Six-dimension force sensor calibration device with medium measurement range

Abstract

The invention relates to a six-dimension force sensor calibration device with medium measurement range, which comprises a rotary table base vertically arranged at one end of a working platform throughbolts, wherein the front of the rotary table base is provided with a rotary table turnplate and the side is provided with a rotary table handle, and the rotary table turnplate drives an adapter plate, a six-dimension force sensor and a loading plate to rotate together through rotating the rotary table handle, wherein the adapter plate, the six-dimension force sensor and the loading plate are arranged on the rotary table turnplate. Weights with different masses and numbers are respectively hung on a back stress-applying level, a front stress-applying level and a center stress-applying level ofthe loading plate through drop hangers and ropers so as to realize the loading of Fx, Fy, Mx, My and Mz of the six-dimension force sensor, the adapter plate provided with the six-dimension force sensor and the loading plate is taken down from the rotary table turnplate to be arranged in a circular unthreaded hole chiseled on the working platform to calibrate the Fz. The invention has simple structure, convenient operation and high calibration precision, ensures that the position and the direction of point of loading force application are accurate through mechanical design and processing and installing precision, and is suitable to the calibration and the test of the six-dimension force sensor with medium measurement range.

Description

technical field [0001] The invention relates to the automation field, in particular to a medium-range six-dimensional force sensor calibration device in the sensor field. 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, coordination of both hands, six-dimensional force information detection in the test system, etc. [0003] 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, its random error is mainly caused by internal signal processing circuit, quantization error, external interference and other factor...

AI Technical Summary

Problems solved by technology

[0007] 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; fourth, For the calibration of the medium-range six-dimensional force sensor, the errors caused by pulleys, transmission ropes, etc. are large, which directly affect the calibration accuracy of the six-dimensional force sensor

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