A combined device and method for rapid on-site calibration of a multi-dimensional force sensor

Abstract

The present invention provides a combined device and method for on-site rapid calibration of a multi-dimensional force sensor. The device includes a workbench and a top plate. A connecting assembly is provided on the top of the workbench and the bottom of the top plate. The connecting assembly is connected to a standard force sensor. The standard force sensor is connected to a steel wire rope. The two steel wire ropes are commonly connected to a loading assembly. When the end of the industrial robot under test moves along the X-axis or Y-axis direction or the end of the industrial robot under test rotates, there is an angle between the loaded steel wire rope and the steel wire rope before loading. The device also includes an angle recognition assembly. The loading and calibration of the multi-dimensional force sensor of the industrial robot under test is achieved through the movement of the end of the industrial robot under test. Compared with the existing multi-dimensional force sensor calibration device, the device of the present invention does not need to remove the multi-dimensional force sensor from the industrial robot under test, thereby avoiding the introduction of artificial installation errors. In addition, the calibration work of the multi-dimensional force sensor is simplified, reducing the impact on industrial production.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor calibration, and in particular to a combined device and method for on-site rapid calibration of a multi-dimensional force sensor. Background Art

[0002] In the field of industrial robots under test, multi-dimensional force sensors are an effective tool for directly measuring the force of industrial robots under dynamic conditions. They can output multi-dimensional forces or torques of the interaction between the industrial robots under test and the target objects in real time, and can be used for precision assembly, material handling, welding, grinding and other process operations. Generally, multi-dimensional force sensors need to be calibrated 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] After being used for a period of time, the multi-dimensional force sensor of the industrial robot under test may become inaccurate, and the multi-dimensional force sensor needs to be recalibrated. At present, most of the existing similar devices require the multi-dimensional force sensor to be removed from the industrial robot under test for calibration. Although the calibrated multi-dimensional force sensor itself has high accuracy, after the calibrated multi-dimensional force sensor is installed on the industrial robot under test again, a series of human installation errors may be introduced. In addition, the removal and installation of the multi-dimensional force sensor is relatively cumbersome, which seriously affects the progress of industrial production. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a combined device and method for on-site rapid calibration of a multi-dimensional force sensor, which can rapidly calibrate the multi-dimensional force sensor.

[0005] The present invention is achieved in that:

[0006] In a first aspect, the present invention provides a combined device for rapid on-site calibration of a multi-dimensional force sensor, comprising a workbench and a top plate arranged above the workbench, wherein the direction of the XYZ coordinate system of the device is: the Y-axis direction is the direction in which the workbench extends toward the industrial robot to be measured, the X-axis direction is the direction perpendicular to the Y-axis in the horizontal plane, and the Z-axis direction is the direction perpendicular to the horizontal plane;

[0007] The top of the workbench and the bottom of the top plate are respectively provided with swingable connecting components, each of the connecting components is respectively connected to a standard force sensor, each of the standard force sensors is respectively connected to a steel wire rope through a ball head component, and the two steel wire ropes are commonly connected to a loading component connected to the industrial robot under test, and the two standard force sensors are symmetrically arranged on the upper and lower sides of the loading component;

[0008] When the end of the industrial robot under test moves along the X-axis or Y-axis direction or rotates, there is an angle between the loaded wire rope and the unloaded wire rope, and the device also includes an angle recognition component for identifying the angle change of the wire rope.

[0009] Furthermore, each of the connecting components includes a connecting seat and a ball shaft portion, the ball shaft portion is composed of a spherical portion, a connecting rod and a base, the connecting rod is fixedly connected between the spherical portion and the base, the connecting seat is provided with a spherical groove, the spherical portion is installed in the spherical groove, the bottom of the base is connected to a cover, the cover has a accommodating space, the standard force sensor is installed in the accommodating space, and one end of the wire rope penetrates the cover and extends to the outside of the accommodating space.

[0010] Furthermore, a ball head assembly is arranged on the top of the standard force sensor, and the ball head assembly includes a female ball head and a male ball head. The bottom of the female ball head is a plane, and the bottom of the female ball head is connected to the standard force sensor. The top of the female ball head is a spherical concave surface, and the bottom of the male ball head is a spherical convex surface. The spherical concave surface is in contact with the spherical surface of the spherical convex surface. An installation groove is opened on the top of the male ball head, and the end of the wire rope away from the loading assembly is fixed in the installation groove.

[0011] Furthermore, the loading assembly includes a loading ball and a loading rod, the two steel ropes are respectively connected to the upper and lower sides of the loading ball, the loading ball is hinged with a buckle, the loading rod is connected to the end of the industrial robot under test, and the outer wall of the loading rod is provided with a plurality of slots in a circular array, and the buckle is snapped into the slot.

[0012] Further, the outer wall of the loading ball is provided with two accommodating cavities, the two accommodating cavities are respectively arranged on both sides of the loading ball, a pin is arranged in each accommodating cavity, the buckle is divided into a left buckle and a right buckle, the left buckle and the right buckle are respectively arranged in the two accommodating cavities, and the left buckle and the right buckle are respectively rotatably connected with the corresponding pin;

[0013] The loading assembly further includes a locking screw, the locking screw is rotatably connected to the loading ball, and two ends of the locking screw are respectively located in two accommodating cavities;

[0014] One end of the locking screw is provided with a left-handed thread, and the other end of the locking screw is provided with a right-handed thread. The left buckle is hinged with a left-handed slider, and the left-handed slider is spirally connected to the left-handed thread. The right buckle is hinged with a right-handed slider, and the right-handed slider is spirally connected to the left-handed thread.

[0015] Furthermore, the left-handed slider is installed inside the left buckle, and the right-handed slider is installed inside the right buckle. The upper and lower ends of the left-handed slider and the right-handed slider are both spherical protrusions, and the front and rear ends of the left-handed slider and the right-handed slider are respectively provided with a first plane for preventing them from rotating with the locking screw.

[0016] Furthermore, casters are provided at the bottom of the workbench.

[0017] Furthermore, the angle recognition component is an industrial camera, an angle sensor or a goniometer;

[0018] If the angle recognition component is an industrial camera, the industrial camera is installed on the top of the workbench;

[0019] If the angle recognition component is an angle sensor, the angle sensor is connected to the base, and two angle sensors are provided, one of which is used to identify the angle change of the wire rope in the X-axis direction, and the other angle sensor is used to identify the angle change of the wire rope in the Y-axis direction.

[0020] Furthermore, it also includes a display instrument for displaying calibration data, and the display instrument is connected to the bottom of the top plate.

[0021] In a second aspect, the present invention provides a method for rapid on-site calibration of a multi-dimensional force sensor. Based on the combined on-site rapid calibration device for a multi-dimensional force sensor described in the first aspect, the multi-dimensional force sensor to be tested The orientation of the coordinate system is: The axis direction is parallel to the Z axis. The axis direction is parallel to the X axis. The axis direction is parallel to the Y axis;

[0022] The calibration method comprises the following steps:

[0023] S1, installing the loading rod on the multi-dimensional force sensor at the end of the industrial robot under test, controlling the industrial robot under test to move so that the other end of the loading rod moves to the center of the loading ball, and fixing the loading ball and the loading rod with a buckle;

[0024] S2. Control the end of the industrial robot under test to move along the Y-axis direction. At this time, the wire rope has a first angle with the wire rope in the initial state, and the two standard force sensors symmetrically above and below are subjected to force at the same time. The angle recognition component recognizes the angle of the first angle and feeds it back to the computer. The computer calculates the angle of the multi-dimensional force sensor under test through force analysis. Loading force in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position;

[0025] S3. Control the end of the industrial robot to move along the Z-axis direction. After the wire rope is tightened, the multi-dimensional force sensor under test is measured by the standard force sensor. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor around the object to be tested Loading moment in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position;

[0026] S4. Open the buckle and control the end of the industrial robot to wind around The axis direction is rotated 90° to make the multi-dimensional force sensor under test The axis direction is parallel to the Z axis, and the multi-dimensional force sensor is tested The axis direction is parallel to the X axis, and then the buckle is fixed to fix the loading ball and the loading rod;

[0027] S5. Control the end of the industrial robot to move along the Z-axis direction. After the wire rope is tightened, the multi-dimensional force sensor under test is measured by the standard force sensor. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor around the object to be tested Loading moment in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position;

[0028] S6. Control the end winding of the industrial robot under test The wire rope rotates in the direction of the axis. After the wire rope is tightened, there is a second angle between the wire rope at this time and the wire rope in the initial state, and the two standard force sensors symmetrically above and below are stressed. The angle recognition component recognizes the angle of the second angle and feeds it back to the computer. The computer calculates the angle around the multi-dimensional force sensor under test through force analysis. Loading moment in the axial direction ;

[0029] S7. Through the operations of steps S1 to S6, it is possible to obtain , , , , and Six calibration data; after obtaining the six calibration data, the multi-dimensional force sensor under test is calibrated through data calculation and processing.

[0030] The advantages of the present invention are:

[0031] After the loading component is connected to the industrial robot under test, the loading and calibration of the multi-dimensional force sensor of the industrial robot under test can be realized through the movement of the end of the industrial robot under test. Compared with the existing multi-dimensional force sensor calibration device, the device of the present invention does not need to remove the multi-dimensional force sensor from the industrial robot under test, thus avoiding the introduction of artificial installation errors. In addition, the device also simplifies the calibration work of the multi-dimensional force sensor and reduces the impact on industrial production. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0033] Figure 1 The structure of the combined device for rapid on-site calibration of the multi-dimensional force sensor of the present invention is shown in FIG. Figure 1 .

[0034] Figure 2 The structure of the combined device for rapid on-site calibration of the multi-dimensional force sensor of the present invention is shown in FIG. Figure 2 .

[0035] Figure 3 It is a schematic diagram of the structure of the connection assembly of the present invention.

[0036] Figure 4 It is a schematic diagram of the structure of the ball head assembly of the present invention.

[0037] Figure 5 The structure of the combined device for rapid on-site calibration of the multi-dimensional force sensor of the present invention is shown in FIG. Figure 3 .

[0038] Figure 6 This is a schematic diagram of the connection structure between the loading ball and the buckle of the present invention.

[0039] Figure 7 for Figure 6 Partial cross-sectional view of middle BB.

[0040] Figure 8 It is a schematic diagram of force analysis of the loading ball and the steel wire rope after the end of the industrial robot under test is directed to the positive direction of the Y axis.

[0041] Fig. 9 It is a schematic diagram of force analysis of the loading ball and the steel wire rope after the end of the industrial robot under test is directed to the negative direction of the Y axis.

[0042] Fig.10 This is a schematic diagram of force analysis of the loading ball and the steel wire rope before the coordinate system of the tested industrial robot is transformed and after the end of the tested industrial robot is directed to the positive direction of the Z axis.

[0043] Fig.11It is a schematic diagram of force analysis of the loading ball and the steel wire rope before the coordinate system of the tested industrial robot is transformed and after the end of the tested industrial robot is directed to the negative direction of the Z axis.

[0044] Fig.12 It is a schematic diagram of force analysis of the loading ball and the steel wire rope after the coordinate system of the tested industrial robot is transformed and the end of the tested industrial robot is directed to the positive direction of the Z axis.

[0045] Fig.13 This is a schematic diagram of force analysis of the loading ball and the steel wire rope after the coordinate system of the tested industrial robot is transformed and the end of the tested industrial robot is directed to the negative direction of the Z axis.

[0046] Fig.14 The end winding of the industrial robot under test in the present invention Schematic diagram of force analysis of loading ball and wire rope when the axis direction is clockwise.

[0047] Fig.15 The end winding of the industrial robot under test in the present invention Schematic diagram of force analysis of the loading ball and wire rope when the axis direction is counterclockwise.

[0048] Description of the numbers in the figure:

[0049] 1. Workbench; 2. Top plate; 3. Industrial robot under test; 4. Connecting assembly; 41. Connecting seat; 42. Ball part; 43. Connecting rod; 44. Base; 45. Cover; 46. Accommodating space; 5. Standard force sensor; 6. Wire rope; 7. Loading assembly; 71. Loading ball; 711. Accommodating cavity; 72. Loading rod; 721. Slot; 73. Buckle; 731. Left buckle; 732. Right buckle; 74. Pin; 75. Locking screw; 751. Left-handed thread; 752. Right-handed thread; 76. Left-handed slider; 77. Right-handed slider; 78. Spherical protrusion; 79. First plane; 8. Ball head assembly; 81. Female ball head; 82. Male ball head; 821. Mounting slot; 9. Caster; 10. Multi-dimensional force sensor under test; 11. Industrial camera; 12. Angle sensor; 13. Display instrument. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] For example, see Figures 1 to 15 The present invention provides a combined device for rapid on-site calibration of a multi-dimensional force sensor, comprising a workbench 1 and a top plate 2 arranged above the workbench 1, wherein the direction of the XYZ coordinate system of the device is as follows: the Y-axis direction is the direction in which the workbench 1 extends toward the industrial robot 3 to be measured, the X-axis direction is the direction perpendicular to the Y-axis in the horizontal plane, and the Z-axis direction is the direction perpendicular to the horizontal plane; Figure 1 As shown, the front-to-back direction of the workbench 1 is the X-axis direction, and the direction of the workbench 1 toward the front is the positive direction of the X-axis, the left-right direction of the workbench 1 is the Y-axis direction, and the direction of the workbench 1 toward the right is the positive direction of the Y-axis, the up-and-down direction of the workbench 1 is the Z-axis direction, and the direction of the workbench 1 toward the upward direction is the positive direction of the Z-axis.

[0053] The top of the workbench 1 and the bottom of the top plate 2 are respectively provided with a swingable connecting component 4, and the connecting component 4 is a ball-hinged structure. Each of the connecting components 4 is respectively connected to a standard force sensor 5, and each of the standard force sensor 5 is respectively connected to a steel wire rope 6 through a ball head component 8. The two steel wire ropes 6 are commonly connected to a loading component 7 connected to the industrial robot 3 under test. In the initial state (non-working condition), the two steel wire ropes 6 remain vertical and relaxed, and the two standard force sensors 5 are symmetrically arranged on the upper and lower sides of the loading component 7; the multi-dimensional force sensor 10 under test is installed at the end of the industrial robot 3 under test, and the loading component 7 is connected to the multi-dimensional force sensor 10 under test.

[0054] When the end of the industrial robot 3 under test moves along the X-axis or Y-axis direction or the end of the industrial robot 3 under test rotates, the loaded wire rope 6 has an angle with the wire rope 6 before loading, such as Figure 8 , Fig. 9 , Fig.14 and Fig.15 As shown, the device also includes an angle recognition component for identifying angle changes of the wire rope 6.

[0055] As the end of the industrial robot 3 under test moves along the Y-axis direction, the wire rope 6 gradually tightens, and as the wire rope 6 tightens, the connecting assembly 4 also swings accordingly. After the wire rope 6 is tightened, there is a first angle between the wire rope 6 at this time and the wire rope 6 in the initial state, and the angle of the first angle is β, such as Figure 8 and Fig. 9 The angle recognition component recognizes the value of the first angle, and the multi-dimensional force sensor 10 under test can be calculated through force analysis. Loading force in the axial direction .

[0056] The end of the industrial robot under test rotates around its own axis ( When the axis rotates, the loading assembly 7 rotates, and after the wire rope 6 is tightened, the wire rope 6 at this time has a second angle with the wire rope 6 in the initial state, and the angle of the second angle is θ. Fig.14 and Fig.15 The angle recognition component recognizes the value of the second angle, and the loading moment of the multi-dimensional force sensor 10 under test can be calculated through force analysis. .

[0057] For the multi-dimensional force sensor 10 Axis load and around Loading moment in the axial direction The end of the industrial robot 3 under test moves along the Z-axis direction. After the wire rope 6 is tightened, the load force can be measured by the standard force sensor 5. And, since the distance L from the center point of the loading ball 71 of the loading assembly 7 to the multi-dimensional force sensor 10 to be tested is known, the distance around Loading moment in the axial direction .like Fig.10 and Fig.11 shown.

[0058] After the end of the industrial robot 3 under test rotates 90°, the end of the industrial robot 3 under test is reconnected to the loading assembly 7, and the end of the industrial robot 3 under test moves along the Z-axis direction. After the wire rope 6 is tightened, the loading force measurable by the standard force sensor 5 And, since the distance L from the center point of the loading ball 71 of the loading assembly 7 to the multi-dimensional force sensor 10 to be tested is known, the distance around Loading moment in the axial direction .

[0059] like Fig.12 and Fig.13 shown.

[0060] Specifically, Figure 3 As shown, each of the connecting components 4 includes a connecting seat 41 and a ball shaft portion, the connecting seat 41 is fixedly connected to the bottom of the top plate 2, and a ball-hinged structure is formed between the connecting seat 41 and the ball shaft portion. More specifically, the ball shaft portion is composed of a spherical body portion 42, a connecting rod 43 and a base 44, the connecting rod 43 is fixedly connected between the spherical body portion 42 and the base 44, the connecting seat 41 is provided with a spherical groove, the spherical body portion 42 is installed in the spherical groove, and a cover 45 is connected to the bottom of the base 44, the cover 45 has a receiving space 46, the standard force sensor 5 is installed in the receiving space 46, and one end of the steel wire rope 6 penetrates the cover 45 and extends to the outside of the receiving space 46. When the industrial robot 3 under test moves along the X-axis or Y-axis, the steel wire rope 6 will have an angular deviation, and the ball-hinged structure between the connecting seat 41 and the ball shaft portion can make the orientation of the standard force sensor 5 always consistent with the steel wire rope 6.

[0061] Specifically, Figure 3 and Figure 4 As shown, a ball head assembly 8 is arranged on the top of the standard force sensor 5, and the ball head assembly 8 includes a female ball head 81 and a male ball head 82. The bottom of the female ball head 81 is a plane, and the bottom of the female ball head 81 is connected to the standard force sensor 5. The top of the female ball head 81 is a spherical concave surface, and the bottom of the male ball head 82 is a spherical convex surface. The spherical concave surface contacts the spherical convex surface. The top of the male ball head 82 is provided with a mounting groove 821, and the end of the steel wire rope 6 away from the loading assembly 7 is fixed in the mounting groove 821. When the industrial robot 3 under test moves along the X-axis or the Y-axis or the end of the industrial robot 3 under test rotates around its own axis ( When the standard force sensor 5 rotates, the wire rope 6 is deviated compared to the wire rope 6 in the initial state. When the wire rope 6 deviates, the male ball head 82 and the female ball head 81 slide relative to each other under the traction of the wire rope 6, so that the force direction of the standard force sensor 5 coincides with the wire rope 6.

[0062] Specifically, Figure 5As shown, the loading assembly 7 includes a loading ball 71 and a loading rod 72. The two steel wire ropes 6 are respectively connected to the upper and lower sides of the loading ball 71. The loading ball 71 is hinged with a buckle 73. The buckle 73 is an L-shaped structure. There are two buckles 73, and the two buckles 73 are symmetrically arranged on the front and back sides of the loading ball 71. The loading rod 72 is connected to the end of the industrial robot 3 under test. The outer wall of the loading rod 72 is provided with a plurality of slots 721 in a circular array, and the buckle 73 is engaged in the slot 721. At least 4 slots 721 are provided, and four slots 721 are arranged in a circular array on the outer wall of the loading rod 72. The arrangement of the four slots 721 evenly distributed on the outer wall of the loading rod 72 allows the end of the industrial robot 3 under test to be wound around. After the axial direction is rotated by 90°, there are still two slots 721 corresponding to the buckles 73 to facilitate the connection between the loading ball 71 and the loading rod 72 .

[0063] Specifically, Figure 6 As shown, the outer wall of the loading ball 71 is provided with two accommodating cavities 711, the two accommodating cavities 711 are respectively arranged on both sides of the loading ball 71, a pin shaft 74 is arranged in each of the accommodating cavities 711, the buckle 73 is divided into a left buckle 731 and a right buckle 732, the left buckle 731 and the right buckle 732 are respectively arranged in the two accommodating cavities 711, and the left buckle 731 and the right buckle 732 are respectively rotatably connected with the corresponding pin shaft 74;

[0064] The loading assembly further includes a locking screw 75, the locking screw 75 is rotatably connected to the loading ball 71, and the two ends of the locking screw 75 are respectively located in the two accommodating cavities 711;

[0065] One end of the locking screw 75 is provided with a left-handed thread 751, and the other end of the locking screw 75 is provided with a right-handed thread 752. The left buckle 731 is hinged with a left-handed slider 76, and the left-handed slider 76 is spirally connected to the left-handed thread 751. The right buckle 732 is hinged with a right-handed slider 77, and the right-handed slider 77 is spirally connected to the left-handed thread 751.

[0066] The left-hand slider 76 and the right-hand slider 77 are arranged on the side of the buckle 73 away from the clamping end. The left-hand slider 76 and the right-hand slider 77 move so that the clamping end of the buckle 73 is clamped into the clamping groove 721, or the clamping end of the buckle 73 is moved out of the clamping groove 721.

[0067] When the buckle 73 is inserted into the slot 721, the locking screw 75 is rotated to make the left-hand slider 76 and the right-hand slider 77 move away from each other, and the clamping ends of the left buckle 731 and the right buckle 732 swing toward the side close to the loading rod 72 until the clamping ends of the left buckle 731 and the right buckle 732 are inserted into the slot 721.

[0068] When removing the buckle 73 from the slot 721, rotate the locking screw 75 in the opposite direction to make the left-hand slider 76 and the right-hand slider 77 approach each other, and the clamping ends of the left buckle 731 and the right buckle 732 swing toward the side away from the loading rod 72 until the clamping ends of the left buckle 731 and the right buckle 732 are removed from the slot 721.

[0069] Specifically, Figure 6 and Figure 7 As shown, the left-hand slider 76 is installed inside the left buckle 731, and the right-hand slider 77 is installed inside the right buckle 732. The upper and lower ends of the left-hand slider 76 and the right-hand slider 77 are both spherical protrusions 78. When the left buckle 731 and the right buckle 732 swing, the relative angles between the left buckle 731 and the right buckle 732 and the left-hand slider 76, the right-hand slider 77 or the locking screw 75 change, and the articulation between the left-hand slider 76 and the left buckle 731 and the articulation between the right-hand slider 77 and the right buckle 732 are realized through the spherical protrusions 78, thereby avoiding the problem of interference between parts when the left buckle 731 and the right buckle 732 swing. The front and rear ends of the left-hand slider 76 and the right-hand slider 77 are respectively provided with first planes 79 for preventing them from rotating with the locking screw 75, and the corresponding second planes are also provided at the positions of the buckle 73 for installing the left-hand slider 76 and the right-hand slider 77. If the shapes of the left-handed slider 76 and the right-handed slider 77 are all spherical structures, then when the locking screw 75 rotates, the left-handed slider 76 and the right-handed slider 77 may rotate together with the locking screw 75. After the first plane 79 is set on the front and rear sides of the left-handed slider 76 and the right-handed slider 77, the two planes are fitted together to avoid the situation where the left-handed slider 76 and the right-handed slider 77 may rotate together with the locking screw 75.

[0070] Specifically, casters 9 are provided at the bottom of the workbench 1. After the casters 9 are provided at the bottom of the workbench 1, the device can be easily transported and moved when calibrating the industrial robot 3 under test on the production line. When in use, after the device is moved to the position where the industrial robot 3 under test is located, the entire device is locked, so that the device has a quick installation function in the test state.

[0071] Specifically, the angle recognition component is an industrial camera 11, an angle sensor 12 or a goniometer;

[0072] If the angle recognition component is an industrial camera 11, the industrial camera 11 is installed on the top of the workbench 1; the industrial camera 11 recognizes the change in the angle of the wire rope 6 by shooting and analyzing.

[0073] If the angle recognition component is an angle sensor 12, the angle sensor 12 is connected to the base 44, and two angle sensors 12 are provided, one of which is used to identify the angle change of the wire rope 6 in the X-axis direction, and the other angle sensor 12 is used to identify the angle change of the wire rope 6 in the Y-axis direction.

[0074] In addition, the operator can use a handheld goniometer to directly measure the angle of the loaded wire rope 6 .

[0075] Specifically, a display instrument 13 for displaying calibration data is also included, and the display instrument 13 is connected to the bottom of the top plate 2. The display instrument 13 is connected to a computer. The computer displays the data obtained from the standard force sensor 5, the industrial camera 11 or the angle sensor 12, and the multi-dimensional force sensor 10 under test on the display instrument 13.

[0076] For example 2, please refer to Figures 1 to 15 The present invention provides a method for rapid on-site calibration of a multi-dimensional force sensor. Based on the combined on-site rapid calibration device for a multi-dimensional force sensor in the first embodiment, the multi-dimensional force sensor 10 under the initial state is The orientation of the coordinate system is: The axis direction is parallel to the Z axis, and The positive direction of the axis is opposite to the positive direction of the Z axis. The axis direction is parallel to the X-axis, and The positive direction of the axis is the same as the positive direction of the X axis. The axis direction is parallel to the Y axis, and The positive direction of the axis is opposite to the positive direction of the Y axis, such as Figure 1 shown.

[0077] The calibration method comprises the following steps:

[0078] S1, installing the loading rod 72 on the multi-dimensional force sensor 10 at the end of the industrial robot 3 under test, controlling the industrial robot 3 under test to move so that the other end of the loading rod 72 moves to the center of the loading ball 71, and the loading ball 71 and the loading rod 72 are fixedly connected by the buckle 73;

[0079] S2, the end of the industrial robot 3 under test is controlled to move along the Y-axis direction. At this time, the steel wire rope 6 has a first angle with the steel wire rope 6 in the initial state, and the two standard force sensors 5 symmetrically above and below are subjected to force. The angle recognition component recognizes the angle of the first angle and feeds it back to the computer. The computer calculates the angle of the multi-dimensional force sensor 10 under test through force analysis. Loading force in the axial direction , then, the industrial robot 3 under test is controlled to return to the initial position;

[0080] S3, control the end of the industrial robot 3 to move along the Z axis direction, and after the wire rope 6 is tightened, the standard force sensor 5 measures the multi-dimensional force sensor 10 under test. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor 10 around the detected Loading moment in the axial direction , then, the industrial robot 3 under test is controlled to return to the initial position;

[0081] S4, open the buckle 73, control the end of the industrial robot 3 to wind around The axis direction is rotated 90°, so that the multi-dimensional force sensor 10 The axis direction is parallel to the Z axis, and the multi-dimensional force sensor under test is 10 The axis direction is parallel to the X axis, and then the buckle 73 is fixed to fix the loading ball 71 and the loading rod 72; if the end of the industrial robot 3 under test is around The axis direction rotates 90° clockwise, then the multi-dimensional force sensor 10 The positive direction of the axis is the same as the positive direction of the Z axis. The multi-dimensional force sensor under test is 10 The positive direction of the axis is the same as the positive direction of the X axis. When the shaft direction rotates, the loading rod 72 rotates accordingly.

[0082] S5, control the end of the industrial robot 3 to move along the Z axis direction, and after the wire rope 6 is tightened, the standard force sensor 5 measures the multi-dimensional force sensor 10 under test. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor 10 around the detected Loading moment in the axial direction , then, the industrial robot 3 under test is controlled to return to the initial position;

[0083] In the multi-dimensional force sensor 10 Axis and After the axis position is switched, the end of the industrial robot 3 under test is controlled to move along the positive or negative direction of the Z axis, and the multi-dimensional force sensor 10 under test is calculated. Loading force in positive and negative directions of the axis , and the winding Loading moment in the axial direction .

[0084] S6, control the 3 end winding of the industrial robot under test The wire rope 6 rotates in the direction of the axis. After the wire rope 6 is tightened, the wire rope 6 at this time has a second angle with the wire rope 6 in the initial state, and the two standard force sensors 5 symmetrically above and below are subjected to force. The angle recognition component recognizes the angle of the second angle and feeds it back to the computer. The computer calculates the angle around the multi-dimensional force sensor 10 through force analysis. Loading moment in the axial direction ;

[0085] S7. Through the operations of steps S1 to S6, it is possible to obtain , , , , and Six calibration data: After the six calibration data are obtained, the multi-dimensional force sensor 10 to be tested is calibrated through data calculation processing.

[0086] A specific application of the present invention is:

[0087] The multi-dimensional force sensor 10 Loading force in the axial direction During calibration, the end of the industrial robot 3 under test is controlled to move along the Y-axis direction, and the multi-dimensional force sensor 10 under test is calculated. Loading force in positive and negative directions of the axis .like Figure 8 As shown, the end of the industrial robot 3 under test moves along the positive direction of the Y axis. After the wire rope 6 is tightened, the standard force sensor 5 measures the force on the wire rope 6 as The angle recognition component recognizes that the first angle is β, and the force analysis can calculate the multi-dimensional force sensor 10 Loading force in positive direction of axis .like Fig. 9 As shown, when the end of the industrial robot 3 under test moves along the negative direction of the Y axis, the multi-dimensional force sensor 10 under test can be calculated. Loading force in the negative direction of the axis .like Fig. 9 As shown, when the end of the industrial robot 3 under test moves along the negative direction of the Y axis, the multi-dimensional force sensor 10 under test can be calculated. Loading force in the negative direction of the axis If the end of the industrial robot 3 under test moves along the X-axis direction, the calculation direction is the same as the Y-axis direction of the industrial robot 3 under test.

[0088] The multi-dimensional force sensor 10 Loading force in positive and negative directions of the axis and around Loading moment in the axial direction During calibration, the end of the industrial robot 3 under test is controlled to move along the positive or negative direction of the Z axis, and the multi-dimensional force sensor 10 under test is calculated. Loading force in positive and negative directions of the axis , and the distance L from the center of the loading ball 71 to the multi-dimensional force sensor 10 to be tested is known, so the rotation around Loading moment in the axial direction .

[0089] like Fig.10 As shown, the end of the industrial robot 3 under test is controlled to move along the positive direction of the Z axis. After the wire rope 6 located below the loading ball 71 is tightened, the force on the wire rope 6 is the force on the multi-dimensional force sensor 10 under test. Loading force in positive direction of axis , and the standard force sensor 5 located below the loading ball 71 measures the multi-dimensional force sensor 10 under test Loading force in positive direction of axis Around Loading moment in the axial direction .

[0090] On the contrary, if Fig.11 As shown, the end of the industrial robot 3 under test moves along the negative direction of the Z axis. After the wire rope 6 located above the loading ball 71 is tightened, the force on the wire rope 6 is the force on the multi-dimensional force sensor 10 under test. Loading force in the negative direction of the axis , and the standard force sensor 5 located above the loading ball 71 measures the multi-dimensional force sensor 10 under test Loading force in the negative direction of the axis Around Loading moment in the axial direction .

[0091] On the basis of the above, the multi-dimensional force sensor 10 is tested. Loading force in the axial direction And the multi-dimensional force sensor 10 Loading moment in the axial direction During calibration, open the buckle 73 and control the end of the industrial robot 3 to rotate around The axis direction is rotated 90° clockwise, and then the buckle 73 is fixed to fix the loading ball 71 and the loading rod 72. At this time, the multi-dimensional force sensor 10 under test The positive direction of the axis is the same as the positive direction of the Z axis. The multi-dimensional force sensor under test is 10 The positive direction of the axis is the same as the positive direction of the X axis;

[0092] like Fig.12As shown, the end of the industrial robot 3 under test is controlled to move along the positive direction of the Z axis. After the wire rope 6 located below the loading ball 71 is tightened, the force on the wire rope 6 is the force on the multi-dimensional force sensor 10 under test. Loading force in negative axis direction , and the standard force sensor 5 located below the loading ball 71 measures the multi-dimensional force sensor 10 under test Loading force in negative axis direction Around Loading moment in the axial direction .

[0093] On the contrary, if Fig.13 As shown, the end of the industrial robot 3 under test moves along the negative direction of the Z axis. After the wire rope 6 located above the loading ball 71 is tightened, the force on the wire rope 6 is the force on the multi-dimensional force sensor 10 under test. Loading force in positive direction of axis , and the standard force sensor 5 located above the loading ball 71 measures the multi-dimensional force sensor 10 under test Loading force in positive direction of axis Around Loading moment in the axial direction .

[0094] In the multi-dimensional force sensor 10 Loading moment in the axial direction When the industrial robot under test is controlled, the 3 end parts are wound around When the axis rotates clockwise or counterclockwise, the force analysis is used to calculate the force around the multi-dimensional force sensor 10 Loading moment in the axial direction .like Fig.14 As shown, the end of the industrial robot under test is around The axis rotates counterclockwise to tighten the wire rope 6. At this time, there is a second angle between the wire rope 6 in the initial state of the wire rope 6. The standard force sensor 5 measures the force on the wire rope 6 as follows: , the angle recognition component recognizes that the second angle is θ, and the loading moment can be calculated through force analysis. ,in, is the tangential force along the tangential direction at the connection point between the loading ball 71 and the wire rope 6, , r is the radius of the loading ball 71. The value of can be obtained according to the sine theorem, such as Fig.14 As shown, for , ;

[0095] In the formula, is the distance from the center of the spherical body 42 to the top of the loading ball 71 in the initial state;

[0096] r is the radius of the loading ball 71;

[0097] The θ value angle recognition component recognizes;

[0098] From this we can get The value of .

[0099] On the contrary, if Fig.15 As shown, the end of the industrial robot under test is around The axis rotates clockwise to tighten the wire rope 6. The standard force sensor 5 measures the force on the wire rope 6 as , the angle recognition component recognizes that the second angle is θ, and the loading moment can be calculated through force analysis. .

[0100] Through the above operations, we can obtain , , , , and Six calibration data: After the six calibration data are obtained, the multi-dimensional force sensor 10 to be tested is calibrated through data calculation processing.

[0101] The advantage of the device is that when calibrating the multi-dimensional force sensor 10 to be tested, it is not necessary to disassemble the multi-dimensional force sensor 10 to be tested. During calibration, after the loading component is connected to the industrial robot 3 to be tested, the loading and calibration of the multi-dimensional force sensor of the industrial robot 3 to be tested can be achieved through the movement of the end of the industrial robot 3 to be tested. Compared with the existing multi-dimensional force sensor calibration device, the device of the present invention does not need to remove the multi-dimensional force sensor from the industrial robot 3 to be tested, avoiding the introduction of artificial installation errors. In addition, the device also simplifies the calibration work of the multi-dimensional force sensor and reduces the impact on industrial production.

[0102] Although the specific implementation mode of the present invention is described above, those skilled in the art should understand that the specific implementation mode described is only illustrative and is not intended to limit the scope of the present invention. Equivalent substitutions and changes made by those skilled in the art in accordance with the spirit of the present invention, such as replacing the steel wire rope with other flexible ropes, replacing the angle recognition component with a photoelectric encoder, and the photoelectric encoder uses a photoelectric method to detect the number of grids to achieve the purpose of measuring the angle, should be covered within the scope of protection of the claims of the present invention.

Claims

1. A combined device for rapid on-site calibration of a multi-dimensional force sensor, characterized in that: The device comprises a workbench and a top plate arranged above the workbench, wherein the direction of the XYZ coordinate system of the device is: the Y-axis direction is the direction in which the workbench extends toward the industrial robot to be measured, the X-axis direction is the direction perpendicular to the Y-axis in the horizontal plane, and the Z-axis direction is the direction perpendicular to the horizontal plane; The top of the workbench and the bottom of the top plate are respectively provided with swingable connecting components, each of the connecting components is respectively connected to a standard force sensor, each of the standard force sensors is respectively connected to a steel wire rope through a ball head component, and the two steel wire ropes are commonly connected to a loading component connected to the industrial robot under test, and the two standard force sensors are symmetrically arranged on the upper and lower sides of the loading component; When the end of the industrial robot under test moves along the X-axis or Y-axis direction or the end of the industrial robot under test rotates, there is an angle between the loaded wire rope and the wire rope before loading, and the device also includes an angle recognition component for identifying the angle change of the wire rope; Each of the connecting components comprises a connecting seat and a ball shaft portion, the ball shaft portion is composed of a ball portion, a connecting rod and a base, the connecting rod is fixedly connected between the ball portion and the base, the connecting seat is provided with a spherical groove, the ball portion is installed in the spherical groove, the bottom of the base is connected with a cover, the cover has a receiving space, the standard force sensor is installed in the receiving space, and one end of the wire rope penetrates the cover and extends to the outside of the receiving space; The ball head assembly includes a female ball head and a male ball head, the bottom of the female ball head is a plane, the bottom of the female ball head is connected to a standard force sensor, the top of the female ball head is a spherical concave surface, the bottom of the male ball head is a spherical convex surface, the spherical concave surface is in contact with the spherical convex surface, and an installation groove is opened on the top of the male ball head, and the end of the wire rope away from the loading assembly is fixed in the installation groove.

2. The on-site rapid calibration combined device for a multi-dimensional force sensor according to claim 1, characterized in that: The loading assembly includes a loading ball and a loading rod. The two steel ropes are respectively connected to the upper and lower sides of the loading ball. The loading ball is hinged with a buckle. The loading rod is connected to the end of the industrial robot under test. The outer wall of the loading rod is provided with a plurality of slots in a circular array, and the buckle is snapped into the slots.

3. The on-site rapid calibration combined device for a multi-dimensional force sensor as claimed in claim 2, characterized in that: The outer wall of the loading ball is provided with two accommodating cavities, which are respectively arranged on both sides of the loading ball, and a pin is arranged in each of the accommodating cavities. The buckle is divided into a left buckle and a right buckle, which are respectively arranged in the two accommodating cavities, and the left buckle and the right buckle are respectively rotatably connected with the corresponding pin; The loading assembly further includes a locking screw, the locking screw is rotatably connected to the loading ball, and two ends of the locking screw are respectively located in two accommodating cavities; One end of the locking screw is provided with a left-handed thread, and the other end of the locking screw is provided with a right-handed thread. The left buckle is hinged with a left-handed slider, and the left-handed slider is spirally connected to the left-handed thread. The right buckle is hinged with a right-handed slider, and the right-handed slider is spirally connected to the left-handed thread.

4. The on-site rapid calibration combined device for a multi-dimensional force sensor as claimed in claim 3, characterized in that: The left-hand slider is installed inside the left buckle, and the right-hand slider is installed inside the right buckle. The upper and lower ends of the left-hand slider and the right-hand slider are both spherical protrusions, and the front and rear ends of the left-hand slider and the right-hand slider are respectively provided with a first plane for preventing them from rotating with the locking screw.

5. The on-site rapid calibration combined device for a multi-dimensional force sensor as claimed in claim 1, characterized in that: The bottom of the workbench is provided with casters.

6. The on-site rapid calibration combined device for a multi-dimensional force sensor as claimed in claim 1, characterized in that: The angle recognition component is an industrial camera, an angle sensor or a goniometer; If the angle recognition component is an industrial camera, the industrial camera is installed on the top of the workbench; If the angle recognition component is an angle sensor, the angle sensor is connected to the base, and two angle sensors are provided, one of which is used to identify the angle change of the wire rope in the X-axis direction, and the other angle sensor is used to identify the angle change of the wire rope in the Y-axis direction.

7. The on-site rapid calibration combined device for a multi-dimensional force sensor according to claim 1, characterized in that: Also included is a display instrument for displaying calibration data, wherein the display instrument is connected to the bottom of the top plate.

8. A method for rapid on-site calibration of a multi-dimensional force sensor, characterized in that: Based on the on-site rapid calibration combined device for a multi-dimensional force sensor according to any one of claims 1 to 7, the multi-dimensional force sensor to be tested The orientation of the coordinate system is: The axis direction is parallel to the Z axis. The axis direction is parallel to the X axis. The axis direction is parallel to the Y axis; The calibration method comprises the following steps: S1, installing the loading rod on the multi-dimensional force sensor at the end of the industrial robot under test, controlling the industrial robot under test to move so that the other end of the loading rod moves to the center of the loading ball, and fixing the loading ball and the loading rod with a buckle; S2. Control the end of the industrial robot under test to move along the Y-axis direction. At this time, the wire rope has a first angle with the wire rope in the initial state, and the two standard force sensors symmetrically above and below are subjected to force at the same time. The angle recognition component recognizes the angle of the first angle and feeds it back to the computer. The computer calculates the angle of the multi-dimensional force sensor under test through force analysis. Loading force in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position; S3. Control the end of the industrial robot to move along the Z-axis direction. After the wire rope is tightened, the multi-dimensional force sensor under test is measured by the standard force sensor. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor around the object to be tested Loading moment in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position; S4. Open the buckle and control the end of the industrial robot to wind around The axis direction is rotated 90° to make the multi-dimensional force sensor under test The axis direction is parallel to the Z axis, and the multi-dimensional force sensor is tested The axis direction is parallel to the X axis, and then the buckle is fixed to fix the loading ball and the loading rod; S5. Control the end of the industrial robot to move along the Z-axis direction. After the wire rope is tightened, the multi-dimensional force sensor under test is measured by the standard force sensor. Loading force in the axial direction , and feedback to the computer, the computer according to the loading force Calculate the multi-dimensional force sensor around the object to be tested Loading moment in the axial direction ,Then, the industrial robot under test is controlled to return to its initial position; S6. Control the end winding of the industrial robot under test The wire rope rotates in the direction of the axis. After the wire rope is tightened, there is a second angle between the wire rope at this time and the wire rope in the initial state, and the two standard force sensors symmetrically above and below are stressed. The angle recognition component recognizes the angle of the second angle and feeds it back to the computer. The computer calculates the angle around the multi-dimensional force sensor under test through force analysis. Loading moment in the axial direction ; S7. Through the operations of steps S1 to S6, it is possible to obtain , , , , and Six calibration data; After obtaining the six calibration data, the multi-dimensional force sensor under test is calibrated through data calculation and processing.

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