Six-dimensional force sensor adaptive calibration platform based on superimposed force standard machine

Abstract

The application discloses a six-dimensional force sensor self-adapting calibration platform based on a superimposed force standard machine in the technical field of force sensor calibration, which comprises a fixed crossbeam, a vertical support column, a movable crossbeam, a force sensor, a force applying head, a test pressing plate, a test base, a self-adapting base plate, a base and a force applying ball, the test pressing plate and the test base are installed on the calibrated force sensor, the test base is fixed on the top steel plate of the self-adapting base plate, the force sensor and the force applying head are connected below the movable crossbeam, a plurality of circular pits are formed on the outer side surface of the test pressing plate, and the force applying ball is located in the circular pit. The application can automatically adjust the structure scheme of the accurate force applying point to automatically adjust the force applying point to the accurate position, reduce the error during the test, and improve the test reliability. The tooling assembly can complete the calibration of three-direction force and three-direction torque at one time. The force applying point and the direction are self-adapting, the manual interference factors are excluded, and the calibration precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of force sensor technical field calibration platform, in particular to a kind of six-dimensional force sensor adaptive calibration platform based on superimposed force standard machine that can automatically adjust accurate force point. BACKGROUND

[0002] Force standard machine is currently the most important force device for testing weighing sensor, standard dynamometer, force sensor etc.. Superimposed force standard machine is used one (or group) standard dynamometer with higher accuracy than the tested force gauge as standard, and is connected in series with the tested force gauge, to apply load in hydraulic or mechanical way. With the improvement of force sensor and force source device technical performance, the measurement performance of superimposed force standard machine has been greatly improved. Due to its low cost and high efficiency, it has been widely recognized in recent years, and its application range has gradually expanded, and it has become an important equipment for force measurement and weighing sensor production.

[0003] In the use process of superimposed force standard machine, the force point needs to be adjusted manually, and the specific position is often judged by naked eye, which makes the position of the force point deviate easily, resulting in unnecessary errors in testing. So far, there are few good solutions in this regard. Related patents of superimposed force standard machine, such as patents CN213812721U, CN213455972U, CN210487063U, CN109269717A, CN108593200A, CN105258848A, etc. do not involve related technical solutions, and when calibrating forces or torques in different directions, the tooling needs to be reassembled, which brings inconvenience and secondary disassembly error. Some calibration schemes apply force or torque through pulley and force rope, and each direction needs to be adjusted separately, and the accuracy cannot be guaranteed. SUMMARY

[0004] The present application proposes a six-dimensional force sensor adaptive calibration platform based on superimposed force standard machine to overcome the shortcomings of the prior art. The platform can automatically adjust the force point to the accurate position, reduce the error during testing, and increase the reliability. The tooling assembly can complete the calibration of forces in three directions and torques in three directions at one time. The force point and direction are adaptive, which eliminates the artificial interference factors and ensures the accuracy of calibration.

[0005] The application is realized by the following technical scheme, the application comprises a fixed cross beam, vertical supports, a platform base, a movable cross beam, a force sensor, a force applying head, a test pressing plate, a test base, an adaptive base plate, a force applying ball, a cylindrical boss, and a calibrated sensor, the two vertical supports are symmetrically fixed on the platform base, the two ends of the fixed cross beam are fixed together with the top ends of the two vertical supports, the two ends of the movable cross beam are arranged on the vertical supports and are located between the fixed cross beam and the base and can move up and down, the cylindrical boss is arranged at the middle position of the lower surface of the movable cross beam, the force sensor is connected below the cylindrical boss, and the force applying head is connected below the force sensor, the adaptive base plate is arranged on the upper surface of the platform base and is located directly below the force applying head, the test base is installed on the adaptive base plate, the calibrated sensor is fixed above the test base, the test pressing plate is installed above the calibrated sensor and is located directly below the force applying head, and the force applying ball is arranged on the circular pit of the test pressing plate.

[0006] Further, in the application, the adaptive base plate comprises a bottom steel plate, a top steel plate, and a middle ball, the bottom steel plate is fixed on the platform base, the middle ball is arranged on the bottom steel plate, and the top steel plate is arranged on the middle ball.

[0007] Further, in the application, the test base comprises a test base body, a test base rear side baffle, and a test base left side baffle, the test base rear side baffle and the test base left side baffle are plate bodies extending upward from the test base body and are seamlessly connected, a test base through hole is opened on the test base body, a test base external hole and a test base pin hole are opened on the upper surface of the test base body, and the calibrated sensor is fixedly connected with the test base through the test base through hole, the test base external hole, and the test base pin hole.

[0008] Further, in the application, the test base comprises a test base body, a test base rear side baffle, and a test base left side baffle, the test base rear side baffle and the test base left side baffle are plate bodies extending upward from the test base body and are seamlessly connected, a test base through hole is opened on the test base body, a test base external hole and a test base pin hole are opened on the upper surface of the test base body, and the calibrated sensor is fixedly connected with the test base through the test base through hole, the test base external hole, and the test base pin hole.

[0009] Further, in the application, the test base comprises a test base body, a test base rear side baffle, and a test base left side baffle, the test base rear side baffle and the test base left side baffle are plate bodies extending upward from the test base body and are seamlessly connected, a test base through hole is opened on the test base body, a test base external hole and a test base pin hole are opened on the upper surface of the test base body, and the calibrated sensor is fixedly connected with the test base through the test base through hole, the test base external hole, and the test base pin hole.

[0010] Further, in the present application, the width of the fixed crossbeam and the movable crossbeam is less than the width of the vertical support, and the length and width of the adaptive base plate are greater than the length and width of the test base.

[0011] Further, in the present application, the intermediate spheres are evenly spaced between the bottom steel plate and the top steel plate.

[0012] Further, in the present application, the test base through hole is a countersunk hole upward from the lower surface of the test base body, and is circular and evenly spaced around the test base outer hole.

[0013] Further, in the present application, the test base through hole is a countersunk hole upward from the lower surface of the test base body, and is circular and evenly spaced around the test base outer hole.

[0014] Further, in the present application, the circular recesses on the test base body are evenly spaced in a nine-square grid, with the central circular recess located at the center of the circular arrangement formed by the six test base through holes; the circular recesses on the test base front baffle and the test base right baffle are evenly spaced in a straight line, with the spherical center of the circular arc surface and the lower surface of the test base body in the same plane.

[0015] In the present application, the movable crossbeam can move freely up and down between the two vertical supports. During testing, the movable crossbeam drives the force head to move downward, applying a load to the force sphere in the test base circular recess. The load is transmitted to the calibrated sensor connected to the test base through the force sphere and the test base. When the center of the force head is close to but not on the same vertical line as the center of the force sphere, the force recess on the force head and the force sphere cannot completely match, resulting in a horizontal component. Since the top steel plate of the adaptive base plate can displace in the horizontal direction, the horizontal component causes the test base, the calibrated sensor, the test base, and the top steel plate to displace together until the center of the force sphere is on the same vertical line as the center of the force head, and no longer generates a horizontal component. Thus, the force neutral point is strictly at the center point of the circular recess on the test base, completing the function of automatically adjusting the accurate force point. Since the test base has a test base front baffle and a test base right baffle extending downward from the test base body, and the circular recesses are arranged on the outer surfaces of the test base body, the test base front baffle, and the test base right baffle, and the test base has a test base rear baffle and a test base left baffle extending upward from the test base body, the test base, the calibrated sensor, and the test base connected together can adjust the position in X, Y, Z three directions, for automatically adjusting and correcting the force point of the calibrated sensor in X, Y, Z three directions.

[0016] Compared with the prior art, the present application has the following beneficial effects: the calibration of three-direction force and three-direction moment can be completed by one-time tool assembly. The force point and direction are self-adaptive, the artificial interference factors are excluded, and the calibration accuracy is ensured.

[0017] Therefore, by using the technical scheme, the structure scheme for automatically adjusting the accurate force point can automatically adjust the force point to the accurate position, reduce the error during testing, improve the testing reliability, and can perform automatic adjustment and correction testing in X, Y and Z directions. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of the embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the self-adaptive bottom plate in the embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the three-dimensional structure of the test base in the embodiment of the present application

[0021] Figure 4 is a top view of the test base in the embodiment of the present application;

[0022] Figure 5 is a bottom view of the test base in the embodiment of the present application;

[0023] Figure 6 is a right view of the test base in the embodiment of the present application;

[0024] Figure 7 is a front view of the test base in the embodiment of the present application;

[0025] Figure 8 is a top view of the test base in the embodiment of the present application;

[0026] Figure 9 is a bottom view of the test base in the embodiment of the present application;

[0027] Figure 10 is a right view of the test base in the embodiment of the present application;

[0028] Figure 11 is a front view of the test base in the embodiment of the present application;

[0029] Figure 12 is a bottom view of the test base in the embodiment of the present application;

[0030] Figure 13 is a front view of the force head in the embodiment of the present application;

[0031] Figure 14 for Figure 13 Schematic diagram of the structure of section AA in the middle;

[0032] Figure 15 This is a diagram showing the arrangement of the test plate and test base when testing the force in the Z direction and the torque in the X / Y directions in an embodiment of the present invention.

[0033] Figure 16 This is a diagram showing the arrangement of the test plate and test base when testing the force in the X direction and the torque in the Z direction in an embodiment of the present invention.

[0034] Figure 17 This is a diagram showing the arrangement of the test plate and test base when testing the force in the Y direction and the torque in the Z direction in an embodiment of the present invention.

[0035] The diagram is labeled as follows: 1. Fixed crossbeam, 2. Vertical support, 3. Movable crossbeam, 4. Force sensor, 5. Force application head, 6. Test plate, 7. Test base, 8. Adaptive base plate, 9. Base, 10. Force application ball, 11. Cylindrical boss, 12. Calibrated sensor, 501. Force application circular recess, 601. Circular recess, 602. Test plate through hole, 603. Test plate front baffle, 604. Test plate pin control, 605. Test plate external connection hole, 606. Test plate body, 607. Test plate right side baffle, 701. Test base rear baffle, 702. Test base through hole, 703. Test base external connection hole, 704. Test base pin hole, 705. Test base left side baffle, 706. Test base body, 801. Top steel plate, 802. Middle ball, 803. Bottom steel plate. Detailed Implementation

[0036] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. These embodiments are based on the technical solutions of the present invention and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0037] Examples

[0038] The present invention is as described above. Figures 1 to 17As shown, the present application comprises a fixed beam 1, vertical supports 2, a movable beam 3, a force sensor 4, a force head 5, a test platen 6, a test base 7, an adaptive base plate 8, a platform base 9, a force ball 10, a cylindrical boss 11, a calibrated sensor 12, two vertical supports 2 are symmetrically fixed on the platform base 9, and the two ends of the fixed beam 1 are fixed together with the top ends of the two vertical supports 2; the two ends of the movable beam 3 are arranged on the vertical supports 2 between the fixed beam 1 and the base 9, and can move up and down; the cylindrical boss 11 is arranged at the middle position of the lower surface of the movable beam 3, the force sensor 4 is connected below the cylindrical boss 11, and the force head 5 is connected below the force sensor 4; the adaptive base plate 8 is arranged on the upper surface of the platform base 9 and directly below the force head 5; the test base 7 is installed on the adaptive base plate 8, and the calibrated sensor 12 is fixed above the test base 7; the test platen 6 is installed above the calibrated sensor 12 and directly below the force head 5; the force ball 10 is arranged on the circular pit of the test platen 6.

[0039] In this embodiment, the adaptive base plate 8 has a bottom steel plate 803, a top steel plate 801 and a middle sphere 802; the bottom steel plate 803 is fixed on the base 9, and the top steel plate 801 can roll to produce horizontal displacement through the middle sphere 802; the middle sphere 802 is uniformly distributed between the bottom steel plate 803 and the top steel plate 801.

[0040] In this embodiment, the test base 7 has a test base rear side baffle 701 and a test base left side baffle 705 extending upward from the test base body 706, and the two are seamlessly connected. The test base body 706 has test base through holes 702; the upper surface of the test base body 706 has a test base circumscribed hole 703 and a test base pin hole 704. The calibrated force sensor is connected and fixed with the test base 7 through the test base through holes 702, the test base circumscribed hole 703 and the test base pin hole 704. The test base through holes 702 are countersunk holes from the lower surface of the test base body 706 upward, and are circularly and uniformly distributed around the test base circumscribed hole 703. The length and width dimensions of the adaptive base plate 8 are greater than those of the test base 7.

[0041] In the embodiment, the test platen 6 has a test platen front side baffle 603 and a test platen right side baffle 607 extending downward from the test platen body 606, which are seamlessly connected. The test platen body 606 is provided with test platen through holes 602; the lower surface of the test platen body 606 is provided with a test platen external connection hole 605 and a test platen pin hole 604; the calibrated force sensor is connected and fixed with the test platen 6 through the test platen through holes 602, the test platen external connection hole 605 and the test platen pin hole 604. The test platen through holes 602 are countersunk holes downward from the upper surface of the test platen body 606, and are circular and uniformly distributed around the test platen external connection hole 605.

[0042] In the embodiment, the test platen front side baffle 603 and the test base rear side baffle 701 are respectively arranged on both sides of the calibrated sensor and are parallel to each other. The test platen right side baffle 607 and the test base left side baffle 705 are respectively arranged on both sides of the calibrated sensor and are parallel to each other.

[0043] In the embodiment, the upper surface of the test platen body 606 and the outer side surfaces of the test platen front side baffle 603 and the test platen right side baffle 607 are provided with circular recesses 601. The circular arc surfaces of the circular recesses 601 are spherical surfaces, the diameters of which are greater than the diameter of the force applying ball 10; the maximum depth of the circular recesses 601 is slightly smaller than the diameter thereof.

[0044] In the embodiment, the circular recesses 601 on the test platen body 606 are uniformly distributed in a nine-square grid pattern. The circular recess 601 in the middle is located at the center of the circular arrangement formed by the six test platen through holes 602. The circular recesses 601 on the test platen front side baffle 603 and the test platen right side baffle 607 are uniformly distributed in a linear pattern, and the spherical centers of the circular arc surfaces thereof are in the same plane as the lower surface of the test platen body 606.

[0045] In the embodiment, when the lower surface of the test base body 706 is mounted and fixed on the adaptive base plate 8, the force standard machine tests the force in the Z direction and the moment in the X / Y direction; when the test base rear side baffle 701 is fixed on the adaptive base plate 8, the force standard machine tests the force in the X direction and the moment in the Z direction; when the test base left side baffle 705 is fixed on the adaptive base plate 8, the force standard machine tests the force in the Y direction and the moment in the Z direction; the arrangement of the test platen and the test base during testing in each direction is shown in Figures 11-13

[0046] In the embodiment, the bottom surface of the force applying head 5 is provided with a force applying circular recess 501, the size and shape of which are consistent with those of the circular recess 601 on the test platen 6.

[0047] ​In the implementation of the present patent, the movable crossbeam 3 drives the force head 5 to move downward, and the load is applied to the force ball 10 in the circular pit 601 of the test platen. The load is transmitted to the calibrated sensor 12 connected to the test platen 6 through the force ball 10 and the test platen 6. When the center of the force head 5 is close to but not on the same vertical line with the center of the force ball 10, the force circular pit 501 on the force head 5 cannot completely match the force ball 10, thereby generating a horizontal component force. Since the top steel plate 801 of the adaptive base plate 8 can produce displacement in the horizontal direction, the horizontal component force makes the test platen 6, the calibrated sensor 12, the test base 7 and the top steel plate 801 produce displacement together until the center of the force ball 10 is on the same vertical line with the center of the force head 5, and the horizontal component force no longer exists. Thus, the force neutral point is strictly on the center point of the circular pit 601 on the test platen 6, and the function of automatically adjusting the accurate force point is completed. Since the test platen 6 has the test platen front baffle 603 and the test platen right baffle 607 extending downward from the test platen body 606, and the circular pit 601 is arranged on the outer surface of the test platen body 606, the test platen front baffle 603 and the test platen right baffle 607, and the test base 7 has the test base rear baffle 701 and the test base left baffle 705 extending upward from the test base body 706, the test platen 6, the calibrated sensor 12 and the test base 7 connected together can adjust the position in X, Y and Z directions, and are used for automatically adjusting and correcting the force points in X, Y and Z directions of the calibrated sensor 12. Thus, the error in the force standard machine test is reduced, and the test reliability is improved.

[0048] The specific operation mode of the present application is described above. It should be understood that the present application is not limited to the above specific operation mode, and those skilled in the art can make various modifications or modifications within the scope of the claims, which does not affect the essential content of the present application.

Claims

1. An adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine, comprising a fixed crossbeam (1), vertical supports (2), and a platform base (9), wherein two vertical supports (2) are symmetrically fixed on the platform base (9), and the two ends of the fixed crossbeam (1) are respectively fixed to the top ends of the two vertical supports (2), characterized in that, It also includes a movable crossbeam (3), a force sensor (4), a force-applying head (5), a test pressure plate (6), a test base (7), an adaptive base plate (8), a force-applying ball (10), a cylindrical boss (11), and a calibrated sensor (12); the two ends of the movable crossbeam (3) are arranged on the vertical support (2), located between the fixed crossbeam (1) and the base (9), and can move up and down; the cylindrical boss (11) is arranged in the middle of the lower surface of the movable crossbeam (3), and the lower part of the cylindrical boss (11) is connected to the force sensor (4). Sensor (4), force sensor (4) is connected to force head (5) below it; adaptive base plate (8) is arranged on the upper surface of platform base (9) and located directly below force head (5); test base (7) is installed on adaptive base plate (8), and calibrated sensor (12) is fixed above test base (7); test pressure plate (6) is installed above calibrated sensor (12) and located directly below force head (5); force ball (10) is arranged on the circular recess of test pressure plate (6); The adaptive base plate (8) includes a bottom steel plate (803), a top steel plate (801), and a middle sphere (802). The bottom steel plate (803) is fixed on the platform base (9), the middle sphere (802) is arranged on the bottom steel plate (803), and the top steel plate (801) is arranged on the middle sphere (802). The test base (7) includes a test base body (706), a test base rear baffle (701), and a test base left baffle (705); the test base rear baffle (701) and the test base left baffle (705) are both plates extending upward from the test base body (706), and the two are seamlessly connected; a test base through hole (702) is opened on the test base body (706), and a test base external connection hole (703) and a test base pin hole (704) are opened on the upper surface of the test base body (706); the calibrated sensor (12) is connected and fixed to the test base (7) through the test base through hole (702), the test base external connection hole (703), and the test base pin hole (704); The test plate (6) includes a test plate body (606), a front baffle (603), and a right baffle (607); the front baffle (603) and the right baffle (607) are both plates extending downward from the test plate body (606), and are seamlessly connected; a test plate through hole (602) is provided in the test plate body (606), and a test plate through hole (602) is provided on the lower surface of the test plate body (606). The test plate has an external connection hole (605) and a test plate pin hole (604). The sensor (12) to be calibrated is connected and fixed to the test plate (6) through the test plate through hole (602), the test plate external connection hole (605), and the test plate pin hole (604). Circular recesses (601) are arranged on the upper surface of the test plate body (606) and on the outer side of the front baffle (603) and the right baffle (607) of the test plate. The bottom surface of the force-applying head (5) has a circular indentation (501) for applying force, the size and shape of which are consistent with the circular indentation on the test plate (6).

2. The adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine according to claim 1, characterized in that... The width of the fixed crossbeam (1) and the movable crossbeam (3) is less than the width of the vertical support (2), and the length and width of the adaptive base plate (8) are greater than the length and width of the test base (7).

3. The adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine according to claim 1, characterized in that... The intermediate spheres (802) are evenly spaced between the bottom steel plate (803) and the top steel plate (801).

4. The adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine according to claim 1, characterized in that... The test base through hole (702) is a countersunk hole extending upward from the lower surface of the test base body (706), and is evenly distributed in a circular pattern around the test base external connection hole (703).

5. The adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine according to claim 1, characterized in that... The test plate through hole (602) is a countersunk hole extending downward from the upper surface of the test plate body (606), and is evenly distributed in a circle around the test plate external connection hole (605); the arc surface of the circular pit (601) is a spherical surface, and its diameter is larger than the diameter of the force ball (10); the maximum depth of the circular pit (601) is slightly smaller than its diameter.

6. The adaptive calibration platform for a six-dimensional force sensor based on a superimposed force standard machine according to claim 1, characterized in that... The circular recesses (601) on the test plate body (606) are evenly spaced in a nine-square grid pattern, with the central circular recess (601) located at the center of the circular arrangement formed by the six test plate through holes (602). The circular recesses (601) on the front baffle (603) and the right baffle (607) of the test plate are evenly spaced in a straight line, with the center of their arc surfaces and the lower surface of the test plate body (606) on the same plane.

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