WO2021082622A1 - Comparison-based six-dimensional force sensor calibration device, and calibration method - Google Patents

Abstract

A comparison-based six-dimensional force sensor calibration device and a calibration method. The calibration device comprises a machine frame (1), a loading device (2), a sensor holding device (3), and a loading rod (4). The loading device (2) and the sensor holding device (3) are held on the machine frame (1). The loading device (2) is located above the sensor holding device (3). A sensor under test (5) is held on the sensor holding device (3). The loading rod (4) and the sensor under test (5) are fixedly connected. The loading device (2) applies a load on the sensor under test (5) in various directions by means of the loading rod (4). Positions of loading forces of the loading device (2) are on the same circle, for three positions of the loading device, enabling the moment length to be the same when applying loads in various directions to the sensor under test (5), thereby improving calibration accuracy. During calibration, only position states of the loading device (2) and the sensor holding device (3) need to be adjusted to complete calibration of the sensor under test (5) in 6 directions, thereby improving calibration efficiency.

Description

Calibration device and calibration method of contrast type six-dimensional force sensor Technical field

The invention relates to medical equipment, in particular to a calibration device for a contrast type six-dimensional force sensor.

Background technique

The six-dimensional force sensor can simultaneously detect full force information in three-dimensional space, namely three-dimensional force information (Fx, Fy, Fz) and three-dimensional torque information (Mx, My, Mz), which are mainly used in force and torque position control situations, such as contour tracking, Precision assembly, hand coordination, six-dimensional force information detection in the test system, etc.

The measurement accuracy of the sensor is one of the most important performance indicators for evaluating the sensor, and its errors include random errors and systematic errors. For the six-dimensional force sensor, the random error is mainly caused by internal signal processing circuits, quantization errors, external interference and other factors; the system error is mainly determined by the calibration accuracy of the calibration system. The six-dimensional force sensor is due to its own mechanical The complexity of the structure, as well as the errors in the manufacturing and bonding of strain gauges in the sensor, the mutual coupling between the input and output channels of the sensor, it is necessary to determine the coupling relationship between the input and output in each direction through calibration, and calculate the coupling matrix , And compensate the impact of coupling between dimensions by decoupling. Therefore, the design of the sensor calibration device and the research of the calibration method are very important, and its calibration accuracy will directly affect its measurement accuracy during use.

The calibration of the six-dimensional force sensor is to read the output of the six-dimensional force sensor when the six-dimensional force sensor is calibrated in various states by applying independent force/torque in the space coordinate system to the six-dimensional force sensor, or multiple linearly independent forces/torques. , Calculate the decoupling matrix. According to actual application requirements, the calibration of the six-dimensional force sensor is divided into static calibration and dynamic calibration. Static calibration is mainly used to detect the static performance indicators of the sensor, such as static sensitivity, nonlinearity, hysteresis, repeatability, etc.; dynamic calibration is mainly used for Detect the dynamic characteristics of the sensor, such as dynamic sensitivity, frequency response, and natural frequency.

At present, the loading methods used in the static calibration of the six-dimensional force sensor mainly include the force ring type and the weight type. Among them, the force-measuring ring loading adopts the ejector method, and the load force value is read by the force-measuring ring. This kind of loading allows a larger load force, but the reading accuracy is low, and the high-precision force ring is expensive. Weight calibration is to use grade weights to provide standard loading force, directly use grade weights as a reference, the force value is more accurate, and it is commonly used in the calibration of medium-range and small-range six-dimensional force sensors.

technical problem

The technical problem to be solved by the present invention is to deal with the shortcomings caused by the current force measuring ring type loading method and the weight type loading method used in the current static calibration of the six-dimensional force sensor mentioned in the background art.

Technical solutions

In view of the above shortcomings of the prior art, a comparative six-dimensional force sensor calibration device is proposed. The loading force position of the comparative six-dimensional force sensor calibration device is located on the same circumference, so when the sensor (5) to be tested is loaded in various directions , The torque length is equal, which improves the accuracy of calibration.

Specific technical solution, a calibration device for a comparative six-dimensional force sensor, including a frame (1), a loading device (2), a sensor fixing device (3) and a loading rod (4), a loading device (2) and a sensor fixing The device (3) is fixed on the frame (1), the loading device (2) is located above the sensor fixing device (3), the sensor to be tested (5) is fixed on the sensor fixing device (3), the loading rod (4) and The sensor to be tested (5) is fixedly connected, and the loading device (2) realizes the loading of the sensor to be tested (5) in all directions through the loading rod (4).

The loading device (2) includes a loading fixing frame (201), a loading rotating disk (202), a driving mechanism (203), a one-dimensional force sensor (204), a force transmission rod (205) and a pressure plate (207), and a loading fixing frame ( 201) is fixed on the frame (1), a central circular hole is set on the loading fixing frame (201), a cylindrical support base (206) is inserted into the central circular hole, and the loading rotating disk (202) is elongated And the length is greater than the diameter of the cylindrical support base (206), the loading rotating disc (202) is placed on the cylindrical supporting base (206) and the rotation center of the rotating disc (202) and the cylindrical supporting base (206) are loaded The center of the pressure plate is coaxial; the pressure plate (207) is ring-shaped, and the pressure plate (207) is placed on the cylindrical support base (206) to fix the loading rotating disk (202); the pressure plate (207) is set at 90° intervals The loading positions of the three loading rotating discs (202), the pressure plate (207) is provided with positioning bolts (207-1) at the three loading positions correspondingly, and the two ends of the loading rotating disc (202) are provided with positioning bolts (207-1) With the matching screw holes, manually rotate the loading rotating disk (202) at 90° intervals to adjust the loading position; the driving mechanism (203) is installed on the loading rotating disk (202), and the driving mechanism (203) The output end of the drive mechanism (203) at the output end penetrates the loading rotating disk (202), one end of the one-dimensional force sensor (204) is connected to the output end of the drive mechanism (203), and the other end of the one-dimensional force sensor (204) is connected to the force transmission rod ( 205), the force transmission rod (205) is connected to the loading rod (4); the driving mechanism (203) drives the force transmission rod (205) to make a linear reciprocating motion to apply pressure or tension to the loading rod (4).

The sensor fixing device (3) includes a device bottom plate (309), a mounting base (301), a positioning bottom plate (302) and a positioning connecting plate (303). The device bottom plate (309) is fixed on the rack (1) and the mounting base (301) ) Is fixed on the device bottom plate (309), the positioning bottom plate (302) is square, the two corners of the positioning bottom plate (302) are set on the positioning bottom plate (302) through the rotation shaft and the support (306), and the positioning bottom plate (302) ) When the positioning bottom plate (302) is rotated around the axis of rotation, the edge of the positioning bottom plate (302) is fixed on the mounting base (301) through the horizontal positioning plate (305) and two horizontal position pressing plates (304); the positioning bottom plate (302) 302) When it is vertical, the positioning bottom plate (302) is fixed by the vertical position positioning plate (312) and the vertical position pressing eccentric wheel (311); the positioning connecting plate (303) is a circular plate, and the positioning connecting plate (303) The center is set on the positioning bottom plate (302) through the central axis rotation, four six-dimensional force sensor calibration positions are set on the positioning connecting plate (303) at 90° intervals, and the positioning connecting plate (303) is at the four calibration positions Positioning screw holes are set on the opposite end faces of the two positions. The positioning base plate (302) is equipped with a fixed bolt (308). After the calibration position is determined, the fixing bolt (308) is screwed into the positioning screw hole of the calibration position to locate the connecting plate (303). )fixed.

The six-dimensional force sensor is fixed on the positioning connecting plate (303) by bolts.

The loading rod (4) includes an intermediate base (401), an X-direction force-transmitting rod (402), a Y-direction force-transmitting rod (403) and six force-receiving rods (404), an X-direction force-transmitting rod (402) and Y-direction The force transmission rod (403) is arranged on the middle base (401) in a crisscross pattern, and the four force rods (404) among the six force rods (404) are vertically arranged in the X direction and the force transmission rod (402) and Y direction respectively. At both ends of the force transmitting rod (403), the four force rods (404) are coplanar, and the last two force rods (404) are symmetrically arranged on the middle base (401) and perpendicular to the force transmitting rod in the X direction (402) and the surface where the Y-direction force transmission rod (403) is located.

A load rod (404) located on the middle base (401) on the loading rod (4) is inserted into the six-dimensional force sensor, the two ends of the X-direction force-transmitting rod (402) and Y-direction force-transmitting rod (403) The four stress rods (404) at the ends correspond to the four calibration positions on the positioning connecting plate (303), respectively.

The technical solution further limited by the present invention is.

The driving mechanism (203) is an air cylinder, an oil cylinder or a hydraulic cylinder. When the driving mechanism (203) is an air cylinder, the cylinder body of the air cylinder is eccentrically fixed on the loading rotating disk (202), and the piston rod of the air cylinder extends through the loading rotating disk (202) to connect to the one-dimensional force sensor (204).

A manual knob (208) is installed at the center of rotation of the loading rotating disc (202). The purpose of setting the manual knob is to facilitate the operator to manually rotate the loading rotary plate.

The sensor fixing device (3) also includes a position adjustment component for adjusting the installation position of the six-dimensional force sensor. The position adjustment component includes two aluminum profile spacers (310) and two baffle bars (307), and two aluminum profile spacers ( 310) Parallel and spaced fixed on the device bottom plate (309), the two ends of the mounting base (301) are supported and fixed on two aluminum profile pads (310), and the two baffle bars (307) are arranged in parallel with the two ends respectively. It is supported and fixed on two aluminum profile cushion blocks (310), and the installation base (301) is clamped between the two baffle bars (307). The setting purpose of the position adjustment component is to adjust the installation position of the six-dimensional force sensor. By installing two baffle bars (307) first, the installation base (301) is limited between the two baffle bars (307), which effectively guarantees the device The accuracy of assembly.

The horizontal positioning plate (305) is fixed on the mounting base (301) by screws, and two horizontal position pressing plates (304) are respectively slidably arranged on the mounting base (301) and located at both ends of the horizontal positioning plate (305).

The two ends of the vertical position positioning plate (312) are respectively clamped into the notches opened on the two supports (306), the vertical position positioning plate (312) is blocked on the back of the positioning bottom plate (302), and the vertical position is compressed and eccentric The wheel (311) is mounted on the fixed shaft, and the fixed shaft is rotatably mounted on the back of the positioning base plate (302). A handle (311) is installed on the free end of the fixed shaft. By turning the handle (311), the vertical position pressure can be adjusted. The gap between the tight eccentric wheel (311) and the vertical position positioning plate (312) fixes the positioning bottom plate (302).

The present invention provides a calibration method for a calibration device of a comparative six-dimensional force sensor, which includes the following steps.

Step 1) Assemble the calibration device.

Step 2) Install the sensor to be tested (5) on the positioning connecting plate (303), adjust the initial position, adjust the positioning connecting plate (303) to the vertical position and fix it, adjust the loading rotating disc (202) to the second position and Fixed, the X-direction force transmission rod (402) on the loading rod (4) is in the vertical position, and the force transmission rod (205) in the loading device (2) is detachably connected to the X-direction force transmission rod (402) at the upper position. Force rod (404); after the initial position is determined, wait for calibration.

Step 3) The driving mechanism (203) in the loading device (2) loads the loading rod (4) through the force transmission rod (205). At this time, the force state of the force sensor (5) to be measured is Fx, and the force is passed through the one-dimensional force. The sensor (204) controls the magnitude of the loading force, and then collects the output data of the sensor (5) to be measured in various directions; completes the calibration of the force Fx of the sensor (5) to be measured, and disassembles the force transmission rod (205) and the force rod (404).

Step 4) Keep the positioning connecting plate (303) in the vertical position, rotate the positioning connecting plate (303) by 90°, make the Y-direction force transmission rod (403) in the vertical position, and set the force transmission rod in the loading device (2) (205) The detachable connection to the force-receiving rod (404) with the Y-direction force transmission rod (403) at the top; the driving mechanism (203) in the loading device (2) against the loading rod (4) through the force transmission rod (205) Load, at this time the force state of the sensor (5) under test is Fy, the one-dimensional force sensor (204) controls the magnitude of the loading force, and then collects the output data of the sensor (5) under test in each direction when the force Fy is applied; The calibration of the force Fy of the force sensor (5) to be measured is completed, and the force transmission rod (205) and the force rod (404) are disassembled.

Step 5) Adjust the positioning connecting plate (303) to be in a horizontal position and fix it. At this time, a force rod (404) at the end of the Y direction force transmission rod (403) is located in the force transmission rod (205) in the loading device (2) Immediately below, connect the end of the force transmission rod (205) to the force rod (404) in a detachable manner; the driving mechanism (203) in the loading device (2) loads the loading rod (4) through the force transmission rod (205) At this time, the force state of the force sensor (5) to be measured is My, the one-dimensional force sensor (204) is used to control the size of the loading force, and the output data of the sensor (5) to be tested in all directions when the force My is collected; the treatment is completed The force sensor (5) is calibrated by the force My, and the force transmission rod (205) and the force rod (404) are disassembled.

Step 6) Keep the positioning connecting plate (303) in a horizontal position, and rotate the positioning connecting plate (303) by 90°. At this time, a force rod (404) at the end of the force transmission rod (402) in the X direction is located in the loading device (2) Directly below the inner force transmission rod (205), the end of the force transmission rod (205) is detachably connected to the force rod (404); the driving mechanism (203) in the loading device (2) passes through the force transmission rod (205) Load the loading rod (4). At this time, the force state of the force sensor (5) to be measured is Mx. The one-dimensional force sensor (204) is used to control the size of the loading force, and the sensor (5) to be tested is collected when the force is Mx. Output data in all directions; complete the calibration of the force Mx of the load cell (5) to be measured, and disassemble the force transmission rod (205) and the force rod (404).

Step 7) Keep the positioning connecting plate (303) in a horizontal position, adjust the loading rotating plate (202) to the third position and fix it, at this time the end of the force transmission rod (205) of the loading device (2) is facing the loading rod (4) The force rod (404) in the center of the middle base (401) of the power transmission rod (205) is detachably connected to the force rod (404); the driving mechanism (203) in the loading device (2) passes through the transmission rod (205). The force rod (205) loads the loading rod (4). At this time, the force state of the force sensor (5) to be measured is Fz, and the load force is controlled by the one-dimensional force sensor (204), and the sensor to be tested (5) is collected The output data in each direction when the force Fz is applied; the calibration of the force Fz of the load cell (5) to be measured is completed, and the force transmission rod (205) and the force rod (404) are disassembled.

Step 8) Adjust the positioning connecting plate (303) to be in the vertical position and fix it, adjust the loading rotating plate (202) to the first position and fix it, at this time the X-direction force transmission rod (402) on the loading rod (4) is in the horizontal position , The force rod (404) at one end of the force transmission rod (402) in the X direction is located at the end of the force transmission rod (205) in the loading device (2), and the end of the force transmission rod (205) is detachably connected to the force rod (404); the driving mechanism (203) in the loading device (2) loads the loading rod (4) through the force-transmitting rod (205). At this time, the force state of the force sensor (5) to be measured is Mz. The force sensor (204) controls the magnitude of the loading force, and collects the output data of the sensor (5) under test in all directions when the force Mz is applied; the calibration of the force Mz of the force sensor (5) under test (5) is completed, and the force transmission rod (205) ) And the force rod (404).

Step 9) Process and analyze the output data measured in the above steps to obtain the decoupling matrix of the sensor (5) under test, and complete the calibration of the sensor (5) under test.

Collecting the output data of the sensor (5) under test is completed by connecting the signal end of the sensor (5) under test to a data acquisition card. The use of a data acquisition card to collect the output data of the sensor (5) under test in each stress state is a conventional technology in the technical field.

Beneficial effect

The beneficial effects of the present invention are.

1. In this calibration device, since the loading force is located on the same circumference when the loading device is in three positions, the torque length is equal when the sensor to be tested is loaded in all directions, which improves the accuracy of the calibration.

2. In this calibration device, the stress points of the sensor to be tested are all located on the center plane of the sensor to be tested during calibration, which further improves the accuracy of the calibration.

3. In this calibration method, only need to adjust the position state of the loading device and the sensor fixing device when calibrating, the 6 directions of the sensor to be tested can be calibrated, which improves the efficiency of the calibration.

Description of the drawings

Figure 1 is a front view of the present invention.

Figure 2 is a three-dimensional schematic diagram of the loading fixture.

Figure 3 is a front view of the loading rotating disk in the first loading position.

Figure 4 is a front view of the loading rotating disk in the second loading position.

Figure 5 is a front view of the loading rotating disk in the third loading position.

Figure 6 is a schematic diagram of the assembly of the cylinder, the one-dimensional force sensor and the force transmission rod.

Figure 7 is a structural schematic diagram of the positioning bottom plate of the sensor fixing device in a horizontal position (a horizontal position pressing plate is omitted in the figure).

Fig. 8 is a first structural schematic diagram of the positioning bottom plate of the sensor fixing device in a vertical position.

Fig. 9 is a second structural schematic diagram of the positioning bottom plate of the sensor fixing device in a vertical position.

Fig. 10 is an enlarged view of the installation position of the vertical position pressing eccentric and the vertical position positioning plate in Fig. 9.

Figure 11 is a schematic diagram of the structure of the loading rod.

Figure 12 is a schematic diagram of the overall structure of the calibration device in the initial position.

Fig. 13 is a partial schematic diagram of the loading force of the force Fx and the force Fy of the sensor to be tested.

Figure 14 is a schematic diagram of the overall structure of the calibration device for calibrating the force Mx and the force My.

Figure 15 is a schematic diagram of the overall structure of the calibration device for calibrating the force Fz.

Figure 16 is a schematic diagram of the overall structure of the calibration device for calibrating the force Mz.

Fig. 17 is a partial schematic diagram of the loading force of the force Mz of the sensor to be measured.

Embodiments of the present invention

The technical solution of the present invention will be described in detail below, but the protection scope of the present invention is not limited to the embodiments.

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to FIGS. 1-17 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not used to limit the present invention.

Example 1.

As shown in Figure 1, a comparative six-dimensional force sensor calibration device includes a frame 1, a loading device 2, a sensor fixing device 3, and a loading rod 4. The loading device 2 and the sensor fixing device 3 are fixed on the frame 1. The loading device 2 is located above the sensor fixing device 3, the sensor under test 5 is fixed on the sensor fixing device 3, the loading rod 4 is fixedly connected with the sensor under test 5, and the loading device 2 realizes the loading of the sensor under test 5 in all directions through the loading rod 4 .

As shown in Fig. 1, the frame 1 in this embodiment is a steel frame formed by welding angle steel or section steel.

As shown in FIG. 2, the loading device 2 includes a loading fixing frame 201, a loading rotating disk 202, a driving mechanism 203, a one-dimensional force sensor 204, a force transmission rod 205 and a pressure plate 207.

In this embodiment, the one-dimensional force sensor 204 is an outsourcing part, and priority is given to purchasing the H3 series force sensor sold by AVIC.

In this embodiment, the driving mechanism 203 is an air cylinder. The cylinder body of the air cylinder is eccentrically fixed on the loading rotating disk 202, and the piston rod of the air cylinder extends through the loading rotating disk 202 to connect to the one-dimensional force sensor 204. When the driving mechanism 203 is an oil cylinder or a hydraulic cylinder, its installation method is the same as that of the cylinder.

As shown in Figure 2, the loading and fixing frame 201 is fixed on the frame 1, a central circular hole is provided on the loading and fixing frame 201, a cylindrical support base 206 is inserted into the central circular hole, and the loading rotating disk 202 is elongated And the length is greater than the diameter of the cylindrical supporting base 206, the loading rotating disk 202 is placed on the cylindrical supporting base 206 and the rotation center of the loading rotating disk 202 is coaxial with the center of the cylindrical supporting base 206. The pressure plate 207 is ring-shaped, and the pressure plate 207 is placed on the cylindrical support base 206 for fixing the loading rotating disk 202; on the pressure plate 207, three loading positions of the loading rotating disk 202 are set at 90° intervals, and the pressure plate 207 is placed on three Each loading position is provided with positioning bolts 207-1. Both ends of the loading rotating disk 202 are provided with screw holes matching the positioning bolts 207-1. Manually rotate the loading rotating disk 202 at 90° intervals to adjust the loading. position.

As shown in Figures 3, 4 and 5, in this embodiment, three loading positions of the rotating disk 202 are set at 90° intervals on the pressure plate 207. Assuming that the first loading position is used as the initial position, the second loading position is A position rotated 90° clockwise on the basis of the first loading position, and the third loading position is a position rotated 90° clockwise on the basis of the second loading position.

In this embodiment, during specific calibration, the initial position of the calibration device is set with the loading rotating disk 202 as the initial position. In the initial position, the positioning connecting plate 303 is adjusted to the vertical position and fixed, and the loading rod 4 is transmitted in the X direction. The force rod 402 is in a vertical position, and the force transmission rod 205 in the loading device 2 is detachably connected to the force rod 404 with the force transmission rod 402 in the X direction.

In this calibration device, when the loading position of the loading rotating disk 202 is determined, it needs to be fixed. Specifically, the positioning bolt 207-1 on the pressure plate 207 is screwed into the screw holes on the loading rotating disk 202 and the supporting base 206 to load The rotating disk 202 is fixed between the pressing plate 207 and the supporting base 206.

As shown in FIG. 2, in this calibration device, a manual knob 208 is installed at the center of rotation of the loading rotating disk 202. The purpose of setting the manual knob is to facilitate the operator to manually rotate the loading rotary plate.

As shown in Figures 3, 4 and 5, in the specific implementation, in order to ensure the uniformity and separation of the holes, eight positioning bolts 207-1 are arranged in eight equal parts of the pressure plate 207, and two positioning bolts are passed at each loading position. 207-1 The rotating disk 202 is fixedly loaded.

As shown in Figure 6, the cylinder is installed on the loading rotating disk 202, the piston rod of the cylinder penetrates the loading rotating disk 202, one end of the one-dimensional force sensor 204 is connected to the end of the cylinder's piston rod, and the other end of the one-dimensional force sensor 204 is connected to the force transmission rod. 205. The force transmission rod 205 is connected to the loading rod 4; the cylinder drives the force transmission rod 205 to perform linear reciprocating motion to apply pressure or tension to the loading rod 4, and the one-dimensional force sensor 204 records the magnitude of the applied force.

As shown in FIGS. 7, 8 and 9, the sensor fixing device 3 includes a device bottom plate 309, a mounting base 301, a positioning bottom plate 302 and a positioning connecting plate 303.

As shown in Figure 8, the device bottom plate 309 is fixed on the frame 1, the mounting base 301 is fixed on the device bottom plate 309, the positioning bottom plate 302 is square, and the two corners of the positioning bottom plate 302 are set in rotation by a rotating shaft and a support 306. Position the bottom plate 302, the positioning bottom plate 302 rotates around the rotation axis, when the positioning bottom plate 302 is horizontal, the edge of the positioning bottom plate 302 is fixed on the mounting base 301 by the horizontal positioning plate 305 and two horizontal position pressing plates 304; when the positioning bottom plate 302 is vertical, The positioning bottom plate 302 is fixed by a vertical position positioning plate 312 and a vertical position pressing eccentric 311.

As shown in Figures 8 and 9, the positioning connecting plate 303 is a circular plate. A groove into which the positioning connecting plate 303 can be inserted is provided on the positioning bottom plate 302, the positioning connecting plate 303 is inserted into the groove and the center of the positioning connecting plate 303 passes through the center. The axis rotation is set on the positioning bottom plate 302, and a gap is provided at the lower end of the back of the positioning connecting plate 303 for the vertical position positioning plate 312 and the vertical position pressing eccentric wheel 311 for installation operations. In this notch, the positioning connecting plate 303 Protruding notches. As shown in Figure 9.

Set four six-dimensional force sensor calibration positions on the positioning connecting plate 303 at 90° intervals. The positioning connecting plate 303 is provided with positioning screw holes on the end faces opposite to the four calibration positions. The positioning base plate 302 is installed and calibrated to be fixed. The bolt 308, after the calibration position is determined, the fixing bolt 308 is screwed into the positioning screw hole of the calibration position to fix the positioning connecting plate 303.

The sensor 5 (six-dimensional force sensor) to be tested is fixed on the positioning connecting plate 303 by bolts, and a mounting threaded hole is provided on the six-dimensional force sensor, and the plate surface of the positioning connecting plate 303 corresponds to the mounting thread on the six-dimensional force sensor The holes are provided with mounting holes and fixed by bolts.

As shown in FIG. 8, the sensor fixing device 3 also includes a position adjustment component for adjusting the installation position of the six-dimensional force sensor. The position adjustment component includes two aluminum profile spacers 310 and two baffle bars 307, and two aluminum profile spacers 310 Parallel and spaced fixed on the bottom plate 309 of the device. The two ends of the mounting base 301 are supported and fixed on two aluminum profile pads 310. The two baffle bars 307 are arranged in parallel and both ends are supported on two aluminum profile pads 310 respectively. And fixed, the mounting base 301 is clamped between the two baffle bars 307.

Position adjustment assembly, two aluminum profile pads 310 adjust the longitudinal position of the sensor 5 to be tested relative to the loading rod 4, and two baffle bars 307 adjust the lateral position of the sensor 5 to be tested relative to the loading rod 4, and at the same time by installing two The baffle bar 307 restricts the installation base 301 between the two baffle bars 307, effectively ensuring the assembly accuracy of the device. The connections between the two aluminum profile spacers 310, the two baffle bars 307 and the mounting base 301 are all fixed by bolts.

As shown in Figures 7 and 8, the positioning bottom plate 302 in this embodiment can have a horizontal fixed position and a vertical fixed position according to the calibration requirements. When the positioning bottom plate 302 is horizontal, the edge of the positioning bottom plate 302 passes through the horizontal position positioning plate 305 and two The horizontal position pressing plate 304 is fixed on the mounting base 301. The horizontal position positioning plate 305 is fixed on the mounting base 301 by screws, and two horizontal position pressing plates 304 are respectively slidably arranged on the mounting base 301 and located at both ends of the horizontal position positioning plate 305.

As shown in FIGS. 9 and 10, when the positioning bottom plate 302 is vertical, the positioning bottom plate 302 is fixed by the vertical position positioning plate 312 and the vertical position pressing eccentric 311. Both ends of the vertical position positioning plate 312 are respectively clamped into the notches opened on the two supports 306, the vertical position positioning plate 312 is blocked on the back of the positioning bottom plate 302, and the vertical position pressing eccentric wheel 311 is mounted on the fixed shaft. The fixed shaft is rotatably mounted on the back of the positioning base plate 302. The vertical position pressing eccentric is located between the vertical position positioning plate 312 and the positioning connecting plate 303. A handle 311 is installed at the free end of the fixed shaft. , Adjust and adjust the vertical position to compress the gap between the eccentric wheel 311 and the vertical position positioning plate 312 to fix the positioning bottom plate 302.

When the positioning bottom plate 302 is in the horizontal fixed position, the vertical position positioning plate 312 does not need to be installed. Only when the positioning bottom plate 302 is in the vertical position, the vertical position positioning plate 312 is snapped into the two supports 306 to be opened. Then, it is pressed tightly by the eccentric wheel 311. As shown in Figure 10.

As shown in FIG. 11, the loading rod 4 includes a middle base 401, an X-direction force transmission rod 402, a Y-direction force transmission rod 403, and six force-receiving rods 404. The X-direction force transmission rod 402 and the Y-direction force transmission rod 403 cross each other. Set on the middle base 401, four of the six force rods 404 are vertically arranged at both ends of the X-direction force-transmitting rod 402 and the Y-direction force-transmitting rod 403, and the four force-receiving rods 404 Coplanar, the last two force rods 404 are symmetrically arranged on the middle base 401 and perpendicular to the plane where the X-direction force-transmitting rod 402 and the Y-direction force-transmitting rod 403 are located.

A force rod 404 on the middle base 401 on the loading rod 4 is inserted into the center of the sensor 5 (six-dimensional force sensor) to be tested. The four force-bearing rods 404 respectively correspond to the four calibrated positions on the positioning connecting plate 303.

A calibration method for a calibration device of a comparative six-dimensional force sensor includes the following steps.

Step 1) Assemble the calibration device.

Step 2) Install the sensor 5 to be tested on the positioning connection plate 303, adjust the initial position, adjust the positioning connection plate 303 to the vertical position and fix it, adjust the loading rotating disk 202 to the second position and fix it, and the loading rod 4 is in the X direction The force transmission rod 402 is in the vertical position, and the force transmission rod 205 in the loading device 2 is detachably connected to the X direction force transmission rod 402 on the upper force rod 404; after the initial position is determined, it waits for calibration; as shown in FIG. 12.

Step 3) The driving mechanism 203 in the loading device 2 loads the loading rod 4 through the force transmission rod 205. At this time, the force state of the force sensor 5 to be measured is Fx, and the one-dimensional force sensor 204 controls the magnitude of the loading force, and then collects The output data of each direction of the sensor 5 to be measured; the calibration of the force Fx of the sensor 5 to be measured is completed, and the force transmission rod 205 and the force rod 404 are disassembled; as shown in Figs. 12 and 13.

Step 4) Keep the positioning connecting plate 303 in the vertical position, rotate the positioning connecting plate 303 by 90°, make the Y-direction force transmission rod 403 in the vertical position, and detachably connect the Y-direction transmission rod 205 in the loading device 2 The force rod 403 is the upper force rod 404; the driving mechanism 203 in the loading device 2 loads the loading rod 4 through the force transmission rod 205, and the force state of the sensor 5 under test is Fy, which is controlled by the one-dimensional force sensor 204 Load the size of the force, and then collect the output data of the sensor 5 under test when the force Fy is applied to each direction; complete the calibration of the force Fy of the force sensor 5 to be measured, disassemble the force transmission rod 205 and the force rod 404; as shown in Figure 12 and 13 shown.

Step 5) Adjust the positioning connecting plate 303 to be in a horizontal position and fix it. At this time, a force rod 404 at the end of the Y direction force transmission rod 403 is located directly below the force transmission rod 205 in the loading device 2, and the end of the force transmission rod 205 Removably connected to the force rod 404; the driving mechanism 203 in the loading device 2 loads the loading rod 4 through the force transmission rod 205, at this time the force state of the force sensor 5 to be measured is My, and the load is controlled by the one-dimensional force sensor 204 For the magnitude of the force, collect the output data of the sensor 5 to be measured in various directions when the force My is applied; the calibration of the force My of the force sensor 5 to be measured is completed, and the force transmission rod 205 and the force rod 404 are disassembled; as shown in FIG. 14.

Step 6) Keep the positioning connecting plate 303 in a horizontal position, and rotate the positioning connecting plate 303 by 90°. At this time, a force-bearing rod 404 at the end of the force-transmitting rod 402 in the X direction is located directly below the force-transmitting rod 205 in the loading device 2. The end of the force transmitting rod 205 is detachably connected to the force receiving rod 404; the driving mechanism 203 in the loading device 2 loads the loading rod 4 through the force transmitting rod 205. At this time, the force state of the force sensor 5 to be measured is Mx. The force sensor 204 controls the magnitude of the loading force, collects the output data of the sensor 5 to be measured in various directions when the force Mx is applied; completes the calibration of the force Mx of the force sensor 5 to be measured, and disassembles the force transmission rod 205 and the force rod 404; As shown in Figure 14.

Step 7) Keep the positioning connecting plate 303 in a horizontal position, adjust the loading rotating disk 202 to the third position and fix it, at this time the end of the force transmission rod 205 of the loading device 2 is facing the force at the center of the middle base 401 of the loading rod 4 The rod 404 connects the end of the force transmitting rod 205 to the force receiving rod 404 in a detachable manner; the driving mechanism 203 in the loading device 2 loads the loading rod 4 through the force transmitting rod 205, and the force state of the force sensor 5 to be measured at this time is Fz , Through the one-dimensional force sensor 204 to control the size of the loading force, collect the output data of the sensor 5 to be measured in all directions when the force Fz is applied; to complete the calibration of the force Fz of the force sensor 5 to be measured, disassemble the force transmission rod 205 and the force Rod 404; as shown in Figure 15.

Step 8) Adjust the positioning connecting plate 303 to be in the vertical position and fix it, and adjust the loading rotating plate 202 to the first position and fix it. At this time, the X-direction force transmission rod 402 on the loading rod 4 is in the horizontal position, and one end of the X-direction force transmission rod 402 is The force-receiving rod 404 of the loading device 2 is located at the end of the force-transmitting rod 205 in the loading device 2, and the end of the force-transmitting rod 205 is detachably connected to the force-receiving rod 404; the driving mechanism 203 in the loading device 2 applies the force-transmitting rod 205 to the loading rod 4. Load, at this time the force state of the force sensor 5 to be measured is Mz, the one-dimensional force sensor 204 controls the size of the loading force, and collects the output data of the sensor 5 to be measured in various directions when the force is Mz; completes the force sensor to be measured 5 Calibration of the force Mz, disassemble the force transmission rod 205 and the force rod 404; as shown in Figures 16 and 17.

Step 9) The output data measured in the above steps are processed and analyzed to obtain the decoupling matrix of the sensor 5 to be tested, and the calibration of the sensor 5 to be tested is completed.

Collecting the output data of the sensor 5 to be tested is completed by connecting the signal terminal of the sensor 5 to be tested to a data acquisition card.

As mentioned in the method of this embodiment, the output data measured in the calibration method is processed and analyzed to obtain the decoupling matrix of the sensor 5 to be tested. This algorithm process is a well-known algorithm in the technical field, and the specific algorithm is not limited in the present invention.

The above embodiments are only to illustrate the technical ideas of the present invention, and cannot be used to limit the scope of protection of the present invention. Any changes made on the basis of the technical solutions based on the technical ideas proposed by the present invention fall into the scope of protection of the present invention. Inside.

Claims (7)

1. A calibration device for a comparative six-dimensional force sensor, which is characterized in that it comprises a frame (1), a loading device (2), a sensor fixing device (3) and a loading rod (4), a loading device (2) and a sensor fixing device (3) Fixed on the frame (1), the loading device (2) is located above the sensor fixing device (3), the sensor to be tested (5) is fixed on the sensor fixing device (3), the loading rod (4) and the waiting The measuring sensor (5) is fixedly connected, and the loading device (2) realizes the loading of the sensor under test (5) in all directions through the loading rod (4); the loading device (2) includes a loading fixing frame (201) and a loading rotating disk (202) , Drive mechanism (203), one-dimensional force sensor (204), force transmission rod (205) and pressure plate (207), the loading fixing frame (201) is fixed on the frame (1), on the loading fixing frame (201) A central circular hole is set, and a cylindrical support base (206) is inserted into the central circular hole. The loading rotating disc (202) is elongated and the length is greater than the diameter of the cylindrical supporting base (206), and the loading rotating disc (202) ) Is placed on the cylindrical support base (206) and the rotation center of the loaded rotating disk (202) is coaxial with the center of the cylindrical support base (206); the pressure plate (207) is ring-shaped, and the pressure plate (207) is placed in the circle The cylindrical support base (206) is used to fix the loading rotating disc (202); on the pressure plate (207), the loading positions of the three loading rotating discs (202) are set at 90° intervals. Each loading position is provided with positioning bolts (207-1) correspondingly, and both ends of the loading rotating disk (202) are provided with screw holes matching with the positioning bolts (207-1). Manually rotate and load at 90° intervals Rotate the disc (202) to adjust the loading position; the drive mechanism (203) is installed on the loading rotary disc (202), the output end of the drive mechanism (203), the output end of the drive mechanism (203) penetrates the loading rotary disc (202), one One end of the one-dimensional force sensor (204) is connected to the output end of the driving mechanism (203), the other end of the one-dimensional force sensor (204) is connected to the force transmission rod (205), and the force transmission rod (205) is connected to the loading rod (4); the driving mechanism ( 203) Drive the force transmission rod (205) to perform linear reciprocating motion to apply pressure or tension to the loading rod (4); the sensor fixing device (3) includes the device bottom plate (309), the installation base (301), the positioning bottom plate (302) and the positioning The connecting plate (303), the device bottom plate (309) is fixed on the rack (1), the mounting base (301) is fixed on the device bottom plate (309), the positioning bottom plate (302) is square, and the two positioning bottom plates (302) are The corners are set on the positioning base plate (302) through the rotation of the rotating shaft and the support (306). The positioning base plate (302) rotates around the rotating shaft. When the positioning base plate (302) is horizontal, the edge of the positioning base plate (302) passes through the horizontal positioning plate (305) and two horizontal position pressure plates (304) are fixed on the mounting base (301) ; When the positioning bottom plate (302) is vertical, the positioning bottom plate (302) is fixed by the vertical position positioning plate (312) and the vertical position pressing eccentric wheel (311); the positioning connecting plate (303) is a circular plate, the positioning connecting plate The center of (303) is set on the positioning base plate (302) through the central axis rotation, and four six-dimensional force sensor calibration positions are set on the positioning connecting plate (303) at intervals of 90°. The positioning connecting plate (303) is provided with positioning screw holes on the end faces opposite to the four calibration positions, and the positioning base plate (302) is equipped with a fixed bolt (308). After the calibration position is determined, the fixed bolt (308) is screwed. The positioning screw hole entering the calibration position fixes the positioning connecting plate (303); the six-dimensional force sensor is fixed on the positioning connecting plate (303) by bolts; the loading rod (4) includes the intermediate base (401) and the X-direction force transmission rod (402), Y-direction force-transmitting rod (403) and six force-bearing rods (404), X-direction force-transmitting rod (402) and Y-direction force-transmitting rod (403) are arranged crosswise on the middle base (401), The four force rods (404) of the six force rods (404) are vertically arranged at both ends of the X-direction force-transmitting rod (402) and the Y-direction force-transmitting rod (403), and the four force-receiving rods ( 404) Coplanar, the last two force rods (404) are symmetrically arranged on the middle base (401) and perpendicular to the plane where the X-direction force-transmitting rod (402) and Y-direction force-transmitting rod (403) are located; the loading rod (4) A force rod (404) located on the middle base (401) is inserted into the six-dimensional force sensor, the two ends of the force transmission rod (402) in the X direction and the force transmission rod (403) in the Y direction The four force rods (404) respectively correspond to the four calibration positions on the positioning connecting plate (303); 2. The calibration device for the comparison type six-dimensional force sensor according to claim 1, characterized in that: a driving mechanism (203) It is a cylinder, oil cylinder or hydraulic cylinder.
2. The calibration device for a comparative six-dimensional force sensor according to claim 2, characterized in that a manual knob (208) is installed at the rotation center position of the loading rotating disk (202).
3. The calibration device for a comparative six-dimensional force sensor according to claim 1, characterized in that: the sensor fixing device (3) further includes a position adjustment component for adjusting the installation position of the six-dimensional force sensor, and the position adjustment component includes two aluminum profile pads (310) and two baffle bars (307), two aluminum profile pads (310) are parallel and spaced fixed on the device bottom plate (309), and the two ends of the mounting base (301) are supported on two aluminum profile pads ( 310) and fixed, the two baffle bars (307) are arranged in parallel and both ends are respectively supported on and fixed on two aluminum profile pads (310), and the mounting base (301) is clamped on the two baffle bars (307) between.
4. The calibration device for a comparative six-dimensional force sensor according to claim 1, characterized in that the horizontal position positioning plate (305) is fixed on the mounting base (301) by screws, and the two horizontal position pressing plates (304) are respectively slidably arranged on It is installed on the base (301) and located at both ends of the positioning plate (305) in a horizontal position.
5. The calibration device for a comparative six-dimensional force sensor according to claim 1, characterized in that the two ends of the vertical position positioning plate (312) are respectively clamped into the notches opened on the two supports (306), and the vertical position positioning The plate (312) is blocked on the back of the positioning bottom plate (302), the vertical position pressing eccentric wheel (311) is installed on the fixed shaft, and the fixed shaft is rotatably installed on the back of the positioning bottom plate (302), at the free end of the fixed shaft A handle (311) is installed on the part, and the vertical position is adjusted by turning the handle (311) to press the gap between the eccentric wheel (311) and the vertical position positioning plate (312) to fix the positioning bottom plate (302).
6. The calibration method of a calibration device for a comparative six-dimensional force sensor according to claims 1-7, characterized in that it comprises the following steps: step 1) assembling the calibration device; step 2) installing the sensor (5) to be tested on the positioning connecting plate (303), adjust the initial position, adjust the positioning connecting plate (303) to the vertical position and fix it, adjust the loading rotating plate (202) to the second position and fix it, load the lever (4) on the X-direction force transmission rod (402) ) Is in the vertical position, and the force transmission rod (205) in the loading device (2) is detachably connected to the X direction force transmission rod (402) at the upper force rod (404); after the initial position is determined, wait for calibration; steps 3) The driving mechanism (203) in the loading device (2) loads the loading rod (4) through the force transmission rod (205). At this time, the force state of the force sensor (5) to be measured is Fx, which passes through the one-dimensional force sensor (204) Control the magnitude of the loading force, and then collect the output data of the sensor to be measured (5) in various directions; complete the calibration of the force Fx of the force sensor (5) to be measured, disassemble the force transmission rod (205) and the force rod ( 404); Step 4) Keep the positioning connecting plate (303) in the vertical position, rotate the positioning connecting plate (303) by 90°, make the Y-direction force transmission rod (403) in the vertical position, and set the loading device (2) inside The force transmitting rod (205) is detachably connected to the force receiving rod (404) with the Y direction force transmitting rod (403) at the top; the driving mechanism (203) in the loading device (2) acts on the loading rod through the force transmitting rod (205) (4) Load. At this time, the force state of the sensor (5) under test is Fy. The one-dimensional force sensor (204) is used to control the magnitude of the loading force, and then the sensor under test (5) is collected when the force Fy is applied. Output data; complete the calibration of the force Fy of the force sensor (5) to be measured, disassemble the force transmission rod (205) and the force rod (404); step 5) adjust the positioning connecting plate (303) to a horizontal position and fix it. A force rod (404) at the end of the force transmission rod (403) in the Y direction is located directly below the force transmission rod (205) in the loading device (2), and the end of the force transmission rod (205) is detachably connected to the receiving rod The force rod (404); the driving mechanism (203) in the loading device (2) loads the loading rod (4) through the force transmission rod (205). At this time, the force state of the force sensor (5) to be measured is My, and the The one-dimensional force sensor (204) controls the size of the loading force, collects the output data of the sensor (5) under test in all directions when the force My is applied; completes the calibration of the force My sensor (5) under the test, and disassembles the force transmission rod (205) and the force rod (404); step 6) keep the positioning connecting plate (303) in a horizontal position, rotate the positioning connecting plate (303) by 90°, at this time, one of the end of the force transmitting rod (402) in the X direction The force rod (404) is located directly below the force transmission rod (205) in the loading device (2), and the end of the force transmission rod (205) is detachably connected to the force rod (404); the drive in the loading device (2) Institutions (20 3) Load the loading rod (4) through the force transmission rod (205). At this time, the force state of the force sensor (5) to be measured is Mx, and the load force is controlled by the one-dimensional force sensor (204) to collect the force to be measured. The output data of the sensor (5) in all directions when the force Mx is applied; complete the calibration of the force Mx of the force sensor (5) to be measured, disassemble the force transmission rod (205) and the force rod (404); step 7) maintain the positioning The connecting plate (303) is in the horizontal position, and the loading rotating disk (202) is adjusted to be in the third position and fixed. At this time, the end of the force transmission rod (205) of the loading device (2) is facing the middle base (4) of the loading rod (4). The force rod (404) at the center of 401) connects the end of the force transmission rod (205) to the force rod (404) detachably; the driving mechanism (203) in the loading device (2) passes through the force transmission rod (205) Load the loading rod (4). At this time, the force state of the force sensor (5) to be measured is Fz. The one-dimensional force sensor (204) controls the size of the loading force, and collects the force Fz of the sensor (5) under test Output data in each direction; complete the calibration of the force Fz of the load cell (5) to be measured, disassemble the force transmission rod (205) and the force rod (404); step 8) adjust the positioning connecting plate (303) to the vertical position And fix it, adjust the loading rotating disc (202) to the first position and fix it. At this time, the X-direction force transmission rod (402) on the loading rod (4) is in the horizontal position, and the force at one end of the X-direction force transmission rod (402) The rod (404) is located at the end of the force-transmitting rod (205) in the loading device (2), and the end of the force-transmitting rod (205) is detachably connected to the force-bearing rod (404); the driving mechanism ( 203) Load the loading rod (4) through the force transmission rod (205). At this time, the force state of the force sensor (5) to be measured is Mz, and the load force is controlled by the one-dimensional force sensor (204) to collect the force to be measured. The output data of the sensor (5) in each direction when the force Mz is applied; the calibration of the force Mz of the force sensor (5) to be measured is completed, and the force transmission rod (205) and the force rod (404) are disassembled; step 9) The output data measured in the step is processed and analyzed to obtain the decoupling matrix of the sensor (5) under test, and the calibration of the sensor (5) under test is completed.
7. The calibration method according to claim 7, characterized in that collecting the output data of the sensor (5) under test is completed by connecting the signal terminal of the sensor (5) under test to a data acquisition card.