Six-dimensional force calibration device

Abstract

The invention discloses a six-dimensional force calibration device. The device comprises a multi-degree-of-freedom industrial robot, a space truss and a force loader, an inner wall of the space trussis provided with a plurality of slide rails, all the slide rails form a space slide rail group used for allowing the multi-degree-of-freedom industrial robot to slide around the center of the space truss, and the force loader is arranged at one end, far from the space slide rail group, of the multi-degree-of-freedom industrial robot and used for applying a force to any point of the surface of a to-be-calibrated workpiece located at the center of the space truss when the multi-degree-of-freedom industrial robot slides along the space slide rail group. The multi-degree-of-freedom industrial robot can slide around the center of the space truss in the space slide rail group, a movement track thereof can cover any point of the surface of the to-be-calibrated workpiece, flexible loading positionof the force loader located at the front end of the multi-degree-of-freedom industrial robot is guaranteed, three force components and three moment components of a three-dimensional space in which the to-be-calibrated workpiece is located are calibrated through the force loader, six-dimensional force calibration is realized, and the calibration efficiency and the calibration precision are improved.

Description

technical field [0001] The invention relates to the field of calibration equipment, in particular to a six-dimensional force calibration equipment. Background technique [0002] The application of multi-dimensional force measurement equipment in various fields has become more and more extensive. For example, in the field of aerospace, multi-dimensional force measurement is mainly used in space micro-vibration measurement and joint force measurement of mechanical arms. [0003] At present, piezoresistive and piezoelectric sensors are mostly used for multidimensional force measurement at home and abroad. The accuracy of the sensors can basically meet the design requirements in theory. However, the traditional calibration equipment has a relatively simple interface and loading form, and the working space is relatively large Small, especially for dynamic calibration, it is often more dependent on human operation, so the inevitable error is introduced during the calibration proce...

AI Technical Summary

Problems solved by technology

[0003] At present, piezoresistive and piezoelectric sensors are mostly used for multi-dimensional force measurement at home and abroad. The accuracy of the sensors can basically meet the design requirements in theory. However, the traditional calibration equipment has a relatively simple interface and loading form, and the working space Small, especially for dynamic calibration, it is often more dependent on human operation, so the inevitable error is introduced during the calibration process, resulting in loss of accuracy

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