Six-dimensional sensor calibration device

Abstract

The invention discloses a six-dimensional sensor calibration device which comprises a machine frame, a load mechanism, a positioning mechanism and an electrical control system. The electrical control system comprises a human-computer interface, an industrial personal computer, a multi-axis controller, a servo controller A, a servo controller B, a servo controller C, a servo controller D and a servo controller E, wherein the human-computer interface and the industrial personal computer serve as an upper computer used for monitoring displacement, angle and force signals. A closed loop force feedback control system is adopted, accurate and automatic loading of calibration force is achieved, and a six-dimensional sensor can be continuously loaded. A grating ruler is installed on a high-precision cross sliding table mechanism to form full closed-loop displacement control, the displacement in the X (Y) direction is precisely positioned, and turning and rotating angles of the six-dimensional sensor can be precisely positioned through a circular grating, and therefore the precise positioning of straight line displacement and a rotating angle of the six-dimensional sensor is achieved. According to the six-dimensional sensor calibration device, loading of any six-dimensional force/ torque within a measuring range can be achieved, the loading process is simple and operation is convenient.

Description

technical field [0001] The invention relates to the field of sensors and measurement and control thereof, in particular to a six-dimensional force sensor calibration device. Background technique [0002] The six-dimensional force sensor can simultaneously detect full force information in three-dimensional space, that is, three-dimensional force information (F x , F y , F z ) and three-dimensional moment information (M x , M y , M z ). The six-dimensional force sensor has a wide range of applications in aerospace, robotics and other fields, such as force monitoring of flywheel transmission system, lunar rover landing test, low-impact docking of aircraft, precision instrument assembly, robot hands coordination control, etc. my country's high-precision six-dimensional force sensor mainly relies on imports. Therefore, it is of great strategic significance to develop a six-dimensional force sensor with independent intellectual property rights. The calibration device plays ...

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Problems solved by technology

Chinese Patent Publication No. CN102749168A discloses a combined calibration device for a weight-type non-coupling six-dimensional force sensor, using weights as a force source, utilizing the principle of leverage and a pulley block to achieve a force-increasing effect, and realizing the individual calibration of a single-dimensional force in each direction , is widely used in the calibration of small and medium range multi-dimensional force sensors, and has the characteristics of high precision and easy operation, but it cannot perform automatic loading and dynamic load loading calibration

Chinese Patent Publication No. CN1715856A discloses a pulley-type stepless lifting six-dimensional force sensor calibration device, which can realize generalized loading and calibration of multi-dimensional force sensors, but cannot realize separate loading of each dimension force/moment component, and the transmission rope and The angle between the horizontal planes is difficult to ensure sufficient accuracy, which affects the calibration accuracy

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