KR20170036153A - Multi-axis calibration system of load cell - Google Patents

Multi-axis calibration system of load cell Download PDF

Info

Publication number
KR20170036153A
KR20170036153A KR1020150134356A KR20150134356A KR20170036153A KR 20170036153 A KR20170036153 A KR 20170036153A KR 1020150134356 A KR1020150134356 A KR 1020150134356A KR 20150134356 A KR20150134356 A KR 20150134356A KR 20170036153 A KR20170036153 A KR 20170036153A
Authority
KR
South Korea
Prior art keywords
load
load cell
moving member
fixing jig
base member
Prior art date
Application number
KR1020150134356A
Other languages
Korean (ko)
Other versions
KR101748241B1 (en
Inventor
이해순
심재호
Original Assignee
(주)아비코
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)아비코 filed Critical (주)아비코
Priority to KR1020150134356A priority Critical patent/KR101748241B1/en
Publication of KR20170036153A publication Critical patent/KR20170036153A/en
Application granted granted Critical
Publication of KR101748241B1 publication Critical patent/KR101748241B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Abstract

The present invention relates to a fixing jig for fixing a load cell to be calibrated; A load applying unit for applying a load to the calibration target load cell by each of a plurality of actuators forming an axis in different directions; A load measuring unit that has a plurality of symmetrical links with respect to each of the actuators with the calibration target load cell interposed therebetween and measures a load applied to the calibration target load cell by a measurement load cell installed in each of the links; And a transfer unit for transferring any one or both of the load applying unit and the load measuring unit for attaching / detaching the calibration target load cell.
According to the present invention, it is possible to apply a load having a desired direction and size to the load cell, to measure the load applied to the load cell in the direction of the multi-axis, and to improve the reliability and convenience of calibration of the load cell.

Description

[0001] The present invention relates to a multi-axis calibration system for a load cell,

The present invention relates to a multi-axis calibrating system for a load cell, and more particularly to a multi-axis calibrating system for a load cell used for calibrating a multi-axis load cell.

Generally, a load cell is a sensor for measuring a load, which is also referred to as a load cell, a load sensor, or a force sensor, and is a converter for measuring a force or a load, and outputs an output as an electric signal.

In order to accurately measure the load, such a load cell must be calibrated for errors by checking the accuracy thereof. This is performed for various purposes after the fabrication or before and after use. Especially, since the load cell is used for a long time, In this case, the accuracy of the load cell must be checked and corrected at a specified time.

As a related art related to load cell calibration, Korean Patent No. 10-0626621, entitled " Parallel type load cell calibrating device ", has been proposed, which is composed of an upper plate on which a fastening part for fixing one end of a calibration load cell is formed; A lower plate having a fastening portion for fixing the other end of the calibration load cell; A gap holding member having one end fixed to each of the upper plate and the lower plate so that the calibration load cell fixed to the coupling unit is aligned with the application direction of the load and the upper plate and the lower plate can be maintained at a constant interval; A load generator having one end fixed to the upper plate and the lower plate so as to apply a load (tensile load or compressive load) to the upper plate and the lower plate; And a reference load cell having one end fixed to each of the upper plate and the lower plate so as to be installed at a position facing the calibration load cell with the load generator interposed therebetween.

However, such a conventional technique is difficult to be used for multi-axis calibration of a load cell, which makes it difficult to secure the reliability of the load cell calibration.

In order to solve the problems of the prior art as described above, it is an object of the present invention to enable multi-axis calibration of a load cell and to provide reliability and convenience for calibration of a load cell.

Other objects of the present invention will become readily apparent from the following description of the embodiments.

In order to achieve the above object, according to one aspect of the present invention, there is provided a fixing jig for fixing a load cell to be calibrated; A load applying unit for applying a load to the calibration target load cell by each of a plurality of actuators forming an axis in different directions; A load measuring unit that has a plurality of symmetrical links with respect to each of the actuators with the calibration target load cell interposed therebetween and measures a load applied to the calibration target load cell by a measurement load cell installed in each of the links; And a transfer unit for transferring any one or both of the load applying unit and the load measuring unit to / from the calibration target load cell.

Wherein the fixing jig includes an upper fixing jig and a lower fixing jig which are detachably fixed to upper and lower portions of the calibration target load cell, respectively, wherein any one of the upper fixing jig and the lower fixing jig is provided in the load applying portion And the other one may be provided in the load measuring unit.

Wherein the load attaching portion includes a first moving member provided on the upper fixing jig and having a plurality of actuators mounted on the upper side; A control load cell installed for load control applied to each of the actuators; And a first base member installed on the upper side of the actuator and supported by the frame.

Wherein the actuators are arranged in a zigzag manner along the periphery of the central portion between the first moving member and the first base member by being provided so as to be adjacent to the ends of the other actuators, Can be coupled to the first moving member and the first base member, respectively, by the elastic joint.

The load measuring unit may include: a second moving member provided on the lower fixing jig, the second moving member being provided with a plurality of links on the lower side; And a second base member provided at a lower side of the link and supported by the frame, wherein the link is composed of six, and each of the ends is provided adjacent to an end of the other link, And the second base member, and both ends of the hexapod may be coupled to the second moving member and the second base member by elastic joints, respectively.

The conveying unit includes a conveying motor installed in the frame; A lead screw vertically installed to rotate by the feed motor and screwed to a first base member installed on the frame so as to be elevated by a linear motion guide; A guide shaft vertically installed upright on the first base member; And a linear clamp slidably coupled to the guide shaft and installed in the frame.

A first moving member provided on the load section for transmitting a load of the actuator to the load cell and a second moving member for transmitting an applied load of the load cell to the link, A first and a second angle sensor installed so as to < RTI ID = 0.0 > A displacement sensor installed to measure the distance of the load applied by the transfer unit or the transfer distance of the load measuring unit; And a displacement gauge installed to measure a distance between the first and second moving members.

According to the multi-axis calibration system of a load cell according to the present invention, it is possible to apply a load of a desired direction and size to a load cell, to measure a load in a direction of a multi-axis applied to the load cell, .

1 is a perspective view showing a multi-axis calibrating system of a load cell according to an embodiment of the present invention.
2 is a front view showing a load cell multi-axis calibrating system according to an embodiment of the present invention.
3 is a configuration diagram showing a load cell multi-axis calibrating system according to an embodiment of the present invention.
4 is a cross-sectional view taken along line AA in Fig.
5 is a cross-sectional view taken along line BB in Fig.
6 is an image showing an example of an axial motion profile display of a load cell multi-axis calibrating system in accordance with one embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in detail in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention, And the scope of the present invention is not limited to the following examples.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and redundant explanations thereof will be omitted.

FIG. 1 is a perspective view showing a multi-axis calibration system of a load cell according to one embodiment of the present invention, FIG. 2 is a front view showing a multi-axis calibration system of a load cell according to an embodiment of the present invention, Fig. 3 is a configuration diagram showing a load cell multi-axis calibrating system according to one embodiment. Fig.

1 to 3, a multi-axis calibrating system 100 of a load cell according to an embodiment of the present invention includes fixing jigs 110 and 120, a load applying unit 130, a load measuring unit 140, and a transferring unit 150, . ≪ / RTI >

The fixed jigs 110 and 120 fix the calibration target load cell 1, for example, as in the present embodiment. The upper fixing jig 110 and the lower fixing jig 110, which are detachably fixed to the upper and lower portions of the calibration target load cell 1, respectively, One of the upper fixing jig 110 and the lower fixing jig 120 may be provided on the load applying part 130 and the other may be provided on the load measuring part 140 . The upper fixing jig 110 and the lower fixing jig 120 may be respectively fitted to the upper and lower ends of the load cell 1, or may be coupled in various other ways.

The load applying section 130 applies a load to each of the plurality of actuators 132 forming an axis in different directions with respect to the calibration target load cell 1 fixed by the fixing jigs 110 and 120.

The load applying unit 130 includes a first moving member 131 provided on the upper fixing jig 110 and having a plurality of actuators 132 mounted on the upper side thereof, And a first base member 134 installed on the upper side of the actuator 132 and supported by the frame 160. [ The first moving member 131 and the first base member 134 may be plate-shaped members.

4, the actuators 132 may be six in number, for example, as in the present embodiment. However, the actuators 132 are not limited to six actuators. Also, the actuators 132 may each be composed of a cylinder operating by, for example, a working fluid, for example a pneumatic pressure, so that the control load cell 133 may be provided on the rod of the cylinder, or alternatively, The first moving member 131 and the first moving member 134 may be formed of various driving means including an electric actuator such as an electric motor and various electric motors and may be installed adjacent to the ends of the other actuators 132, The first moving member 131 and the first moving member 132 are coupled to each other by a resilient joint 132a, for example, a two-degree-of-freedom elastic joint, .

The first moving member 131 may be provided with a header 131a for coupling with the actuator 132 and the first base member 134 may be provided with a footer 134a for coupling with the actuator 132. [ have. The first moving member 131 may be integrally formed with the upper fixing jig 110 or may be coupled to the upper fixing jig 110 as another example. The center of the first moving member 131 and the first base 134 may be connected by the first guide shaft 136 so that the gap between the first moving member 131 and the first base 134 may be changed.

The load measuring unit 140 has a plurality of links 142 symmetrical with respect to each of the actuators 132 with the calibration target load cell 1 interposed therebetween and is connected to the measuring load cell 143 provided for each of the links 142 For example, a force or a moment applied to the load cell 1 to be calibrated.

The load measuring unit 140 is provided on the lower fixing jig 120 and includes a second moving member 141 having a plurality of links 142 disposed on the lower side thereof, And a second base member 144 supported by the second base member 144.

As shown in FIG. 5, the links 142 may be six in number, for example, as shown in FIG. 5, and each end of the link 142 may be disposed adjacent to the end of the other link 142 so that the second moving member 141 And the second base member 144. The first and second base members 144 and 144 form a hexapod in the zigzag shape along the periphery of the center portion, 2 base member 144, respectively. The measurement load cell 143 may be installed at the end of the link 142. Alternatively, the measurement load cell 143 may be installed between the upper link 142a and the lower link 142b, .

The second moving member 141 may be provided with a header 141a for coupling with the link 142 and the second base member 144 may be provided with a footer 144a for coupling with the link 142 have. The second moving member 141 may be integrally formed with the lower fixing jig 120 or may be coupled to the lower fixing jig 120 as another example. The center of the second moving member 141 and the second base 144 may be connected by the second guide shaft 145 so that the gap between the second moving member 141 and the second base 144 may be changed.

The transfer unit 150 transfers one or both of the load applying unit 130 and the load measuring unit 140 to / from the load applying unit 130 in order to attach and detach the load cell 1 to be calibrated. . The conveying unit 150 is vertically installed to rotate by the conveying motor 151 and is moved up and down by the linear motion guide 164 to the frame 160 A guide shaft 153 vertically installed on the first base member 134 so as to be slidable relative to the guide shaft 153; And a linear clamp 154 that is coupled to frame 160 and mounted to frame 160. Here, the feed motor 151 can rotate the lead screw 152 by the speed reducer 151a. In addition, a ball screw or the like may be provided on the first base member 134 side for screw connection with the lead screw 152. Further, the linear clamp 154 can clamp or unclamp the guide shaft 153 to enable the post-conveying of the load applying unit 130 and the conveyance of the load applying unit 130 to be permitted. In addition, the guide shaft 153 and the linear clamp 154 may be formed in a plurality of ways.

The frame 160 includes an upper panel 161 on which the feed motor 151, the linear clamp 154 and the pneumatic box 135 are installed, a lower panel 162 on which the second base member 144 is installed, For example, three vertical frames 163 connecting the panel 161 and the lower panel 162 to one another. A linear motion guide 164 may be provided in each of the vertical frames 163 and a cable connected to the control load cell 133 and the measurement load cell 143 may be provided in a part of the vertical frame 163, A cable tray 165 in which a supply line for supplying a working fluid and the like are disposed may be provided.

The multi-axis calibrating system 100 of the load cell according to an embodiment of the present invention may be provided with a control unit 171 for performing control necessary for the operation, and may further include data, programs, A display unit 174 for externally displaying the operation status and various data, and the like may be provided.

The multi-axis calibrating system 100 of the load cell according to an embodiment of the present invention may further include first and second angle sensors 181 and 182, a displacement sensor 183 and a displacement gauge 184.

The first and second angular sensors 181 and 182 include a first moving member 131 that is configured to transmit the load of the actuator 132 to the load cell 1 at the load applying unit 130, And the angle of the second moving member 141 provided to transmit the applied load of the load cell 1 to the link 142, respectively. Accordingly, the first and second angle sensors 181 and 182 measure the horizontality of each of the first and second moving members 131 and 141 and output it as a detection signal to the control unit 171, (131, 141) can be controlled so as not to exceed the allowable horizontal level.

The displacement sensor 183 is installed to measure the distance of the load applying unit 130 or the load measuring unit 140 conveyed by the conveying unit 150. For example, And may include a linear encoder and may output a detection signal to the control unit 171 as a detection signal of the load applying unit 130 or the load measuring unit 140 conveyed by the conveying unit 140. [ So as to prevent the damage to the load cell 1 due to the movement of the load applying unit 130 or the load measuring unit 140 can do.

The displacement meter 184 may be installed on the first and second moving members 131 and 141 to measure the distance between the first and second moving members 131 and 141. For example, And outputs a sensing signal for distance measurement to the control unit 171 so as to not only know the vector value of the load applied to the measurement target load cell 1 but also to ensure safety of the equipment .

According to the present invention having such a configuration, the user can arbitrarily designate the magnitude and direction of the force through the operation unit 173. The control unit 171, which receives the operation signal of the operation unit 173, By controlling each of the actuators 132, the load of the size and direction designated by the user is applied to the load cell 1 to be calibrated. The control unit 171 can control the magnitude of the load applied from the actuator 132 by controlling the actuator 132 through the measurement value of the control load cell 133. The control unit 171 determines whether each of the actuators 132 is operating, The direction of the load applied to the calibration target load cell 1 can be adjusted.

The control unit 171 performs a calibration process such as ASTM or ISO to calculate and correct the data required for calibration for three load components Fx, Fy, and Fz and three moment components Mx, My, For example, the RLDA (Road Load Data Acquisition) test can be performed according to a predetermined process. The control unit 171 also receives data required for calibration with respect to the load cell 1 to be calibrated and the data required for calibration through the values measured from each of the measurement load cells 143 by applying a load from the actuator 132 to the calibration target load cell 1 May be displayed on the display unit 174 as shown in FIG.

According to the present invention, it is possible to apply a load having a desired direction and size to the load cell, to measure the load in the direction of the multi-axis applied to the load cell, and to improve the reliability and convenience of calibration of the load cell.

Although the present invention has been described with reference to the accompanying drawings, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

1: load cell to be calibrated 110: upper fixing jig
120: lower fixing jig 130: load attaching part
131: first moving member 131a: header
132: actuator 132a: elastic joint
133: control load cell 134: first base member
134a: footer 135: pneumatic box
136: first guide shaft 140: load measuring section
141: second moving member 141a: header
142: Link 142a: First link
142b: second link 142c: elastic joint
143: measuring load cell 144: second base member
144a: footer 145: second guide shaft
150: Feeder 151: Feed motor
151a: Reduction gear 152: Lead screw
153: Guide shaft 154: Linear clamp
160: frame 161: upper panel
162: lower panel 163: vertical frame
164: Linear motion guide 165: Cable tray
171: Control section 172: Memory section
173: Operation part 174:
181: first angle sensor 182: second angle sensor
183: displacement sensor 184: displacement meter

Claims (7)

A fixing jig for fixing the load cell to be calibrated;
A load applying unit for applying a load to the calibration target load cell by each of a plurality of actuators forming an axis in different directions;
A load measuring unit that has a plurality of symmetrical links with respect to each of the actuators with the calibration target load cell interposed therebetween and measures a load applied to the calibration target load cell by a measurement load cell installed in each of the links; And
A transfer unit for transferring any one or both of the load applying unit and the load measuring unit to / from the calibration target load cell;
Axis of the load cell. The method according to claim 1,
In the fixing jig,
And an upper fixing jig and a lower fixing jig which are detachably fixed to upper and lower portions of the calibration target load cell, wherein any one of the upper fixing jig and the lower fixing jig is provided in the load attaching portion, And the load cell is provided in the load measuring unit. The method of claim 2,
The load-
A first moving member provided on the upper fixing jig and having a plurality of actuators mounted on the upper side;
A control load cell installed for load control applied to each of the actuators; And
A first base member provided on the actuator and supported by the frame;
Further comprising a plurality of load cells. The method of claim 3,
The actuator includes:
And the first moving member and the second moving member are arranged in a zigzag manner along the center portion between the first moving member and the first base member to constitute a hexapod, Wherein the first moving member and the second moving member are coupled to the first moving member and the first base member, respectively. The method of claim 2,
The load-
A second moving member provided on the lower fixing jig and provided with a plurality of links on the lower side; And
And a second base member provided on a lower side of the link and supported by the frame,
The link includes:
Wherein the first moving member and the second moving member are arranged in a zigzag manner around the central portion between the second moving member and the second base member so as to constitute a hexapod, Wherein the first moving member and the second moving member are coupled to the second moving member and the second base member, respectively. The method of claim 3,
The transfer unit
A feed motor installed in the frame;
A lead screw vertically installed to rotate by the feed motor and screwed to a first base member installed on the frame so as to be elevated by a linear motion guide;
A guide shaft vertically installed upright on the first base member; And
A linear clamp slidably coupled to the guide shaft, the linear clamp being installed on the frame;
Axis of the load cell. The method according to any one of claims 1 to 6,
A first moving member provided on the load section for transmitting a load of the actuator to the load cell and a second moving member for transmitting an applied load of the load cell to the link, A first and a second angle sensor installed so as to < RTI ID = 0.0 >
A displacement sensor installed to measure the distance of the load applied by the transfer unit or the transfer distance of the load measuring unit; And
A displacement meter installed to measure a distance between the first moving member and the second moving member;
Further comprising a plurality of load cells.
KR1020150134356A 2015-09-23 2015-09-23 Multi-axis calibration system of load cell KR101748241B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150134356A KR101748241B1 (en) 2015-09-23 2015-09-23 Multi-axis calibration system of load cell

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150134356A KR101748241B1 (en) 2015-09-23 2015-09-23 Multi-axis calibration system of load cell

Publications (2)

Publication Number Publication Date
KR20170036153A true KR20170036153A (en) 2017-04-03
KR101748241B1 KR101748241B1 (en) 2017-06-19

Family

ID=58589335

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150134356A KR101748241B1 (en) 2015-09-23 2015-09-23 Multi-axis calibration system of load cell

Country Status (1)

Country Link
KR (1) KR101748241B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101858478B1 (en) * 2016-12-02 2018-06-28 주식회사 제이피에스 Bend tension test device for head module for coil packaging
KR102184183B1 (en) * 2019-12-12 2020-11-27 한국해양과학기술원 Correction device of multi component load cell

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100202276B1 (en) 1997-07-14 1999-06-15 정명세 6-component force/moment calibration machine
KR100679138B1 (en) 2005-11-03 2007-02-05 국방과학연구소 Device for correcting load of six axes
KR101308693B1 (en) 2008-12-23 2013-09-13 한국항공우주연구원 Loading device for load cell calibration
JP2011112414A (en) 2009-11-25 2011-06-09 Leptrino Co Ltd Force sensor testing device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101858478B1 (en) * 2016-12-02 2018-06-28 주식회사 제이피에스 Bend tension test device for head module for coil packaging
KR102184183B1 (en) * 2019-12-12 2020-11-27 한국해양과학기술원 Correction device of multi component load cell

Also Published As

Publication number Publication date
KR101748241B1 (en) 2017-06-19

Similar Documents

Publication Publication Date Title
EP2447696B1 (en) Wind tunnel balance calibrator
US9366592B2 (en) Arm type three-dimensional measuring apparatus and deflection correction method in arm type three-dimensional measuring apparatus
TWI475201B (en) Torque Correction Device of Multi - Force Meter and Torque Correction Method
US8918210B2 (en) Method of detecting an inter-axis offset of 6-axis robot
CN102202836B (en) Truing tool, for the automatic calibration of operating means and the system and method for aligning
KR100679138B1 (en) Device for correcting load of six axes
US20150025683A1 (en) Robot system and calibration method of the robot system
EP3891484B1 (en) Automated work piece testing system and method for same
US7316170B2 (en) Method and measuring configuration for measuring backlash at an axial joint
US8955397B2 (en) Test system for measuring and evaluating dynamic body forces
JP2011230257A (en) Robot calibration device, and robot calibration method
KR101748241B1 (en) Multi-axis calibration system of load cell
CN103528752A (en) Force and moment lever and force and torque standard device
BR112017014106B1 (en) APPLIANCE FOR APPLYING RIVETS TO A FLAT SURFACE PORTION OF A PART
CN112629748A (en) Combined synchronous calibration device and method for reference type multi-dimensional force sensor
KR101542977B1 (en) Switching type 6-axis sensor and measuaring apparatus using it
RU140198U1 (en) DEVICE FOR CALIBRATING TENZOMETRIC SCALES
KR101952043B1 (en) 6-axis baseplatform device with force/moment sensing capability
RU2637721C1 (en) Method for graduating multicomponent force and torque sensors and device for its implementation
JP5425006B2 (en) Jig used to derive the robot tool vector
US11654555B2 (en) Robot teaching system
KR102272840B1 (en) Apparatus for automatically applying multi axis force for sensor calibration of multi axis force sensor
KR101826577B1 (en) The tool calibration method using robot's wrist axes movements
KR101818312B1 (en) Apparatus for calibrating multi axis force sensor
KR20120075844A (en) Fracture toughness testing machine

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
GRNT Written decision to grant