TWI674399B - Calibration mechanism for force/torque sensor - Google Patents
Calibration mechanism for force/torque sensor Download PDFInfo
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Abstract
一種力量/力矩感測器的校正機構,用以校正一力量/力矩感測器,該校正機構包含一基座、一治具、一軸向施力單元及一連桿組,該力量/力矩感測器被固定於該基座及該治具之間,該軸向施力單元及該治具分別結合於該連桿組的二端,該軸向施力單元的一馬達藉由該軸向施力單元的一荷重元、該連桿組及該治具對該力量/力矩感測器施力,該軸向施力單元的該荷重元用以取得一受力數據,藉由該荷重元取得的該受力數據校對該力量/力矩感測器的一受力數據。A correction mechanism for a force / torque sensor is used to correct a force / torque sensor. The correction mechanism includes a base, a jig, an axial force applying unit and a link group. The sensor is fixed between the base and the jig. The axial force applying unit and the jig are respectively connected to two ends of the connecting rod group. A motor of the axial force applying unit passes the shaft. A load element of the force applying unit, the connecting rod group and the jig are used to apply force to the force / torque sensor, and the load element of the axial force applying unit is used to obtain a force data by the load The force data obtained by the source collates a force data of the force / torque sensor.
Description
本發明是關於一種力量/力矩感測器的校正機構,其用以校對一力量/力矩感測器的一受力數據。The invention relates to a correction mechanism of a force / torque sensor, which is used to calibrate a force data of a force / torque sensor.
在自動化工廠中會依賴機械手臂進行加工及組裝等工作,因此控制機械手臂的精密力量是非常重要的技術,通常會於機械手臂裝設感測器,以感測機械手臂進行加工及組裝等工作時的力量,感測器是否能夠精密地感測機械手臂來自不同方的向施力或受力,必須經由調校,以避免該機械手臂因感測器不準確,而造成撞機的情形。In automated factories, robot arms are used for processing and assembly. Therefore, controlling the precise force of robot arms is a very important technology. Usually, sensors are installed in robot arms to sense the robot arms for processing and assembly. Time, whether the sensor can accurately sense the force or force from different directions of the robot arm must be adjusted to avoid the collision of the robot arm due to inaccurate sensors.
本發明的一種力量/力矩感測器的校正機構,其主要目的用以校對一力量/力矩感測器的一受力數據。A calibration mechanism of a force / torque sensor of the present invention is mainly used to calibrate a force data of a force / torque sensor.
本發明的一種力量/力矩感測器的校正機構包含一基座、一治具、一軸向施力單元及一連桿組,該基座用以固定一力量/力矩感測器,該治具用以結合該力量/力矩感測器,使該力量/力矩感測器被夾持並固定於該基座及該治具之間,該軸向施力單元具有一馬達及一荷重元,該荷重元結合於該馬達,該連桿組具有一樞接座、一連動桿及一定位座,該樞接座結合於該治具,該定位座結合於該荷重元,該連動桿的一第一端部樞接於該樞接座,該連動桿的一第二端部結合於該定位座,該馬達藉由該荷重元、該定位座、該連動桿及該樞接座驅動該治具,以對被夾持並固定於該基座及該治具之間的該力量/力矩感測器施力,以取得該力量/力矩感測器的一受力數據以及取得該荷重元的一受力數據。A calibration mechanism for a force / torque sensor according to the present invention includes a base, a jig, an axial force applying unit, and a connecting rod group. The base is used to fix a force / torque sensor. The force / torque sensor is combined with the force / torque sensor so that the force / torque sensor is clamped and fixed between the base and the jig. The axial force applying unit has a motor and a load cell. The load cell is combined with the motor, the link group has a pivot base, a linkage rod and a positioning base, the pivot base is coupled with the jig, the positioning base is coupled with the load cell, a A first end portion is pivotally connected to the pivot base, a second end portion of the linkage rod is coupled to the positioning base, and the motor drives the treatment by the load cell, the positioning base, the linkage rod, and the pivot base. To apply force to the force / torque sensor clamped and fixed between the base and the jig to obtain a force data of the force / torque sensor and to obtain the load element A force data.
本發明的該校正機構可對該力量/力矩感測器進行壓縮、拉伸及扭轉等壓力、拉力、推力及扭力測試,以取得該力量/力矩感測器的該受力數據及該荷重元的該受力數據,以對該荷重元進行調校。The correction mechanism of the present invention can perform compression, tension, and torsion tests on the force / torque sensor such as compression, tension, and torsion to obtain the force data and the load element of the force / torque sensor. The load data to adjust the load element.
請參閱第1及2圖,本發明的一種力量/力矩感測器的校正機構100用以對一力量/力矩感測器200進行檢測,以校正該力量/力矩感測器200的一受力數據。Please refer to FIGS. 1 and 2, a calibration mechanism 100 for a force / torque sensor according to the present invention is used to detect a force / torque sensor 200 to correct a force of the force / torque sensor 200. data.
請參閱第1及2圖,在本實施例中,以二校正機構100對稱地設置於該力量/力矩感測器200的相對二測,以對該力量/力矩感測器200進行檢測校正,但不以此為限制,必要時可以一或二以上的校正機構100對該力量/力矩感測器200進行檢測校正。Please refer to FIGS. 1 and 2. In this embodiment, the two correction mechanisms 100 are symmetrically disposed on the relative two measurements of the force / torque sensor 200 to detect and correct the force / torque sensor 200. However, this is not a limitation, and if necessary, one or two or more correction mechanisms 100 may perform detection and correction on the force / torque sensor 200.
請參閱第1及2圖,該校正機構100包含一基座110、一治具120、一軸向施力單元130及一連桿組140,該力量/力矩感測器200固定於該基座110的一承載面111,該治具120結合於該力量/力矩感測器200,使該力量/力矩感測器200被夾持並固定於該基座110及該治具120之間,在本實施例中,該力量/力矩感測器200設有至少一應變規,藉由該應變規取的該力量/力矩感測器200的該受力數據,但不以為限。Please refer to FIGS. 1 and 2. The correction mechanism 100 includes a base 110, a jig 120, an axial force applying unit 130, and a link group 140. The force / torque sensor 200 is fixed to the base. A bearing surface 111 of 110, the jig 120 is combined with the force / torque sensor 200, so that the force / torque sensor 200 is clamped and fixed between the base 110 and the jig 120, at In this embodiment, the force / torque sensor 200 is provided with at least one strain gauge, and the force data of the force / torque sensor 200 obtained by the strain gauge is not limited.
請參閱第1及2圖,該軸向施力單元130具有一馬達131及一荷重元132,該荷重元132結合於該馬達131,在本實施例中,該馬達131選自於音圈馬達(VCM),較佳地,該校正機構100另包含一第一載台150及一第一滑動組160,該第一載台150具有一基部151及一載板152,該第一滑動組160具有一第一軌道161及一第一滑座162,該第一滑座162活動的設置於該第一軌道161,且該第一滑座162可延著該第一軌道161滑動,該第一載台150的該基部151結合於該第一滑動組160的該第一滑座162,該載板152位於該馬達131及該荷重元132之間,在本實施例中,該馬達131及該荷重元132分別結合於該載板152的二側,當該馬達131作動時,該第一載台150隨著該馬達131的一軸向施力方向移動,且帶動該荷重元132移動,該第一載台150及該第一滑動組160使得該荷重元132延著該馬達131的該軸向施力方向平順的移動,以避免不必要的外力影響該荷重元132的感測準確性,在本實施例中,該馬達131的該軸向施力方向與該承載面111平行。Please refer to FIGS. 1 and 2. The axial force applying unit 130 has a motor 131 and a load element 132. The load element 132 is combined with the motor 131. In this embodiment, the motor 131 is selected from a voice coil motor. (VCM), preferably, the calibration mechanism 100 further includes a first stage 150 and a first sliding group 160. The first stage 150 has a base 151 and a carrier plate 152. The first sliding group 160 There is a first rail 161 and a first slide base 162. The first slide base 162 is movably disposed on the first rail 161, and the first slide base 162 can slide along the first rail 161. The base 151 of the carrier 150 is coupled to the first slide 162 of the first sliding group 160. The carrier plate 152 is located between the motor 131 and the load element 132. In this embodiment, the motor 131 and the Load elements 132 are respectively coupled to two sides of the carrier plate 152. When the motor 131 is actuated, the first stage 150 moves along an axial force direction of the motor 131 and drives the load element 132 to move. The first stage 150 and the first sliding group 160 allow the load cell 132 to move smoothly along the axial force direction of the motor 131 so as to avoid To avoid unnecessary external force from affecting the sensing accuracy of the load cell 132, in this embodiment, the axial force application direction of the motor 131 is parallel to the bearing surface 111.
請參閱第1及2圖,該校正機構100另包含一第二載台170,該第二載台170具有一第一承載部171及一第二承載部172,該第一滑動組160的該第一軌道161設置於該第一承載部171,該第一軌道161與該馬達131的該軸向施力方向平行,該馬達131設置於該第二承載部172,當該馬達131以一軸向力施力於該第一載台150的該載板152時,該第一載台150及該第一滑座162延著設置於該第一承載部171的該第一軌道161位移。Please refer to FIGS. 1 and 2. The calibration mechanism 100 further includes a second carrier 170. The second carrier 170 has a first bearing portion 171 and a second bearing portion 172. A first rail 161 is disposed on the first bearing portion 171, and the first rail 161 is parallel to the axial force applying direction of the motor 131. The motor 131 is disposed on the second bearing portion 172. When a force is applied to the carrier plate 152 of the first carrier 150, the first carrier 150 and the first slide 162 are displaced along the first rail 161 provided on the first bearing portion 171.
請參閱第1及2圖,該校正機構100另包含一調整載台190,該第二載台170的該第一承載部171位於該第一滑動組160與該調整載台190之間,且該調整載台190結合於該第一承載部171,該調整載台190用以調整該第二載台170往垂直該馬達131的該軸向施力方向移動。Referring to FIGS. 1 and 2, the calibration mechanism 100 further includes an adjustment stage 190. The first bearing portion 171 of the second stage 170 is located between the first sliding group 160 and the adjustment stage 190. The adjustment stage 190 is coupled to the first bearing portion 171, and the adjustment stage 190 is used to adjust the second stage 170 to move in the axial force direction perpendicular to the motor 131.
請參閱第1及2圖,該連桿組140具有一樞接座141、一連動桿142及一定位座143,該樞接座141結合於該治具120,該定位座143結合於該荷重元132,該連動桿142的一第一端部142a樞接於該樞接座141,該連動桿142的一第二端部142b結合於該定位座143,當該馬達131作動時,藉由該荷重元132、該定位座143、該連動桿142及該樞接座141驅動該治具120,以對被夾持並固定於該基座110及該治具120之間的該力量/力矩感測器200施力,以取得該力量/力矩感測器200的該受力數據及該荷重元132的一受力數據,並藉由該荷重元132的該受力數據校對該力量/力矩感測器200的該受力數據,以使該力量/力矩感測器200的該受力數據與該荷重元132的該受力數據相符合。Please refer to FIGS. 1 and 2. The link group 140 has a pivot base 141, a linkage rod 142 and a positioning base 143. The pivot base 141 is coupled to the jig 120, and the positioning base 143 is coupled to the load. Element 132, a first end portion 142a of the linkage lever 142 is pivotally connected to the pivot base 141, and a second end portion 142b of the linkage lever 142 is coupled to the positioning base 143. When the motor 131 is actuated, The load cell 132, the positioning base 143, the linkage rod 142, and the pivot base 141 drive the jig 120 to force and torque the clamped and fixed between the base 110 and the jig 120 The sensor 200 applies force to obtain the force data of the force / torque sensor 200 and a force data of the load element 132, and corrects the force / torque by the force data of the load element 132 The force data of the sensor 200, so that the force data of the force / torque sensor 200 is consistent with the force data of the load element 132.
請參閱第1及2圖,在本實施例中,該連動桿142的該第一端部142a設有一樞接頭142c,該樞接頭142c活動地樞接於結合於該樞接座141,該樞接頭142c選自於十字接頭、球形接頭、萬向接頭等接頭。Please refer to FIG. 1 and FIG. 2. In this embodiment, the first end portion 142 a of the linkage lever 142 is provided with a pivot joint 142 c, and the pivot joint 142 c is movably pivotally coupled to the pivot base 141. The joint 142c is selected from joints such as a cross joint, a ball joint, and a universal joint.
請參閱第1、2及3圖,該定位座143具有一容置槽143a及分別位於該容置槽143a二側的定位板143b,各該定位板143b具有一至少一螺孔143c,該連動桿142的該第二端部142b設於該容置槽143a中,且至少一螺栓143d囓接於該螺孔143c並抵觸該連動桿142的該第二端部142b,請參閱第3圖,在本實施例中,該容置槽143a具有一高度H,該連動桿142的該第二端部142b具有一厚度D,該高度H大於該厚度D。Please refer to FIGS. 1, 2 and 3. The positioning base 143 has a receiving groove 143 a and positioning plates 143 b respectively located on two sides of the receiving groove 143 a. Each of the positioning plates 143 b has at least one screw hole 143 c. The second end portion 142b of the rod 142 is disposed in the receiving groove 143a, and at least one bolt 143d is engaged with the screw hole 143c and abuts against the second end portion 142b of the linkage rod 142. Please refer to FIG. 3, In this embodiment, the receiving groove 143a has a height H, and the second end portion 142b of the link rod 142 has a thickness D, and the height H is greater than the thickness D.
請參閱第2及3圖,在本實施例中,該定位座143另具有一貫穿該定位座143的一調整孔143e,該調整孔143e連通該容置槽143a,一固定件180經由該容置槽143a穿設於該調整孔143e中,該固定件180並將該定位座143固定於該荷重元132,在本實施例中,該固定件180為一螺栓,使該定位座143被迫緊於該螺栓的一螺栓頭與該荷重元132之間。Please refer to FIGS. 2 and 3. In this embodiment, the positioning base 143 further has an adjusting hole 143 e penetrating the positioning base 143, the adjusting hole 143 e communicates with the receiving groove 143 a, and a fixing member 180 passes through the receiving hole. A slot 143a is penetrated in the adjusting hole 143e, the fixing member 180 and the positioning seat 143 are fixed to the load element 132. In this embodiment, the fixing member 180 is a bolt, so that the positioning seat 143 is forced. A bolt head tighter than the bolt and the load element 132.
請參閱第2及3圖,在本實施例中,該調整孔143e具有一孔徑O1,該固定件180具有一外徑O2,該調整孔143e的該孔徑O1大於該固定件180的該外徑O2。Please refer to FIGS. 2 and 3. In this embodiment, the adjusting hole 143e has an aperture O1, the fixing member 180 has an outer diameter O2, and the adjusting hole 143e has an aperture O1 larger than the outer diameter of the fixing member 180. O2.
請參閱第1、2及4圖,較佳地,該校正機構100另包含一第二滑動組300,該第二滑動組300具有一第二軌道310及一第二滑座320,該第二滑座320活動的設置於該第二軌道310,該第二滑座320用以設置一量測工具400,該量測工具400可選自於千分表、光學量測儀等,該第二軌道310與該馬達131的該軸向施力方向平行。Please refer to FIGS. 1, 2 and 4. Preferably, the correction mechanism 100 further includes a second sliding group 300. The second sliding group 300 has a second track 310 and a second slide 320. The slide 320 is movably disposed on the second track 310. The second slide 320 is used to set a measuring tool 400. The measuring tool 400 may be selected from a dial indicator, an optical measuring instrument, and the like. The track 310 is parallel to the axial urging direction of the motor 131.
請參閱第4圖,該量測工具400設置該第二滑座320,以該量測工具400量測該連動桿142的一側壁,並移動該第二滑座320使該量測工具400隨著該第二滑座320沿著該第二軌道310移動以對該連動桿142進行量測,當該連動桿142與該馬達131的該軸向施力方向不平行時,以該調整載台190移動該第二載台170,使該連動桿142以該樞接頭142c為支點橫向擺動,一直到該連動桿142與該馬達131的該軸向施力方向平行,相同地,可以另一量測工具400量測該連動桿142的一頂壁,當該連動桿142相對於該馬達131的該軸向施力方向的傾斜角度較大時,由於該調整孔143e的該孔徑O1大於該固定件180的該外徑O2,因此可旋鬆該固定件180,並使該固定件180仍容置於該調整孔143e,之後,移動該定位座143,使該定位座143延著垂直該軸向施力方向移動,且以該連動桿142以該樞接頭142c為支點擺動,直到該連動桿142與該馬達131的該軸向施力方向平行,或者,當該連動桿142相對於該馬達131的該軸向施力方向的傾斜角度較小時,由於該容置槽143a的該高度H大於該連動桿142的該第二端部的該厚度D,因此可藉由囓接於各該螺孔143c的該螺栓143d,調整該連動桿142,直到該連動桿142與該馬達131的該軸向施力方向平行。Referring to FIG. 4, the measurement tool 400 is provided with the second slide base 320. The measurement tool 400 is used to measure a side wall of the linkage rod 142, and the second slide base 320 is moved to make the measurement tool 400 follow. The second sliding seat 320 is moved along the second track 310 to measure the linkage rod 142. When the linkage rod 142 and the axial force direction of the motor 131 are not parallel, the adjustment stage is used. 190 moves the second carrier 170 to cause the linkage lever 142 to swing laterally with the pivot joint 142c as a fulcrum until the linkage lever 142 is parallel to the axial force direction of the motor 131. Similarly, another amount The measuring tool 400 measures a top wall of the linkage lever 142. When the tilt angle of the linkage lever 142 with respect to the axial force direction of the motor 131 is large, the aperture O1 of the adjustment hole 143e is larger than the fixed The outer diameter O2 of the member 180 can be loosened, and the fixing member 180 can still be accommodated in the adjustment hole 143e. After that, the positioning base 143 is moved so that the positioning base 143 extends perpendicular to the axis. Move in the direction of force, and swing the link lever 142 with the pivot joint 142c as a fulcrum until the link When the lever 142 is parallel to the axial urging direction of the motor 131, or when the inclination angle of the linkage lever 142 with respect to the axial urging direction of the motor 131 is small, due to the height of the receiving groove 143a H is greater than the thickness D of the second end portion of the link lever 142, so the link lever 142 can be adjusted by the bolt 143d engaged with each of the screw holes 143c until the link lever 142 and the motor 131 The axial force application directions are parallel.
請參閱第2、5至8圖,以該校正機構100對該力量/力矩感測器200進行校正,在本實施例中,該力量/力矩感測器200具有四蟹形腳,請參閱第5圖,以二校正機構100分別對稱地設置於該力量/力矩感測器200的相對二側,並以一馬達131施以一推力,另一馬達131施以一拉力,以對該力量/力矩感測器200產生一推力校正力量,或者,請參閱第6圖,以該校正機構100的該馬達131同時施以一推力,以對該力量/力矩感測器200產生一扭力校正力量,或者,請參閱第7圖,以該校正機構100的該馬達131同時施以一拉力,以對該力量/力矩感測器200產生一扭力校正力量,以取得該力量/力矩感測器200的該受力數據及該荷重元132的該受力數據。Please refer to FIGS. 2, 5 to 8, the force / torque sensor 200 is calibrated by the correction mechanism 100. In this embodiment, the force / torque sensor 200 has four crab-shaped feet. In FIG. 5, two correction mechanisms 100 are disposed symmetrically on opposite sides of the force / torque sensor 200 respectively, and a motor 131 applies a thrust force, and the other motor 131 exerts a pull force to the force / torque sensor 200. The torque sensor 200 generates a thrust correction force, or, referring to FIG. 6, the motor 131 of the correction mechanism 100 simultaneously applies a thrust force to generate a torque correction force to the force / torque sensor 200. Alternatively, referring to FIG. 7, the motor 131 of the calibration mechanism 100 applies a pulling force at the same time to generate a torque correction force for the force / torque sensor 200 to obtain the force / torque sensor 200. The force data and the force data of the load element 132.
請參閱第8及9圖,其為本發明的一第二實施例,其與第一實例的差異在於該基座110的該承載面111與該馬達131的該軸向施力方向垂直,相同地,以該校正機構100的該馬達131同時施以一推力,或者同時施以一拉力,或者施以一推力及一拉力,以對該力量/力矩感測器200產生一壓力或拉力校正力量,以取得該力量/力矩感測器200的該受力數據及該荷重元132的該受力數據。Please refer to FIGS. 8 and 9, which are a second embodiment of the present invention. The difference from the first example is that the bearing surface 111 of the base 110 and the axial force direction of the motor 131 are perpendicular to each other. Ground, the motor 131 of the correction mechanism 100 applies a pushing force, or a pulling force, or a pushing force and a pulling force at the same time to generate a pressure or pulling force for the force / torque sensor 200. To obtain the force data of the force / torque sensor 200 and the force data of the load element 132.
藉由該校正機構100對該力量/力矩感測器200進行壓縮、拉伸及扭轉等壓力、拉力、推力及扭力測試,以取得該力量/力矩感測器200的該受力數據及該荷重元132的該受力數據,以對該荷重元132進行調校,以增加該力量/力矩感測器200的準確性及穩定性,並可提高該力量/力矩感測器200的可靠性。The correction mechanism 100 performs compression, tension, and torsion tests on the force / torque sensor 200 such as compression, tension, and torsion to obtain the force data and the load of the force / torque sensor 200. The force data of the element 132 is used to adjust the load element 132 to increase the accuracy and stability of the force / torque sensor 200 and improve the reliability of the force / torque sensor 200.
本發明之保護範圍當視後附之申請專利範圍所界定者為準,任何熟知此項技藝者,在不脫離本發明之精神和範圍內所作之任何變化與修改,均屬於本發明之保護範圍。The protection scope of the present invention shall be determined by the scope of the appended patent application. Any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. .
100‧‧‧力量/力矩感測器的校正機構100‧‧‧ force / torque sensor correction mechanism
110‧‧‧基座110‧‧‧ base
111‧‧‧承載面111‧‧‧bearing surface
120‧‧‧治具120‧‧‧Jig
130‧‧‧軸向施力單元130‧‧‧ axial force application unit
131‧‧‧馬達131‧‧‧ Motor
132‧‧‧荷重元132‧‧‧Loading Yuan
140‧‧‧連桿組140‧‧‧ connecting rod set
141‧‧‧樞接座141‧‧‧ Pivot
142‧‧‧連動桿142‧‧‧Linking lever
142a‧‧‧第一端部142a‧‧‧first end
142b‧‧‧第二端部142b‧‧‧ second end
142c‧‧‧樞接頭142c‧‧‧ pivot joint
143‧‧‧定位座143‧‧‧Positioning Block
143a‧‧‧容置槽143a‧‧‧Receiving slot
143b‧‧‧定位板143b‧‧‧Positioning plate
143c‧‧‧螺孔143c‧‧‧Thread hole
143d‧‧‧螺栓143d‧‧‧bolt
143e‧‧‧調整孔143e‧‧‧adjustment hole
150‧‧‧第一載台150‧‧‧ the first carrier
151‧‧‧基部151‧‧‧base
152‧‧‧載板152‧‧‧ Carrier Board
160‧‧‧第一滑動組160‧‧‧The first sliding group
161‧‧‧第一軌道161‧‧‧First track
162‧‧‧第一滑座162‧‧‧First slide
170‧‧‧第二載台170‧‧‧Second carrier
171‧‧‧第一承載部171‧‧‧First load
172‧‧‧第二承載部172‧‧‧Second loading section
180‧‧‧固定件180‧‧‧Fixture
190‧‧‧調整載台190‧‧‧Adjust the carrier
200‧‧‧力量/力矩感測器200‧‧‧ Force / Torque Sensor
300‧‧‧第二滑動組300‧‧‧Second sliding group
310‧‧‧第二軌道310‧‧‧Second Track
320‧‧‧第二滑座320‧‧‧Second Slide
400‧‧‧量測工具400‧‧‧ measuring tools
H‧‧‧高度H‧‧‧ height
D‧‧‧厚度D‧‧‧thickness
O1‧‧‧孔徑O1‧‧‧ aperture
O2‧‧‧外徑O2‧‧‧ outer diameter
第1圖:本發明第一實施例的校正機構立體圖。 第2圖:本發明第一實施例的校正機構分解立體圖。 第3圖:本發明第一實施例的校正機構的局部剖視圖。 第4圖:本發明第一實施例的校正機構的立體圖。 第5至7圖:本發明第一實施例的校正機構的作動示意圖。 第8圖:本發明第二實施例的校正機構立體圖。 第9圖:本發明第二實施例的校正機構分解立體圖。Figure 1: A perspective view of a correction mechanism according to a first embodiment of the present invention. Fig. 2: An exploded perspective view of a correction mechanism according to a first embodiment of the present invention. FIG. 3 is a partial cross-sectional view of a correction mechanism according to the first embodiment of the present invention. Fig. 4 is a perspective view of a correction mechanism according to the first embodiment of the present invention. Figures 5 to 7: Schematic diagrams of the operation of the correction mechanism according to the first embodiment of the present invention. FIG. 8 is a perspective view of a correction mechanism according to a second embodiment of the present invention. FIG. 9 is an exploded perspective view of a correction mechanism according to a second embodiment of the present invention.
Claims (15)
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TW107128382A TWI674399B (en) | 2018-08-14 | 2018-08-14 | Calibration mechanism for force/torque sensor |
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TW107128382A TWI674399B (en) | 2018-08-14 | 2018-08-14 | Calibration mechanism for force/torque sensor |
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TW202009455A TW202009455A (en) | 2020-03-01 |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN203376110U (en) * | 2013-08-02 | 2014-01-01 | 上海依赛工业有限公司 | Torque verification device of torque sensor |
TW201444651A (en) * | 2013-05-20 | 2014-12-01 | Kabo Tool Co | Torsion wrench capable of correcting torsion and torsion correction method thereof |
JP2016206009A (en) * | 2015-04-22 | 2016-12-08 | トヨタ自動車株式会社 | Method for correcting torque sensor zero-point error |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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TW201444651A (en) * | 2013-05-20 | 2014-12-01 | Kabo Tool Co | Torsion wrench capable of correcting torsion and torsion correction method thereof |
CN203376110U (en) * | 2013-08-02 | 2014-01-01 | 上海依赛工业有限公司 | Torque verification device of torque sensor |
JP2016206009A (en) * | 2015-04-22 | 2016-12-08 | トヨタ自動車株式会社 | Method for correcting torque sensor zero-point error |
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