KR100202276B1 - 6-component force/moment calibration machine - Google Patents

Abstract

The present invention generates a six-component force (three-way force and three-way moment) by the force generating device and the moment generating device and by connecting the force / moment transmission device and the weight with a wire force or moment desired by the user to the multi-component load cell A six-component force / moment calibrator capable of transmitting only by a simple method as well as being automatically controlled by a computer, comprising: a body supporting the components of the calibrator; A fixture used to fix the multi-force load cell 19 and to adjust the position of the force / moment transmission device 8 installed on the load cell 19; A force generating device composed of a force generating weight (21), a force / moment transmitting device (8), a pulley (9), and a control device (20) to generate pure forces Fx, Fy, and Fz; A moment generating device composed of a moment generating weight (22), a force / moment transmitting device (8), a pulley (9), and a control device (20) to generate pure moments Mx, My, and Mz; A force / moment transmission device (8) mounted to the multi-distribution load cell (19) to transfer the force and moment generated from the force generating device and the moment generating device to the multi-component load cell (19); It is composed of a control device 20 used to move the force and moment generating weights 21 and 22 to a position set in the vertical direction.

Description

6-Component Force / Moment Calibration Machine

The present invention relates to a six-component (force ± Fx, ± Fy, ± Fz, moment ± Mx, ± My, ± Mz) force / moment calibrator for calibrating a multi-component load cell, specifically, a force generating device and a moment generating It generates 6 components (3 directions of force and 3 directions of moment) by the device and connects the force / moment transmission device and weights with wires to transmit only the desired force or moment to the multi-load load cell by a simple method. It is controlled automatically by the computer.

Conventional six-component force / moment braces are owned by Japan's Weighing Institute (NRLM) and the Italian Metrology Institute (IMGC).

(1) 6-component force / moment straighteners of the Japan Weighing Institute

The six-component force / moment calibrator owned by the Japan Weighing Institute consists of a vertical column body, weight, and load transfer device.The multi-component load cell is horizontally fixed to the column body, and the force and Torque is applied to the multi-component load cell.

The disadvantage of the six-component force / moment calibrator possessed by the Japanese Weighing Institute is that it cannot accurately transmit only pure force and moment to the multi-component load cell, and at the same time, it cannot generate force and moment in multiple directions. It is also very time consuming because most of the work is done manually.

(2) six-component force / moment braces of the Italian Metrology Institute

The six-component force / moment calibrator owned by the Italian Metrology Institute has been manufactured by modifying the actual force force standard that can generate force only in the vertical direction (gravity direction) .The calibrator is a real force force standard, lever, weight and control. It consists of a device and forces and moments are generated using weights, levers and wires.

The shortcoming of the 6-component force / moment calibrator in the Italian metrology laboratory is that the maximum capacity of the force is 6 kN and the moment is 2 kN.m. The installation area is about 100 m ² and the price is very high.

The object of the present invention is to compensate for the shortcomings of the conventional six-component force / moment calibrator as described above to generate a moment where no force Fz is applied when applying a pure force of up to 500 N and a pure moment of up to 50 Nm, ie the moment Mx. It is possible to provide a six-component force / moment calibrator capable of generating only the force and moment desired by the user by using a simple force generator and a moment generator and a connection line.

In order to achieve the object described above, the six-component force / moment corrector of the present invention includes a body for supporting the components of the brace; A fixture used to fix the multi-force load cell 19 and to adjust the position of the force / moment transmission device 8 installed on the load cell 19; A force generating device composed of a force generating weight (21), a force / moment transmitting device (8), a pulley (9), and a control device (20) to generate pure forces Fx, Fy, and Fz; A moment generating device composed of a moment generating weight (22), a force / moment transmitting device (8), a pulley (9), and a control device (20) to generate pure moments Mx, My, and Mz; A force / moment transmission device (8) mounted to the multi-distribution load cell (19) to transfer the force and moment generated from the force generating device and the moment generating device to the multi-component load cell (19); It is composed of a control device 20 used to move the force and moment generating weights 21 and 22 to a position set in the vertical direction.

1 is a six-component force / moment corrector of the present invention,

(a) is a front view

(b) a plan view

2 shows a force generating weight and a moment generating weight.

3 is a force / moment transmission device,

(a) a plan view

(b) front view

As the force / moment generating method of Figure 4,

(a) how to generate force ± Fx and moment ± My

(b) how to generate force ± Fz

(c) how to generate the moment ± Mz

5 is a flow chart for manual control

6 is a control flowchart for the preload experiment

7 is a control flowchart for the present experiment

Explanation of Signs of Major Parts of Drawings

1: upper fixing plate 2,6: middle fixing plate

3: lower fixing plate 4: load cell fixing plate

5,7: supporting plate 8: force / moment transmission device

9 pulley 10,15,16 ball screw

11,14: guide pillar 12,13: pillar

17: timing belt pulley 18: pedestal

19: multi-component load cell 20: computer

21: Force generating weight 22: Moment generating weight

23: wire

M1, M2, M3: Step motor TB1, TB2, TB3, TB4: Timing belt

The six-component force / moment straightener of the present invention is composed of a body, a force generator, a moment generator, a force and moment transmission device, a control device, and the like.

The body supports the components of the braces. The force generating device is composed of a force generating weight 21, a force / moment transmitting device 8, a pulley 9, and a controller 20 to generate pure forces Fx, Fy, and Fz. The moment generating device is composed of a weight generating moment 22, a force / moment transmitting device 8, a pulley 9, and a control device 20 to generate pure moments Mx, My, Mz.

The force / moment transmission device 8 is mounted to the multi-component load cell 19 to transmit the force and moment generated from the force generator and the moment generator to the multi-component load cell 19.

The control device 20 is used to move the force and moment generating weights 21 and 22 to a position set in the vertical direction.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 shows a six-component force / moment brace of the present invention, which is composed of a body, a fixture, a force generator, and a moment generator.

The body of the calibrator supports the weight of the calibrator itself, and the entire skeleton is the upper fixing plate (1) and the middle fixing plate (2) the pillar (12), the middle fixing plate (2) and the lower fixing plate (3) is the pillar (13) and The inner frame was composed of an intermediate frame (2) and an intermediate fixing plate (6), the lower fixing plate (3) and the intermediate fixing plate (6) were configured by assembling the guide pillar (14), respectively.

In addition, the pedestal 18 can be adjusted up and down to level the braces.

The fixture is used to fix the multi-force load cell 19 and to adjust the position of the force / moment transmission device 8 installed on the load cell 19, the load cell fixing plate 4, the ball screw 10, the guide pillar (11), the step motor M1, the timing belt TB1, and the like.

The load cell fixing plate 4 is moved up and down by the step motor M1, the ball screw 10, the timing belt TB1, etc. along the guide pillar 11, when the force and the moment are applied to the multi-distribution load cell 19. Four guide columns 11 were installed to keep the load cell fixing plate 4 horizontal.

The ball screw 10 is installed in the center of the left and right sides of the load cell fixing plate 4, respectively two so that the load cell fixing plate 4 to maintain the horizontal when moving or stopped.

The force generating device is a device for generating the force ± Fx, ± Fy, ± Fz, the support plate (5), force / moment transmission device (8), pulley (9), force generating weight (21), guide pillar ( 14), a ball screw 15, a stainless wire 23, a step motor M2, a timing belt TB2, and the like.

The force moves to the wire 23 by the weight 21 when the supporting plate 5 moves by the step motor M2, the ball screw 15, and the timing belt TB2 along the guide pillar 14. Force is applied and the applied force is converted to 90 ° or 180 ° by the pulley 9 and is transmitted to the force / moment transmission device 8 and is generated.

The moment transmission device is a device that transmits the moment ± Mx, ± My, ± Mz, respectively, the support plate (7), force / moment transmission device (8), pulley (9), moment generating weight (22), guide pillar (14), ball screw 16, stainless wire 23, step motor M3, timing belts TB3, TB4 and the like.

The moment is moved to the wire 23 by the weight 22 when the supporting plate 7 moves by the step motor M3, the ball screw 16, and the timing belt TB3 along the guide pillar 14. The force is applied, and the applied force is converted by 90 ° or 180 ° by the pulley 9 to be transmitted to the force / moment transmission device 8 and is generated.

Each of the four guide pillars 14 used in the force and moment generating device is for preventing the tilt of the supporting plate 5 and the other supporting plate 7 by the weight of the weights 21 and 22 of the force and moment. The ball screw 15 and the other ball screw 16 were installed at the center of the left and right sides of the moving plate 2, respectively, so that the ball supporting plate 5, 7 can be kept horizontal when moving and stopping.

Fig. 2 shows the force generating weight 21 and the moment generating weight 22, which are the weight hangers 21a and 22a, the lids 21b and 22b, the screws 21c and 22c and the body of the weight, respectively. (21d, 22d), on the right-hand side of the vertical center line shows the state of the additional hook, that is, the force is applied, and the left side is the state that no force is applied. When moving the weight hanger upwards, it was to be added to the cover attached to each weight sequentially, and when the additional 10mm moved, the next hang was added. In addition, a space of ± 3mm was provided between the weight hanger and the weight so that the weights did not touch each other.

The precision of the components of the six-component calibrator has a great influence on the accuracy of the calibrator, and each of them is precision machined.

The computer 20 was used to drive the step motors M1, M2 and M3.

3 shows the force / moment transmission device 8, where (a) is a plan view and (b) is a front view.

This was integrally machined to increase accuracy, the arms 8a, 8a ', 8b, 8b', 8c and 8c 'are vertical and the arms 8d and 8d' are horizontal.

When the force or moment in one direction is generated by using a six-component force / moment corrector, the force / moment transmission device 8 is applied so that no force or moment in the other direction is generated, that is, only each pure force or moment is generated. The arm length of was designed to be 200mm.

4 shows a method of generating a force / moment, (a) shows a method of generating a force ± Fx and a moment ± My, with a solid line representing a + direction and a hidden line representing a − direction. Force ± Fx is generated by converting the force in the direction of gravity 90 ° using the pulley (9), and the moment ± My is applied in the direction of gravity at one end of the force / moment transmission device (8) and at the other end of the arm. It is generated by applying a force of 180 degrees by using the pulley (9). Forces ± Fy and moments ± Mx are generated in the same way.

4B illustrates a method of generating a force ± Fz. The force -Fz is generated by applying a force directly in the direction of gravity without using the pulley (9), the force + Fz is generated by switching 180 ° using the pulley (9).

4 (c) shows a method of generating the moment ± Mz. The moment ± Mz is generated by using a pulley 9 to turn the force 90 ° so that the force is applied in opposite directions at both ends of the arm.

5 shows a flowchart for manual control. The manual mode is to move the load cell fixing plate 4, the supporting plate 5 and the other supporting plate 7 to the position desired by the experimenter before starting the preload and the present experiment.

The control was divided into fixed plate control, force control, and moment control. The fixed plate control is a load cell fixing plate 4 which can adjust the position of the multi-distribution load cell 19, the force control is a weight support plate 5 for generating a force, the moment control to control the vertical movement of the weight support plate 7, respectively It is for.

The fixed plate control may select the rotational speed and the moving direction of the motor M1, the rotational speed of the motor M1 may be selected from 50rpm, 200rpm, 400rpm, each one of the rising and falling. If you select Stop, the operation is stopped during control, and if you select Exit, you are returned to the manual mode from the manual mode.

Force control and moment control are also configured to have the same flow chart as fixed plate control.

6 shows a control flowchart for the preload experiment. Preload mode was designed to perform preload test according to the standard calibration procedure of the force measuring device before the test.

Control was divided into force control, moment control, and force / moment control. Force control selects load, number of experiments, staff holding time, and zero holding time. The load can be selected from 0N to 500N in 50N intervals, and the number of experiments can be selected from 1 to 4 times. The staff holding time, which is the time stopped after the selected load is applied, can be selected in 10 second intervals from 20 to 50 seconds, and the zero time can be selected in 30 second intervals from 60 to 150 seconds. Selecting Exit returns to the menu in this experiment mode. The moment control used to generate the moment and the force / moment control for generating the force and the moment at the same time are also composed of the same flow chart as the force control.

7 shows a control flowchart for the present experiment. This experimental mode is designed to calibrate the multi-component load cell 19.

Like the preload mode, this experiment mode was divided into force control, moment control, and force / moment control.

For the force control, the test method and the load selection method were added to the preload mode force control load, the number of experiments, the staff holding time, and the zero holding time. The load, the number of experiments, the staff holding time, and the zero holding time are the same as the preload mode force control, and the experimental method can be selected in increasing order or increasing / decreasing order. There is a maximum load selection in which all loads below the maximum load are selected by selecting only one load.

Moment control and force / moment control are also composed of the same flow chart as force control.

As described above, the present invention can generate a moment to which the force Fz is not applied when applying a moment Mx that is completely different from the conventional six-component force / moment calibrator to calibrate the multi-component load cell. And it can generate only the force and moment desired by the user by using the moment generator and the connecting line, using the six-component force / moment corrector of the present invention, the calibration and characteristics of the multi-component load cell, robot and industry using the multi-component load cell The effect is expected in the industrial field such as the study of the force control of the machine, the application of the field and the measurement of the force and moment using the multi-component load cell to evaluate the stability of the structure.

Claims (10)

6. A six-component calibrator, comprising: a body for supporting components of the calibrator; Fasteners used to fix the multi-force load cell 19 and to adjust the position of the force / moment transmission device installed on the load cell 19; A force generating device, comprising a force generating weight 21, a force / moment transmission device 8, a pulley 9, and a control device 20, generating a pure force; A moment generating device comprising a moment generating weight (22), a force / moment transmitting device (8), a pulley (9), and a control device (20) to generate a pure moment; A force / moment transmission device (8) mounted to the multi-distribution load cell (19) to transfer the force and moment generated from the force generating device and the moment generating device to the multi-component load cell (19); A six-component force / moment calibrator, characterized in that it consists of a control device (20) used to move the weights for generating force and moment to a position set in the vertical direction. According to claim 1, wherein the body is composed of the upper fixing plate (1) and the middle fixing plate (2) as a whole, the intermediate fixing plate (2) and the lower fixing plate (3) assembled with the column (13), respectively. , Inside the intermediate fixing plate (2) and the intermediate fixing plate (6), the lower fixing plate (3) and the intermediate fixing plate (6) are configured by assembling the guide pillars 14, respectively, which can be adjusted up and down to level the braces 6-part force / moment braces, characterized in that they are constructed with pedestals 18 to support the weight of the braces themselves. The method of claim 1, wherein the fixture has four guide pillars (14) and load cell fixing plate (4) which is installed so that the load cell fixing plate 4 is horizontal when the force and moment is applied to the multi-component load cell (19) A ball screw 10 and one ball screw 10 installed at each of the left and right centers of the load cell fixing plate 4 so as to be horizontal when moved or stopped, and the step motor M1, the ball screw 10, A six-component force / moment corrector, comprising a load cell fixing plate (4) moved up and down by a timing belt (TB1) or the like. The force of the force generating device according to claim 1, wherein the force of the force generating device is moved by a distance defined by the step motor (M2), the ball screw (15), and the timing belt (TB2) along the guide column (14). The force is applied to the wire 23 by the weight 21 and the applied force is converted into 90 ° or 180 ° by the pulley 9 and is transmitted to the force / moment transmission device 8, characterized in that generated. Force / moment braces. The moment of the moment generating device according to claim 1, wherein the moment support plate (7) is a distance defined by the step motor (M3), the ball screw 16, the timing belt (TB3, TB4) along the guide pillar (14). When moved, a force is applied to the wire 23 by the weight 22, and the applied force is converted by 90 ° or 180 ° by the pulley 9 to be transmitted to the force / moment transmission device 8. Component force / moment braces made. The force and moment generating device is a pre-load and manual mode for moving the load cell fixing plate 4, the supporting plate 5 and the other supporting plate 7 to the position desired by the experimenter before starting the experiment. The force of the six-component calibrator, characterized in that it is configured to return to the preload mode for the preload experiment according to the standard calibration procedure of the force measuring device, this experiment mode for calibrating the multi-component load cell 19 and to return to the menu mode at the end. / Moment control method. The method of claim 6, wherein the manual mode is a fixed plate control for controlling the load cell fixed plate (4) capable of adjusting the position of the multi-component load cell 19, a force control for controlling the weight support plate (5) for generating a force, It is composed of moment control to control the vertical movement of the weight support plate 7 respectively, and the rotation speed and the moving direction of the motors M1, M2, and M3 can be selected. If selected, the force / moment control method of a six-component calibrator, characterized in that configured to return to the menu mode from the manual mode. The method of claim 6, wherein the preload mode is divided into force, moment, and force / moment control, and can be controlled by selecting the load, the number of experiments, the staff holding time, and the zero holding time, respectively. Force / moment control method of a six-component calibrator, characterized in that configured to return to the menu mode from the mode. The method of claim 6, wherein the test mode is divided into force, moment, and force / moment control, and the load, the number of experiments, the staff holding time, the zero holding time, the test method, and the load selection method can be selected. Can be selected in increasing order or increasing / decreasing order, and the load selection method is a force / moment control method of a six-component calibrator, characterized in that arbitrary load selection and maximum load selection are possible. In the six-component calibrator, the forces ± Fx and ± Fy are generated by converting the force in the gravitational direction by 90 ° using the pulley (9), respectively, and the moments ± Mx and ± My are one side of the force / moment transmission device (8). The force is generated by applying force in the direction of gravity at the end of the arm and switching the force 180 ° using the pulley (9) at the other end, and the force -Fz is applied by applying force directly in the direction of gravity without using the pulley (9). The force + Fz is generated by switching 180 ° using the pulley (9), and the moment ± Mz is converted by 90 ° using the pulley (9) so that forces are applied in opposite directions at both ends of the arms. The force / moment transmission method of the six-component calibrator, characterized in that when the force or moment in one direction is generated so that the force or moment in the other direction is not generated.

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