Dynamic calibration equipment for six-dimensional force sensor and loading method of dynamic calibration equipment

Abstract

The invention discloses dynamic calibration equipment for a six-dimensional force sensor and a loading method of the dynamic calibration equipment, and belongs to the technical field of sensor testing. The dynamic calibration equipment comprises a lower bed body, a to-be-tested sensor, a connecting plate, a displacement sensor, an electric cylinder, a speed reducer, columns, a bearing plate, a servo motor, a connector, an upper bed body, a standard sensor, a servo motor, a working plate, a connector, a standard sensor, an electric cylinder, a fixing plate, a vertical plate, a loading column, achuck and a PLC control box. According to the dynamic calibration equipment, based on the basic principle of a negative step load, through the rotation of the servo motor, a load is slowly applied tothe to-be-tested sensor, the force value is stabilized by relying the self-locking performance of the electromagnetic brake of the servo motor, the servo motor is controlled by a PLC to rotate reversely, and instantaneous unloading can be conducted to form the negative step load. The dynamic calibration equipment can calibrate the FX, FY, FZ, MZ, MX and MY of the six-dimensional force sensor witha large force value, is small in occupied space, precise and reliable, and can simultaneously meet the requirements of dynamic calibration, static calibration and quasi-static calibration.

Description

technical field [0001] The invention relates to a dynamic calibration device of a six-dimensional force sensor and a loading method thereof, and belongs to the technical field of sensor testing. Background technique [0002] At present, the calibration of the six-dimensional force sensor at home and abroad mainly focuses on the static aspects, such as the digital decoupling of the sensor, the calibration of linearity and sensitivity, the analysis of the output error caused by the deviation of the action point of the input force and the deviation of the line of action, etc. However, there are few studies on dynamic performance and its calibration. So far, there has not been a standard for dynamic calibration of six-dimensional force sensors at home and abroad. The primary difficulty in researching dynamic calibration equipment for six-dimensional force sensors lies in the dynamic calibration method and standard problems of six-dimensional force sensors. The dynamic calibrat...

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Problems solved by technology

[0003] Chinese Patent Publication No. CN103323175B discloses a multifunctional force loading device and a six-dimensional force sensor calibration method. Although the six-dimensional force sensor can be statically calibrated, it is subject to many restrictions in actual use. One is that the device is manually operated. The accuracy is low, the error is large, and the experimental results are easily affected by human factors; second, this device can only perform static calibration on the six-dimensional force sensor, and manual operation cannot achieve quasi-static calibration and dynamic calibration

[0004] Chinese Patent Publication No. CN108896398A discloses a dynamic calibration device that generates a negative step load. Although the device can dynamically calibrate the six-dimensional force sensor and is also based on the negative step calibration method, it has the following problems: 1. This device uses the method of instantaneous rupture of brittle materials to generate negative step loads, but it cannot be applied to the dynamic calibration of sensors with a large range; the second is that this device cannot calibrate the six-dimensional force sensor

[0005] At this stage, the dynamic calibration of negative step loads with large values ​​cannot be accurately calibrated, and most of them use the method of instantaneous fracture of brittle materials, which wastes materials and has a high risk factor. In order to solve the above problems, a method based on negative step loads with large values ​​is proposed. The dynamic calibration equipment and loading method of the six-dimensional force sensor rely on the precise control of the electrical system to achieve the required requirements

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