A calibration device for a six-degree-of-freedom force and torque sensor

Abstract

The invention relates to a calibration device for a six-degree-of-freedom force and torque sensor. The calibration device comprises a lifting mechanism, a six-degree-of-freedom movement tool of a stewart structure and a six-degree-of-freedom force and torque measurement tool of the stewart structure, wherein the six-degree-of-freedom movement tool is mounted at the bottom of the lifting mechanism in an inverted manner and can move up and down along with the lifting mechanism; the six-degree-of-freedom force and torque measurement tool is positioned below the six-degree-of-freedom movement tool; and the six-degree-of-freedom force and torque sensor to be detected is fixed between the six-degree-of-freedom movement tool and the six-degree-of-freedom force and torque measurement tool. According to the calibration device, mounting, fixing and replacement of the six-degree-of-freedom force and torque sensor to be detected become convenient and quick, the detection accuracy can be improved, and the stability is good.

Description

technical field [0001] The invention relates to a sensor calibration device, in particular to a six-degree-of-freedom force and torque sensor calibration device. Background technique [0002] The six-component force and moment sensor is an integral sensor used to measure and calculate the force and moment of six degrees of freedom, also referred to as "six-dimensional force sensor". The six-component force and moment sensor has complex loading force sources and The detection standard is complex. The structural body of the six-dimensional force sensor calibration device in the prior art solution is a six-degree-of-freedom motion platform with a stewart structure, driven by an electric push rod, which can continuously load arbitrary forces and moments in space, and is installed on the upper platform and the lower platform respectively. There is a three-jaw chuck, the sensor to be tested is fixed in the middle, and standard force sensors are installed on the six electric push ...

AI Technical Summary

Problems solved by technology

[0002] The six-component force and moment sensor is an integral sensor used to measure and calculate the force and moment of six degrees of freedom, also referred to as "six-dimensional force sensor". The six-component force and moment sensor has complex loading force sources and The problem of complex testing standards

The existing six-dimensional force sensor calibration device has the following disadvantages: 1), because the measured sensor is placed between the upper platform and the lower platform of the stewart platform, it is very inconvenient to replace the tested part; 2), because The sensor under test is fixed by two upper and lower three-jaw chucks, so the size and shape of the tested part are limited, and it is impossible to complete the measurement of different styles of sensors; 3), this detection method requires two upper and lower three-jaw chucks and the tested It is difficult to ensure that the axes of the three measuring sensors coincide, which will affect the measurement accuracy; 4), 6 unidirectional standard force sensors are installed on the electric push rod, and the calculation is the force and moment applied to the tested part, which is affected The influence of the clearance of the universal joint will also affect the accuracy

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