CN204788783U - Sextuple force transducer calibration device - Google Patents
Sextuple force transducer calibration device Download PDFInfo
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- CN204788783U CN204788783U CN201520290979.0U CN201520290979U CN204788783U CN 204788783 U CN204788783 U CN 204788783U CN 201520290979 U CN201520290979 U CN 201520290979U CN 204788783 U CN204788783 U CN 204788783U
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Abstract
The utility model discloses a sextuple force transducer calibration device, (holding) chuck, sextuple force transducer, sensor loading disc, crossbeam and support column under workstation, short support, rotary worktable, sensor, short support is four to be installed respectively at four side middle parts of workstation, and rotary worktable installs at the middle part of workstation, and crossbeam horizontal installation is at the top of support column, sextuple force transducer installs under the sensor on the (holding) chuck, and the sensor loading disc is installed on sextuple force transducer, four sides at the sensor loading disc set up the girt respectively, set up the tie rod that hangs down at the top of sensor loading disc. The device can carry out accurate load to each dimension of sextuple force transducer in proper order, through carrying out assay to the loading experiment data, obtains its static performance index, carries out assay to the reason of throw off at last, and the design improves and has the significance to sextuple force transducer, simultaneously this calibration device traces to the source and provides the reference for establishhing sextuple force transducer measurement standard and magnitude.
Description
Technical field
The utility model relates to a kind of six-dimension force sensor and has carried out the experimental provision of static demarcating, particularly relates to a kind of six-dimension force sensor calibration device.
Background technology
Along with robot is towards intelligent direction development, the critical elements six-dimension force sensor of robot automtion receives increasing concern and attention.To six-dimension force sensor demarcate be come into operation before key link, for timing signal can accurately load sensor, and nominal data can be gathered efficiently, the high-precision six-dimension force sensor calibration system of research and design advanced person is the guarantee realizing accurately, efficiently demarcating six-dimension force sensor.
At present, relative to the fast development of novel sensor, China's comparatively backwardness in the metrological testing technology and method of testing of novel sensor, many novel sensors there is no corresponding standard, also not relevant standard detection protocols and checkout equipment, and can accurately, can trace to the source, easy calibration method; Meanwhile, because the stability of product, consistance, reliability are poor, many important sensor meet mainly through import.China still can not meet the needs of economic construction and social development in novel sensor gauge check technology and device.
Although have more about the scaling method of six-dimension force sensor and caliberating device, but the domestic calibration method not yet setting up six-dimension force sensor, also without corresponding vertification regulation, therefore, in the urgent need to setting up the metrology and measurement method and apparatus of six-dimension force sensor, and set up the calibrating codes and standards of six-dimensional force/torque sensor on its basis, and then provide important guarantee for the use of six-dimensional force and torque sensor.
Summary of the invention
For above shortcomings part in prior art, the utility model provides a kind of six-dimension force sensor calibration device.This six-dimension force sensor calibration device not only provides effective pick-up unit for the testing improvement of six-dimension force sensor, also has good facilitation to the application of six-dimension force sensor simultaneously.
In order to solve the problems of the technologies described above, the utility model have employed following technical scheme:
Six-dimension force sensor calibration device, comprises chuck, six-dimension force sensor to be calibrated, sensor loading disc, crossbeam and support column under worktable, short support, rotary table, sensor;
Described worktable is near four sides and the middle part all longitudinally orthogonal chute with horizontally set;
Described short support is four and is arranged on four middle side parts of worktable respectively; Described rotary table is arranged on the middle part of worktable; Difference at right angle setting support column on the pair of horns direction of worktable, cross beam water safety is contained in the top of support column;
Under described sensor, chuck is arranged on rotary table, and six-dimension force sensor is arranged under sensor on chuck, and described sensor loading disc is arranged on six-dimension force sensor; In four sides of sensor loading disc, girt is set respectively, vertical ties is set at the top of sensor loading disc;
Described short support comprises base, vertically back up pad and short fixture, described base is fixed on the table and is slidably coordinated with chute, described vertical back up pad is vertically fixed on base, and described short fixture to be horizontally set in vertical back up pad and slidably to coordinate with vertical back up pad in the vertical direction; The side of short fixture arranges fixed pulley I and fixed pulley II near outer end, described fixed pulley II is positioned at the oblique upper of fixed pulley I, arranges a fixed pulley III at the opposite side of short fixture near outer end;
Described crossbeam is positioned at directly over vertical ties and arranges a fixed pulley IV, on described crossbeam and near the outer end of crossbeam, one fixed pulley V is set.
As a kind of preferred version of the present utility model, described crossbeam is arranged a bar hole, described fixed pulley IV is fixed on crossbeam by the screw rod through bar hole.
As another kind of preferred version of the present utility model, the chute on described worktable is the T chute that upper young end opening is large, and the bottom of described base is fixedly connected with the large T-shaped slide block in little bottom, top, and described T-shaped slide block is positioned at chute and slidably coordinates with chute.
As a kind of improvement project of the present utility model, described vertical back up pad arranges guide chute at vertical direction, and described short fixture is fixedly connected in vertical back up pad by check lock lever and also can slides up and down along guide chute.
The beneficial effects of the utility model are: this six-dimension force sensor calibration device respectively can be tieed up six-dimension force sensor and accurately load successively, by to loading experiment data analysis, obtain its static performance index, finally the reason producing error is analyzed, important in inhibiting is improved for six-dimension force sensor design; This caliberating device is for setting up six-dimension force sensor measurement standard and magnitude tracing provides reference simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of six-dimension force sensor calibration device;
Fig. 2 is the structural representation of short support;
Fig. 3 is the structural representation of six-dimension force sensor;
Fig. 4 is the structural representation of sensor loading disc.
In accompanying drawing, 1-worktable; 2-short support; 3-rotary table; Chuck under 4-sensor; 5-six-dimension force sensor; 6-sensor loading disc; 7-crossbeam; 8-support column; 9-chute; 10-girt; 11-vertical ties; 12-base; 13-vertically back up pad; 14-short fixture; 15-fixed pulley I; 16-fixed pulley II; 17-fixed pulley III; 18-fixed pulley IV; 19-fixed pulley V; 20-screw rod; 21-T-shaped slide block; 22-guide chute.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in Figure 1, six-dimension force sensor calibration device comprises chuck 4, six-dimension force sensor 5 to be calibrated, sensor loading disc 6, crossbeam 7 and support column 8 under worktable 1, short support 2, rotary table 3, sensor.
Worktable 1 is near four sides and the middle part all longitudinally orthogonal chute 9 with horizontally set, and the chute 9 on worktable 1 is the T chute that upper young end opening is large.Short support 2 is four and is arranged on four middle side parts of worktable 1 respectively, and rotary table 3 is arranged on the middle part of worktable 1, and difference at right angle setting support column 8 on the pair of horns direction of worktable 1, crossbeam 7 level is arranged on the top of support column 8.
Under sensor, chuck 4 is arranged on rotary table 3, and six-dimension force sensor 5 is arranged under sensor on chuck 4, and sensor loading disc 6 is arranged on six-dimension force sensor 5.Girt 10 is set respectively in four sides of sensor loading disc 6, vertical ties 11 is set at the top of sensor loading disc 6.
The structure of short support as shown in Figure 2, short support 2 comprises base 12, vertically back up pad 13 and short fixture 14, base 12 to be fixed on worktable 1 and slidably to coordinate (in the present embodiment with chute 9, the bottom of base 12 is fixedly connected with the large T-shaped slide block 21 in little bottom, top, and T-shaped slide block 21 is positioned at chute 9 and slidably coordinates with chute 9).Vertical back up pad 13 is vertically fixed on base 12, short fixture 14 to be horizontally set in vertical back up pad 13 and slidably to coordinate (in the present embodiment with vertical back up pad 13 in the vertical direction, vertical back up pad 13 arranges guide chute 22 at vertical direction, and short fixture 14 is fixedly connected in vertical back up pad 13 by check lock lever 23 and also can slides up and down along guide chute 22).The side of short fixture 14 arranges fixed pulley I 15 and fixed pulley II 16 near outer end, fixed pulley II 16 is positioned at the oblique upper of fixed pulley I 15, arranges a fixed pulley III 17 at the opposite side of short fixture 14 near outer end.
Crossbeam 7 is positioned at directly over vertical ties 11 and arranges a fixed pulley IV 18, on crossbeam 7 and near the outer end of crossbeam 7, a fixed pulley V 19 is set.Crossbeam 7 is arranged a bar hole, fixed pulley IV 18 is fixed on crossbeam 7 by the screw rod 20 through bar hole.
When using this six-dimension force sensor calibration device, its step is as follows:
1) calibrate device: use fixed pulley IV 18 position in the middle of hex wrench adjustment crossbeam 7, and measure judgement according to positioning rope, make sash weight summit aim at six-dimension force sensor center, thus ensure that Fz loading direction is accurately consistent; Judged the height of the short fixture 14 of adjustment four by height gauge, make the height of the fixed pulley I 15 bottom short fixture 14 and six-dimension force sensor 5 reference field keep sustained height; The position utilizing steel ruler to adjust surrounding short support 2 makes it be in same straight line with the center of six-dimension force sensor 5, then measures according to positioning rope and finely tunes, and side force direction and the short fixture 14 of guarantee six-dimension force sensor 5 are in same straight line.
2) load in Fx direction: one end of a standard transducer is connected with the girt in x direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I 15 walking around x direction, utilizes Weight gravity to apply the load in x direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
3) load in Fy direction: one end of a standard transducer is connected with the girt in y direction on sensor loading disc by drag hook, the other end is connected with standard test weight by the cord of the fixed pulley I 15 walking around y direction, utilizes Weight gravity to apply the load in y direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
4) load in Fz direction: one end of a standard transducer is connected with the vertical ties on sensor loading disc by drag hook, the other end connects by the fixed pulley IV 18 on crossbeam 7 and fixed pulley V 19 and loads the cord of counterweight, utilizes Weight gravity to apply the load in z direction to six-dimension force sensor; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and standard transducer export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
5) six-dimension force sensor Mx direction is loaded, be connected with the girt in y direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I 15 on a short fixture of walking around y direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II 16 on another short fixture in y direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
6) six-dimension force sensor My direction is loaded, be connected with the girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley I 15 on a short fixture of walking around x direction; Be connected with the vertical ties on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley II 16 on another short fixture in x direction again; The counterweight of the quality such as two places load respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducers export, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
7) six-dimension force sensor Mz direction is loaded, be connected with a girt in x direction on sensor loading disc by drag hook one end of one standard transducer, the other end is connected with standard test weight by the cord of the fixed pulley III 17 on a short fixture of walking around y direction; Be connected with another girt in x direction on sensor loading disc by drag hook one end of another standard transducer, the other end of another standard transducer is connected with standard test weight by the cord walking around the fixed pulley III 17 on another short fixture in y direction again; The two places load that the contrary size of loading direction is identical respectively, loads one-dimensional moment to six-dimension force sensor in this way; Signal to carry out amplifying respectively by signal conditioning circuit by the signal that six-dimension force sensor and two standard transducer defeated rotary table 3 rotary tables 3 go out, after filtering and isolation processing, the signal after Usage data collection card collection conditioning is also transferred to computing machine.
In this enforcement, its external form of six-dimension force sensor is comparatively flat right cylinder, and as shown in Figure 3, draw output line from this six-dimension force sensor inside, this transmission line has function of shielding, and joint is lemo14 core aviation plug.This six-dimension force sensor is connected with the object acted on it by former and later two end caps, and end cap is circumferentially uniformly distributed 4 screw holes thereafter.Need before demarcation to design corresponding load loading component according to the resemblance of six-dimension force sensor, this six-dimension force sensor design loading component by sensor loading disc 6(as shown in Figure 4) and pull bar (comprising girt 10 and vertical ties 11) form, wherein loading disc is installed the threaded hole center of pull bar and six-dimension force sensor reference field at grade, thus ensureing that the loading of horizontal direction is accurate, sensor loading disc 6 is fixed by screw.Parts six-dimension force sensor being installed on worktable mainly contain: chuck, round nut, key and hexagonal nut etc. under rotary table, sensor loading disc, sensor.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (4)
1. six-dimension force sensor calibration device, it is characterized in that, comprise chuck (4), six-dimension force sensor to be calibrated (5), sensor loading disc (6), crossbeam (7) and support column (8) under worktable (1), short support (2), rotary table (3), sensor;
Described worktable (1) is near four sides and the middle part all longitudinally orthogonal chute (9) with horizontally set;
Described short support (2) is four and is arranged on four middle side parts of worktable (1) respectively; Described rotary table (3) is arranged on the middle part of worktable (1); Difference at right angle setting support column (8) on the pair of horns direction of worktable (1), crossbeam (7) level is arranged on the top of support column (8);
Under described sensor, chuck (4) is arranged on rotary table (3), and six-dimension force sensor (5) is arranged under sensor on chuck (4), and described sensor loading disc (6) is arranged on six-dimension force sensor (5); Girt (10) is set respectively in four sides of sensor loading disc (6), vertical ties (11) is set at the top of sensor loading disc (6);
Described short support (2) comprises base (12), vertically back up pad (13) and short fixture (14), described base (12) is fixed on worktable (1) and goes up and slidably coordinate with chute (9), described vertical back up pad (13) is vertically fixed on base (12), and described short fixture (14) is horizontally set on vertical back up pad (13) and goes up and slidably coordinate with vertical back up pad (13) in the vertical direction; The side of short fixture (14) arranges fixed pulley I (15) and fixed pulley II (16) near outer end, described fixed pulley II (16) is positioned at the oblique upper of fixed pulley I (15), arranges a fixed pulley III (17) at the opposite side of short fixture (14) near outer end;
Described crossbeam (7) is gone up and is positioned at directly over vertical ties (11) and arranges a fixed pulley IV (18), and described crossbeam (7) is upper and outer end that is close crossbeam (7) arranges a fixed pulley V (19).
2. six-dimension force sensor calibration device according to claim 1, is characterized in that, (7) arrange a bar hole to described crossbeam, and described fixed pulley IV (18) is fixed on crossbeam (7) by the screw rod (20) through bar hole.
3. six-dimension force sensor calibration device according to claim 1, it is characterized in that, chute (9) on described worktable (1) is the large T chute of upper young end opening, the bottom of described base (12) is fixedly connected with the large T-shaped slide block (21) in little bottom, top, and described T-shaped slide block (21) is positioned at chute (9) and slidably coordinates with chute (9).
4. six-dimension force sensor calibration device according to claim 1, it is characterized in that, described vertical back up pad (13) arranges guide chute (22) at vertical direction, and described short fixture (14) is fixedly connected on vertical back up pad (13) by check lock lever (23) and above also can slides up and down along guide chute (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520290979.0U CN204788783U (en) | 2015-05-08 | 2015-05-08 | Sextuple force transducer calibration device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520290979.0U CN204788783U (en) | 2015-05-08 | 2015-05-08 | Sextuple force transducer calibration device |
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| CN204788783U true CN204788783U (en) | 2015-11-18 |
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| CN201520290979.0U Active CN204788783U (en) | 2015-05-08 | 2015-05-08 | Sextuple force transducer calibration device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784271A (en) * | 2016-05-25 | 2016-07-20 | 上海交通大学 | Calibration device and method for three-component-force sensor |
| CN106248341A (en) * | 2016-08-19 | 2016-12-21 | 大连理工大学 | A kind of five component piezoelectric types " double balance " static demarcating device |
| CN109323834A (en) * | 2018-11-22 | 2019-02-12 | 大连理工大学 | A kind of 6 DOF dynamic force generating apparatus |
| CN110631765A (en) * | 2019-10-30 | 2019-12-31 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
| CN114112186A (en) * | 2021-11-17 | 2022-03-01 | 山东伟航敏芯电子科技有限公司 | Six-dimensional force sensor calibration device |
-
2015
- 2015-05-08 CN CN201520290979.0U patent/CN204788783U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784271A (en) * | 2016-05-25 | 2016-07-20 | 上海交通大学 | Calibration device and method for three-component-force sensor |
| CN105784271B (en) * | 2016-05-25 | 2018-11-09 | 上海交通大学 | The caliberating device and scaling method of three component sensors |
| CN106248341A (en) * | 2016-08-19 | 2016-12-21 | 大连理工大学 | A kind of five component piezoelectric types " double balance " static demarcating device |
| CN106248341B (en) * | 2016-08-19 | 2018-10-16 | 大连理工大学 | A kind of five component piezoelectric types " double balances " static demarcating device |
| CN109323834A (en) * | 2018-11-22 | 2019-02-12 | 大连理工大学 | A kind of 6 DOF dynamic force generating apparatus |
| CN109323834B (en) * | 2018-11-22 | 2020-04-28 | 大连理工大学 | Six-dimensional dynamic force generating device |
| CN110631765A (en) * | 2019-10-30 | 2019-12-31 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN110631765B (en) * | 2019-10-30 | 2023-10-24 | 南京神源生智能科技有限公司 | Six-dimensional force sensor calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
| CN114112186A (en) * | 2021-11-17 | 2022-03-01 | 山东伟航敏芯电子科技有限公司 | Six-dimensional force sensor calibration device |
| CN114112186B (en) * | 2021-11-17 | 2024-03-22 | 山东港智创信电子科技有限公司 | Six-dimensional force sensor calibration device |
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