Six-dimensional force sensor dynamic calibration device and calibration method thereof

A six-dimensional force sensor and dynamic calibration technology, which is applied in the direction of measuring devices, instruments, force/torque/power measuring instrument calibration/testing, etc. It is difficult to control the magnitude, direction and action point of the force, poor repeatability and accuracy, etc., to achieve the effect of stable and continuously adjustable loading force value, good dynamic performance and high precision

Pending Publication Date: 2020-08-25
HEFEI UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0005] At present, the pulse force generating device of the pulse method uses a hammer to strike the six-dimensional force sensor. However, it is difficult for the hammer to control the magnitude, direction and point of action of the force. The magnitude of the force and the length of the pulse are difficult to control and vary from person to person, and the repeatability and accuracy are poor

Method used

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  • Six-dimensional force sensor dynamic calibration device and calibration method thereof
  • Six-dimensional force sensor dynamic calibration device and calibration method thereof
  • Six-dimensional force sensor dynamic calibration device and calibration method thereof

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Embodiment 1

[0043] Embodiment 1, the six-dimensional force sensor dynamic calibration device of this embodiment includes a calibration platform 1, a pulse force loading device and a fixing device for fixing the force sensor to be measured. There are multiple sets of positioning holes on the surface of the calibration table for installing fixtures in different orientations.

[0044] The specific structure is that a through hole is provided in the middle of the calibration platform for the passage of the small ball that exerts force on the sensor. The aforementioned pulse force loading device includes a sleeve 6 fixedly installed on the bottom surface of the calibration platform, and a spring coaxially arranged in the sleeve. Pull rod 8 and the spring 7 that is sleeved on the spring pull rod 8, the two ends of spring 7 are respectively with the upper end of spring pull rod and the spring that is installed on the sleeve bottom. end cap 9 is a spring seat; figure 1 , 2 As shown, the sleev...

Embodiment 2

[0047] Embodiment 2, adopting above-mentioned calibration device to carry out the dynamic calibration method of six-dimensional force sensor, it comprises the following steps:

[0048] S1. For force calibration, first adjust the calibration platform to a horizontal state through the adjustable outriggers;

[0049] S1-1. Install the mounting base horizontally on the calibration platform, install the six-dimensional force sensor to be tested on the base, fix the base on the mounting base, and adjust the position of the mounting base through different mounting holes so that the six-dimensional force The z-axis of the sensor coincides with the axis of the pulse force loading device; put the ball into the sleeve, pull down the spring rod to the set position, and then release it, the ball hits the six-dimensional force sensor to generate a z-direction pulse excitation force, through The displacement sensor, laser vibrometer, acceleration sensor and other instruments measure and reco...

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Abstract

The invention discloses a six-dimensional force sensor dynamic calibration device and a calibration method thereof. The device comprises a calibration table, a pulse force loading device and a fixingdevice used for fixing a to-be-measured force sensor, the pulse force loading device is arranged below the table top of the calibration table, and a plurality of groups of positioning holes are formedin the table top of the calibration table and used for installing the fixing device in different directions. A through hole is formed in the middle of the calibration table, the pulse force loading device comprises a sleeve fixedly installed on the bottom face of the calibration table, a spring pull rod coaxially arranged in the sleeve and a spring connected to the spring pull rod in a sleeving mode, and the upper end of the spring pull rod and an end cover installed at the bottom end of the sleeve serve as spring seats at the two ends of the spring respectively. When the to-be-measured forcesensor is installed on the fixing device, the sensitive direction axis of the to-be-measured force sensor is located on the axis of the spring pull rod, and the axis is located in the calibration table through hole. Loading is carried out in a small ball impact mode, and the device has the advantages of being stable and controllable in loading force value, high in precision, good in repeatabilityand the like.

Description

Technical field: [0001] The invention relates to a six-dimensional force sensor dynamic calibration device and a calibration method thereof, belonging to the field of sensor dynamic performance testing. Background technique: [0002] At present, most six-dimensional force sensor calibration devices are only static calibration, and few involve dynamic calibration. The dynamic calibration methods mainly include step method, sine frequency sweep method and pulse method. [0003] Chinese Patent Publication No. CN 110411656 A discloses a dynamic calibration device for a six-dimensional force sensor and a loading method thereof, which is a dynamic calibration device based on a step method and generating a negative step load. The device uses PLC to control the positive and negative rotation of the servo motor to apply the negative step force, which requires many components, complicated operation, and high cost, and the rotation of the servo motor will generate vibration, which will...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L25/00
CPCG01L25/00
Inventor 王勇马书豪薛昊陆益民陈恩伟刘正士
Owner HEFEI UNIV OF TECH
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