A six-dimensional force sensor calibration device and calibration method thereof

Abstract

Provided in the present invention is a six dimensional force sensor calibration apparatus, the six dimensional force sensor comprising a sensor elastomer, a stress hole being arranged in the centre of the sensor elastomer; the six dimensional force sensor calibration apparatus comprises a frame, a rotating mechanism, a stress apparatus, a first loading apparatus, a second loading apparatus, a third loading apparatus, and a control system. By means of synchronously loading the two ends of the six dimensional force sensor elastomer, the present invention implements accurate measurement of the force / torque input and output in each dimension; by employing the method of fixed sources of force and a moving sensor to be calibrated, only five sources of force are used, and the entire calibration can be completed by moving the rotating platform only once; the rotating platform is electrically rotated and automatically limited, and the loading apparatuses and stress shafts can rotate synchronously, reducing the difficulty of manual operations and avoiding human error, and having good calibration repeatability; using a spring as a forced storage element avoids the instability errors of motor rotation and implements synchronous calibration of loading and unloading processes.

Description

Technical field [0001] The invention relates to the field of force sensor calibration, in particular to a six-dimensional force sensor calibration device and a calibration method thereof. Background technique [0002] As the most complete form of the multidimensional force sensor, the six-dimensional force sensor can simultaneously detect the three-dimensional force component (Fx, Fy, Fz) and the three-dimensional moment component (Mx, My, Mz) of any coordinate system in space, and is widely used in aerospace, machinery Manufacturing and assembly, medical engineering, automotive industry, sports and other fields. Calibrating the designed and processed sensor, determining the input and output relationship of each dimension, and then solving the calculation is an important link in the sensor development process, which directly affects the measurement accuracy of the sensor. Because the six-dimensional force sensor has many dimensions and the coupling between the dimensions has a g...

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Problems solved by technology

Due to the large number of dimensions of the six-dimensional force sensor and the great influence of inter-dimensional coupling, it is difficult to use the calibration device and calibration method of the traditional single-dimensional force sensor for calibration

Chinese Patent Publication No. CN103604561A discloses a weight-loaded calibration device, which uses weights and a pulley block to perform calibration tests on sensors, which has the advantage of stable force values, but cannot be automatically calibrated, and the workload is large, and it is easy to introduce human error

Chinese Patent Publication No. CN103196629A discloses a device that uses a reducer and a high-precision single-dimensional force sensor for calibration. The displacement and angle of the movement are controlled by the grating, thereby realizing automatic calibration in all directions of the sensor, but it cannot realize the separate loading of the torque

Chinese Patent Publication No. CN103616128A discloses a calibration device that uses a combination of a servo motor and a spring as a loading unit, which can realize individual and combined calibration between multiple dimensions, but the number of loading units is huge, the operation is complicated, and it cannot be realized in all directions. Complete separation of forces and moments on

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