A six-axis force sensor calibration device and calibration method

Abstract

The present invention belongs to the technical field of six - dimensional force sensor calibration, and specifically relates to a six - dimensional force sensor calibration device and a calibration method, which includes a horizontal calibration table, a force - measuring beam, a first bearing beam, a second bearing beam, a pulling rope, and standard weights. A six - dimensional force sensor is installed on the upper surface of the horizontal calibration table. The force - measuring beam is fixed in a cross - shaped structure by four beam arms and is fixed on the force - receiving member above the six - dimensional force sensor. The beam arms are parallel to the horizontal calibration table. There are four first bearing beams and four second bearing beams respectively, and they are arranged in one - to - one correspondence with the four beam arms. The corresponding first bearing beam and the beam arm are parallel to each other. The second bearing beam is located below the first bearing beam and they are perpendicular to each other. A plurality of pulling ropes are provided. During application, one end of each pulling rope is connected to the end of a beam arm far from the fixture, and the other end passes over the first bearing beam or the second bearing beam or vertically passes through the horizontal calibration table and is connected to the standard weight. This device improves the calibration accuracy of each spatial force component of the six - dimensional force sensor.

Description

Technical Field

[0001] The present invention belongs to the technical field of six - dimensional force sensor calibration, and particularly relates to a six - dimensional force sensor calibration device and a calibration method. Background Art

[0002] A six - dimensional force sensor is a sensor that detects six spatial force components, namely Fx, Fy, Fz, Mx, My, and Mz. The six - dimensional force sensor converts the force signal in the spatial environment into an electrical signal and then outputs it as a digital signal. It is widely used in fields such as robotic arms, intelligent vehicles, medical treatment, and aerospace. The six - dimensional force sensor can ensure the rapid perception of spatial forces, contribute to the precise control of mechanical movements, and is of great significance to the development of intelligent industries.

[0003] Due to the form and arrangement of the force - sensitive elements, the error in the patch position of the strain gauges, and the bridge design of the bridge circuit of the six - dimensional force sensor, etc., the accuracy of the six - dimensional force sensor will be affected. The calibration of the six - dimensional force sensor plays a decisive role in determining the relationship between the input and output of the six - dimensional force sensor.

[0004] Currently, domestic six - dimensional force sensor calibration methods include gantry - type, jack - type, and hand - operated reducer - type, etc. Although they can calibrate each force and torque component of the six - dimensional force sensor, the calibration accuracy is relatively low. For example, Chinese Patent Publication No. CN1715856A discloses a six - dimensional force sensor calibration device with stepless lifting. This structure uses a gantry - type, and through the pulleys fixed on it and the lifting mechanism, different angles between the loading force and the horizontal can be continuously obtained for the general calibration of the spatial full force. However, when the rope is too long, the accuracy of the angle measurement will be reduced. Another example is that Chinese Patent Publication No. CN101226094A discloses a calibration method for a six - dimensional force sensor calibration device, which uses four jacks as calibration force sources to apply loads, and realizes the loading of each force and torque component by changing the loading position. However, the loading force value of the jack is unstable, and the loading position is frequently changed when loading each force and torque component, resulting in low calibration accuracy. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a six - dimensional force sensor calibration device and a calibration method, which can quickly and accurately calibrate each spatial force component of the six - dimensional force sensor with high calibration accuracy.

[0006] The technical solution of the present invention is as follows:

[0007] A six - dimensional force sensor calibration device and a calibration method, comprising:

[0008] A horizontal calibration table, on the upper side of which a fixture for fixing the six - dimensional force sensor is fixed;

[0009] A force-measuring beam, which is used to connect with the upper cover of a six-axis force sensor. The force-measuring beam includes four beam arms. The beam arms are parallel to the horizontal calibration table, and the four beam arms are fixed into a cross-shaped structure. The four beam arms intersect on the same vertical axis, and the connection point between the force-measuring beam and the upper cover of the six-axis force sensor is located on this axis.

[0010] A loading assembly, which includes a standard weight and a pulling rope. One end of the pulling rope is fixed to the standard weight, and the other end is connected to a beam arm.

[0011] A guiding assembly, which includes four guiding parts corresponding to the four beam arms one by one, and the four guiding parts are circumferentially arrayed about the axis. The guiding part includes a first bearing beam and a second bearing beam. The first bearing beam is parallel to the corresponding beam arm. The second bearing beam is located below the first bearing beam and there is a spacing between them. And the second bearing beam is perpendicular to the first bearing beam and both are fixed on the horizontal calibration table. The guiding assembly is used to adjust the calibration direction of the six-axis force sensor by changing the layout direction of the pulling rope.

[0012] Preferably, the four beam arms have the same length.

[0013] Preferably, a first fixed pulley is fixed at each end of the first bearing beam. The rotation axes of the two first fixed pulleys are parallel and perpendicular to the first bearing beam, and the chutes of the two first fixed pulleys face each other.

[0014] Preferably, a first pull ring is fixedly connected directly above the end of the beam arm away from the fixture, and the first pull ring is located directly below the first fixed pulley on the first bearing beam close to the beam arm.

[0015] Preferably, a second fixed pulley is fixedly connected at each end of the second bearing beam. The rotation axes of the two second fixed pulleys coincide and are parallel to the second bearing beam.

[0016] Preferably, a second pull ring is fixed at each end of each beam arm away from the fixture. The second pull ring is located on the side wall of the beam arm adjacent to the first pull ring, and the distance from the second pull ring to the fixture is equal to the distance from any second fixed pulley to the first bearing beam.

[0017] Preferably, a third pull ring is also fixedly connected directly below the end of the beam arm away from the six-axis force sensor, and a through hole is provided at the position of the horizontal calibration table opposite to the third pull ring.

[0018] Preferably, a lifting mechanism is further provided on the horizontal calibration table. The lifting mechanism includes a first electric telescopic rod, a second electric telescopic rod, a third electric telescopic rod, and a fourth electric telescopic rod that are electrically connected to a controller. The first electric telescopic rod and the third electric telescopic rod are oppositely arranged, the second electric telescopic rod and the fourth electric telescopic rod are oppositely arranged, and the telescopic ends of the first electric telescopic rod, the second electric telescopic rod, the third electric telescopic rod, and the fourth electric telescopic rod are respectively fixedly connected to a first bearing beam and a second bearing beam.

[0019] Preferably, the fixture includes a fixed block, which is fixedly connected to the horizontal calibration table. An installation groove in the shape of a cylinder is provided on the upper side wall of the fixed block, and the installation groove, the first center point, and the second center point are located on the same vertical axis. A plurality of threaded holes are provided on the circumferential side of the installation groove, and the threaded holes are arranged in a circumferential array. Bolts are screwed into the threaded holes.

[0020] According to the calibration method of the six-dimensional force sensor calibration device described above, the method includes the following steps:

[0021] Step 1, fix the six-dimensional force sensor on the upper side of the horizontal calibration table through the fixture, ensure that the six-dimensional force sensor does not move or rotate in any direction, and fix the force measuring beam to the upper cover of the six-dimensional force sensor;

[0022] Step 2, adjust the heights of the four second bearing beams in sequence to keep the four second bearing beams at the same horizontal height as the beam arms;

[0023] Step 3, calibrate the 6 spatial force components of the six-dimensional force sensor. For each direction of calibration, two pulling ropes and two standard weights of the same specification are used;

[0024] Positive calibration of Fx, negative calibration of Fx, positive calibration of Fy, and negative calibration of Fy. One end of each of the two pulling ropes is connected to a standard weight respectively, and the other end is guided through the same second bearing beam and respectively hung on two opposite beam arms, and the planes where the two pulling ropes are located are parallel; and the directions of positive calibration of Fx and negative calibration of Fx are opposite, and the directions of positive calibration of Fy and negative calibration of Fy are opposite;

[0025] Positive calibration of Fz. One end of each of the two pulling ropes is connected to a standard weight respectively, and the other end is respectively hung on two opposite beam arms, and each pulling rope is guided through the corresponding first bearing beam, and the two pulling ropes are coplanar;

[0026] Negative calibration of Fz. The two pulling ropes are respectively placed directly below two opposite beam arms. One end of the pulling rope is connected to the corresponding beam arm, and the other end vertically passes through the horizontal calibration table and extends below the horizontal calibration table to be connected to a standard weight, and the two pulling ropes are coplanar;

[0027] Positive calibration of Mx, negative calibration of Mx, positive calibration of My, and negative calibration of My. During calibration, one end of each of the two drawstrings is connected to a standard weight, and the other end is respectively connected to a beam arm arranged oppositely. One of the drawstrings passes vertically through the horizontal calibration table, and the other drawstring is guided by the first load-bearing beam. The two drawstrings are coplanar;

[0028] Calibration of Mz. One end of each of the two drawstrings is connected to a standard weight, and the other end is respectively connected to a beam arm arranged oppositely. And the two drawstrings are respectively guided by a second load-bearing beam, and the two second load-bearing beams are parallel, and the planes where the two drawstrings are located are parallel.

[0029] Compared with the prior art, a six-dimensional force sensor calibration device and a calibration method of the present invention have the following beneficial effects:

[0030] 1. This device uses a standard weight as the calibration force source. With the cooperation of the horizontal calibration table, the force-measuring beam, the first load-bearing beam, the second load-bearing beam, and the drawstrings, it can quickly realize the single-dimensional or multi-dimensional combined calibration of the 6 spatial force components of the six-dimensional force sensor. The calibration method is simple and easy to operate, saving calibration time, and greatly improving the convenience and calibration accuracy of the calibration device;

[0031] 2. This device is provided with an electric telescopic rod. The height of the first load-bearing beam and the second load-bearing beam is controlled and adjusted by the controller to adapt to the calibration of six-dimensional force sensors of different models. This not only improves the versatility of the calibration device, but also greatly reduces manual operation, saves calibration time, reduces human errors at the same time, and greatly improves the convenience and calibration accuracy of the calibration device;

[0032] 3. This device has a simple structure and low manufacturing cost, and can save production costs while improving the calibration accuracy of the six-dimensional force sensor. Description of the Drawings

[0033] Figure 1 is a three-dimensional structural schematic diagram of the device of the present invention;

[0034] Figure 2 is a structural schematic diagram of the electric telescopic rod in the present invention;

[0035] Figure 3 is a schematic diagram of hanging a standard weight for positive or negative calibration of Fx or Fy of the six-dimensional force sensor;

[0036] Figure 4 is a schematic diagram of hanging a standard weight for positive calibration of Fz of the six-dimensional force sensor;

[0037] Figure 5 is a schematic diagram of hanging a standard weight for negative calibration of Fz of the six-dimensional force sensor;

[0038] Figure 6Schematic diagram of mounting standard weights for positive and negative calibration of six - dimensional force sensor Mx or My;

[0039] Figure 7 Schematic diagram of mounting standard weights for calibration of six - dimensional force sensor in the Mz direction;

[0040] Figure 8 Schematic diagram of the structure of the fixture in the present invention.

[0041] Explanation of reference numerals: 1, horizontal calibration table; 2, six - dimensional force sensor; 3, fixture; 31, fixed block; 32, mounting groove; 33, threaded hole; 34, bolt; 4, beam arm; 5, first bearing beam; 6, second bearing beam; 7, pull rope; 8, standard weight; 9, first fixed pulley; 10, first pull ring; 11, second fixed pulley; 12, second pull ring; 13, third pull ring; 14, through hole; 15, first electric telescopic rod; 16, second electric telescopic rod; 17, third electric telescopic rod; 18, fourth electric telescopic rod. Detailed implementation manners

[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0044] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] See Figures 1 to 7As shown, in order to calibrate each spatial force component of the six-axis force sensor 2 quickly and accurately, improve the calibration accuracy and efficiency, and facilitate improving the applicability of the device. This embodiment provides a calibration device for a six-axis force sensor 2, including a horizontal calibration table 1, a force-measuring beam, a guiding component, and a loading component. The horizontal calibration table 1 is fixedly connected to the base through support columns. The horizontal calibration table 1 is horizontally arranged. A clamp 3 is fixedly installed on the upper surface of the horizontal calibration table 1, and the clamp 3 is used to fix the six-axis force sensor 2. The force-measuring beam is fixedly installed on the upper cover of the six-axis force sensor 2. The force-measuring beam is composed of four beam arms 4. The beam arms 4 are parallel to the horizontal calibration table 1. The four beam arms 4 are fixed into a cross-shaped structure, and the four beam arms 4 intersect on the same vertical axis. The lengths of the four beam arms 4 are the same. The guiding component includes four guiding parts. The four guiding parts correspond to the four beam arms 4 one by one, and the four guiding parts are circumferentially arranged in an array around the axis of the force-measuring beam. Each guiding part includes a first bearing beam 5 and a second bearing beam 6. Both the first bearing beam 5 and the second bearing beam 6 are fixedly connected to the horizontal calibration table 1. The corresponding first bearing beam 5 and the beam arm 4 are arranged in parallel. The second bearing beam 6 is located below the first bearing beam 5 and there is a spacing between them. And the corresponding second bearing beam 6 is perpendicular to the first bearing beam 5. The loading component includes standard weights 8 and a pulling rope 7. There are multiple pulling ropes 7. During application, one end of it is connected to the end of a beam arm 4 far away from the clamp 3, and the other end passes over the first bearing beam 5 or the second bearing beam 6 or vertically passes through the horizontal calibration table 1 and is connected to the standard weight 8. Preferably, the pulling rope 7 is made of steel wire rope.

[0046] See Figure 1 and Figure 4 As shown, further, in order to limit the pulling rope 7 on the first bearing beam 5 during the calibration process and ensure the stability of the direction of the pulling rope 7. A first fixed pulley 9 is respectively fixed at both ends of the first bearing beam 5. The rotation axes of the two first fixed pulleys 9 are parallel and perpendicular to the first bearing beam 5, and the chutes of the two first fixed pulleys 9 face each other. A first pull ring 10 is fixedly connected directly above the end of the beam arm 4 far away from the clamp 3. The end of the pulling rope 7 far away from the standard weight 8 is hooked to the first pull ring 10. And the pulling rope 7 between the first fixed pulley 9 close to the beam arm 4 and the first pull ring 10 is perpendicular to the beam arm 4. During use, the pulling rope 7 is hooked to the first pull ring 10 for convenient installation and disassembly.

[0047] See Figure 1 and Figure 3As shown in the figure, further, in order to limit the pulling rope 7 on the second bearing beam 6 during the calibration process and ensure the stability of the direction of the pulling rope 7. A second fixed pulley 11 is fixedly connected to each end of the second bearing beam 6. The rotation axes of the two second fixed pulleys 11 coincide and are parallel to the second bearing beam 6. One end of the pulling rope 7 is fixedly connected to the beam arm 4 parallel to the second bearing beam 6, and the other end passes over a second fixed pulley 11 for connecting with the standard weight 8. And the pulling rope 7 between the beam arm 4 and the second fixed pulley 11 is perpendicular to the beam arm 4. In order to facilitate the installation and removal of the pulling rope 7 and the beam arm 4, a second pulling ring 12 is fixed to each end of the beam arm 4 away from the fixture 3. The second pulling ring 12 is located on the side wall of the beam arm 4 adjacent to the first pulling ring 10. The distance from the second pulling ring 12 to the fixture 3 is equal to the distance from any second fixed pulley 11 to the first bearing beam 5. One end of the pulling rope 7 is hooked to the second pulling ring 12, and the other end passes over the second fixed pulley 11 for connecting with the standard weight 8.

[0048] See Figure 5 As shown in the figure, further, in order to calibrate the positive and negative directions of the six-dimensional force sensor 2 Mx or My. A third pulling ring 13 is also fixedly connected to the lower part directly below the end of the beam arm 4 away from the fixture 3. A through hole 14 is opened at the position of the horizontal calibration table 1 opposite to the third pulling ring 13. One end of the pulling rope 7 is connected to the third pulling ring 13, and the other end vertically passes through the through hole 14 on the horizontal calibration table 1 for connecting with the standard weight 8.

[0049] See Figure 1 and Figure 8 As shown in the figure, further, in order to calibrate the spatial force of six-dimensional force sensors 2 of different models and improve the versatility of the device. A lifting mechanism is also provided on the horizontal calibration table 1. The lifting mechanism includes a controller, a first electric telescopic rod 15, a second electric telescopic rod 16, a third electric telescopic rod 17, and a fourth electric telescopic rod 18. The first electric telescopic rod 15 and the third electric telescopic rod 17 are arranged oppositely. The second electric telescopic rod 16 and the fourth electric telescopic rod 18 are arranged oppositely. The first electric telescopic rod 15, the second electric telescopic rod 16, the third electric telescopic rod 17, and the fourth electric telescopic rod 18 are all fixed to the horizontal calibration table 1 and the telescopic directions of the four are all vertically arranged. The first electric telescopic rod 15, the second electric telescopic rod 16, the third electric telescopic rod 17, and the fourth electric telescopic rod 18 are respectively fixedly connected to a first bearing beam 5 and a second bearing beam 6. The controller is electrically connected to the first electric telescopic rod 15, the second electric telescopic rod 16, the third electric telescopic rod 17, and the fourth electric telescopic rod 18 respectively.

[0050] See Figure 1As shown in the figure, further, in order to fix six-axis force sensors 2 of different models, the fixture 3 includes a fixing block 31. The fixing block 31 is fixedly connected to the horizontal calibration table 1. A cylindrical installation groove 32 is provided on the upper side wall of the fixing block 31, and the installation groove 32, the first center point, and the second center point are located on the same vertical axis. The installation groove 32 is used to install the six-axis force sensor 2. A plurality of threaded holes 33 are provided on the circumferential side of the installation groove 32. The plurality of threaded holes 33 are arranged in a circumferential array. Bolts 34 are screwed into the threaded holes 33. The bolts 34 pass through the threaded holes 33 to fix the six-axis force sensor 2 in the installation groove 32.

[0051] According to the above six-axis force sensor 2 calibration device, a calibration method for the six spatial force components Fx, Fy, Fz, Mx, My, and Mz of the six-axis force sensor 2 includes the following steps:

[0052] Step 1: Clamp the six-axis force sensor 2. Place the six-axis force sensor 2 at the center of the installation groove 32 on the fixing block 31. Rotate the plurality of bolts 34 on the circumferential side of the installation groove 32 into the installation groove 32 to fix the six-axis force sensor 2. Ensure that the six-axis force sensor 2 does not move or rotate in any direction or multiple directions. Then fixedly install the force measuring beam on the force receiving member on the upper side of the six-axis force sensor 2.

[0053] Step 2: Adjust the heights of the first fixed pulley 9 and the second fixed pulley 11. Input the specific height dimension of the six-axis force sensor 2 into the controller, and the controller calculates the specific height dimension to be adjusted. The controller controls the telescoping of the first electric telescopic rod 15, the second electric telescopic rod 16, the third electric telescopic rod 17, and the fourth electric telescopic rod 18 respectively, so that the four second bearing beams 6 and the beam arm 4 are kept at the same horizontal height.

[0054] Step 3: Calibrate the six spatial force components (Fx, Fy, Fz, Mx, My, Mz) of the six-axis force sensor 2. For the calibration in each direction, two pulling ropes 7 and two standard weights 8 of the same specification are used.

[0055] Positive calibration of Fx: The two pulling ropes 7 are respectively wound around a second fixed pulley 11 on the first electric telescopic rod 15. At the same time, the ends of the two pulling ropes 7 close to the force measuring beam are respectively connected to the second pulling rings 12 of the corresponding beam arms 4. The other ends of the two pulling ropes 7 are respectively connected to a standard weight 8. The planes where the two pulling ropes 7 are located are parallel.

[0056] Negative calibration of Fx: The two pulling ropes 7 are respectively wound around a second fixed pulley 11 on the third electric telescopic rod 17. At the same time, the ends of the two pulling ropes 7 close to the force measuring beam are connected to the second pulling rings 12 of the corresponding beam arms 4. The other ends of the two pulling ropes 7 are respectively connected to a standard weight 8. The planes where the two pulling ropes 7 are located are parallel, and the planes where the two opposite pulling ropes 7 are located during the negative calibration of Fx and the positive calibration of Fx coincide.

[0057] For the positive calibration of Fy, two stay ropes 7 are each wound around a second fixed pulley 11 on the second electric telescopic rod 16. At the same time, the ends of the two stay ropes 7 close to the force measuring beam are connected to the second pull rings 12 on the corresponding beam arms 4, and the other ends of the two stay ropes 7 are respectively connected to a standard weight 8. The planes where the two stay ropes 7 are located are parallel.

[0058] For the negative calibration of Fy, two stay ropes 7 are each wound around a second fixed pulley 11 on the fourth electric telescopic rod 18. At the same time, the ends of the two stay ropes 7 close to the force measuring beam are connected to the second pull rings 12 on the corresponding beam arms 4, and the other ends of the two stay ropes 7 are respectively connected to a standard weight 8. The planes where the two stay ropes 7 are located are parallel, and the planes where the two opposite stay ropes 7 are located during the negative calibration of Fy coincide with those during the positive calibration of Fy.

[0059] When calibrating Fz positively, two stay ropes 7 are used. The first stay rope 7 is wound around two first fixed pulleys 9 on the second electric telescopic rod 16. One end of the stay rope 7 is connected to the first pull ring 10 on the corresponding beam arm 4, and the other end is connected to a standard weight 8. The second stay rope 7 is wound around two first fixed pulleys 9 on the fourth electric telescopic rod 18. One end of the stay rope 7 is connected to the first pull ring 10 on the corresponding beam arm 4, and the other end is connected to a standard weight 8; alternatively, the first stay rope 7 is wound around two first fixed pulleys 9 on the first electric telescopic rod 15. One end of the stay rope 7 is connected to the first pull ring 10 on the corresponding beam arm 4, and the other end is connected to a standard weight 8. The second stay rope 7 is wound around two first fixed pulleys 9 on the third electric telescopic rod 17. One end of the stay rope 7 is connected to the first pull ring 10 on the corresponding beam arm 4, and the other end is connected to a standard weight 8; see Figure 4 as shown.

[0060] When calibrating Fz negatively, two stay ropes 7 are used. The two stay ropes 7 are respectively arranged between two opposite beam arms 4 and the horizontal calibration table 1. One end of the stay rope 7 is connected to the third pull ring 13 on the beam arm 4, and the other end vertically passes through the through hole 14 directly below the third pull ring 13 on the horizontal calibration table 1 and extends below the horizontal calibration table 1 to connect to a standard weight 8; see Figure 5 as shown.

[0061] When calibrating Mx positively, two stay ropes 7 are used. The first stay rope 7 is wound around two first fixed pulleys 9 on the second electric telescopic rod 16. One end of the stay rope 7 is connected to the first pull ring 10 on the corresponding beam arm 4, and the other end is connected to a standard weight 8. One end of the second stay rope 7 is connected to the third pull ring 13 on the beam arm 4 close to the fourth electric telescopic rod 18, and the other end vertically passes through the through hole 14 directly below the third pull ring 13 on the horizontal calibration table 1 and extends below the horizontal calibration table 1 to connect to a standard weight 8; see Figure 6 as shown.

[0062] When Mx is negatively calibrated, two pulling ropes 7 are used. The first pulling rope 7 is wound around two first fixed pulleys 9 on the fourth electric telescopic rod 18. One end of the pulling rope 7 is connected to the first pulling ring 10 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. One end of the second pulling rope 7 is connected to the third pulling ring 13 of the beam arm 4 close to the second electric telescopic rod 16, and the other end vertically passes through the through hole 14 directly below the third pulling ring 13 on the horizontal calibration table 1 and extends below the horizontal calibration table 1 to connect to the standard weight 8; see Figure 6 as shown.

[0063] When My is positively calibrated, two pulling ropes 7 are used. The first pulling rope 7 is wound around two first fixed pulleys 9 on the third electric telescopic rod 17. One end of the pulling rope 7 is connected to the first pulling ring 10 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. One end of the second pulling rope 7 is connected to the third pulling ring 13 of the beam arm 4 close to the first electric telescopic rod 15, and the other end vertically passes through the through hole 14 directly below the third pulling ring 13 on the horizontal calibration table 1 and extends below the horizontal calibration table 1 to connect to the standard weight 8; see Figure 6 as shown.

[0064] When My is negatively calibrated, two pulling ropes 7 are used. The first pulling rope 7 is wound around two first fixed pulleys 9 on the first electric telescopic rod 15. One end of the pulling rope 7 is connected to the first pulling ring 10 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. One end of the second pulling rope 7 is connected to the third pulling ring 13 of the beam arm 4 close to the third electric telescopic rod 17, and the other end vertically passes through the through hole 14 directly below the third pulling ring 13 on the horizontal calibration table 1 and extends below the horizontal calibration table 1 to connect to the standard weight 8; see Figure 6 as shown.

[0065] When Mz is calibrated, two pulling ropes 7 are used. The first pulling rope 7 is wound around a second fixed pulley 11 on the first electric telescopic rod 15. One end of the pulling rope 7 is connected to the second pulling ring 12 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. The second pulling rope 7 is wound around a second fixed pulley 11 on the third electric telescopic rod 17. One end of the pulling rope 7 is connected to the second pulling ring 12 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. Or, the first pulling rope 7 is wound around a second fixed pulley 11 on the second electric telescopic rod 16. One end of the pulling rope 7 is connected to the second pulling ring 12 of the corresponding beam arm 4, and the other end is connected to the standard weight 8. The second pulling rope 7 is wound around a second fixed pulley 11 on the fourth electric telescopic rod 18. One end of the pulling rope 7 is connected to the second pulling ring 12 of the corresponding beam arm 4, and the other end is connected to the standard weight 8, and the planes where the two pulling ropes 7 are located are parallel and do not coincide; see Figure 7 as shown.

[0066] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A six-dimensional force sensor calibration device, characterized in that: include: A horizontal calibration platform (1) is used to be fixed to the six-dimensional force sensor (2) via a clamp (3); A force measuring beam, used for connecting to an upper cover of a six-dimensional force sensor (2), the force measuring beam comprising four beam arms (4), the beam arms (4) being parallel to a horizontal calibration platform (1), the four beam arms being fixed in a cross-shaped structure and intersecting on a same vertical axis, the connection point between the force measuring beam and the upper cover of the six-dimensional force sensor (2) being located on the axis; the four beam arms (4) being of the same length; A loading assembly comprises a standard weight (8) and a pull rope (7), wherein one end of the pull rope (7) is fixed to the standard weight and the other end is connected to a beam arm (4); A guide assembly, comprising four guide parts arranged in one-to-one correspondence with the four beam arms (4), the guide parts comprising a first load-bearing beam (5) and a second load-bearing beam (6), the first load-bearing beam (5) and the corresponding beam arm (4) are parallel, the second load-bearing beam (6) is located at the lower side of the first load-bearing beam (5) and a spacing is provided between the two, the second load-bearing beam (6) is perpendicular to the first load-bearing beam (5) and both are fixed on a horizontal calibration platform, the guide assembly is used to adjust the calibration direction of the six-dimensional force sensor (2) by changing the layout direction of the pull rope (7); A first fixed pulley (9) is fixed to each of the two ends of the first load-bearing beam (5), the rotation axes of the two first fixed pulleys (9) are parallel and perpendicular to the first load-bearing beam (5), and the sliding grooves of the two first fixed pulleys (9) are directly opposite; Two ends of the second bearing beam (6) are respectively fixedly connected to a second fixed pulley (11), and the rotation axes of the two second fixed pulleys (11) coincide with each other and are parallel to the second bearing beam (6).

2. A six-dimensional force sensor calibration device according to claim 1, characterized in that: A first pull ring (10) is fixedly connected to the top of one end of the beam arm (4) away from the clamp (3), and the first pull ring (10) is located on the corresponding first load-bearing beam (5) and directly below the first fixed pulley (9) close to the beam arm (4).

3. A six-dimensional force sensor calibration device according to claim 1, characterized in that: A second pull ring (12) is fixed to one end of each beam arm (4) away from the clamp (3); the second pull ring (12) is located on a side wall of the beam arm (4) adjacent to the first pull ring (10); the distance between the second pull ring (12) and the clamp (3) is equal to the distance between any second fixed pulley (11) and the first load-bearing beam (5).

4. A six-dimensional force sensor calibration device according to claim 1, characterized in that: A third pull ring (13) is also fixedly connected to the beam arm (4) just below the end away from the clamp (3), and a through hole (14) is provided at a position of the horizontal calibration platform (1) opposite to each third pull ring (13).

5. A six-dimensional force sensor calibration device according to claim 1, characterized in that: The horizontal calibration platform (1) is also provided with a lifting mechanism, which comprises a first electric telescopic rod (15), a second electric telescopic rod (16), a third electric telescopic rod (17) and a fourth electric telescopic rod (18) electrically connected to the controller, the first electric telescopic rod (15) and the third electric telescopic rod (17) being arranged opposite to each other, the second electric telescopic rod (16) and the fourth electric telescopic rod (18) being arranged opposite to each other, and the telescopic ends of the first electric telescopic rod (15), the second electric telescopic rod (16), the third electric telescopic rod (17) and the fourth electric telescopic rod (18) being fixedly connected to a first load-bearing beam (5) and a second load-bearing beam (6) respectively.

6. A six-dimensional force sensor calibration device according to claim 1, characterized in that: The clamp (3) comprises a fixing block (31), the fixing block (31) is fixedly connected to the horizontal calibration platform (1), a cylindrical mounting groove (32) is provided on the upper side wall of the fixing block (31), a plurality of threaded holes (33) are provided on the circumferential side of the mounting groove (32), the plurality of threaded holes (33) are distributed in a circumferential array, and bolts (34) are screwed to the threaded holes (33).

7. A calibration method for a six-dimensional force sensor calibration device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: fix the six-dimensional force sensor (2) on the upper side of the horizontal calibration platform by means of a clamp, ensure that the six-dimensional force sensor (2) does not move or rotate in any direction, and fix the force measuring beam and the upper cover of the six-dimensional force sensor (2); Step 2, adjusting the heights of the four second load-bearing beams (6) in sequence so that the four second load-bearing beams (6) and the beam arm (4) are maintained at the same horizontal height; Step 3, calibrating the six spatial force components of the six-dimensional force sensor (2), using two pull ropes (7) and two standard weights (8) of the same specification for calibration in each direction; For Fx positive calibration, Fx negative calibration, Fy positive calibration and Fy negative calibration, one end of two pull ropes (7) is respectively connected to a standard weight (8), and the other end is guided by the same second bearing beam (6) and respectively hung on two opposite beam arms (4), and the planes where the two pull ropes (7) are located are parallel; and the directions of Fx positive calibration and Fx negative calibration are opposite, and the directions of Fy positive calibration and Fy negative calibration are opposite; For Fz positive calibration, one end of two pull ropes (7) is respectively connected to a standard weight (8), and the other end is respectively hung on two opposite beam arms (4), and each pull rope (7) is guided by the corresponding first load-bearing beam (5), and the two pull ropes (7) are coplanar; Fz negative calibration, two pull ropes (7) are distributed and placed directly below two opposite beam arms (4), one end of the pull rope (7) is connected to the corresponding beam arm (4), and the other end vertically passes through the horizontal calibration platform (1) and extends to the bottom of the horizontal calibration platform (1) to be connected to a standard weight (8), and the two pull ropes (7) are coplanar; Mx positive calibration, Mx negative calibration, My positive calibration and My negative calibration, during calibration, one end of two pull ropes (7) is respectively connected to a standard weight (8), and the other end is respectively connected to a beam arm (4) arranged opposite to each other, one of the pull ropes (7) is vertically passed through the horizontal calibration platform (1), and the other pull rope (7) is guided by the first load-bearing beam (5), and the two pull ropes (7) are coplanar; Mz calibration, one end of the two pull ropes (7) is respectively connected to a standard weight (8), and the other end is respectively connected to a beam arm (4) arranged opposite to each other, and the two pull ropes (7) are respectively guided by a second bearing beam (6), and the two second bearing beams (6) are parallel, and the planes where the two pull ropes (7) are located are parallel.

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