Wheel type six-component sensor calibration device and method

Abstract

The invention relates to the technical field of six-component sensor calibration, and provides a wheel type six-component sensor calibration device and method. The device comprises a test bench stepped main frame; a sensor calibration tool is slidably arranged on one side of the top of the test bench stepped main frame. The other side of the test bench stepped main frame is provided with a positioning support frame corresponding to the position of the sensor calibration tool. A first transmission calibration structure is arranged between the positioning support frame and the sensor calibration tool; one end of the first transmission calibration structure is connected with the sensor calibration tool, and the other end of the first transmission calibration structure is rotationally connected with the positioning support frame; wherein the first transmission calibration structure is located at one end of the positioning support frame and is connected with the linear force generation and self-inspection mechanism through the positioning lever bracket. The calibration precision of the six-component sensor can be ensured.

Description

Technical Field

[0001] The present application relates to the technical field of six-component force sensor calibration, and in particular to a wheel-type six-component force sensor calibration device and method. Background Art

[0002] The six-component force in current tire movement is an essential collection for tire dynamics research. Among them, Europe and the United States have developed the six-component force sensor the earliest. With the development in the past two years, my country's technology in this area has gradually matured. However, the torque calibration of the six-component force sensor has always been a technical difficulty. The vast majority of sensor companies calculate the torque by calibrating the force; although this method is common, there are large errors in the calibrated data, and it is even impossible to detect errors in the calibration data in time; first of all, because there is a complex relationship between force and torque, the main reason is that the direct conversion from force to torque may ignore some important factors, such as the point of action, direction, environmental factors, and comprehensive factors of material performance.

[0003] Therefore, in the calibration process, affected by a variety of comprehensive factors, how to take appropriate measures to minimize and eliminate errors and ensure the accuracy of calibration is a technical problem that needs to be solved urgently.

[0004] Based on the above content, there is an urgent need for a wheel-type six-component force sensor calibration device and method to overcome the above-mentioned technical defects. Summary of the invention

[0005] The purpose of this application is to provide a wheel-type six-component force sensor calibration device and method, which can maximize the avoidance of the influence of various factors to ensure the accuracy of the six-component force sensor calibration, and thus ensure that the calibration data has high accuracy and reliability. The specific scheme is as follows:

[0006] A wheel-type six-component force sensor calibration device, comprising:

[0007] A test step-type main frame; a sensor calibration tool is slidably provided on one side of the top of the test step-type main frame; a positioning support frame corresponding to the position of the sensor calibration tool is provided on the other side of the test step-type main frame; a first transmission calibration structure is provided between the positioning support frame and the sensor calibration tool; one end of the first transmission calibration structure is connected to the sensor calibration tool, and the other end is rotatably connected to the positioning support frame; wherein, the first transmission calibration structure is located at one end of the positioning support frame and is connected to the linear force generation and self-testing mechanism through the positioning lever bracket; the top of the linear force generation and self-testing mechanism is connected to the positioning lever bracket, and the bottom is fixed on the test step-type main frame.

[0008] Optionally, the test step ladder main frame comprises: a base frame and a support frame arranged on the base frame;

[0009] A plurality of height adjustment threaded rods are evenly arranged around the bottom of the base frame; the bottom of the height adjustment threaded rod is fixed to the pad; wherein the bottom of the height adjustment threaded rod passing through the base frame is provided with an adjustment bolt, and the top of the height adjustment threaded rod passing through the base frame is provided with a locking bolt;

[0010] Wherein, the linear force generation and self-checking mechanism is fixed on the base frame;

[0011] A sensor calibration tool is slidably provided on the top of the support frame;

[0012] Wherein, the support frame is also provided with a guide support frame rotatably connected to the first transmission calibration structure.

[0013] Optionally, the bottom of the sensor calibration tooling is connected to the support frame via a slide rail guide device;

[0014] The slide rail guiding device includes: a plurality of guide sliders arranged on both sides of the bottom of the sensor calibration tooling, and correspondingly, guide rails cooperating with the plurality of guide sliders for limited sliding are arranged on both sides of the upper surface of the support frame; wherein, a screw driving device is also arranged between the sensor calibration tooling and the support frame; the bottom of the screw driving device is fixed to the support frame, and the top is connected to the sensor calibration tooling through a screw slider.

[0015] Optionally, the sensor calibration tooling includes:

[0016] A load-bearing frame; wherein a plurality of guide sliders are arranged on both sides of the bottom of the load-bearing frame; a plurality of stabilizing brackets are fixed on both the left and right sides of the load-bearing frame; the bottom of the stabilizing bracket is detachably connected to the support frame; the bottom of the load-bearing frame is also connected to the lead screw slider;

[0017] Calibration support frame; the calibration support frame is fixed to the top of the load-bearing frame, and one side of the calibration support frame is connected to the first fixing frame;

[0018] A sensor mounting plate is provided in the middle of the space in the first fixing frame; a mounting hole for the sensor guide to pass through is provided in the center of the sensor mounting plate; wherein a six-component force sensor to be calibrated can also be installed at the mounting hole; wherein the six-component force sensor to be calibrated is sleeved on the outside of the sensor guide and connected to the sensor mounting plate;

[0019] The upper and lower ends of the sensor guide are fixed on the second fixing frame;

[0020] The second fixing frame is a square tube structure with one side open; wherein the second fixing frame is suspended and sleeved on the outer periphery of the first fixing frame, and the two are connected by a sensor guide;

[0021] The back side of the second fixing frame is connected to the first transmission calibration structure.

[0022] Optionally, the first transmission calibration structure includes:

[0023] A coupling having one end connected to the second fixing frame; the other end of the coupling being connected to the first connecting flange via the first transmission shaft;

[0024] Wherein, the first transmission shaft is rotatably connected to the guide support frame;

[0025] The first connecting flange is connected to the second connecting flange via a standard torque sensor;

[0026] One end of the second connecting flange can be rotatably connected to the positioning support frame through a second transmission shaft;

[0027] A positioning lever bracket is fixedly provided at the position of the second transmission shaft located at the positioning support frame; wherein, the second transmission shaft and the positioning lever bracket have the same center, and the axis extension direction of the second transmission shaft is perpendicular to the length direction of the positioning lever bracket.

[0028] Optionally, the positioning lever bracket as a whole is a bilaterally symmetrical boss structure; wherein, position detection parts are centrally symmetrically arranged on both side outer surfaces of the positioning lever bracket; wherein, the center line connecting the position detection parts on both sides is parallel to the horizontal line.

[0029] Optionally, the linear force generation and self-checking mechanism comprises:

[0030] A force balancing mechanism, a load driver and a self-testing mechanism; the force balancing mechanism is connected to the self-testing mechanism via the load driver;

[0031] Wherein, the force balancing mechanism includes two sets of linear force retainers; the self-testing mechanism includes two standard force sensors;

[0032] Two standard force sensors and two sets of linear force retainers are arranged alternately up and down;

[0033] The top of the standard force sensor located at the upper part is connected to the positioning lever bracket, and the bottom is connected to the linear force retainer located at the upper part;

[0034] The linear force holder located at the upper part is connected to the standard force sensor located at the lower part;

[0035] The standard force sensor located at the lower part is connected to the linear force holder located at the lower part through a load driver.

[0036] Optionally, the linear force retainer comprises:

[0037] A first suspension lock ring structure and a force balance structure that is gap-matched with the first suspension lock ring structure;

[0038] Wherein, the cross-sectional shapes of the first suspension lock ring structure and the force balance structure are both ring-shaped, and the opposite ends of the two are connected by hanging.

[0039] Optionally, the first suspension lock ring structure includes:

[0040] A first connecting seat; a first suspension ring is connected to the bottom of the first connecting seat;

[0041] Wherein, the lower surface of the first connecting seat and the upper surface of the bottom of the first suspension ring are both provided with a conical groove that can cooperate with the positioning of the force balancing structure;

[0042] Correspondingly, the force balancing structure includes: a first force balancing seat connected to the first suspension ring; a first connecting ring is connected to the bottom of the first force balancing seat; wherein the center positions of the upper end surface and the lower end surface of the first force balancing seat are both protruding outwardly with a conical balancing portion that cooperates with the corresponding conical groove.

[0043] In a second aspect, the present application provides a wheel-type six-component force sensor calibration method, comprising:

[0044] Based on a set of static load force parameters output by the linear force generation and self-checking mechanism, obtaining a first static moment parameter corresponding to the static load force parameter;

[0045] If the difference between the two first static torque parameters is less than the target setting value, the calibration parameters of the six-component force sensor to be calibrated are obtained based on the comparison results of the second static torque parameters output by the first transmission calibration structure with a group of first static torque parameters.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention provides a wheel-type six-component force sensor calibration device and method; through the transmission coordination and layout design between various components, the influence of various factors can be avoided to the greatest extent to ensure the accuracy of the six-component force sensor calibration, thereby ensuring that the calibration data has high accuracy and reliability. At the same time, it can also timely find the accuracy and precision of its own calibration through self-checking to ensure the accuracy of subsequent calibration data. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the calibration device for the wheeled six-component force sensor;

[0049] Figure 2 Schematic diagram of the six-component force sensor to be calibrated;

[0050] Figure 3 is a schematic structural diagram of a first fixing frame;

[0051] Figure 4 is a schematic structural diagram of a second fixing frame;

[0052] Figure 5 It is the overall structural block diagram of the linear force generation and self-checking mechanism;

[0053] Figure 6 is an exploded view of the linear force retainer located at the upper portion;

[0054] Figure 7 is a cross-sectional view of a linear force retainer located at the upper portion;

[0055] Figure 8 It is the external structure diagram of the standard torque sensor;

[0056] Fig. 9 It is a schematic diagram of the overall structure of the positioning lever bracket.

[0057] In the figure:

[0058] 1. Test ladder-type main frame; 11. Bottom plate frame; 12. Support frame; 13. Height adjustment threaded rod; 14. Cushion block;

[0059] 2. Sensor calibration tooling; 20. Load-bearing frame; 21. Stable bracket; 22. Calibration support frame; 23. First fixing frame; 24. Sensor mounting plate; 25. Sensor guide; 26. Mounting hole; 27. Six-component force sensor; 28. Second fixing frame;

[0060] 3. Positioning support frame;

[0061] 4. First transmission calibration structure; 40. Coupling; 41. First transmission shaft; 42. First connecting flange; 43. Standard torque sensor; 44. Second connecting flange; 45. Second transmission shaft;

[0062] 5. Positioning lever bracket; 51. Position detection unit;

[0063] 6. Linear force generation and self-checking mechanism;

[0064] 61. Force balancing mechanism; 61-1. Linear force retainer;

[0065] 61-1-1, first suspension lock ring structure; 61-1-10, first connecting seat; 61-1-11, first suspension ring; 61-1-12, conical groove;

[0066] 61-1-2, force balancing structure; 61-1-20, first force balancing seat; 61-1-21, first connecting ring; 61-1-22, conical balancing part;

[0067] 62. Load driver;

[0068] 63. Self-test mechanism; 63-0. Standard force sensor;

[0069] 7. Guide support frame;

[0070] 8. Slide guide device; 81. Guide slider; 82. Guide track;

[0071] 9. Screw drive device; 91. Screw slider. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of this application clearer, the following will be combined with the attached Figure 1-9 The present application is further described in detail. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0073] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0074] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0075] It should be understood that, although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0076] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0077] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0078] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0079] like Figure 1 A wheeled six-component force sensor calibration device is shown, comprising: a test step-type main frame 1; a sensor calibration tool 2 is slidably provided on one side of the top of the test step-type main frame 1; a positioning support frame 3 corresponding to the position of the sensor calibration tool 2 is provided on the other side of the test step-type main frame 1; a first transmission calibration structure 4 is provided between the positioning support frame 3 and the sensor calibration tool 2; one end of the first transmission calibration structure 4 is connected to the sensor calibration tool 2, and the other end is rotatably connected to the positioning support frame 3; wherein, the first transmission calibration structure 4 is located at one end of the positioning support frame 3 and is connected to the linear force generation and self-testing mechanism 6 through the positioning lever bracket 5; the top of the linear force generation and self-testing mechanism 6 is connected to the positioning lever bracket 5, and the bottom is fixed on the test step-type main frame 1.

[0080] Specifically, the present application uses the test step-type main frame 1 to play the role of support, stability and horizontal adjustment; through the structural design of the test step-type main frame 1 itself, the six-component force sensor 27 to be calibrated has higher strength resistance and stability during the calibration process, and before calibration, the horizontality of the test step-type main frame 1 on the ground can be accurately adjusted to provide a stable support platform for calibration as much as possible.

[0081] Specifically, the design of the sensor calibration jig 2 slidingly set on the top of the test step-type main frame 1 first provides convenience for the assembly process, that is, the relative installation position of the sensor calibration jig 2 on the top of the test step-type main frame 1 can be accurately adjusted; secondly, the sensor calibration jig 2 can accurately obtain the force from the first transmission calibration structure 4, so that the calibration data of the six-component force sensor 27 to be calibrated can be highly accurate.

[0082] Furthermore, the present application adopts the top of the positioning support frame 3 as a fulcrum, the positioning lever bracket 5 on the top of the positioning support frame 3 as a force arm, and the linear force generation and self-testing mechanism 6 as a static power output source to ensure that the force is evenly distributed and the direction of the force is controllable during the calibration process, thereby ultimately ensuring the accuracy of the calibration data.

[0083] Optionally, the test step ladder main frame 1 comprises: a base frame 11 and a support frame 12 arranged on the base frame 11;

[0084] A plurality of height adjustment threaded rods 13 are evenly arranged around the bottom of the base frame 11; the bottom of the height adjustment threaded rod 13 is fixed to the pad 14; wherein, the bottom of the height adjustment threaded rod 13 passing through the base frame 11 is provided with an adjustment bolt, and the top of the height adjustment threaded rod 13 passing through the base frame 11 is provided with a locking bolt;

[0085] Wherein, the linear force generation and self-checking mechanism 6 is fixed on the base frame 11;

[0086] A sensor calibration tool 2 is slidably provided on the top of the support frame 12;

[0087] The support frame 12 is also provided with a guide support frame 7 which is rotatably sleeved on the first transmission calibration structure 4 .

[0088] The center lines of the guide support frame 7, the sensor calibration fixture 2 and the positioning support frame 3 coincide with each other and all pass through the center point of the first transmission calibration structure.

[0089] Furthermore, the bottom of the sensor calibration tool 2 is connected to the support frame 12 through a slide rail guide device 8;

[0090] The slide rail guide device 8 includes: a plurality of guide sliders 81 arranged on both sides of the bottom of the sensor calibration tooling 2, and correspondingly, guide rails 82 cooperating with the plurality of guide sliders 81 for limited sliding are arranged on both sides of the upper surface of the support frame 12; wherein, a screw drive device 9 is also arranged between the sensor calibration tooling 2 and the support frame 12; the bottom of the screw drive device 9 is fixed on the support frame 12, and the top is connected to the sensor calibration tooling 2 through the screw slider 91 included in the screw drive device 9.

[0091] In this embodiment, two guide slide blocks 81 are installed on both sides of the sensor calibration tool 2. It can be understood that through the design of the slide rail guide device 8, the installation position of the sensor calibration tool 2 can be quickly adjusted when the six-component force sensor 27 to be calibrated is installed, which provides installation convenience and indirectly shortens the calibration operation time.

[0092] Furthermore, the sensor calibration tool 2 includes:

[0093] The load-bearing frame 20; wherein a plurality of guide sliders 81 are arranged at the front and rear sides of the bottom of the load-bearing frame 20; a plurality of stabilizing brackets 21 are fixed on the left and right sides of the load-bearing frame 20; the bottom of the stabilizing bracket 21 is detachably connected to the support frame 12 (e.g., fixed by bolt connection); the bottom of the load-bearing frame 20 is also fixedly connected to the lead screw slider 91;

[0094] The calibration support frame 22 is fixed to the top of the load-bearing frame 20, and a first fixing frame 23 is detachably connected to one side of the calibration support frame 22;

[0095] The first fixing frame 23 is a frame structure; a sensor mounting plate 24 is arranged in the middle of the space inside the first fixing frame 23; a mounting hole 26 for the sensor guide 25 to pass through is arranged at the center of the sensor mounting plate 24; wherein, a six-component force sensor 27 to be calibrated can also be installed at the mounting hole 26; wherein, the six-component force sensor 27 to be calibrated is sleeved on the outside of the sensor guide 25 and connected to the sensor mounting plate 24;

[0096] The upper and lower ends of the sensor guide 25 are fixed on the second fixing frame 28;

[0097] In this embodiment, the axis of the sensor guide 25 coincides with the axis of the guide support frame 7 .

[0098] The second fixing frame 28 is a square tube structure with an opening on one side; a second direction hole for fixing the sensor guide 25 is correspondingly arranged on the opposite side wall of the second fixing frame 28; when in use, the first fixing frame 23 can be rotated ninety degrees so that the sensor guide 25 is horizontally connected to the inside of the second fixing frame 28, and the calibration work of the six-component force sensor 27 can be completed again.

[0099] Furthermore, the second fixing frame 28 is suspended and sleeved on the outer periphery of the first fixing frame 23, and the two are connected through the sensor guide 25;

[0100] The back side of the second fixing frame 28 is connected to the first transmission calibration structure 4 .

[0101] Specifically, the sensor calibration tool 2 provided in the present application completes the installation and fixation of the six-component force sensor to be calibrated through the first fixing frame 23, and connects the first fixing frame 23 and the second fixing frame 28 through the sensor guide 25. Since the second fixing frame 28 is arranged in a suspended sleeve relative to the first fixing frame 23, there is no direct rigid connection between the two, and only an indirect connection is generated through the sensor guide 25. Therefore, in the process of force transmission, the accuracy of force transmission can be guaranteed, the influence of external force is reduced, and the accuracy of calibration is guaranteed.

[0102] In this embodiment, the sensor guide 25 is a cylindrical rod.

[0103] Furthermore, the first transmission calibration structure 4 includes:

[0104] A coupling 40 connected to the second fixing frame 28 at one end; the other end of the coupling 40 is connected to the first connecting flange 42 via a first transmission shaft 41;

[0105] Wherein, the first transmission shaft 41 is rotatably connected to the guide support frame 7;

[0106] The first connecting flange 42 is connected to the second connecting flange 44 via a standard torque sensor;

[0107] One end of the second connecting flange 44 is rotatably connected to the positioning support frame 3 through a second transmission shaft 45;

[0108] The second transmission shaft 45 is located at the position of the positioning support frame 3 and is fixedly provided with a positioning lever bracket 5; wherein the centers of the positioning lever bracket 5 of the second transmission shaft 45 are the same, and the axis extension direction of the second transmission shaft 45 is perpendicular to the length direction of the positioning lever bracket 5.

[0109] Specifically, the central axes of the coupling 40 , the first transmission shaft 41 , the first connection flange 42 , the second connection flange 44 and the second transmission shaft 45 coincide with each other.

[0110] It can be understood that through the transmission cooperation of multiple transmission parts including the coupling 40, the first transmission shaft 41, the first connecting flange 42, the second connecting flange 44 and the second transmission shaft 45, the linear force generation and the force provided by the self-testing mechanism 6 can be accurately transmitted to the six-component force sensor 27 to be calibrated on the sensor calibration tooling 2.

[0111] It is further necessary to explain that the advantage of the design of the standard torque sensor 43 is that the torque reading of the standard torque sensor 43 is verified and compared with a set of torque readings output by the linear force generation and self-checking mechanism 6. If the comparison result is the same, then the calibration parameters of the six-component force sensor to be calibrated are obtained based on the torque reading of the standard torque sensor 43, thereby completing the calibration work. On the contrary, if the comparison result is different, and the difference of the comparison structure is greater than the target setting value, then the calibration parameters of the six-component force sensor to be calibrated obtained based on the torque reading of the standard torque sensor 43 cannot be used as accurate calibration data. At this time, it indicates that the wheel-type six-component force sensor calibration device provided by the present application failed the calibration itself during the calibration process, that is, there is a certain error in the device itself, and the device needs to be re-debugged.

[0112] Furthermore, the positioning lever bracket 5 as a whole is a bilaterally symmetrical boss structure; wherein, position detection parts 51 are centrally symmetrically provided on both sides of the outer surface of the positioning lever bracket 5; wherein, the center line connecting the position detection parts 51 on both sides is parallel to the horizontal line.

[0113] In this embodiment, the position detection part 51 is a positioning circle; the positioning circle passes through the center point and is provided with a first detection line and a second detection line along the horizontal and vertical directions respectively; wherein the vertical direction is perpendicular to the horizontal line; the center of the positioning circle is also provided with a detection hole for detection by a three-coordinate detection device.

[0114] Furthermore, it also includes: a three-coordinate detection device (such as a three-coordinate detector) for detecting whether the first detection line, the second detection line and the detection hole of the positioning circle passing through the center have position changes during the static calibration process, that is, if the position change is allowed to be within the error range, it indicates that the calibration process of the wheel-type six-component force sensor is correct and there is no abnormality.

[0115] It can be understood that the position detection part 51 on both sides of the positioning lever bracket 5 of the present application and the detection hole in the center of the position detection part 51 can detect whether the positioning lever bracket 5 is in a horizontal position through a three-coordinate detection device, thereby ensuring whether the position of the positioning lever bracket 5 changes during the calibration process to ensure that the calibration process is correct.

[0116] Optionally, the linear force generation and self-checking mechanism 6 comprises:

[0117] A force balancing mechanism 61, a load driver 62 and a self-testing mechanism 63; wherein the force balancing mechanism 61, the load driver 62 and the self-testing mechanism 63 are connected;

[0118] The force balancing mechanism 61 includes two sets of linear force retainers 61-1; the self-testing mechanism 63 includes two standard force sensors 63-0; the load driver 62 is a hydraulic actuator;

[0119] Two standard force sensors 63 - 0 and two sets of linear force retainers 61 - 1 are arranged alternately up and down;

[0120] The top of the standard force sensor 63-0 located at the upper part is connected to the positioning lever bracket 5, and the bottom is connected to the linear force retainer 61-1 located at the upper part;

[0121] The linear force retainer 61-1 located at the upper part is connected to the standard force sensor 63-0 located at the lower part;

[0122] The standard force sensor 63 - 0 located at the bottom is connected to the linear force retainer 61 - 1 located at the bottom through the load driver 62 ; the bottom of the linear force retainer 61 - 1 located at the bottom is connected to the base frame 11 .

[0123] Specifically, the present application can calculate two torque readings through the load force measured by two standard force sensors 63-0 and the lever arm of the positioning lever bracket 5; if the difference between the two torque readings is greater than the target setting value, it indicates that the wheeled six-component force sensor calibration device of the present application itself has errors, and the equipment needs to be recalibrated before the calibration operation can be performed; if the difference between the two torque readings is less than the target setting value, it indicates that the torque data measured by the linear force generation and self-test mechanism 6 meets the requirements, that is, the first stage self-test is passed.

[0124] On the basis of the judgment in the previous step, if any of the differences between the two torque readings obtained based on the two standard force sensors 63-0 and the readings of the standard torque sensor 43 included in the first transmission calibration structure 4 is greater than the preset standard value, it indicates that the wheeled six-component force sensor calibration device itself still has errors, and the equipment needs to be recalibrated before calibration can be performed; if, if the differences between the two torque readings obtained based on the two standard force sensors 63-0 and the readings of the standard torque sensor 43 included in the first transmission calibration structure 4 are both less than the preset standard value, then it indicates that the wheeled six-component force sensor calibration device provided in this application meets the calibration design requirements and can be used to calibrate the six-component force sensor to be calibrated. Through this two-level quality inspection method, calibration anomalies existing in the wheeled six-component force sensor calibration device can be discovered in a timely manner, and the correctness of the subsequent calibration process can be ensured.

[0125] Furthermore, the linear force retainer 61-1 includes:

[0126] A first suspension lock ring structure 61 - 1 - 1 and a force balance structure 61 - 1 - 2 that is gap-matched with the first suspension lock ring structure 61 - 1 - 1;

[0127] The cross-sectional shapes of the first suspension lock ring structure 61 - 1 - 1 and the force balance structure 61 - 1 - 2 are both ring-shaped, and the opposite ends of the two are connected by hanging.

[0128] The first suspension lock ring structure 61-1-1 includes:

[0129] A first connecting seat 61 - 1 - 10; a first suspension ring 61 - 1 - 11 is connected to the bottom of the first connecting seat 61 - 1 - 10;

[0130] The lower surface of the first connecting seat 61-1-10 and the upper surface of the bottom of the first suspension ring 61-1-11 are both provided with a conical groove 61-1-12 that can cooperate with the positioning of the force balancing structure 61-1-2;

[0131] Correspondingly, the force balancing structure 61-1-2 includes: a first force balancing seat 61-1-20 connected to the first suspension ring 61-1-11; the bottom of the first force balancing seat 61-1-20 is connected to the first connecting ring 61-1-21; wherein, the center positions of the upper end surface and the lower end surface of the first force balancing seat 61-1-20 are both convexly provided with a conical balancing portion 61-1-22 that cooperates with the conical groove 61-1-12 at the corresponding end.

[0132] The upper surface of the first connecting seat 61 - 1 - 10 and the lower surface of the first balancing seat can be adaptively adjusted according to the shape design of the corresponding end connecting component.

[0133] The present application optimizes the design of the first suspension lock ring structure 61-1-1 and the force balancing structure 61-1-2, that is, the conical balancing part 61-1-22 protrudes outward from the center of the upper end surface and the lower end surface of the first force balancing seat 61-1-20, so that the force on one end of the linear force retainer 61-1 is relatively balanced regardless of whether a tensile load or a compressive load is applied. It can be understood that the present application uses the conical balancing part 61-1-22 protruding from the center of the upper and lower ends of the first force balancing seat 61-1-20, so that the load force provided by the load driver 62 can be distributed along the surface of the conical balancing part. When the force acts on one end of the cone, due to the inclination angle of the conical surface, the force will be decomposed into a tangential component along the cone surface and a normal component perpendicular to the cone surface. By accurately designing the conical angle of the conical balancing part, these components can be offset or recombined during the transmission process, so as to achieve a force balance state at the other end of the retainer. The advantages of this design are that it can ensure high precision in the force transmission process. Secondly, the design of the suspended conical structure can maintain good stability when it is disturbed externally. At the same time, it is practical enough in a variety of application scenarios and has high adaptability. Finally, it has little wear, that is, because the force transmission path is direct and weightless, unnecessary friction and wear are reduced, and the service life of the device is extended. The optimized design of the structure also facilitates subsequent inspection and maintenance.

[0134] It can be understood that the wheel-type six-component force sensor calibration device provided by the present application has a self-checking and calibration function, which can detect problems with the equipment at the first time. At the same time, based on the self-checking and calibration function, the structural connection layout between the various components greatly reduces the influence of various factors in the calibration process, minimizes the calibration error, and ensures the calibration accuracy.

[0135] In a second aspect, the present application provides a wheel-type six-component force sensor calibration method, comprising the following steps:

[0136] Based on a set of static load force parameters output by the linear force generation and self-checking mechanism, obtaining a set of first static moment parameters corresponding to the static load force parameters;

[0137] wherein the number of the first static moment parameters in a set is at least two;

[0138] If the difference between the two first static torque parameters is less than the target setting value, the calibration parameters of the six-component force sensor to be calibrated are obtained based on the comparison results of the second static torque parameters output by the first transmission calibration structure with a group of first static torque parameters.

[0139] Further, the comparison results of the second static torque parameters based on the output of the first transmission calibration structure and a group of first static torque parameters are respectively obtained to obtain calibration parameters of the six-component force sensor to be calibrated, specifically including:

[0140] If the comparison result is satisfied, then, based on the second static torque parameter output by the first transmission calibration structure, the calibration parameters of the six-component force sensor to be calibrated are obtained; wherein the calibration parameters include the calibrated output voltage of the six-component force sensor.

[0141] Based on the second static moment parameter and the calibration parameter, a calibration parameter relationship curve of the six-component force sensor to be calibrated is constructed;

[0142] According to the calibration parameter relationship curve, the target torque parameter corresponding to the target calibration parameter is obtained.

[0143] Specifically, when the comparison results of the second static torque parameter based on the output of the first transmission calibration structure and a group of first static torque parameters are satisfied, that is, the difference between the second static torque parameter and all the first static torque parameters included in a group of first static torque parameters are less than the preset standard value; on the contrary, if the difference between the second static torque parameter and any one of the first static torque parameters included in a group of first static torque parameters is greater than or equal to the preset standard value, then the comparison result is not satisfied, and an abnormal situation exists.

[0144] The present application completes the calibration operation by taking the second static torque parameter as the target torque parameter of the six-component force sensor to be calibrated and collecting calibration parameters corresponding to the target torque parameter.

[0145] It can be understood that the present application adopts a static calibration method to complete the calibration of the six-component force sensor to be calibrated. Among them, a set of static load force parameters output by the linear force generation and self-test mechanism 6 is used to obtain a set of first static torque parameters according to the calculation results of the load force and the lever arm length; the calibration parameters of the sensor for the six-component force to be calibrated are obtained by comparing the difference between any two first static torque parameters in a set of first static torque parameters with the second static torque parameters; if the comparison result satisfies, then the calibration parameters of the six-component force sensor to be calibrated are obtained based on the second static torque parameters output by the first transmission calibration structure, thereby completing the calibration of the six-component force sensor to be calibrated.

[0146] Furthermore, based on the calibration parameters of the six-component force sensor to be calibrated, a calibration parameter relationship curve of the six-component force sensor to be calibrated is constructed by least square fitting, so that the target torque parameters of the six-component force sensor corresponding to the calibration parameters can be quickly obtained.

[0147] It can be understood that the wheel-type six-component force sensor calibration method provided in the present application can quickly and correctly complete the calibration process of the six-component force sensor to be calibrated, and ensure that the calibration data of the six-component force sensor has high accuracy and high reliability.

[0148] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheel-type six-component force sensor calibration device, characterized in that: include: A test step ladder type main frame (1); a sensor calibration fixture (2) is slidably provided on one side of the top of the test step ladder type main frame (1); a positioning support frame (3) corresponding to the position of the sensor calibration fixture (2) is provided on the other side of the top of the test step ladder type main frame (1); a first transmission calibration structure (4) is provided between the positioning support frame (3) and the sensor calibration fixture (2); one end of the first transmission calibration structure (4) is connected to the sensor calibration fixture (2), and the other end is rotatably connected to the positioning support frame (3); wherein the first transmission calibration structure (4) is located at one end of the positioning support frame (3) and is connected to a linear force generation and self-testing mechanism (6) through a positioning lever bracket (5); the top of the linear force generation and self-testing mechanism (6) is connected to the positioning lever bracket (5), and the bottom is fixed to the test step ladder type main frame (1).

2. The wheel-type six-component force sensor calibration device according to claim 1, characterized in that: The test step ladder main frame (1) comprises: a base frame (11) and a support frame (12) arranged on the base frame (11); A plurality of height adjustment threaded rods (13) are evenly arranged around the bottom of the base frame (11); the bottom of each height adjustment threaded rod (13) is fixed to a cushion block (14); wherein an adjustment bolt is provided at the bottom of the height adjustment threaded rod (13) passing through the base frame (11), and a locking bolt is provided at the top of the height adjustment threaded rod (13) passing through the base frame (11); Wherein, the linear force generation and self-checking mechanism (6) is fixed on the base frame (11); A sensor calibration tool (2) is slidably provided on the top of the support frame (12); Wherein, the support frame (12) is also provided with a guide support frame (7) rotatably connected to the first transmission calibration structure.

3. The wheel-type six-component force sensor calibration device according to claim 2, characterized in that: The bottom of the sensor calibration tool (2) is connected to the support frame (12) via a slide rail guide device (8); The slide rail guide device (8) comprises: a plurality of guide sliders (81) arranged on both sides of the bottom of the sensor calibration tooling (2); correspondingly, guide rails (82) cooperating with the plurality of guide sliders (81) for limited sliding are arranged on both sides of the upper surface of the support frame (12); wherein a lead screw drive device (9) is also arranged between the sensor calibration tooling (2) and the support frame (12); the bottom of the lead screw drive device (9) is fixed to the support frame (12), and the top is connected to the sensor calibration tooling (2) through a lead screw slider (91).

4. The wheel-type six-component force sensor calibration device according to claim 3, characterized in that: The sensor calibration tool (2) comprises: A load-bearing frame (20); wherein a plurality of guide sliders (81) are arranged on both sides of the bottom of the load-bearing frame (20); a plurality of stabilizing brackets (21) are fixed on both the left and right sides of the load-bearing frame (20); the bottom of the stabilizing bracket (21) is detachably connected to the support frame (12); the bottom of the load-bearing frame (20) is also connected to the lead screw slider (91); A calibration support frame (22); the calibration support frame (22) is fixed to the top of the load-bearing frame (20), and one side of the calibration support frame is connected to a first fixing frame (23); A sensor mounting plate (24) is arranged in the middle of the space inside the first fixing frame (23); a mounting hole (26) for the sensor guide (25) to pass through is arranged at the center of the sensor mounting plate (24); wherein a six-component force sensor (27) to be calibrated can also be installed at the mounting hole (26); the six-component force sensor (27) to be calibrated is sleeved on the outside of the sensor guide (25) and connected to the sensor mounting plate (24); The upper and lower ends of the sensor guide (25) are fixed on a second fixing frame (28); The second fixing frame (28) is a square tube structure with one side open; wherein the second fixing frame (28) is suspended and sleeved on the outer periphery of the first fixing frame (23), and the two are connected via a sensor guide (25); The back side of the second fixing frame (28) is connected to the first transmission calibration structure (4).

5. The wheel-type six-component force sensor calibration device according to claim 4, characterized in that: The first transmission calibration structure (4) comprises: A coupling (40) having one end connected to the second fixing frame (28); the other end of the coupling being connected to the first connecting flange (42) via a first transmission shaft (41); Wherein, the first transmission shaft (41) is rotatably connected to the guide support frame (7); The first connecting flange (42) is connected to the second connecting flange (44) via a standard torque sensor (43); One end of the second connecting flange (44) is rotatably connected to the positioning support frame (3) via a second transmission shaft (45); A positioning lever bracket (5) is fixedly provided at a position of the second transmission shaft (45) located on the positioning support frame (3); wherein the second transmission shaft (45) and the positioning lever bracket (5) have the same center, and the axis extension direction of the second transmission shaft (45) is perpendicular to the length direction of the positioning lever bracket (5).

6. The wheel-type six-component force sensor calibration device according to claim 5, characterized in that: The positioning lever bracket (5) is a bilaterally symmetrical boss structure as a whole; wherein, the outer surfaces of both sides of the positioning lever bracket (5) are centrally symmetrically provided with position detection parts (51); wherein, the center connecting line of the position detection parts (51) on both sides is parallel to the horizontal line.

7. The wheel-type six-component force sensor calibration device according to claim 6, characterized in that: The linear force generation and self-checking mechanism (6) comprises: A force balancing mechanism (61), a load driver (62) and a self-testing mechanism (63); the force balancing mechanism (61), the load driver (62) and the self-testing mechanism (63) are connected; Wherein, the force balancing mechanism (61) comprises two sets of linear force retainers (61-1); the self-checking mechanism (63) comprises two standard force sensors (63-0); Two standard force sensors (63-0) and two sets of linear force retainers (61-1) are arranged alternately up and down; The top of the standard force sensor (63-0) located at the upper part is connected to the positioning lever bracket (5), and the bottom is connected to the linear force retainer (61-1) located at the upper part; The linear force retainer (61-1) located at the upper part is connected to the standard force sensor (63-0) located at the lower part; The standard force sensor (63-0) located at the bottom is connected to the linear force retainer (61-1) located at the bottom through the load driver (62).

8. The wheel-type six-component force sensor calibration device according to claim 7, characterized in that: The linear force retainer (61-1) comprises: A first suspension lock ring structure (61-1-1) and a force balance structure (61-1-2) that is clearance-matched with the first suspension lock ring structure (61-1-1); Wherein, the first suspension lock ring structure (61-1-1) and the opposite end of the force balance structure (61-1-2) are connected by hanging.

9. The wheel-type six-component force sensor calibration device according to claim 8, characterized in that: The first suspension lock ring structure (61-1-1) comprises: A first connecting seat (61-1-10); a first suspension ring (61-1-11) is connected to the bottom of the first connecting seat (61-1-10); Wherein, the lower surface of the first connecting seat (61-1-10) and the upper surface of the bottom of the first suspension ring (61-1-11) are both provided with a conical groove (61-1-12) that can cooperate with the force balancing structure (61-1-2) for positioning; Correspondingly, the force balancing structure (61-1-2) includes: a first force balancing seat (61-1-20) connected to the first suspension ring (61-1-11); the bottom of the first force balancing seat (61-1-20) is connected to a first connecting ring (61-1-21); wherein the center positions of the upper end surface and the lower end surface of the first force balancing seat (61-1-20) are both protruding outwardly with a conical balancing portion (61-1-22) that cooperates with the conical groove (61-1-12) at the corresponding end.

10. A calibration method for a wheel-type six-component force sensor, characterized in that: include: Based on a set of static load force parameters output by the linear force generation and self-checking mechanism, obtaining a first static moment parameter corresponding to the static load force parameter; If the difference between the two first static torque parameters is less than the target setting value, the calibration parameters of the six-component force sensor to be calibrated are obtained based on the comparison results of the second static torque parameters output by the first transmission calibration structure with a group of first static torque parameters.

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