A six-dimensional force sensor calibration platform and weighting device

Abstract

The invention discloses a six-dimensional force sensor calibration platform and a weighting device, which are characterized in that they include a calibration platform, a six-dimensional force sensor fixing group and an electrically driven weight group, wherein the six-dimensional force sensor fixing group is arranged on the upper surface of the calibration platform, and the electrically driven weight group is arranged inside the calibration platform; the advantages are: reducing manpower, no manpower is required to load and unload weights, avoiding the risk of weights falling off and injuring operators, and at the same time, the calibration platform is convenient for installing various devices fixed by a first bolt.

Description

Technical Field

[0001] The invention specifically relates to a six-dimensional force sensor calibration platform and a weighting device. Background Art

[0002] In the process of making and researching six-dimensional force sensors, it is necessary to test the forces in six directions of the sensors. However, due to the different specifications of sensors and the different forces they can bear, generally only sensors with large specifications are tested using a tensile testing machine, and sensors with smaller specifications are tested for tensile force using a calibration table with artificial weighting. However, in existing tests, the six-dimensional force sensor is fixed on a calibration table, and a weight with a hook is hung on the force measuring point, and then the weight is added upwards, because the weight of such a lateral force is very heavy, and general tests require multiple weights to be added online, which not only makes the operator very tired, but also requires certain qualities of the operator, especially for women, who find it difficult to move. Even if they move, after adding more weights, the weights may fall off their hands due to lack of physical strength and hurt themselves. At the same time, some calibration tables are very difficult to install and fix when adding devices. Summary of the invention

[0003] The technical problem to be solved by the present invention is that manual loading and unloading of weights is too slow and there is a potential danger that the weights fall from the hands and injure the loading and unloading personnel, and it is inconvenient to install and fix some external devices on the calibration platform. In view of the above technical problems, a six-dimensional force sensor calibration platform and a weighting device are proposed, including a calibration platform, a six-dimensional force sensor fixing group and an electrically driven weight group, wherein the six-dimensional force sensor fixing group is arranged on the upper surface of the calibration platform, and the electrically driven weight group is arranged inside the calibration platform;

[0004] The calibration platform includes twelve long blocks with square cross-sections, and the twelve long blocks are assembled into a square frame; two slide grooves with T-sections are provided along the length direction of each rectangular surface; a right-angle plate is placed at the right angle formed between two long blocks that are perpendicular to each other, and the first bolt is used to cooperate with the right-angle plate and the slide groove to fix the long blocks that are matched with each other;

[0005] The electric-driven weight group includes: a hanging fork, a hook, multiple weight blocks, a supporting fork, a pin, an electric push rod group and a sliding base. The hook is arranged at the top of the hanging fork and cooperates with the six-way lateral force cross plate. The hanging fork and the supporting fork are arranged correspondingly. Multiple weight blocks are simultaneously mounted on the hanging fork and the supporting fork. The pin cooperates with the weight block and the hanging fork. The upper end of the electric push rod group is connected to the bottom of the supporting fork, and the lower end stands on the sliding base. The sliding base is connected to the four long blocks at the bottom of the calibration platform.

[0006] According to the technical solution of the present invention, an electric push rod pushes all the weight blocks upward, and then a latch is used to clamp the required number of weight blocks, thereby greatly reducing manpower; a calibration platform composed of a long block with a T-shaped slide groove on the surface can be used to add a device to the calibration platform, and the first fixing bolt of the device only needs to be put into the T-shaped slide groove and fixed with a nut.

[0007] Preferably, the hanging fork comprises: two cylinders, a plurality of first holes and a first connecting block. One end of the two cylinders are connected together by the first connecting block, and the two cylinders are parallel to each other. The plurality of first holes are opened along the axial array of the two cylinders, and each first hole corresponds to a weight block. The number of the suspended weight blocks can be selected by cooperating with the pin.

[0008] Preferably, the hook group includes: a ball head rod, an upper sleeve, a lower sleeve, a plurality of balls and a hook; the ball head rod passes through the inner bottom of the lower sleeve and is vertically arranged on the first connecting block, and the plurality of balls are arranged in a ring shape in the gap between the ball head of the ball head rod and the inner bottom surface of the lower sleeve, the upper sleeve is threadedly matched with the lower sleeve, and the hook is connected to the top end of the upper sleeve; the contact surface between the ball head rod and the balls is smaller, the friction force is smaller, and the measured data is more accurate.

[0009] Preferably, four second holes are arranged side by side on the body of the weight block, and the four second holes are respectively mounted on the hanging fork and the supporting fork, and two third holes penetrate the body of the weight block from the side, and pass through the walls of the two second holes mounted on the hanging fork halfway, and the third hole is axially aligned with the first hole, and the weight block can be fixed on the hanging fork through the cooperation of the pin with the third hole and the first hole. Because the weight block is mounted on the hanging fork, the weight above the fixed weight block will not fall off the hanging fork, and the weight block below will not fall off the supporting fork either.

[0010] Preferably, the supporting fork comprises: a supporting plate and two cylindrical rods, the two cylindrical rods are vertically arranged on both sides of the supporting plate and cooperate with the second holes, and two second holes are also provided in the middle area of ​​the supporting plate to cooperate with the hanging fork; the two cylindrical rods are used to position the weight blocks that are not hung on the hanging fork, so as to prevent the weight blocks from being unable to be added due to the misalignment of the hanging fork and the second holes on the weight blocks due to the weights being skewed.

[0011] Preferably, the sliding base comprises: a seat plate, two groups of sliding beams, two groups of sliding rails and two positioning screws. The two groups of sliding beams penetrate the seat plate longitudinally and transversely respectively and shuttle back and forth. The two groups of sliding rails are arranged on the inner sides of four long blocks at the bottom of the calibration platform. Both ends of the sliding beams are provided with rings, which are sleeved on the sliding rails. Two positioning screws are vertically arranged on the seat plate. One of the two screw holes is located directly above a transverse sliding beam, and the other is located directly above a longitudinal sliding beam. The screw holes are communicated with the holes where the corresponding sliding beams are located. The sliding base can drive the entire device inside the calibration platform to arbitrarily change the position of the X-axis and Y-axis of the device. Tightening the positioning screws can fix the position of the seat plate on the two groups of sliding beams, so that the electrically driven weight group will not shake during operation.

[0012] Preferably, the six-axis force sensor fixing group comprises: a connecting platform, an L-shaped connecting plate, a six-axis force sensor and a six-direction lateral force cross plate, the two ends of the connecting platform are mounted on the two edges corresponding to the upper end of the calibration platform, and are fixed to the upper surface of the calibration platform by a right-angle plate and a first bolt; the L-shaped connecting plate stands on the connecting platform and is fixed by a first bolt, and the six-axis force sensor is fixed to the L-shaped connecting plate at one end by the first bolt, and is fixed to the six-direction lateral force cross plate at the other end; the connecting platform can change the position of the sensor on the y-axis, and the connecting seat can change the position of the sensor on the x-axis.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] 1. The technical solution of the present invention is to use a calibration platform composed of twelve special long blocks to facilitate the fixing of fixing nuts on some devices to the calibration platform.

[0015] 2. The technical solution of the present invention solves the problem of not needing manual handling of weights for loading and unloading by using an electrically driven weight group driven by an electric push rod, which greatly reduces manpower and also solves the risk of weights falling off and injuring the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional view of a six-dimensional force sensor calibration platform and a weighting device in use;

[0017] Figure 2 This is a schematic diagram of the structure of the electric drive weight set when it is in use;

[0018] Figure 3 It is a schematic diagram of the local structure of the sliding base fitted on the calibration platform;

[0019] Figure 4 It is a three-dimensional schematic diagram of a hanging fork;

[0020] Figure 5 It is a three-dimensional schematic diagram of the support fork;

[0021] Figure 6 It is a three-dimensional schematic diagram of the weight block;

[0022] Figure 7 It is a schematic diagram of the interior of a partial section of the hook assembly;

[0023] Figure 8 This is a schematic diagram of the coordination between the electric drive weight set and the bottom of the calibration platform;

[0024] Fig. 9 It is a six-dimensional force sensor fixing group;

[0025] Fig.10 It is a three-dimensional schematic diagram of the latch. DETAILED DESCRIPTION

[0026] The following will be combined with the attached embodiment of the present invention Figure 1-10 , the technical solutions in the embodiments of the present invention are described in detail.

[0027] Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example 1

[0030] like Figure 1 As shown, it includes a calibration platform 1, a six-dimensional force sensor fixing group 2 and an electrically driven weight group 3. The six-dimensional force sensor fixing group 2 is arranged on the upper surface of the calibration platform 1, and the electrically driven weight group 3 is arranged inside the calibration platform 1.

[0031] like Figure 1 As shown, the calibration platform 1 includes twelve long blocks 11 with square cross-sections, and the twelve long blocks 11 are assembled into a square frame, and the connecting platform 4 is horizontally arranged above the frame; two slide grooves 12 with T-shaped cross-sections are opened along the length direction of each rectangular surface; the right-angle plate 13 is placed at the right angle formed between two long blocks 11 that are perpendicular to each other, and the first bolt 14 cooperates with the right-angle plate 13 and the slide groove 12 to fix the matching long blocks 11, and the middle of the long blocks can be hollowed out, so that the weight of the entire calibration platform can be greatly reduced, which is convenient for moving the calibration platform.

[0032] like Figure 2 As shown, the electrically driven weight group 3 includes: a hanging fork 31, a hook group 32, a plurality of weight blocks 33, a supporting fork 34, a pin 35, an electric push rod group 36 and a sliding base 37. The hook group 32 is arranged at the top of the hanging fork 31 and cooperates with the six-way lateral force cross plate 24. The hanging fork 31 and the supporting fork 34 are arranged correspondingly. A plurality of weight blocks 33 are simultaneously mounted on the hanging fork 31 and the supporting fork 34. The pin 35 cooperates with the weight blocks 33 and the hanging fork 31. The upper end of the electric push rod group 36 is connected to the bottom of the supporting fork 34, and the lower end stands on the sliding base 37. The sliding base 37 is connected to the four long blocks 11 at the bottom of the calibration platform 1.

[0033] like Figure 4 As shown, the hook fork 31 includes: two cylinders 311, a plurality of first holes 312 and a first connecting block 313. One end of the two cylinders 311 is connected together by the first connecting block 313. The first connecting block 313 is formed by two first connecting blocks spliced ​​in a triangle. The ball head rod 321 in the hook group 32 is vertically welded at the vertex of the first connecting block 313. The two cylinders 311 are parallel to each other, and the plurality of first holes 312 are opened along the axial array of the two cylinders 311. The number of the first holes 312 corresponds to the number of the weight blocks 33.

[0034] like Figure 7 As shown, it is characterized in that: the hook group 32 includes: a ball head rod 321, an upper sleeve 322, a lower sleeve 323, multiple balls 324 and a hook 325; the ball head rod 321 passes through the inner bottom of the lower sleeve 323 and is vertically arranged on the first connecting block 313, and the multiple balls 324 are arranged in a ring shape in the gap between the ball head of the ball head rod 321 and the inner bottom surface of the lower sleeve 323, the upper sleeve 322 is threadedly matched with the lower sleeve 323, and a groove is horizontally opened on the top of the upper sleeve 322, and the second bolt passes through the groove walls on both sides, and the hook 325 is sleeved on the upper second bolt and is located in the groove. This arrangement can reduce friction. At the same time, the bolt is adopted to facilitate the replacement of hooks 325 of different lengths for different force measuring points. Side force.

[0035] like Figure 6As shown, the weight block 33 has a rectangular appearance, and the thickness of the weight block 33 is equal to the distance between the centers of the two connected first holes. Four second holes 331 are arranged side by side on the body of the weight block 33. The two middle second holes 331 are sleeved on the hanging fork 31, and the second holes 331 on both sides are sleeved on the supporting fork 34. The two third holes 332 penetrate the body of the weight block 33 from the side, and pass through the hole walls of the two second holes 331 sleeved on the hanging fork 31 in the middle. The third hole 332 is axially aligned with the first hole 312.

[0036] like Figure 5 As shown, the supporting fork 34 includes: a supporting plate 341 and two cylindrical rods 342. The area of ​​the supporting plate 341 is consistent with the area of ​​the weight block 33, which can better support the weight block 33; the two cylindrical rods 342 are vertically arranged on both sides of the supporting plate 341 and cooperate with the second holes 331. The middle area of ​​the supporting plate 341 also has two second holes 331 to cooperate with the hanging fork 31.

[0037] like Figure 3 As shown, the sliding base 37 includes: a seat plate 371, two groups of sliding beams 372, two groups of slide rails 373 and two positioning screws 374. Each group of sliding beams 372 and slide rails 373 is composed of two rods. The two groups of sliding beams 372 penetrate the seat plate 371 longitudinally and transversely, respectively, and shuttle back and forth. The two groups of slide rails 373 are horizontally arranged on the inner side surfaces of the four long blocks 11 at the bottom of the calibration platform 1. The two ends of the slide rails 373 are connected to the calibration platform 1 by setting a second connecting block, and can be connected to the long block 11 by a first bolt 14, or fixed to two connected right-angle plates 13 by welding; the sliding beams 372 There are collars 372-1 at both ends, and the collars 372-1 are sleeved on the slide rail rod 373. The sliding base 37 has to bear a huge weight, so the rod diameters of the sliding beam rod 372 and the slide rail rod 373 should be thicker, and the rods are preferably made of stainless steel to avoid rust that hinders the sliding of the seat plate 371; two positioning screws 374 are vertically arranged on the seat plate 371, and one of the two screw holes is located directly above a horizontal sliding beam rod 372, and the other is located directly above a longitudinal sliding beam rod 372. The screw holes are connected to the holes where the corresponding sliding beam rods 372 are located, and the positioning screws 374 are flat head screws.

[0038] like Figure 8As shown, the electric push rod group 36 can be composed of one electric push rod or several electric push rods. The upper end of the electric push rod is connected and fixed to the bottom surface of the support plate 341 by a third bolt, and the second hole 331 on the support plate is avoided when being fixed to the support plate 341; the bottom end of the electric push rod is also fixed to the upper surface of the sliding base 37 by a third bolt. When selecting an electric push rod, an electric push rod with greater thrust should be selected, because the amount of weights in this device is relatively large, so as to avoid the situation where the electric push rod cannot push all the weights upward; at the maximum distance of the electric push rod, the top weight block 33 just touches the first connecting block 313 on the hanging fork 31, and at this time, the third holes 332 on all the weight blocks 33 coincide with the first holes 312 on the hanging fork 31 one by one.

[0039] like Fig. 9 As shown, the six-dimensional force sensor fixing group 2 includes: a connecting platform 21, an L-shaped connecting plate 22, a six-dimensional force sensor 23 and a six-way lateral force cross plate 24. The connecting platform 21 has the same structure as the long block 11, so as to facilitate cooperation with the upper end surface of the calibration platform 1; the connecting platform 21 is fixed to the upper surface of the calibration platform 1 by a right-angle plate 13 and a first bolt 14, the L-shaped connecting plate 22 stands on the connecting platform 21 and is fixed by the first bolt 14, and the six-dimensional force sensor 23 is fixed to the L-shaped connecting plate 22 at one end by the first bolt 14, and the other end is fixed to the six-way lateral force cross plate 24.

[0040] like Fig. 9 As shown, mounting screws are provided on the four directions of the six-way lateral force cross plate 24, and the cylinder vertically penetrates the center of the plate body and is fixed to the plate body. The front end of the cylinder is longer than the screw to facilitate the middle lateral force.

[0041] The method of using a six-dimensional force sensor calibration platform and a weighting device of the present embodiment is as follows: first fix the six-dimensional force sensor 23 on the six-dimensional force sensor fixing group 2, then move the electrically driven weight group 3 to the bottom of the six-dimensional force sensor fixing group 2, partially extract the hook group 32 and the hanging fork 31 from the electrically driven weight group 3, hang the hook group 32 on the force measuring point of the six-way lateral force cross plate 24, and then tighten the screws to fix the seat plate 371 in place; start the power supply of the electric push rod group 36 to push the electric push rod upward. When the electric push rod is extended to the limit distance, all the weight blocks 33 are all sleeved on the hanging fork 31. At this time, according to the loaded weight, the operator pulls the pin 35 from the weight block 3 corresponding to the required weight. 3, one side is inserted into the third hole 332 on the fork 3, passes through the first hole 312 on the hanging fork 31, and then passes out from the third hole 332 on the other side; after the above operation is completed, the electric push rod is lowered with the weight block 33 below the fixed weight block 33. When it is necessary to increase the weight block 33, the electric push rod group 36 is still started to push all the remaining weight blocks 33 up. When the electric push rod is extended to the limit, the pin 35 is first pulled out, and then the pin 35 is inserted into the weight block 33 corresponding to the required weight value. After the operation is completed, the excess weight blocks 33 are lowered; because the force measuring points are not on the same horizontal plane, the height of the electric drive weight group 3 cannot be adjusted, so testing different force measuring points requires hooks 325 of different lengths of the root canal.

[0042] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A six-dimensional force sensor calibration platform and weighting device, characterized in that: It comprises a calibration platform (1), a six-dimensional force sensor fixing group (2) and an electrically driven weight group (3), wherein the six-dimensional force sensor fixing group (2) is mounted on the upper surface of the calibration platform (1), and the electrically driven weight group (3) is arranged inside the calibration platform (1); The calibration platform (1) comprises twelve long blocks (11) with square cross sections, and the twelve long blocks (11) are assembled into a square frame; two slide grooves (12) with T-shaped cross sections are provided on each rectangular surface along the length direction; a right-angle plate (13) is placed at a right angle formed between two long blocks (11) that are perpendicular to each other, and the long blocks (11) that are matched with each other are fixed by a first bolt (14) that is matched with the right-angle plate (13) and the slide groove (12); The electric drive weight group (3) comprises: a hanging fork (31), a hook group (32), a plurality of weight blocks (33), a supporting fork (34), a latch (35), an electric push rod group (36) and a sliding base (37). The hook group (32) is arranged at the top end of the hanging fork (31) and cooperates with the six-way lateral force cross plate (24). The hanging fork (31) and the supporting fork (34) are arranged correspondingly. The plurality of weight blocks (33) are simultaneously sleeved on the hanging fork (31) and the supporting fork (34). The latch (35) cooperates with the weight blocks (33) and the hanging fork (31). The upper end of the electric push rod group (36) is connected to the bottom of the supporting fork (34), and the lower end stands on the sliding base (37). The sliding base (37) is connected to four long blocks (11) at the bottom of the calibration platform (1). The hook assembly (32) comprises: a ball head rod (321), an upper sleeve (322), a lower sleeve (323), a plurality of balls (324) and a hook (325); the ball head rod (321) passes through the inner bottom of the lower sleeve (323) and is vertically arranged on the first connecting block (313); the plurality of balls (324) are arranged in a ring shape in the gap between the ball head of the ball head rod (321) and the inner bottom surface of the lower sleeve (323); the upper sleeve (322) and the lower sleeve (323) are threadedly matched; and the hook (325) is connected to the top end of the upper sleeve (322); The sliding base (37) comprises: a seat plate (371), two groups of sliding beams (372), two groups of slide rails (373) and two positioning screws (374). The two groups of sliding beams (372) respectively penetrate the seat plate (371) longitudinally and transversely and shuttle back and forth. The two groups of slide rails (373) are arranged on the inner side surfaces of four long blocks (11) at the bottom of the calibration platform (1). Both ends of the sliding beams (372) are provided with collars (372-1), and the collars (372-1) are sleeved on the slide rails (373). The two positioning screws (374) are vertically arranged on the seat plate (371). One of the two screw holes is located directly above a transverse sliding beam (372), and the other is located directly above a longitudinal sliding beam (372). The screw holes are communicated with the holes where the corresponding sliding beams (372) are located.

2. A six-dimensional force sensor calibration platform and weighting device according to claim 1, characterized in that: The hanging fork (31) comprises: two cylinders (311), a plurality of first holes (312) and a first connection block (313); one end of the two cylinders (311) is connected together via the first connection block (313); the two cylinders (311) are parallel to each other; and the plurality of first holes (312) are arranged in an axial array along the two cylinders (311).

3. The six-dimensional force sensor calibration platform and weighting device according to claim 1, characterized in that: Four second holes (331) are arranged side by side on the block body of the weight block (33), and the four second holes (331) are respectively mounted on the hanging fork (31) and the supporting fork (34). Two third holes (332) penetrate the block body from the side of the weight block (33) and pass through the hole walls of the two second holes (331) mounted on the hanging fork (31). The axial direction of the third holes (332) is consistent with that of the first holes (312).

4. The six-dimensional force sensor calibration platform and weighting device according to claim 1, characterized in that: The supporting fork (34) comprises a supporting plate (341) and two cylindrical rods (342). The two cylindrical rods are vertically arranged on both sides of the supporting plate (341) and cooperate with the second holes (331). The middle area of ​​the supporting plate (341) also has two second holes (331) that cooperate with the hanging fork (31).

5. The six-dimensional force sensor calibration platform and weighting device according to claim 1, characterized in that: The six-dimensional force sensor fixing group (2) comprises: a connecting platform (21), an L-shaped connecting plate (22), a six-dimensional force sensor (23) and a six-directional lateral force cross plate (24); the two ends of the connecting platform (21) are mounted on two edges corresponding to the upper end of the calibration platform and are fixed to the upper surface of the calibration platform (1) via a right-angle plate (13) and a first bolt (14); the L-shaped connecting plate (22) stands on the connecting platform (21) and is fixed via the first bolt (14); one end of the six-dimensional force sensor (23) is fixed to the L-shaped connecting plate (22) via the first bolt (14), and the other end is fixed to the six-directional lateral force cross plate (24).

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