Rotary lifting type synchronous calibration device for multi-dimensional force sensor

Abstract

The invention provides a multi-dimensional force sensor rotary lifting type synchronous calibration device, which comprises a working table, a top plate and a lifting mechanism, and is characterized in that the top plate is connected with a circumference mechanism, the circumference mechanism is connected with a rotary table, and the rotary table is connected with a standard multi-dimensional force sensor; the standard multi-dimensional force sensor is connected with a first stress mechanism, the detected multi-dimensional force sensor is connected with a second stress mechanism, the two stress mechanisms are connected with a loading mechanism, and the distance from the stress point of the first stress mechanism to the standard multi-dimensional force sensor is equal to the distance from the stress point of the second stress mechanism to the detected multi-dimensional force sensor. When the top plate moves up and down, the loading mechanism is not kept in a horizontal state any more, and the circular motion of the circular mechanism is combined with the lifting motion of the top plate, so that coupling calibration can be performed on the detected multi-dimensional force sensor from multiple directions to show and simulate the most real bearing state. Therefore, the force and the torque borne by the industrial robot in actual operation can be accurately calibrated better.

Description

Technical Field

[0001] The invention relates to the technical field of sensor calibration, and in particular to a rotating and lifting synchronous calibration device for a multi-dimensional force sensor. Background Art

[0002] In the field of industrial robots, multi-dimensional force sensors are an effective tool for directly measuring the force of industrial robots under dynamic conditions. They can output the multi-dimensional force or torque of the interaction between the industrial robot and the target object in real time, and can be used for precision assembly, material handling, welding, grinding and other process operations. Usually, multi-dimensional force sensors need to be subjected to loading calibration experiments before use to determine the input-output relationship of the sensor, so the loading calibration device is very important in the sensor calibration process.

[0003] At present, the calibration of the multi-dimensional force sensor is carried out by applying loading force or loading torque successively along the X-axis, Y-axis and Z-axis of the multi-dimensional force sensor to obtain calibration data and calibrate the multi-dimensional force sensor. For example, Chinese patent application No. CN202410117443.2 discloses a multi-dimensional force sensor calibration platform, which includes a base, a load frame, a load adapter, an X-axis force loading actuator, a Y-axis force loading actuator, an X-axis curved surface head loading adapter and a Y-axis curved surface head loading adapter. The X-axis force loading actuator is fastened with an X-axis standard force sensor, the X-axis standard force sensor is fastened with an X-axis curved surface head loading adapter, the Y-axis force loading actuator is fastened with a Y-axis standard force sensor, and the Y-axis standard force sensor is fastened with a Y-axis curved surface head loading adapter. The X-axis force loading actuator is fastened with the load frame. When loading, the curved head of the X-axis curved surface head loading adapter is on the side of the load adapter, and the loading direction is vertically pointed to the side of the load adapter. The Y-axis force loading actuator is fastened with the load frame. When loading, the curved head of the Y-axis curved surface head loading adapter is on the side of the load adapter, and the loading direction is vertically pointed to the side of the load adapter.

[0004] However, the end of an industrial robot usually repeats its movements along a certain motion path. Under such working conditions, the multi-dimensional force sensor is only subjected to one or two coupling forces. During the calibration process, companies are more concerned about the accuracy of the above coupling forces. The calibration method of applying force and torque along the X-axis, Y-axis and Z-axis directions of the multi-dimensional force sensor cannot calibrate the forces and torques that the industrial robot is subjected to during actual operation. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a multi-dimensional force sensor rotation and lifting synchronous calibration device, which can couple and calibrate the multi-dimensional force sensor under test from multiple directions, and better perform targeted calibration of the forces and torques received by the industrial robot in actual operation.

[0006] The present invention is achieved in that:

[0007] The present invention provides a multi-dimensional force sensor rotary lifting synchronous calibration device, comprising a work table for installing the multi-dimensional force sensor to be tested, the device also comprising a top plate and a lifting mechanism for driving the top plate to move up and down, the lifting mechanism is connected to the top of the work table, the top plate is rotatably connected to a circumferential mechanism, the rotation center of the circumferential mechanism coincides with the rotation center of the multi-dimensional force sensor to be tested, the circumferential mechanism is rotatably connected to a turntable on one side of the circumferential mechanism facing the multi-dimensional force sensor to be tested, the turntable is arranged at the outer end of the circumferential mechanism, and the turntable is connected to a standard multi-dimensional force sensor;

[0008] The standard multi-dimensional force sensor is connected to a first force-bearing mechanism, and the tested multi-dimensional force sensor is connected to a second force-bearing mechanism. The two force-bearing mechanisms are jointly and movably connected to a loading mechanism. The loading force applied by the loading mechanism acts on the first force-bearing mechanism and the second force-bearing mechanism, and the distance from the force-bearing point of the first force-bearing mechanism to the standard multi-dimensional force sensor is equal to the distance from the force-bearing point of the second force-bearing mechanism to the tested multi-dimensional force sensor.

[0009] Further, the loading mechanism includes a shell, a steel wire rope, a trapezoidal block arranged inside the shell, and a bracket arranged above the shell, the trapezoidal block has two inclined surfaces, the two inclined surfaces are respectively facing two force-bearing mechanisms, each inclined surface is slidably connected to a loading rod, and the left and right side walls of the shell are respectively provided with through holes, one end of the loading rod passes through the through hole and extends to the outside of the shell, and abuts against the force-bearing mechanism;

[0010] A first guide column is arranged inside the shell, the axis direction of the first guide column coincides with the height direction of the shell, and the trapezoidal block is slidably connected to the first guide column;

[0011] A second guide column is fixedly connected to the top of the shell, the second guide column is slidably connected to the bracket, the bracket is rotatably connected to the first pulley, the two loading rods are symmetrically arranged on the left and right sides of the center line of the first pulley, the loading rod is provided with a mounting groove at one end close to the trapezoidal block, the loading rod is provided with a through hole penetrating the loading rod along its own axial direction, the through hole is connected to the mounting groove, and the second pulley is rotatably connected in the mounting groove, the lower edge of the second pulley is tangent to the center line of the through hole, the steel wire rope is wound around the first pulley and the second pulley, and the end of the steel wire rope is fixedly connected to the force-bearing mechanism after passing through the through hole;

[0012] The loading mechanism also includes a first driving component for driving the trapezoidal block and the bracket to approach or move away at the same time; when the trapezoidal block and the bracket approach at the same time, the loading rod applies a thrust to the force-bearing mechanism, and when the trapezoidal block and the bracket move away at the same time, the wire rope applies a pulling force to the force-bearing mechanism.

[0013] Furthermore, the first driving component includes a screw rod rotatably connected to the shell, the upper end of the screw rod extends to the top of the shell, the outer wall of the shell is provided with a first thread and a second thread, the rotation directions of the first thread and the second thread are opposite, the first thread is arranged at the upper part of the screw rod, and the first thread is spirally connected to the bracket, the second thread is arranged in the middle part of the screw rod, the second thread is spirally connected to the trapezoidal block, the lower end of the screw rod extends to the bottom of the shell, the outer wall of the shell is provided with a driving motor, and the driving motor is connected to the lower end of the screw rod through a transmission component.

[0014] Furthermore, the outer wall of the loading rod is provided with a shoulder, the shoulder is located inside the shell, the outer wall of the loading rod is sleeved with a spring, one end of the spring is connected to the shoulder, and the other end of the spring is connected to the inner wall of the shell.

[0015] Further, the first force-bearing mechanism includes a first force-bearing rod, the lower end of the first force-bearing rod is rotatably connected to a first force-bearing ball, the rotation center of the first force-bearing ball is perpendicular to the axis of the first force-bearing rod, and one end of the loading mechanism is connected to the first force-bearing ball;

[0016] The second force-bearing component includes a second force-bearing rod, the end of which is rotatably connected to a swivel head, the rotation center of the swivel head coincides with the axis of the second force-bearing rod, the swivel head is rotatably connected to a second force-bearing ball, the rotation center of the second force-bearing ball is perpendicular to the rotation center of the swivel head, and the other end of the loading mechanism is connected to the second force-bearing ball.

[0017] Furthermore, the lifting mechanism includes a screw column rotatably connected to the work surface, the upper end of the screw column has a threaded section, the top plate is spirally connected to the threaded section, a second drive assembly is arranged inside the work surface, and the lower end of the screw column extends to the inside of the work surface and is connected to the second drive assembly.

[0018] Furthermore, four screw rod columns are provided, and the four screw rod columns are respectively arranged at four corners of the work surface.

[0019] Furthermore, the circular mechanism includes a rotating shaft, which is rotatably connected to the center of the top plate, and the outer wall of the rotating shaft is connected to a swing arm. The side of the swing arm away from the rotating shaft has a mounting portion, and the turntable is mounted at the bottom of the mounting portion.

[0020] Furthermore, a first annular guide groove is provided at the bottom of the top plate, the center of the first guide groove coincides with the center of the rotating shaft, and the top of the mounting portion has a first guide portion, which is slidably connected in the first guide groove.

[0021] Furthermore, the circumferential mechanism is connected to a vertical limiting plate, the vertical limiting plate is provided with a second guide groove, the second guide groove extends in a vertical direction, and the loading mechanism is slidably connected to the second guide groove.

[0022] The advantages of the present invention are that when the top plate moves up and down, the loading mechanism will no longer remain horizontal, and the loading force applied to the force-bearing rod will also have a certain inclination angle, so that the multi-dimensional force sensor under test can be coupled and calibrated from multiple directions, and the closest to the actual load-bearing state can be displayed and simulated. In addition, the device can combine the circular motion of the circular mechanism with the lifting motion of the top plate, and can achieve the loading force of the same force value in most directions, thereby better achieving the goal of accurately calibrating the forces and torques received by the industrial robot in actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0024] Figure 1 It is a structural schematic diagram of a rotating and lifting synchronous calibration device for a multi-dimensional force sensor of the present invention.

[0025] Figure 2 for Figure 1 The device shown is a three-dimensional Figure 1 .

[0026] Figure 3 for Figure 1 The device shown is a three-dimensional Figure 2 .

[0027] Figure 4 It is a schematic diagram of the loading mechanism structure of the present invention.

[0028] Figure 5 for Figure 4 A partial cross-sectional view of the structure shown.

[0029] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0030] Figure 7 for Figure 4 Exploded view of the structure shown.

[0031] Figure 8 for Figure 7 A partial enlarged view of point B in the middle.

[0032] Fig. 9 It is a schematic structural diagram of the screw rod of the present invention.

[0033] Fig.10 It is a structural schematic diagram of the first force-bearing mechanism of the present invention.

[0034] Fig.11 It is a structural schematic diagram of the second force-bearing mechanism of the present invention.

[0035] Fig.12 The structure diagram of the connection between the screw rod column and the second drive assembly of the present invention is shown in FIG. Figure 1 .

[0036] Fig.13 The structure diagram of the connection between the screw rod column and the second drive assembly of the present invention is shown in FIG. Figure 2 .

[0037] Fig.14 It is a structural schematic diagram of the connection between the top plate and the first guide portion of the present invention.

[0038] Fig.15 It is a structural schematic diagram that the Y-axis direction of the tested multi-dimensional force sensor of the present invention coincides with the Y′-axis direction of the standard multi-dimensional force sensor.

[0039] Fig.16 It is a structural schematic diagram that the X-axis direction of the tested multi-dimensional force sensor of the present invention coincides with the X′-axis direction of the standard multi-dimensional force sensor.

[0040] Fig.17 It is a structural schematic diagram in which the X-axis and Y-axis directions of the tested multi-dimensional force sensor of the present invention do not overlap with the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor.

[0041] Fig.18 It is a structural schematic diagram of the top plate of the present invention in an inclined state.

[0042] Description of the numbers in the figure:

[0043] 1. Work surface; 2. Top plate; 21. First guide groove; 3. Lifting mechanism; 31. Screw column; 32. Threaded section; 33. Second drive assembly; 331. First motor; 332. Pulley; 333. Synchronous belt; 4. Circular mechanism; 41. Rotary axis; 42. Swing arm; 43. Mounting part; 431. First guide part; 5. Goniometer; 6. Turntable; 7. Standard multi-dimensional force sensor; 8. First force-bearing mechanism; 81. First force-bearing rod; 82. First force-bearing ball; 9. Second force-bearing mechanism; 91. Second force-bearing rod; 92. Turntable; 93. Second force-bearing ball; 10. Loading mechanism; 101. Shell; 1011. Through hole; 1 02, wire rope; 103, trapezoidal block; 1031, inclined plane; 104, bracket; 105, loading rod; 1051, shaft shoulder; 1052, mounting groove; 1053, through hole; 106, first guide column; 107, second guide column; 108, first pulley; 109, second pulley; 1010, first driving assembly; 10101, screw rod; 101011, first thread; 101012, second thread; 10102, driving motor; 10103, first gear; 10104, second gear; 11, spring; 12, pin shaft; 13, vertical limit plate; 131, second guide groove; 14, multi-dimensional force sensor to be tested. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings and specific implementation methods. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions, directions or positional relationships based on the positions, directions or positional relationships shown in the accompanying 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 position, direction or position, be constructed and operated in a specific position, direction or position, and therefore cannot be understood as a limitation on 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.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] See also Figures 1 to 18The present invention provides a multi-dimensional force sensor rotation and lifting synchronous calibration device, comprising a work table 1 for installing a multi-dimensional force sensor 14 to be tested, the device also comprising a top plate 2 and a lifting mechanism 3 for driving the top plate 2 to move up and down, the lifting mechanism 3 is connected to the top of the work table 1, the top plate 2 is rotatably connected to a circumferential mechanism 4, the rotation center of the circumferential mechanism 4 coincides with the rotation center of the multi-dimensional force sensor 14 to be tested, the top plate 2 is provided with a goniometer 5 for measuring the rotation angle of the circumferential mechanism 4, the goniometer 5 can detect the rotation angle of the circumferential mechanism 4 to accurately control the rotation angle of the circumferential mechanism 4, the circumferential mechanism 4 is rotatably connected to a turntable 6 on one side of the circumferential mechanism 4 toward the multi-dimensional force sensor 14 to be tested, the turntable 6 is arranged at the outer end of the circumferential mechanism 4, and the turntable 6 is connected to a standard multi-dimensional force sensor 7;

[0047] The standard multi-dimensional force sensor 7 is connected to a first force-bearing mechanism 8, and the tested multi-dimensional force sensor 14 is connected to a second force-bearing mechanism 9. The two force-bearing mechanisms are jointly and movably connected to a loading mechanism 10. The loading force applied by the loading mechanism 10 acts on the first force-bearing mechanism 8 and the second force-bearing mechanism 9, and the distance from the force-bearing point of the first force-bearing mechanism 8 to the standard multi-dimensional force sensor 7 is equal to the distance from the force-bearing point of the second force-bearing mechanism 9 to the tested multi-dimensional force sensor 14, so that when the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the tested multi-dimensional force sensor 14 are subjected to the same magnitude of torque.

[0048] In the initial state, the loading mechanism 10 is in a horizontal state. The top plate 2 moves up and down to change the tilt angle and tilt direction of the loading mechanism 10. The distance that the top plate 2 moves up and down can be determined by the displacement sensor or the direction and number of rotations of the screw column 31.

[0049] When the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are both subjected to the same loading force and loading moment. The multi-dimensional force sensor 14 to be tested can be calibrated by comparing their absolute values.

[0050] like Figure 3 As shown, the coordinate system of the detected multi-dimensional force sensor 14 is:

[0051] The X-axis direction is the front-to-back direction of the work surface 1, and the direction toward the front side of the work surface 1 is the positive direction of the X-axis;

[0052] The Y-axis direction is the left-right direction of the work surface 1, and the direction toward the right side of the work surface 1 is the positive direction of the Y-axis;

[0053] The Z-axis direction is the up-down direction of the work surface 1 , and the direction toward the top of the work surface 1 is the positive direction of the Z-axis.

[0054] The coordinate system of the standard multi-dimensional force sensor 7 is:

[0055] The X′ axis direction is the front-to-back direction of the work surface 1, and the direction toward the rear side of the work surface is the positive direction of the X′ axis;

[0056] The Y′ axis direction is the left-right direction of the work surface 1, and the direction toward the right side of the work surface is the positive direction of the Y′ axis;

[0057] The Z′ axis direction is the up-down direction of the work surface 1 , and the direction toward the bottom of the work surface is the positive direction of the Z′ axis.

[0058] The rotation center of the turntable 6 coincides with the center of the standard multi-dimensional force sensor 7 (i.e., the turntable 6 rotates around the Z′ axis), and the rotation center of the end of the second force-bearing mechanism 9 coincides with the center of the multi-dimensional force sensor 14 to be tested (i.e., the turntable 92 rotates around the Z axis). The second force-bearing mechanism 9 is movably connected to the loading mechanism 10, and cooperates with the turntable 6 to ensure that the orientation of the coordinate system of the standard multi-dimensional force sensor 7 is always consistent with the orientation of the coordinate system of the multi-dimensional force sensor 14 to be tested when the circular mechanism 4 performs a rotational motion.

[0059] In the initial state, the force line of the loading force generated by the loading mechanism 10 remains horizontal. The standard multi-dimensional force sensor 7 can be rotated around the multi-dimensional force sensor 14 to be tested by the circular mechanism 4 to achieve the loading force F X 、F Y And the loading moment M X 、M Y calibration.

[0060] When the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force ±F X and loading moment ±M Y When the Y′ axis direction of the standard multi-dimensional force sensor 7 coincides with the Y axis direction of the multi-dimensional force sensor 14 to be tested, the loading force ±F Y and loading moment ±M X When the X′-axis direction and Y′-axis direction of the standard multi-dimensional force sensor 7 do not coincide with the X-axis direction and Y-axis direction of the corresponding multi-dimensional force sensor 14 to be tested, at this time, the force line of the loading force generated by the loading mechanism 10 has an angle with both the X-axis direction and the Y-axis direction of the multi-dimensional force sensor 14 to be tested, and the loading force can be decomposed into the X-axis direction and the Y-axis direction. Therefore, the loading force generated by the loading mechanism 10 can couple and calibrate the multi-dimensional force sensor 14 to be tested from two directions.

[0061] When the top plate 2 is lifted and lowered along the vertical direction (Z-axis direction) of the worktable 1, the loading mechanism 10 is no longer in a horizontal state. Under the above conditions, if the X′-axis direction and the Y′-axis direction of the standard multi-dimensional force sensor 7 do not coincide with the X-axis direction and the Y-axis direction of the corresponding multi-dimensional force sensor 14 to be tested, the loading force can be decomposed into the X-axis, Y-axis and Z-axis, and the loading force applied this time can be regarded as the coupling result after the multi-dimensional force is loaded simultaneously, and the loading force ±F X ±F Y ±F Z and loading moment ±M X ±M Y ±M Z Coupling calibration.

[0062] When the loading mechanism 10 is tilted, if the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force generated by the loading mechanism 10 can be decomposed into the X axis and the Z axis to achieve a loading force ±F X ±F Z and loading moment ±M Y If the Y′ axis direction of the standard multi-dimensional force sensor 7 coincides with the Y axis direction of the tested multi-dimensional force sensor 14, the loading force generated by the loading mechanism 10 can be decomposed into the Y axis and the Z axis to achieve the loading force ±F Y ±F Z and loading moment ±M X Coupling calibration.

[0063] Specifically, the loading mechanism 10 includes a housing 101, a steel wire rope 102, a trapezoidal block 103 disposed inside the housing 101, and a bracket 104 disposed above the housing 101. The trapezoidal block 103 has two inclined surfaces 1031, and the two inclined surfaces 1031 face two force-bearing mechanisms respectively. Each inclined surface 1031 is slidably connected to a loading rod 105. The left and right side walls of the housing 101 are respectively provided with through holes 1011, and the loading rod 105 is slidably connected in the through holes 1011. One end of the loading rod 105 extends through the through holes 1011 to the outside of the housing 101 and abuts against the force-bearing mechanism. The diameter of the through hole 1011 is larger than the outer diameter of the loading rod 105. Of course, a linear bearing can also be installed on the inner side of the through hole 1011, and the loading rod 105 is inserted into the linear bearing to realize the sliding of the loading rod 105.

[0064] A first guide column 106 is provided inside the shell 101. The axial direction of the first guide column 106 is parallel to the height direction of the shell 101. The axis of the first guide column 106 extends in the Z-axis direction. The trapezoidal block 103 is slidably connected to the first guide column 106. The first guide column 106 is used to guide the lifting and lowering of the trapezoidal block 103.

[0065] A second guide column 107 is fixedly connected to the top of the shell 101, and the axis of the second guide column 107 also extends in the Z-axis direction. The second guide column 107 is used to guide the lifting and lowering of the bracket 104. The second guide column 107 is slidably connected to the bracket 104. The rotation of the bracket 104 is connected to the first pulley 108. The two loading rods 105 are symmetrically arranged on the left and right sides of the center line of the first pulley 108. The end of the loading rod 105 close to the trapezoidal block 103 is provided with a mounting groove 1052. The loading rod 105 is provided with a through hole 1053 that penetrates the loading rod 105 along its own axial direction. The center line of 1053 coincides with the axis of the loading rod 105, the through hole 1053 is connected to the installation groove, and the second pulley 109 is rotatably connected in the installation groove, and the lower edge of the second pulley 109 is tangent to the center line of the through hole 1053, ensuring that the wire rope 102 will never touch the inner wall of the through hole 1053, the wire rope 102 is wound around the first pulley 108 and the second pulley 109, the second pulley 109 can ensure that the loading force applied by the wire rope 102 is always along the center of the two force-bearing balls, and the end of the wire rope 102 passes through the through hole 1053 and is fixedly connected to the force-bearing mechanism; Figure 2 As shown, the left end of the steel wire rope 102 is connected to the first force-bearing mechanism 8, and the right end of the steel wire rope 102 is connected to the second force-bearing mechanism 9. Avoidance grooves are also respectively provided on the two inclined surfaces 1031 of the trapezoidal block 103. When the trapezoidal block 103 moves, the avoidance grooves are used to prevent the steel wire rope 102 from interfering with the inclined surfaces 1031.

[0066] The loading mechanism 10 also includes a first driving assembly 1010 for driving the trapezoidal block 103 and the bracket 104 to approach or move away simultaneously; when the trapezoidal block 103 and the bracket 104 approach simultaneously, the loading rod 105 applies a thrust to the two force-bearing mechanisms (the first force-bearing mechanism 8 and the second force-bearing mechanism 9), and when the trapezoidal block 103 and the bracket 104 move away simultaneously, the steel wire rope 102 applies a pulling force to the two force-bearing mechanisms. The present invention enables the loading mechanism 10 to apply an equal thrust or pulling force to the two force-bearing mechanisms by switching the motion state of the trapezoidal block 103 and the bracket 104 (approaching or moving away simultaneously).

[0067] However, when the trapezoidal block 103 and the bracket 104 are approaching or moving away from each other at the same time, the travel interval of the trapezoidal block 103 and the bracket 104 is divided into a loading interval for applying a loading force and a transition interval where no loading force is applied. When the trapezoidal block 103 and the bracket 104 move into the transition interval, the loading mechanism 10 does not apply a loading force to the two force-bearing mechanisms. The range of the transition interval can be achieved by setting the thread pitch of the first thread 101011 and the second thread 101012.

[0068] When the driving assembly drives the trapezoidal block 103 and the bracket 104 to approach at the same time (i.e., the trapezoidal block 103 rises and the bracket 104 descends), the loading rods 105 located on both sides of the housing 101 are pushed outwards by the inclined surface 1031 of the trapezoidal block 103, and the loading force is applied to the two force-bearing mechanisms. In addition, since the steel wire rope 102 remains in a relaxed state when the bracket 104 descends, only the loading rods 105 apply thrust to the two force-bearing mechanisms at this time. In this state, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are subjected to the same magnitude of loading force and loading torque, and the multi-dimensional force sensor 14 to be tested can be calibrated by comparing their absolute values.

[0069] When the driving assembly drives the trapezoidal block 103 and the bracket 104 away from each other at the same time (i.e., the trapezoidal block 103 descends and the bracket 104 rises), as the bracket 104 rises, the steel wire 102 is gradually tightened, and tension is applied to the two force-bearing mechanisms through the steel wire 102. In addition, since the loading rod 105 no longer applies thrust to the two force-bearing mechanisms when the trapezoidal block 103 descends, only the steel wire 102 applies tension to the two force-bearing mechanisms at this time. In this state, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are both subjected to the same magnitude of loading force and loading torque, and the multi-dimensional force sensor 14 to be tested can be calibrated by comparing their absolute values.

[0070] Specifically, the first driving component 1010 includes a screw rod 10101 rotatably connected to the shell 101, the upper end of the screw rod 10101 extends to the top of the shell 101, and the outer wall of the shell 101 is provided with a first thread 101011 and a second thread 101012, the first thread 101011 and the second thread 101012 have opposite rotation directions, the first thread 101011 is arranged at the upper part of the screw rod 10101, and the first thread 101011 is spirally connected to the bracket 104, the second thread 101012 is arranged in the middle part of the screw rod 10101, and the second thread 101012 is spirally connected to the trapezoidal block 103, the lower end of the screw rod 10101 extends to the bottom of the shell 101, and the outer wall of the shell 101 is provided with a driving motor 10102, and the driving motor 10102 is connected to the lower end of the screw rod 10101 through a transmission component. The transmission assembly includes a first gear 10103 and a second gear 10104, wherein the first gear 10103 is connected to the output end of the driving motor 10102, and the second gear 10104 is connected to the lower end of the screw rod 10101. After the driving motor 10102 is started, the screw rod 10101 also rotates synchronously under the drive of the transmission assembly.

[0071] Specifically, the outer wall of the loading rod 105 is provided with a shoulder 1051, and the shoulder 1051 is located inside the housing 101. The outer wall of the loading rod 105 is sleeved with a spring 11, one end of the spring 11 is connected to the shoulder 1051, and the other end of the spring 11 is connected to the inner wall of the housing 101. When the loading rod 105 is pushed outward, the spring 11 is compressed; and when the trapezoidal block 103 descends, the spring 11 rebounds, so that the loading rod 105 is separated from the force-bearing mechanism.

[0072] Specifically, the first force-bearing mechanism 8 includes a first force-bearing rod 81, the lower end of the first force-bearing rod 81 is rotatably connected to a first force-bearing ball 82, the rotation center of the first force-bearing ball 82 is perpendicular to the axis of the first force-bearing rod 81, one end of the loading mechanism 10 is connected to the first force-bearing ball 82; the axis of the first force-bearing rod 81 coincides with the Z′ axis; the left end of the wire rope 102 is connected to the center of the first force-bearing ball 82.

[0073] The second force-bearing component includes a second force-bearing rod 91, the axis of which coincides with the Z axis; the end of the second force-bearing rod 91 is rotatably connected to a swivel 92, the center of rotation of which coincides with the axis of the second force-bearing rod 91, and the swivel 92 is rotatably connected to a second force-bearing ball 93, the distance from the center of the second force-bearing ball 93 to the multi-dimensional force sensor 14 to be tested is equal to the distance from the center of the first force-bearing ball 82 to the standard multi-dimensional force sensor 7, so that when the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are subjected to the same torque. The right end of the steel wire rope 102 is connected to the center of the second force-bearing ball 93, the center of rotation of the second force-bearing ball 93 is perpendicular to the center of rotation of the swivel 92, and the other end of the loading mechanism 10 is connected to the second force-bearing ball 93. The end of the loading rod 105 close to the force-bearing ball is provided with a curved groove, and the shape of the curved groove is consistent with the force-bearing ball.

[0074] When the circular mechanism 4 rotates, the turntable 92 rotates around the Z axis and the turntable 6 rotates around the Z′ axis, thereby ensuring that the orientation of the coordinate system of the standard multi-dimensional force sensor 7 is always consistent with the orientation of the coordinate system of the tested multi-dimensional force sensor 14.

[0075] More specifically, the first force rod 81 and the rotating head 92 are respectively connected to the pin shaft 12, and the first force ball 82 and the second force ball 93 are rotatably connected to the corresponding pin shaft 12. When the top plate 2 is raised or lowered, the first force ball 82 and the second force ball 93 rotate around the pin shaft 12, thereby changing the posture of the loading mechanism 10.

[0076] Specifically, the lifting mechanism 3 includes a screw column 31 rotatably connected to the work surface 1, the upper end of the screw column 31 has a threaded section 32, the top plate 2 is spirally connected to the threaded section 32, a second drive assembly 33 is provided inside the work surface 1, and the lower end of the screw column 31 extends to the inside of the work surface 1 and is connected to the second drive assembly 33. The screw column 31 rotates to drive the top plate 2 to rise and fall. Of course, the lifting mechanism 3 can also adopt other structures that can drive the top plate 2 to make linear motion, such as a structure that uses a hydraulic cylinder or a linear motor connected to the top plate 2 to achieve the lifting of the top plate 2.

[0077] Specifically, four screw rod columns 31 are provided, and the four screw rod columns 31 are respectively provided at the four corners of the work surface 1. The four screw rod columns 31 are all spirally connected to the top plate 2. When the top plate 2 is raised or lowered, the second driving assembly 33 drives the four screw rod columns 31 to rotate synchronously, driving the top plate 2 to rise or fall. The manner in which the four screw rod columns 31 rotate synchronously to drive the top plate 2 to rise or fall can make the lifting of the top plate 2 more stable.

[0078] Of course, only one screw rod column 31 may be provided. When the number of the screw rod column 31 is set to one, at least one guide rod is also provided on the work surface 1 , and the guide rod is slidably connected to the top plate 2 .

[0079] When four screw columns 31 are used to drive the top plate 2 to rise and fall, the second driving assembly 33 includes a first motor 331, a plurality of pulleys 332 and a plurality of synchronous belts 333. The pulleys 332 are respectively sleeved on the lower ends of the screw columns 31. The output end of the first motor 331 is also connected to the pulley 332, and the pulleys 332 are connected by the synchronous belt 333. When the first motor 331 drives one of the screw columns 31 to rotate, the remaining three screw columns 31 also rotate synchronously under the transmission of the pulley 332 and the synchronous belt 333.

[0080] When a screw column 31 is used to drive the top plate 2 to rise and fall, the second driving component 33 includes a first motor 331, two pulleys 332 and a synchronous belt 333. The two pulleys 332 are respectively mounted on the lower ends of the first motor 331 and the screw column 31, and the synchronous belt 333 is wound around the two pulleys 332.

[0081] Specifically, the circumferential mechanism 4 includes a rotating shaft 41, which is rotatably connected to the center position of the top plate 2. The outer wall of the rotating shaft 41 is connected to a swing arm 42. The side of the swing arm 42 away from the rotating shaft 41 has a mounting portion 43, and the turntable 6 is mounted at the bottom of the mounting portion 43.

[0082] Specifically, a first annular guide groove 21 is formed at the bottom of the top plate 2 , the center of the first guide groove 21 coincides with the center of the rotary shaft 41 , and a first guide portion 431 is provided at the top of the mounting portion 43 , and the first guide portion 431 is slidably connected in the first guide groove 21 .

[0083] Specifically, the circumferential mechanism 4 is connected to a vertical limit plate 13, the vertical limit plate 13 is provided with a second guide groove 131, the second guide groove 131 extends in the vertical direction, and the loading mechanism 10 is slidably connected to the second guide groove 131. A sliding portion is provided on one side of the housing 101 close to the vertical limit plate 13, and the sliding portion is slidably connected to the second guide groove 131.

[0084] A specific application of the present invention is:

[0085] When the two loading rods 105 are in a horizontal state (i.e., the force line of the loading force generated by the loading mechanism 10 remains horizontal), the loading force ±F X ±F Y And the loading moment ±M X ±M Y The specific calibration is as follows:

[0086] If only the loading force ±F X and loading moment ±M Y During calibration, the circular mechanism 4 performs circular motion to make the standard multi-dimensional force sensor 7 revolve around the multi-dimensional force sensor 14 to be tested, until the X′-axis direction of the standard multi-dimensional force sensor 7 coincides with the X-axis direction of the multi-dimensional force sensor 14 to be tested.

[0087] The driving motor 10102 rotates forward, and driven by the screw rod 10101, the trapezoidal block 103 rises and the bracket 104 descends. As the trapezoidal block 103 rises, the loading rods 105 located on both sides of the trapezoidal block 103 push outward and apply loading force to the first force-bearing mechanism 8 and the second force-bearing mechanism 9. As the bracket 104 descends, the wire rope 102 remains in a relaxed state, so at this time, only the loading rods 105 apply thrust to the first force-bearing mechanism 8 and the second force-bearing mechanism 9.

[0088] When the loading rod 105 is loaded, the multi-dimensional force sensor 14 is subjected to +F X 、+M Y , standard multi-dimensional force sensor 7 is subjected to -F X′ , -M Y′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0089] The driving motor 10102 is reversed, the trapezoidal block 103 descends, and the bracket 104 rises. When the trapezoidal block 103 moves downward, the loading rod 105 rebounds through the spring 11, and the loading rod 105 no longer applies thrust to the two force-bearing mechanisms. As the bracket 104 rises, the wire rope 102 is tightened. At this time, the multi-dimensional force sensor 14 under test is subjected to -F X , -M Y , standard multi-dimensional force sensor 7 is subjected to +F X′ 、+M Y′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0090] If only the loading force ±F Y and loading moment ±M X During calibration, the circular mechanism 4 performs circular motion to make the standard multi-dimensional force sensor 7 revolve around the multi-dimensional force sensor 14 to be tested, until the Y′-axis direction of the standard multi-dimensional force sensor 7 coincides with the Y-axis direction of the multi-dimensional force sensor 14 to be tested.

[0091] When the loading rod 105 is loaded, the multi-dimensional force sensor 14 is subjected to +F Y 、+M X , standard multi-dimensional force sensor 7 is subjected to -F Y′ , -M X′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0092] When the wire rope 102 is loaded, the multi-dimensional force sensor 14 is subjected to -F Y , -M X , standard multi-dimensional force sensor 7 is subjected to +F Y′ 、+M X′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0093] During coupling calibration, the circular mechanism 4 rotates a certain angle so that the X′-axis direction and Y′-axis direction of the standard multi-dimensional force sensor 7 do not coincide with the X-axis direction and Y-axis direction of the corresponding multi-dimensional force sensor 14 to be tested. At this time, the force lines of the loading force generated by the loading mechanism 10 have angles with the X-axis direction and Y-axis direction of the multi-dimensional force sensor 14 to be tested and the X′-axis direction and Y′-axis direction of the standard multi-dimensional force sensor 7, and the loading force can be decomposed into the X-axis direction and the Y-axis direction. Therefore, the loading force generated by the loading mechanism 10 can couple the multi-dimensional force sensor 14 to be tested from two directions to achieve the loading torque ±F X ±F Y and loading moment ±M X ±M Y Coupling calibration.

[0094] When the top plate 2 is lifted and lowered along the vertical direction (Z-axis direction) of the worktable 1, the loading mechanism 10 is no longer in a horizontal state. Under the above conditions, if the X′-axis direction and the Y′-axis direction of the standard multi-dimensional force sensor 7 do not coincide with the X-axis direction and the Y-axis direction of the corresponding multi-dimensional force sensor 14 to be tested, the loading force can be decomposed into the X-axis, Y-axis and Z-axis, and the loading force applied this time can be regarded as the coupling result after the multi-dimensional force is loaded simultaneously, and the loading force ±F X ±F Y ±F Z and loading moment ±M X ±M Y ±M Z Coupling calibration.

[0095] When the loading mechanism 10 is tilted, if the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force generated by the loading mechanism 10 can be decomposed into the X axis and the Z axis to achieve a loading force ±F X ±F Z and loading moment ±M Y If the Y′ axis direction of the standard multi-dimensional force sensor 7 coincides with the Y axis direction of the tested multi-dimensional force sensor 14, the loading force generated by the loading mechanism 10 can be decomposed into the Y axis and the Z axis to achieve the loading force ±F Y ±F Z and loading moment ±M X Coupling calibration.

[0096] When the top plate 2 moves up and down, the loading mechanism 10 will no longer maintain a horizontal state, and the loading force applied to the force-bearing rod will also have a certain inclination angle. In this way, the multi-dimensional force sensor 14 under test can be coupled and calibrated from multiple directions, and the closest to the actual load-bearing state can be displayed and simulated. In addition, the device can combine the circular motion of the circular mechanism 4 with the lifting motion of the top plate 2, and can achieve the loading force of the same force value in most directions, thereby better achieving the goal of accurately calibrating the forces and torques received by the industrial robot in actual operation.

[0097] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A multi-dimensional force sensor rotary lifting synchronous calibration device, comprising a work surface for mounting the multi-dimensional force sensor to be tested, characterized in that: The device also includes a top plate and a lifting mechanism for driving the top plate to move up and down, the lifting mechanism is connected to the top of the worktable, the top plate is rotatably connected to a circumferential mechanism, the rotation center of the circumferential mechanism coincides with the rotation center of the multi-dimensional force sensor to be tested, the circumferential mechanism is rotatably connected to a turntable on one side facing the multi-dimensional force sensor to be tested, the turntable is arranged at the outer end of the circumferential mechanism, and the turntable is connected to a standard multi-dimensional force sensor; The standard multi-dimensional force sensor is connected to a first force-bearing mechanism, and the tested multi-dimensional force sensor is connected to a second force-bearing mechanism. The two force-bearing mechanisms are jointly and movably connected to a loading mechanism. The loading force applied by the loading mechanism acts on the first force-bearing mechanism and the second force-bearing mechanism, and the distance from the force-bearing point of the first force-bearing mechanism to the standard multi-dimensional force sensor is equal to the distance from the force-bearing point of the second force-bearing mechanism to the tested multi-dimensional force sensor.

2. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 1, characterized in that: The loading mechanism includes a housing, a steel wire rope, a trapezoidal block arranged inside the housing, and a bracket arranged above the housing. The trapezoidal block has two inclined surfaces, the two inclined surfaces are respectively facing two force-bearing mechanisms, each inclined surface is slidably connected to a loading rod, and through holes are respectively opened on the left and right side walls of the housing. One end of the loading rod passes through the through hole and extends to the outside of the housing and abuts against the force-bearing mechanism. A first guide column is arranged inside the shell, the axis direction of the first guide column coincides with the height direction of the shell, and the trapezoidal block is slidably connected to the first guide column; A second guide column is fixedly connected to the top of the shell, the second guide column is slidably connected to the bracket, the bracket is rotatably connected to the first pulley, the two loading rods are symmetrically arranged on the left and right sides of the center line of the first pulley, the loading rod is provided with a mounting groove at one end close to the trapezoidal block, the loading rod is provided with a through hole penetrating the loading rod along its own axial direction, the through hole is connected to the mounting groove, and the second pulley is rotatably connected in the mounting groove, the lower edge of the second pulley is tangent to the center line of the through hole, the steel wire rope is wound around the first pulley and the second pulley, and the end of the steel wire rope is fixedly connected to the force-bearing mechanism after passing through the through hole; The loading mechanism also includes a first driving component for driving the trapezoidal block and the bracket to approach or move away at the same time; when the trapezoidal block and the bracket approach at the same time, the loading rod applies a thrust to the force-bearing mechanism, and when the trapezoidal block and the bracket move away at the same time, the wire rope applies a pulling force to the force-bearing mechanism.

3. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 2, characterized in that: The first driving assembly includes a screw rod rotatably connected to the shell, the upper end of the screw rod extends to the top of the shell, the outer wall of the shell is provided with a first thread and a second thread, the rotation directions of the first thread and the second thread are opposite, the first thread is arranged at the upper part of the screw rod, and the first thread is spirally connected to the bracket, the second thread is arranged in the middle part of the screw rod, the second thread is spirally connected to the trapezoidal block, the lower end of the screw rod extends to the bottom of the shell, the outer wall of the shell is provided with a driving motor, and the driving motor is connected to the lower end of the screw rod through a transmission assembly.

4. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 2, characterized in that: The outer wall of the loading rod is provided with a shoulder, and the shoulder is located inside the shell. The outer wall of the loading rod is sleeved with a spring, one end of the spring is connected to the shoulder, and the other end of the spring is connected to the inner wall of the shell.

5. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The first force-bearing mechanism comprises a first force-bearing rod, the lower end of which is rotatably connected to a first force-bearing ball, the rotation center of the first force-bearing ball is perpendicular to the axis of the first force-bearing rod, and one end of the loading mechanism is connected to the first force-bearing ball; The second force-bearing component includes a second force-bearing rod, the end of which is rotatably connected to a swivel head, the rotation center of the swivel head coincides with the axis of the second force-bearing rod, the swivel head is rotatably connected to a second force-bearing ball, the rotation center of the second force-bearing ball is perpendicular to the rotation center of the swivel head, and the other end of the loading mechanism is connected to the second force-bearing ball.

6. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 1, characterized in that: The lifting mechanism includes a screw column rotatably connected to the work surface, the upper end of the screw column has a threaded section, the top plate is spirally connected to the threaded section, a second drive assembly is arranged inside the work surface, and the lower end of the screw column extends into the work surface and is connected to the second drive assembly.

7. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 6, characterized in that: There are four screw rod columns, which are respectively arranged at four corners of the work surface.

8. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The circular mechanism includes a rotating shaft, which is rotatably connected to the center of the top plate. The outer wall of the rotating shaft is connected to a swing arm, and the side of the swing arm away from the rotating shaft has a mounting portion, and the turntable is mounted at the bottom of the mounting portion.

9. A multi-dimensional force sensor rotary lifting synchronous calibration device as claimed in claim 8, characterized in that: A first annular guide groove is provided at the bottom of the top plate, the center of the first guide groove coincides with the center of the rotary shaft, and a first guide portion is provided at the top of the mounting portion, and the first guide portion is slidably connected in the first guide groove.

10. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The circumferential mechanism is connected with a vertical limiting plate, the vertical limiting plate is provided with a second guide groove, the second guide groove extends in a vertical direction, and the loading mechanism is slidably connected with the second guide groove.

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