A three-dimensional force sensor three-dimensional force loading calibration device and method

Abstract

The present invention discloses a three-dimensional force loading and calibration device and method for a three-dimensional force sensor. A force loading rod passes through a linear bearing, and the linear bearing is vertically fixed on a bracket. A weight is placed on the force loading rod. The force loading rod applies a vertical force to the three-dimensional force sensor. The magnitude F of the applied force is the sum of the mass of the weight and the force loading rod. The force acts on a sensor mounted on a loading platform. The magnitude and direction of the applied three-dimensional force can be adjusted by adjusting the weight of the applied weight and the angle of the loading platform. The three-dimensional force loading and calibration device for a three-dimensional force sensor of the present invention uses the mass of the applied weight as the control quantity of the magnitude of the applied three-dimensional force, and uses the angle between the inclined surface on the loading platform and the vertical direction as the control quantity of the direction of the applied three-dimensional force. The loading and calibration operation of three-dimensional forces of different angles and magnitudes can be easily realized for the three-dimensional force sensor, avoiding complex three-dimensional force loading and calibration devices, and is easy to operate and has low testing costs.

Description

Technical Field

[0001] The invention belongs to the field of three-dimensional force calibration of a three-dimensional force sensor, and in particular relates to a three-dimensional force loading calibration device and method for a three-dimensional force sensor. Background Art

[0002] Three-dimensional force sensors can sense three-dimensional force in space and have broad application prospects in daily life. Flexibility further expands its application range, allowing it to fit well on some complex curved surfaces to complete three-dimensional force detection, providing three-dimensional force information support for force information perception in the fields of intelligent manufacturing, human-computer interaction, etc., and can be widely used in medical treatment, robotics, and industrial automation.

[0003] Three-dimensional force sensors generally have a force transmission boss to transmit three-dimensional force to the force sensitive unit below to achieve the purpose of three-dimensional force measurement. Due to the unevenness of sensitive materials and the lack of precision in assembly during the manufacturing process, the characteristics of the prepared three-dimensional force sensors are quite different and cannot be put into use directly. Each sensor needs to be calibrated and calibrated. Therefore, the calibration efficiency directly affects the production efficiency of the sensor. The loading and calibration of three-dimensional force in the calibration stage of the three-dimensional force sensor is an important process. How to achieve convenient loading of three-dimensional force directly affects the calibration efficiency of the sensor. Existing three-dimensional force application and calibration devices mostly use an electric three-dimensional motion displacement table to apply three-dimensional force to the sensor. The system is relatively complex and large, the calibration process is relatively cumbersome, and the efficiency is not high for large-scale calibration. Summary of the invention

[0004] The purpose of the present invention is to provide a three-dimensional force loading and calibration device and method for a three-dimensional force sensor to overcome the shortcomings of the prior art. The present invention combines a force loading rod that moves in the vertical direction with loading platforms at different angles to achieve the loading and calibration of three-dimensional forces of different directions and sizes of the three-dimensional force sensor. Compared with the disclosed three-dimensional force loading and calibration devices, the present invention is simple to operate, does not require complex calibration devices, and has low cost.

[0005] A three-dimensional force loading calibration device for a three-dimensional force sensor, comprising a force loading rod, a linear bearing, a loading platform, a limit plate, and a bracket;

[0006] The linear bearing is installed above the bracket, and the force loading rod is coaxially matched with the linear bearing and can move up and down;

[0007] A three-dimensional force sensor is installed on the inclined surface of the loading platform, and the angle between the sensor and the vertical direction is the inclination angle θ of the loading platform;

[0008] The limit plate has a plane and is mounted on the bracket. The force loading rod also has a vertical plane, which is parallel to the plane of the middle part of the force loading rod and keeps a small distance, so as to limit the force loading rod to move up and down along the axis without rotation.

[0009] The bottom end of the force loading rod is an inclined plane, an edge or a point with the same angle as the loading platform. When it is an inclined plane, the inclined plane is parallel to the inclined plane of the loading platform. When it is an edge, the edge is parallel to the inclined plane and is horizontal.

[0010] The measurement principle of the three-dimensional force loading calibration device of the three-dimensional force sensor is as follows: a weight is placed on the force loading rod, and the linear bearing and the limit plate limit the force loading rod to move only vertically downward, thereby applying a vertical force to the three-dimensional force sensor. The magnitude F of the applied force is the sum of the masses of the weight and the force loading rod. The force acts on the three-dimensional force sensor mounted on the loading platform. Relative to the coordinate system of the three-dimensional force sensor, it is a three-dimensional force in space, which can be decomposed into normal force and tangential force. The normal force is the force perpendicular to the surface direction of the three-dimensional force sensor, and the tangential force is the force along the surface direction of the three-dimensional force sensor. The magnitude and direction of the applied three-dimensional force can be adjusted by adjusting the weight of the applied weight and the angle of the loading platform.

[0011] The force loading rod is made of a material with light weight and high rigidity.

[0012] The inclined surface of the loading platform can be at any angle θ with the direction of gravity, and the angle of applying the three-dimensional force can be adjusted by adjusting the angle θ.

[0013] The device controls the magnitude of the applied three-dimensional force by controlling the weight of the weight placed on the force loading rod.

[0014] The present invention has the following beneficial effects:

[0015] The present invention proposes a three-dimensional force loading calibration device for a three-dimensional force sensor, comprising a force loading rod, a linear bearing, a loading platform, a limit plate, and a bracket; the force loading rod passes through the linear bearing, the linear bearing is vertically fixed on the bracket, a weight is placed on the force loading rod, the linear bearing and the limit plate limit the force loading rod to move vertically downward, so the force loading rod will apply a vertical force to the three-dimensional force sensor, the magnitude F of the applied force is the sum of the masses of the weight and the force loading rod, the force acts on the sensor mounted on the loading platform, is a three-dimensional force in space relative to the coordinate system of the sensor, and can be decomposed into a normal force and a tangential force, and the magnitude and direction of the applied three-dimensional force can be adjusted by adjusting the weight of the applied weight and the angle of the loading platform. The three-dimensional force loading and calibration device of the three-dimensional force sensor of the present invention uses the mass of the applied weight as the control quantity of the size of the applied three-dimensional force, and uses the angle between the inclined surface on the loading platform and the vertical direction as the control quantity of the direction of the applied three-dimensional force. The three-dimensional force loading and calibration operation of different angles and sizes can be easily realized for the three-dimensional force sensor, avoiding complicated three-dimensional force loading and calibration devices, and the operation is simple and the testing cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a stereoscopic diagram of a calibration device in an embodiment of the present invention.

[0017] Figure 2 It is a rear view of the calibration device in the embodiment of the present invention.

[0018] Figure 3 It is a cross-sectional view of the calibration device in an embodiment of the present invention.

[0019] Figure 4 This is the three-dimensional force application principle of the calibration device in the embodiment of the present invention.

[0020] In the figure, 1-force loading rod, 2-linear bearing, 3-loading platform, 4-limiting plate, 5-bracket, 6-three-dimensional force sensor. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] The present invention discloses a three-dimensional force loading calibration device for a three-dimensional force sensor. The measuring principle is that a weight is placed on a force loading rod. A linear bearing and a limit plate limit the force loading rod to move vertically downward. Therefore, a vertical force is applied to the three-dimensional force sensor. The magnitude F of the applied force is the sum of the masses of the weight and the force loading rod. The force acts on the sensor mounted on the loading platform. Relative to the coordinate system of the sensor, it is a three-dimensional force in space and can be decomposed into a normal force and a tangential force. The magnitude and direction of the applied three-dimensional force can be adjusted by adjusting the weight of the applied weight and the angle of the loading platform.

[0024] like Figure 1 As shown, it includes a force loading rod 1, a linear bearing 2, a loading platform 3, a limit plate 4, and a bracket 5;

[0025] The linear bearing 2 is installed above the bracket 5, and the force loading rod 1 is coaxially matched with the linear bearing 2 and can move up and down; a three-dimensional force sensor 6 is installed on the inclined surface of the loading platform 3, and the angle between the sensor and the vertical direction is the inclination angle θ of the loading platform; a limit platform is provided at the upper end of the loading platform 3, and the height of the limit platform on the loading platform 3 is less than the limit thickness at the lower end of the three-dimensional force sensor 6

[0026] The limit plate 4 has a plane and is mounted on the bracket 5. The force loading rod 1 also has a vertical plane, which is parallel to the plane of the middle part of the force loading rod 1 and maintains a small distance, thereby limiting the force loading rod 1 to move up and down along the axis without rotating.

[0027] The bottom end of the force loading rod 1 is an inclined plane with the same angle as that of the loading platform, and the inclined plane is parallel to the inclined plane of the loading platform.

[0028] The measuring principle of the device is as follows: a weight is placed on the force loading rod 1, and the linear bearing 2 and the limit plate 4 limit the force loading rod 1 to move only vertically downward, thereby applying a vertical force to the three-dimensional force sensor 6. The magnitude F of the applied force is the sum of the masses of the weight and the force loading rod 1. The force acts on the sensor mounted on the loading platform. Relative to the coordinate system of the sensor, it is a three-dimensional force in space, which can be decomposed into normal force and tangential force. The magnitude and direction of the applied three-dimensional force can be adjusted by adjusting the weight of the applied weight and the angle of the loading platform 3.

[0029] The force loading rod 1, loading platform 3 and bracket 5 are all made of ABS material by 3D printing.

[0030] The inclined surface of the loading platform 3 can be at any angle θ with the direction of gravity, and the angle of applying the three-dimensional force can be adjusted by adjusting the angle θ.

[0031] The bracket 5 is provided with bolt holes. In order to adapt to angles in different gravity directions, the loading platform 3 can be modularized and set with different installation angles, which is suitable for the installation of three-dimensional force sensors to be measured with different inclination angles. A threaded hole is provided at the bottom of the loading platform 3, and the loading platform 3 is fixed to the bracket 5 by bolts. The bolts pass through the bolt holes of the bracket 5 and are connected with the threaded holes at the bottom of the loading platform 3.

[0032] The device controls the magnitude of the applied three-dimensional force by controlling the weight of the weight placed on the force loading rod 1 .

[0033] The present invention realizes the loading and calibration of three-dimensional forces of different directions and magnitudes on the flexible three-dimensional force sensor by combining a force loading rod that moves in the vertical direction with a loading platform with different inclination angles. The magnitude and direction of the three-dimensional force applied to the flexible three-dimensional force sensor can be controlled by controlling the weight of the weight placed on the force loading rod and the angle between the inclined surface on the loading platform and the vertical direction. The present invention has a simple structure and is easy to operate. It can load and calibrate the three-dimensional force on the three-dimensional force sensor by combining a simple weight. It is easy to use and has low cost.

Claims

1. A three-dimensional force loading calibration device for a three-dimensional force sensor, characterized in that: It comprises a force loading rod (1), a linear bearing (2), a loading platform (3) and a bracket (5); The loading platform (3) is fixed on the bracket (5), and the force loading rod (1) is installed on the upper end of the loading platform (3) through the linear bearing (2); the force loading rod (1) is vertically arranged and can slide vertically relative to the linear bearing (2); The upper end of the loading platform (3) is used to install the three-dimensional force sensor (6) to be measured, and the bottom of the force loading rod (1) is provided with a loading surface parallel to the force-bearing surface of the three-dimensional force sensor (6) to be measured, and the bottom end of the force loading rod (1) is an inclined surface with the same angle as the loading platform, and the inclined surface is parallel to the inclined surface of the loading platform.

2. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 1, characterized in that: The upper end of the force loading rod (1) is provided with a platform for placing a weight.

3. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 1, characterized in that: The inclined surface of the loading platform (3) forms an arbitrary angle θ with the gravity direction.

4. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 1, characterized in that: A limiting plane is provided on one side of the force loading rod (1), a limiting plate (4) is fixed on one side of the lower end of the linear bearing (2), and the plane of the limiting plate (4) is parallel to the limiting plane of the force loading rod (1).

5. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 4, characterized in that: The limiting plate (4) is fixedly mounted on the bracket (5).

6. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 1, characterized in that: The loading platform (3) is fixed on the bracket (5) by means of bolts.

7. A three-dimensional force sensor three-dimensional force loading calibration device according to claim 1, characterized in that: A limit platform is provided at the upper end of the loading platform (3).

8. A three-dimensional force loading calibration device for a three-dimensional force sensor according to claim 7, characterized in that: The height of the limiting platform on the loading platform (3) is smaller than the limiting thickness of the lower end of the three-dimensional force sensor (6).

9. A three-dimensional force sensor three-dimensional force loading calibration method based on the three-dimensional force sensor three-dimensional force loading calibration device of claim 1, characterized in that: The following steps are involved: S1, set the force loading rod on the linear bearing, and correct the force loading rod so that the force loading rod is located directly above the loading platform; S2, install the three-dimensional force sensor to be tested on the loading platform, make the bottom of the force loading rod contact the surface of the three-dimensional force sensor to be tested, and then load weights on the force loading rod. The sum of the masses of the loaded weights and the force loading rod is the three-dimensional force of the three-dimensional force sensor to be tested.

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