Combined calibration device of no-coupling six-dimensional force sensor

A six-dimensional force sensor and calibration device technology, applied in the field of sensor calibration, can solve the problems of difficult assembly and debugging, large size, etc., and achieve the effect of simple installation and debugging, small size and high precision

Active Publication Date: 2012-10-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a combined calibration device for an uncoupled six-dimensional force sensor to solve the problems of large volume and difficult assembly and debugging of the existing six-dimensional force sensor calibration device

Method used

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  • Combined calibration device of no-coupling six-dimensional force sensor
  • Combined calibration device of no-coupling six-dimensional force sensor
  • Combined calibration device of no-coupling six-dimensional force sensor

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specific Embodiment approach 1

[0023] Specific embodiment one: As shown in Figures 1 to 9, a combined calibration device for an uncoupled six-dimensional force sensor described in this embodiment includes a Fz direction calibration device I; a Fx, Fy direction calibration device II; a Mz direction calibration device Device III; Mx, My direction calibration device IV;

[0024]As shown in Figure 2, the Fz direction calibration device 1 includes a base plate 1, a bead 2, a force transfer plate 4, a support base 5, a loading rod 6, a lower pressure plate 7, a bearing seat 8, a lever 9, an upper pressure plate 10, and a bearing end cover 11. Steel wire rope 13, French code 14 and mandrel 15; support seat 1 is fixed on the upper end surface of base plate 1; 17-1, bearing two 17-2 are installed on the corresponding bearing housing 8, bearing one 17-1, bearing two 17-2 are provided with bearing end cover 11 respectively, lever 9 and mandrel 15 are arranged vertically, lever 9 One end is installed on the mandrel 15...

specific Embodiment approach 2

[0028] Specific implementation mode two: as Figure 7 As shown, the loading pulley assembly 23 in this embodiment includes a retaining ring 23-1, a pulley shaft 23-2, a bearing 3 23-3-1, a bearing 4 23-3-2, a pulley seat 23-4, and a pulley One 23-5 and gasket 23-6; the pulley seat 23-4 is installed on the loading bar one 22, and one end of the pulley shaft one 23-2 is installed through bearing three 23-3-1 and bearing four 23-3-2 In the pulley seat 23-4, the pulley one 23-5 is installed on the other end of the pulley shaft one 23-2, and the pulley one 23-5 is installed on the pulley shaft one 23-2 through the gasket 23-6 and the screw 23-7 ; Other compositions and connections are the same as those in Embodiment 1. Pulley one 23-5 relies on gasket 23-6 and pulley shaft one 23-2 shoulder to realize axial positioning, and gasket 23-6 uses screw 23-7 to be connected with pulley shaft one 23-2. Pulley shaft one is fixed in the pulley seat 23-4 by two bearings 23-3-1, 23-3-. The ...

specific Embodiment approach 3

[0029] Specific implementation mode three: as Figure 8 As shown, the guide pulley assembly 25 in this embodiment includes pulley two 25-1, retaining ring two 25-2, bearing five 25-3-1, bearing six 25-3-2 and pulley shaft two 25-4; Wheel shaft two 25-4 is installed on the column 24, pulley two 25-1 is installed on the pulley shaft two 25-4 through bearing five 25-3-1 and bearing six 25-3-2, and retaining ring two 25-2 is used for Fix the bearing five 25-3-1 positioned at the outer end. Other components and connections are the same as those in the second embodiment. Pulley 2 25-1 is fixed on the pulley shaft 2 25-4 through two bearings 25-3-1 and 25-3-2, and the bearing is axially fixed through the shaft shoulder and retaining ring 25-2. The outer ring of the bearing and the pulley Two 25-4 use interference fit to prevent bearing movement.

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Abstract

The invention discloses a combined calibration device of a no-coupling six-dimensional force sensor. The combined calibration device belongs to the technical field of sensor calibration and solves the problems of large volume and difficult assembly and debugging in a conventional calibration device of a six-dimensional force sensor. The combined calibration device comprises an Fz-direction calibration device, an Fx-direction and Fy-direction calibration device, an Mz-direction calibration device and an Mx-direction and My-direction calibration device. A lower board of a sensor body is pressed by a layering so as to fix the sensor main body to a bottom board. A force changeover disk is connected with the sensor body. One end of a lever is fixed to a bearing seat, and the other end of the lever is hung with a poise weight by using a wire rope. By using a lever principle, after being amplified, the weight of the poise weight is applied to the force changeover disk through a first loading rod and a second loading rod. The poise weight is used as a force source; and the force increase action is realized by using the lever principle and a pulley block. Compared with other calibration devices of a six-dimensional force sensor, the combined method provided by the invention has the advantages of smaller volume, fewer parts and simpler installation and debugging due to the realization of the calibration in different directions.

Description

technical field [0001] The invention relates to a calibration device for a combined six-dimensional force sensor, belonging to the technical field of sensor calibration. Background technique [0002] The six-dimensional force sensor is a kind of force sensor and is widely used in industrial robots, humanoid robots and other fields. Its biggest feature is that it can detect loads in six directions at the same time, that is, the force along the three coordinate axes and the moment around the three axes in the spatial Cartesian coordinate system. In order to realize the stable walking of the humanoid robot, it is necessary to detect the force state of the foot in real time. The published patent "A Safe Coupling Six-Dimensional Force Sensor" (Application No.: 201110142847.X) proposes a non-coupling, safe six-dimensional force sensor for the foot of a humanoid robot to realize the humanoid robot Walk steadily. The calibration device and calibration method involved in the prese...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L25/00
Inventor 吴伟国李生广
Owner HARBIN INST OF TECH
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