Six-dimension force sensor calibration device

Abstract

The invention relates to a calibration device for a six-dimensional force sensor, comprising a sensor fixing support, an adapter plate, a six-dimensional force sensor, a loading plate, a standard single-dimensional force sensor, a jack fixing support and a base that are mechanically connected to each other. The loading plate, the six-dimensional force sensor and the adapter plate are connected to each other and installed on the sensor fixed support, and the sensor fixed support is installed on the first support installation guide rail of the base. There is a standard single-dimensional force sensor in front of the jack, and a loading cap is placed in front of the standard single-dimensional force sensor. The first jack, the second jack and the third jack are respectively installed on the first jack installation guide rail, the second jack The second jack is installed on the guide rail and the third jack is installed on the guide rail, the fourth jack is installed on the jack fixed support, and the jack fixed support is installed on the second support installation guide rail of the base. The invention provides a device with simple structure, convenient operation and high calibration accuracy, which is suitable for calibration and testing of large-range and large-size six-dimensional force sensors.

Description

technical field [0001] The invention relates to the field of automation, in particular to a six-dimensional force sensor calibration device suitable for large range and large size in the field of sensors. Background technique [0002] 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), and is mainly used in force and force / position control occasions, such as contour tracking , precision assembly, hand coordination, six-dimensional force information detection in test systems, etc., especially in the fields of aerospace robots, space station docking simulation, rocket engine thrust testing, etc., large-range six-dimensional force sensors play an extremely important role. [0003] The measurement accuracy of the sensor is one of the most important performance indicators for evaluating the sensor, and its errors ...

AI Technical Summary

Problems solved by technology

[0008] There are deficiencies in the calibration device in the prior art. First, the calibration device changes the direction of the applied load by adjusting the angle between the load transmission rope and the horizontal plane. When the volume is large or the rope is long, the load transmission rope is adjusted. The angle between the horizontal plane and the horizontal plane is difficult to ensure sufficient accuracy, so that the applied load has a large direction error, which will directly affect the calibration accuracy; second, the pulley is used to apply the load in the calibration device, and the pulley has friction. Friction will cause a relatively large loading error, which will affect the calibration accuracy; third, the calibration device applies a composite force / torque to the six-dimensional force sensor, which cannot achieve independent loading of each dimensional force / torque component

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