TWI780491B - Calibration mechanism for force/torque sensor - Google Patents

Abstract

A calibration mechanism of the present invention includes a jog, an electromagnet and a load cell. The jig is connected to a force/torque sensor mounted on a carrier, the electromagnet is provided to attract a magnetic permeable piece of the jig to apply a force to the load cell, and the force/torque sensor is applied with a force from the jig when the magnetic permeable piece is attracted by the electromagnet. Loaded data from the load cell and the force/torque sensor is provide to adjust attraction position of the electromagnet relative to the magnetic permeable piece or calibrate the force/torque sensor.

Description

Calibration device for force/torque sensor

The invention relates to a calibration device for a force/torque sensor, which is used for calibrating a force/torque sensor or adjusting a magnetic attraction position of an electromagnet.

When using automated machinery (especially robotic arms) to process or assemble parts, it is necessary to rely on sensors to sense the force of the automated machinery. Therefore, whether the sensor can accurately sense the force applied or received by the robotic arm will affect the processing or assembly work.

In order to avoid inaccurate sensor sensing, before the sensor is installed in the automatic machine, the sensor will be calibrated by a calibration mechanism. However, the general calibration mechanism usually causes transmission force due to the gap or friction between the transmission elements. The loss of the transmission force will cause a correction error when the power is lost.

A force/torque sensor calibration device of the present invention is mainly used to calibrate a force/torque sensor and adjust a magnetic attraction position of an electromagnet.

A calibration device for a force/torque sensor of the present invention includes a jig, an electromagnet, and a load cell. The jig is used to combine a force/torque sensor arranged on a carrier. The jig has At least one magnetically conductive block, the electromagnet is used to magnetically attract the magnetically conductive block of the jig, the load cell is combined with the electromagnet, When the electromagnet provides a magnetic force to attract the magnetic block to push the jig to exert force on the force/torque sensor, the load cell generates a force data, and the force/torque sensor generates a force data. Force data, by means of the force data of the load cell and the force data of the force/torque sensor, correct the force/torque sensor or adjust the magnetic attraction of the electromagnet to the magnetic block Location.

A jig for a calibration device of a force/torque sensor according to the present invention is used to combine a force/torque sensor set on a carrier, and the jig includes a body, at least one magnetic block, and at least one Supporting beam and a combination seat, the magnetic conductive block is arranged on the body, the support beam is used to set at least one strain gauge, the combination seat is combined with the body by the support beam, and the combination seat is used to combine the force/torque sensor device.

A calibration device for a force/torque sensor of the present invention includes a jig and an electromagnet. The jig has a body, at least one magnetic block, a joint base, at least one support beam and an accommodating groove. The magnetic block is arranged on the body, the combination seat and the support beam are located in the accommodation groove, the combination seat is combined with the body with the support beam, the support beam is provided with at least one strain gauge, and the combination seat is used to combine the Force/torque sensor, the electromagnet is used to magnetically attract the magnetic block of the jig, when the electromagnet provides a magnetic force to magnetically attract the magnetic block, the support beam is stressed and deformed, and the setting The strain gauge on the supporting beam generates a force data, and a magnetic attraction position of the electromagnet magnetically attracting the magnetic block is adjusted according to the force data.

The present invention uses the electromagnet to magnetically attract the magnetically conductive block of the jig to avoid power loss when transmitting force, which can increase the accuracy of the calibration device, and when the electromagnet magnetically attracts the magnetically conductive block When the load cell generates a force data, the force/moment sensor generates a force data, and the force data of the load cell and the force data of the force/torque sensor are used to correct The force/torque sensor may adjust a magnetic attraction position of the electromagnet to magnetically attract the magnetic block.

10: Carrier

20: Force/torque sensor

20a: Force/torque sensor to be calibrated

100: Calibration device

110: fixture

111: Ontology

112: Magnetic block

112a: surface

113: combination seat

114: support beam

115: storage tank

116: reinforcement board

117: adapter seat

117a: binding column

120: electromagnet

130: load cell

140: strain gauge

150: Displacement adjustment seat group

151: Longitudinal adjustment seat

152: Horizontal adjustment seat

153: Vertical adjustment seat

D1: first thickness

D2: second thickness

X: Vertical

Y: Horizontal

Z: vertical

Figure 1: A perspective view of the calibration device of the present invention.

Fig. 2: A partial perspective view of the correction device of the present invention.

Fig. 3: A partially exploded perspective view of the calibration device of the present invention.

Fig. 4: A partial perspective view of the correction device of the present invention.

Fig. 5: A partial sectional view of the correction device of the present invention.

Fig. 6: A partial perspective view of the correction device of the present invention.

Fig. 7: A perspective view of the jig of the calibration device of the present invention.

Fig. 8: A three-dimensional cross-sectional view of the jig of the calibration device of the present invention.

Fig. 9: A three-dimensional cross-sectional view of the jig of the calibration device of the present invention.

Fig. 10: A partial perspective view of the correction device of the present invention.

Figure 11: Partial side view of the calibration device of the present invention.

Figure 12: Partial side view of the correction device of the present invention.

Please refer to Figures 1 to 3, a force/torque sensor calibration device 100 of the present invention can be used for single-axis or multi-axis calibration, the calibration device 100 includes a jig 110, at least one electromagnet 120 and at least A load cell 130, the jig 110 is used to combine a force/torque sensor 20 arranged on a stage 10, the jig 110 has at least one magnetic block 112, and the electromagnet 120 is used to magnetically attract the jig The magnetic permeable block 112 of the tool 110.

Please refer to Figures 1 to 3, in this embodiment, the calibration device 100 discloses 6 electromagnets 120 and 6 load cells 130, the jig 110 has 6 magnetic conductive blocks 112, and these magnetic conductive blocks 112 in pairs Set on the jig 110 symmetrically, each of the electromagnets 120 is used to magnetically attract each of the magnetic blocks 112 respectively, and each of the electromagnets 120 arranged on the top of the jig 110 is installed on a bracket (not shown in the figure) Out), but this embodiment is not used to limit the number of electromagnets, load cells and magnetic conductive blocks.

Please refer to Figures 1 to 3, the load cell 130 is combined with the electromagnet 120. In this embodiment, the electromagnet 120 is located between the magnetic block 112 and the load cell 130, and the electromagnet 120 provides a magnetic force. Attract the magnetic block 112 to push the jig 110, the magnetic block 112 has a surface 112a, the surface 112a faces the electromagnet 120, preferably, the area of the surface 112a is not less than the magnetic attraction of the electromagnet 120 area.

Please refer to Figures 1 to 3, the calibration device 100 further includes a displacement adjustment seat set 150, the load cell 130 is arranged between the electromagnet 120 and the displacement adjustment seat set 150, and the displacement adjustment seat set 150 is used to adjust The electromagnet 120 magnetically attracts a magnetic attraction position of the magnetic block 112 of the fixture 110. In this embodiment, the displacement adjustment seat set 150 may optionally include a longitudinal adjustment seat 151 and a lateral adjustment seat 152. and a vertical adjustment seat 153, or a combination of two or more of the longitudinal adjustment seat 151, the horizontal adjustment seat 152 and the vertical adjustment seat 153, the longitudinal adjustment seat 151 is used to adjust the electromagnet 120 is the displacement of the magnetic position of the magnetic block 112 in a vertical direction X, and the horizontal adjustment seat 152 is used to adjust the magnetic position of the electromagnet 120 magnetically attracted to the magnetic block 112 in a horizontal direction Y. Displacement, the vertical adjustment seat 153 is used to adjust the displacement of the magnetic attraction position of the electromagnet 120 magnetically attracting the magnetic block 112 in a vertical direction Z.

Please refer to Figures 2 to 4, the jig 110 has a body 111, a joint seat 113 and at least one support beam 114. In this embodiment, it is disclosed that the jig 110 has four support beams 114, but this embodiment Not intended to limit the number of supporting beams.

Please refer to Figures 2 to 5, the magnetic block 112 is arranged on the main body 111, the joint seat 113 is combined with the main body 111 by the supporting beam 114, and the joint seat 113 is used for combining the force/torque sensor 20, in Book In an embodiment, the body 111 has a receiving groove 115 , the receiving groove 115 runs through the body 111 , the joint seat 113 is located in the receiving groove 115 , preferably, the support beam 114 is located in the receiving groove 115 5, the body 111 has a first thickness D1, the support beam 114 has a second thickness D2, and the second thickness D2 is not greater than the first thickness D1.

Please refer to FIG. 4, the calibration device 100 further includes at least one strain gauge 140, the strain gauge 140 is arranged on the support beam 114, and the strain gauge 140 is used to correct the magnetism of the electromagnet 120 magnetically attracting the magnetic block 112. suction position, and since the second thickness D2 of the support beam 114 is not greater than the first thickness D1 of the body 111 , the sensitivity of the strain gauge 140 to sense the support beam 114 can be increased.

Please refer to Figures 4, 5 and 6, when the paired two electromagnets 120 or one of the electromagnets 120 magnetically attracts the magnetic block 112 of the jig 110 with the magnetic force and pushes the jig 110, the support beam 114 The force produces deformation, and the strain gauge 140 arranged on the support beam 114 generates a force data (such as resistance value and other data). When the force data does not reach a standard force data, it can be judged that the electromagnetic The magnetic attraction position of the magnetic block 112 magnetically attracted by the iron 120 is not in a predetermined area. In this embodiment, the vertical adjustment seat 151, the horizontal adjustment seat 152 and the vertical adjustment seat 153 can be used to adjust the The electromagnet 120 magnetically attracts the magnetic attraction position of the magnetic conductive block 112 so that the magnetic attraction position is located in the predetermined area.

Please refer to Figures 4 and 6. In this embodiment, when the calibration device 100 includes a plurality of electromagnets 120, and the joint base 113 is combined with the body 111 with a plurality of support beams 141, each of the electromagnets 120 is adjacent to each other. The deformation of each supporting beam 141 of each electromagnet 120 (ie, the force data generated by the strain gauge 140 ) is used as a basis to adjust the magnetic attraction position of the electromagnet 120 magnetically attracting the magnetic block 112 .

Please refer to Figures 2, 3, 7 to 9, the jig 110 further includes a reinforcing plate 116, the reinforcing plate 116 is combined with the body 111 and the joint seat 113, and the reinforcing plate 116 covers the accommodating groove 115, Preferably, the jig 110 further includes an adapter seat 117, the joint seat 113 is combined with the adapter seat 117, and the joint seat 113 The force/torque sensor 20 is combined with the adapter base 117, more preferably, the adapter base 117 is combined with the reinforcement plate 116, so that the joint base 113 is clamped and fixed between the reinforcement plate 116 and the adapter Between the seats 117, in this embodiment, the adapter seat 117 has at least one coupling column 117a, the coupling column 117a is located in the accommodating groove 115, and the adapter seat 117 combines the reinforcing plate with the coupling column 117a 116.

Please refer to Figures 1, 2, 3, 7 to 9, the connecting base 113 is combined with the force/torque sensor 20 provided on the stage 10 with the adapter base 117 to adjust the magnetic attraction of the electromagnet 120 When the magnetic attraction position of the magnet block 112 is adjusted or the force/torque sensor 20 is calibrated, the reinforcement plate 116 and the adapter seat 117 are used to increase the structural strength of the jig 110 .

Please refer to Figures 1, 10 and 11, in a corrected embodiment, a qualified force/torque sensor 20 is arranged on the carrier 10, and the jig 110 is combined with the force/torque sensor 20, In this embodiment, the coupling base 113 is coupled with the force/torque sensor 20 through the adapter base 117, when the electromagnet 120 provides a magnetic force to attract the magnetic block 112, so as to push the jig 110 to the When the force/moment sensor 20 exerts force, the load cell 130 generates a force data, and the force/moment sensor 20 generates a force data, by comparing the force data of the load cell 130 with the The difference of the force data of the force/torque sensor 20 can determine whether the magnetic attraction position of the electromagnet 120 magnetically attracts the magnetic block 112 is in the predetermined area, when the magnetic attraction position is not in When in the predetermined area, similarly, the magnetic attraction position of the electromagnet 120 magnetically attracting the magnetic block 112 can be adjusted by the longitudinal adjustment seat 151, the horizontal adjustment seat 152 and the vertical adjustment seat 153, so that The magnetic attraction position is located in the predetermined area.

Please refer to Figures 1 and 12. In another correction embodiment, when the magnetic attraction position of the electromagnet 120 magnetically attracts the magnetic block 112 is located in the predetermined area, a power/torque sensor to be corrected is The device 20a is set on the stage 10, and the jig 110 is combined with the force/torque sensor 20a to be calibrated. In this embodiment, the combination base 113 is combined with the force/torque sensor 20a to be calibrated by the adapter base 117. torque sensor 20a, when the The electromagnet 120 provides a magnetic force to magnetically attract the magnetic block 112 to push the jig 110 to apply force to the force/torque sensor 20a to be calibrated, the load cell 130 generates a force data, and the to-be-corrected The force/torque sensor 20a generates a force data, by comparing the difference between the force data of the load cell 130 and the force data of the force/torque sensor 20a to be corrected, to the to-be-corrected Correct the force data of the force/moment sensor 20a.

In the present invention, the electromagnet 120 magnetically attracts the magnetic block 112 of the jig 110 , which can avoid power loss when transmitting force, so as to increase the accuracy of the calibration device 100 , and because the jig 110 Pairs and symmetrical magnetic blocks 112 can be arranged on different surfaces to be magnetically attracted by the electromagnets 120 respectively, so that the force/torque sensor 20 and the jig 110 can be used without turning over the force/torque sensor 20 and the fixture 110. The force/torque sensor 20 performs calibration, or adjusts the magnetic attraction position of the electromagnet 120 to magnetically attract the magnetic block 112 .

The scope of protection of the present invention should be defined by the scope of the appended patent application. Any changes and modifications made by anyone who is familiar with this technology without departing from the spirit and scope of the present invention belong to the scope of protection of the present invention. .

10: Carrier

20: Force/torque sensor

100: Calibration device

110: fixture

112: Magnetic block

113: combination seat

120: electromagnet

130: load cell

150: Displacement adjustment seat group

X: Vertical

Y: Horizontal

Z: vertical

Claims (10)

A calibration device for a force/torque sensor, comprising: a jig for combining a force/torque sensor set on a carrier, the jig has at least one magnetic block; an electromagnet for The magnetic block of the jig is magnetically attracted; and a load cell, combined with the electromagnet, when the electromagnet provides a magnetic force and magnetically attracts the magnetic block to push the jig to apply force to the force/torque sensor When, the load cell generates force data, and the force/torque sensor generates force data. A calibration device for a force/torque sensor according to claim 1, wherein the electromagnet is located between the magnetic block and the load cell. A calibration device for a force/torque sensor as claimed in item 1, wherein the jig has a body, a joint base and at least one support beam, the magnetic conductive block is arranged on the body, and the joint base is combined with the support beam The main body, the combination seat is used for combining the force/torque sensor. The calibration device for a force/torque sensor according to claim 3, wherein the main body has an accommodating groove, the accommodating groove runs through the main body, and the coupling seat is located in the accommodating groove. The calibration device for a force/torque sensor according to claim 4, wherein the support beam is located in the accommodation groove. The calibration device for the force/torque sensor according to claim 3 further includes at least one strain gauge, and the strain gauge is arranged on the support beam. The calibration device for a force/torque sensor according to claim 4 or 5, wherein the jig further includes a reinforcing plate, the reinforcing plate is combined with the body and the joint seat, and the reinforcing plate covers the receiving groove. Such as the calibration device of the force/torque sensor of claim 7, wherein the jig further includes a An adapter base, the joint base is combined with the adapter base, and the joint base is combined with the force/torque sensor through the adapter base. The calibration device for a force/torque sensor according to claim 8, wherein the adapter seat is combined with the reinforcing plate. The calibration device for a force/torque sensor according to claim 9, wherein the adapter base has at least one coupling column, the coupling column is located in the accommodating groove, and the adapter base combines the reinforcing plate with the coupling column.

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