresponding guide wheel mounting frame and a second straight notch of a mounting platform; connecting the first end of a second steel wire rope with a fourth through hole symmetrically distributed on a transition piece in a second adjusting wheel assembly at two ends of the stress rod assembly, and connecting the second end of the second steel wire rope with a balancing weight by penetrating through a third straight notch of a corresponding mounting platform along the negative direction of the z-axis;

If the six-dimensional force sensor is required to be calibrated around the z-axis direction, the first ends of the two identical second steel wire ropes are connected with fourth through holes in transition pieces in adjusting wheel assemblies symmetrically distributed at two ends of a stress rod assembly on the x-axis, the second ends of the two identical second steel wire ropes respectively penetrate through fifth straight notches of corresponding guide wheel mounting frames along the positive direction and the negative direction of the x-axis, then the guide wheels are used for steering downwards by 90 degrees, and the guide wheels penetrate through the notches of the corresponding guide wheel mounting frames and the two first straight notches of the mounting platform to be connected with balancing weights.

10. The calibration method of the calibration device for the large-deformation six-dimensional force sensor according to claim 7, wherein the specific implementation process of the step S4 is as follows:

If the six-dimensional force sensor is calibrated along the x-axis or the y-axis, a gravity compensation wheel assembly connected with a force-bearing rod assembly through a second steel wire rope is subjected to component force along the x-axis or the y-axis through a locking lock catch, and then the gravity compensation wheel assembly rolls for a certain distance along a guide groove in an upper cross beam, so that the gravity of the force-bearing rod assembly is eliminated when the six-dimensional force sensor is stressed and deformed along the x-axis or the y-axis, the step length is defined according to the measuring range of the six-dimensional force sensor along the x-axis or the y-axis, the load is gradually loaded, the output signal quantity of the six-dimensional force sensor along the x-axis or the y-axis is read, and the calibration of the six-dimensional force sensor along the x-axis or the y-axis is completed by repeatedly measuring a plurality of groups of electric signal parameters output by the balancing weights and the six-dimensional force sensor and taking an average value; if the six-dimensional force sensor is calibrated along the z-axis direction, the step length is defined according to the measuring range of the six-dimensional force sensor along the z-axis direction, the load is gradually loaded, after the load is loaded each time, when the force value monitored by the miniature tension-compression sensor is equal to the gravity of the stress rod assembly, the output signal quantity of the six-dimensional force sensor along the z-axis direction is read, and the calibration of the six-dimensional force sensor along the z-axis direction is completed by repeatedly measuring the electric signal parameters output by a plurality of groups of balancing weights and the six-dimensional force sensor and taking an average value;

If the six-dimensional force sensor is calibrated around the x-axis, the y-axis or the z-axis, the sum of the moments obtained by multiplying the weights on the two sides of the cross beam by the corresponding moment arms is the action moment on the six-dimensional force sensor around the x-axis, the y-axis or the z-axis, the load is gradually loaded according to the step length defined by the six-dimensional force sensor, after the six-dimensional force sensor is loaded according to the step length each time and is regulated and stabilized, the signal quantity output by the six-dimensional force sensor is read, and the calibration of the six-dimensional force sensor around the x-axis, the y-axis or the z-axis is completed by repeating a plurality of groups of measurement and averaging.