CN210571168U - Six-dimensional sensor calibration device - Google Patents
Six-dimensional sensor calibration device Download PDFInfo
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- CN210571168U CN210571168U CN201922112399.3U CN201922112399U CN210571168U CN 210571168 U CN210571168 U CN 210571168U CN 201922112399 U CN201922112399 U CN 201922112399U CN 210571168 U CN210571168 U CN 210571168U
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- calibration device
- upright columns
- pulley
- dimensional sensor
- sensor calibration
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Abstract
The utility model discloses a six-dimensional sensor calibration device, which comprises a chassis, a turntable and a fixed plate; the turntable is rotationally connected with the chassis, two first upright columns and two second upright columns are arranged on the turntable, the first upright columns and the second upright columns are alternately distributed at intervals of 90 degrees, first pulleys are arranged on the first upright columns, second pulleys are arranged on the second upright columns, the axial direction of each first pulley is a horizontal direction, and the axial direction of each second pulley is a vertical direction; the bottom end of the sensor to be calibrated is connected with the chassis, the top end of the sensor to be calibrated is connected with the fixed plate, and the fixed plate can be connected with steel wire ropes which respectively bypass the first pulley and the second pulley. A six-dimensional sensor calibration device, simple structure, the operation of being convenient for.
Description
Technical Field
The utility model relates to a calibration device especially relates to a six-dimensional sensor calibration device.
Background
The six-dimensional sensor can simultaneously sense the force and moment transformation in the x direction, the y direction and the z direction, and is widely applied to the fields of aerospace, manufacturing and assembly, robots and the like. The relationship between sensor input and output needs to be pre-calibrated when using a six-dimensional sensor. The existing six-dimensional sensor calibration device needs to involve more supporting arms in order to apply force and moment to three directions, and the structure is complex.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the not enough of existence among the prior art, the utility model provides a six-dimensional sensor calibration device to simplify the dress structure, conveniently mark.
The technical scheme is as follows: in order to achieve the above object, the utility model discloses a six-dimensional sensor calibration device, which comprises a chassis, a turntable and a fixed plate; the turntable is rotationally connected with the chassis, two first upright columns and two second upright columns are arranged on the turntable, the first upright columns and the second upright columns are alternately distributed at intervals of 90 degrees, first pulleys are arranged on the first upright columns, second pulleys are arranged on the second upright columns, the axial direction of each first pulley is a horizontal direction, and the axial direction of each second pulley is a vertical direction; the bottom end of the sensor to be calibrated is connected with the chassis, the top end of the sensor to be calibrated is connected with the fixed plate, and the fixed plate can be connected with steel wire ropes which respectively bypass the first pulley and the second pulley.
Further, equal sliding connection has the regulating block on first stand and the second stand, the regulating block can reciprocate to fix through connecting bolt, first pulley and second pulley all are connected with the regulating block.
Furthermore, a through hole is formed in the adjusting block and used for enabling the steel wire rope to penetrate out.
Furthermore, a supporting arm is further arranged above the sensor, a plurality of third pulleys are rotatably connected to the supporting arm, and the axis of each third pulley is in the horizontal direction.
Furthermore, the chassis is provided with a circular groove, the turntable is rotatably connected in the groove, a plurality of ejecting beads are arranged on the cylindrical surface of the turntable, a plurality of limiting holes are arranged on the cylindrical surface of the groove, the ejecting beads correspond to the limiting holes one by one, and the ejecting beads and the limiting holes are distributed at intervals of 90 degrees.
Furthermore, a first fixing hole is formed in the cylindrical surface of the groove, a plurality of second fixing holes are formed in the cylindrical surface of the rotary disc at intervals of 90 degrees, and the rotary disc can rotate to enable the first fixing hole to be opposite to any one of the second fixing holes and is fixed through a jackscrew.
Furthermore, the middle position of the fixed plate is detachably connected with a fixed column, and the upper end and the lower end of the fixed column can be respectively connected with a steel wire rope.
Has the advantages that: the utility model discloses a six-dimensional sensor calibration device, through the rotation of carousel, realize the calibration of power and moment in x direction and y direction in proper order, simplified calibration device's structure; in the whole process, the sensor to be calibrated can realize the calibration of the forces and the moments in the three mutually perpendicular directions without being disassembled, so that the accuracy of a calibration result is ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a schematic structural view of the turntable of the present invention;
FIG. 4 is a schematic structural view of the connection between the adjusting block and the first pulley of the present invention;
FIG. 5 is a schematic structural view of the connection between the adjusting block and the second pulley of the present invention;
FIG. 6 is a schematic diagram of the calibration of the present invention when applying force in the x-direction;
FIG. 7 is a schematic diagram of the calibration of the present invention when applying the y-direction torque;
FIG. 8 is a schematic view of the z-direction force applied by the present invention;
FIG. 9 is a schematic structural view of the present invention when applying z-direction torque;
fig. 10 is a schematic structural diagram of the fixing column of the present invention.
Detailed Description
The present invention will be further described with reference to fig. 1 to 10.
A six-dimensional sensor calibration device comprises a chassis 1, a turntable 2 and a fixing plate 27. The chassis 1 is provided with a circular groove 13, and the rotary disc 2 is rotatably connected in the groove 13. A connecting column 19 is arranged in the middle of the groove 13, and a bearing 20 is connected between the connecting column and the turntable 2. The top of the connecting column 19 extends out to the upper part of the turntable 2 and is provided with a platform 21, and the platform 21 is provided with a first connecting hole 22 for fixing sensing. The bottom end of the sensor to be detected is fixedly connected to the platform 21. The fixing plate 27 is fixedly connected to the top end of the sensor. Four fixing bolts 23 are arranged on the fixing plate, the four bolts 23 are distributed at intervals of 90 degrees, and a distance is reserved between the four bolts 23 in two mutually perpendicular directions. The fixing bolt 23 is used to fix one end of a wire rope used to apply force or torque to the sensor. The turntable 2 is provided with two first upright columns 3 and two second upright columns 4, the first upright columns 3 and the second upright columns 4 are alternately distributed at intervals of 90 degrees, the first upright columns 3 are provided with first pulleys 5, the second upright columns 4 are provided with second pulleys 6, the axial directions of the first pulleys 5 are horizontal, and the axial directions of the second pulleys 6 are vertical; equal sliding connection has regulating block 8 on first stand 3 and the second stand 4, regulating block 8 can reciprocate to fix through connecting bolt 9, first pulley 5 and second pulley 6 all are connected with regulating block 8. The distance between the adjusting block and the first upright post or the second upright post can be adjusted by adjusting the length of the connecting bolt 9 screwed into the adjusting block. The adjusting block 8 is provided with a through hole 10 for the steel wire rope to penetrate out. A supporting arm 11 is further arranged above the sensor 7, a plurality of third pulleys 12 are rotatably connected to the supporting arm 11, and the axes of the third pulleys 12 are in the horizontal direction.
In order to ensure that the turntable 2 can rotate 90 degrees and then be positioned, a plurality of ejecting balls 14 are arranged on the cylindrical surface of the turntable 2, a plurality of limiting holes 15 are arranged on the cylindrical surface of the groove 13, the ejecting balls 14 correspond to the limiting holes 15 one by one, and the ejecting balls 14 and the limiting holes 15 are distributed at intervals of 90 degrees.
The cylindrical surface of the groove 13 is further provided with a first fixing hole 16, the cylindrical surface of the rotary table 2 is provided with a plurality of second fixing holes 17 which are arranged at intervals of 90 degrees, and the rotary table 2 can rotate until the first fixing hole 16 is opposite to any one of the second fixing holes 17 and is fixed through a jackscrew. The middle position of the fixed plate 27 is detachably connected with a fixed column 18, and the upper end and the lower end of the fixed column 18 are respectively connected with a steel wire rope. The bottom end of the fixing column 18 is provided with a flange plate 24 connected with the fixing plate. And a second bolt hole 25 for fixing the steel wire rope and a groove 26 for the steel wire rope to pass through are arranged in the middle of the bottom end and the top end of the connecting column 18.
Based on the above structure, the operation of applying force or moment to the direction X, Y, Z is as follows:
(1) the force is calibrated in the X/Y direction, as shown in FIG. 6.
The X direction is calibrated, the relative distance between the adjusting block and the first upright column is adjusted, one end of the steel wire rope and one of the fixing bolts 23 are enabled to be wound around the first pulley, the other end of the steel wire rope is connected with a standard weight, and the weight input value and the sensor output value are compared. And rotating the turntable by 90 degrees to finish the calibration of the force in the Y direction by the method.
(2) The force is calibrated in the Z direction, as shown in fig. 8.
And one end of the steel wire rope is fixed with the middle position of the fixing plate, the other end of the steel wire rope rounds the third pulley and is connected with the standard weight, the input value of the weight is compared with the output value of the sensor, and the force calibration in the Z direction is completed.
(3) The moment calibration is performed in the X/Y direction, as shown in FIG. 7.
Connecting a fixed column 18 on a fixed plate, adjusting the relative distance between an adjusting block and a first upright column simultaneously, enabling two steel wire ropes to be respectively connected to the top end and the bottom end of the fixed column 18, applying force through a dynamometer at the other end of the fixed column, representing the force arm by the height of the fixed column, calculating input torque according to the applied force and the force arm, and comparing the input torque with the output torque of a sensor.
(4) The moment calibration is performed in the Z direction, as shown in fig. 9.
Two ends of the two steel wire ropes are respectively fixed with the fixing plate, the other ends of the two steel wire ropes respectively apply force by using the dynamometer around the second pulley, the distance between the fixing bolts 23 distributed on the fixing plate in the diagonal direction is a force arm, and input torque is calculated according to the applied force and the force arm and is compared with the output torque of the sensor.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (7)
1. A six-dimensional sensor calibration device is characterized in that: comprises a chassis (1), a turntable (2) and a fixed plate (27); the rotary table (2) is rotatably connected with the chassis (1), the rotary table (2) is provided with two first upright columns (3) and two second upright columns (4), the first upright columns (3) and the second upright columns (4) are alternately distributed at intervals of 90 degrees, the first upright columns (3) are provided with first pulleys (5), the second upright columns (4) are provided with second pulleys (6), the axial direction of the first pulleys (5) is the horizontal direction, and the axial direction of the second pulleys (6) is the vertical direction; the bottom end of the sensor (7) to be calibrated is connected with the chassis (1), the top end of the sensor is connected with the fixing plate (27), and the fixing plate (27) can be connected with steel wire ropes which respectively pass around the first pulley (5) and the second pulley (6).
2. The six-dimensional sensor calibration device according to claim 1, wherein: equal sliding connection has regulating block (8) on first stand (3) and second stand (4), regulating block (8) can reciprocate to fix through connecting bolt (9), first pulley (5) and second pulley (6) all are connected with regulating block (8).
3. The six-dimensional sensor calibration device according to claim 2, wherein: the adjusting block (8) is provided with a through hole (10) for the steel wire rope to penetrate out.
4. The six-dimensional sensor calibration device according to claim 1, wherein: the sensor is characterized in that a supporting arm (11) is further arranged above the sensor (7), a plurality of third pulleys (12) are rotatably connected onto the supporting arm (11), and the axis of each third pulley (12) is in the horizontal direction.
5. The six-dimensional sensor calibration device according to claim 1, wherein: the base plate (1) is provided with a circular groove (13), the rotary plate (2) is rotatably connected in the groove (13), a plurality of ejecting balls (14) are arranged on the cylindrical surface of the rotary plate (2), a plurality of limiting holes (15) are arranged on the cylindrical surface of the groove (13), the ejecting balls (14) are in one-to-one correspondence with the limiting holes (15), and the ejecting balls (14) and the limiting holes (15) are distributed at intervals of 90 degrees.
6. The six-dimensional sensor calibration device according to claim 5, wherein: the cylindrical surface of the groove (13) is further provided with a first fixing hole (16), the cylindrical surface of the rotary table (2) is provided with a plurality of second fixing holes (17) which are arranged at intervals of 90 degrees, and the rotary table (2) can rotate to the position where the first fixing hole (16) is opposite to any one of the second fixing holes (17) and is fixed through a jackscrew.
7. The six-dimensional sensor calibration device according to claim 1, wherein: the middle position of the fixed plate (27) is detachably connected with a fixed column (18), and the upper end and the lower end of the fixed column (18) can be respectively connected with a steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922112399.3U CN210571168U (en) | 2019-12-01 | 2019-12-01 | Six-dimensional sensor calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922112399.3U CN210571168U (en) | 2019-12-01 | 2019-12-01 | Six-dimensional sensor calibration device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210571168U true CN210571168U (en) | 2020-05-19 |
Family
ID=70627837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922112399.3U Expired - Fee Related CN210571168U (en) | 2019-12-01 | 2019-12-01 | Six-dimensional sensor calibration device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210571168U (en) |
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2019
- 2019-12-01 CN CN201922112399.3U patent/CN210571168U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 Termination date: 20211201 |