Multi-dimensional force sensor calibration device and calibration method thereof

Abstract

The invention discloses a multi-dimensional force sensor calibration device and a calibration method thereof. The calibration device comprises a top plate of a workbench, a table top and fixed pulley blocks arranged at the bottom of the table top, and the fixed pulley blocks are connected with wire harness tightening devices of eight weight sets; the calibration adjusting assembly comprises a horizontal adjusting device and a height adjusting device; the flange is provided with a first locking claw and a first thread pressing device, and a measured sensor is locked by applying force through a knob; the calibration cap is provided with a second locking clamping jaw and a protruding calibration force bearing point part, is provided with a second thread pressing device, and locks the measured sensor and the weight set through force application of the rotary knob. The installation convenience of the measured sensor is improved by modifying and simplifying the installation of the measured sensor, the step of manually carrying weights is simplified by using the quick-release weight group, the influence of the weight installation precision on measurement is reduced, and the manpower efficiency is improved.

Description

Technical Field

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

[0002] Existing multi-dimensional force sensor calibration devices have exposed numerous problems and shortcomings in practical applications, severely restricting the efficiency and accuracy of calibration work. During installation, the lower flange and upper calibration cap must be installed before sensor calibration can begin. This process is not only tedious and complex, requiring significant time and effort, but also requires a high level of operator skill. Even the slightest carelessness can lead to installation errors, significantly impacting the overall speed of calibration and reducing work efficiency.

[0003] During the calibration process, the use of weights is a more prominent problem. The weights are often inaccurately positioned, which prevents the force applied to the sensor from being precisely applied to the preset direction and position, leading to deviations in the calibration results. At the same time, the weights are prone to self-rotation, further interfering with the accuracy of the calibration. Furthermore, there are many inconveniences when unloading or loading the weights. For example, limited operating space and difficulty in stably grasping the weights all pose additional difficulties for the calibration process, making it difficult to complete the calibration process efficiently and accurately. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art. To achieve the above purpose, a multi-dimensional force sensor calibration device and a calibration method thereof are adopted to solve the problems raised in the above background technology.

[0005] A multi-dimensional force sensor calibration device, comprising a workbench, a calibration adjustment assembly, a flange assembly, a calibration cap, and a weight set;

[0006] The top plate, table top, and bottom of the workbench are respectively provided with fixed pulley groups, which are connected to the wire harness tightening devices of the eight weight groups distributed on the four sides of the workbench;

[0007] The calibration adjustment assembly includes a level adjustment device and a height adjustment device provided on the workbench;

[0008] The flange is provided with a first locking claw, each claw being configured to press against a first threaded pressing device of the sensor under test, and locking the sensor under test by applying force through a knob;

[0009] The calibration cap is provided with a second locking claw and a protruding calibration force point portion, each claw is configured to tighten the second threaded clamping device of the sensor under test, and locks the sensor under test by applying force through the knob;

[0010] The weight set includes a top force-bearing block, a wire rope loading device, series-connected weights, a weight amount adjusting rod for changing the loading amount by switching gears, and a descending buffer device provided at the bottom of the workbench.

[0011] As a further solution of the present invention: a cylindrical calibration space is formed between the flange and the calibration cap, and the calibration cap includes fourteen protruding calibration force-bearing point parts.

[0012] As a further solution of the present invention: the top force-bearing block is provided with two mounting grooves and two long limit holes. Five limit holes are opened in each long rod. The series-connected weights penetrate the long limit holes, and the weight amount adjusting rod is inserted into the limit holes to fix the positions of the weights.

[0013] As a further solution of the present invention: the wire rope loading device includes a threaded tightening structure and a lateral force arm;

[0014] The threaded tightening structure consists of a screw rod with a male ball head and a wire rope fixing device with a female ball head. One end of the screw rod is combined with the internal thread of the lateral force arm, and the other end is connected to the female ball head of the wire rope fixing device through the male ball head;

[0015] The lateral force arm is provided with two card slots, which are fitted with the two mounting grooves of the top force-bearing block.

[0016] As a further solution of the present invention: the descending buffer device includes four springs. Every two springs form a group. One end is connected to the bottom of the weight set, and the other end is connected to the buffer bottom plate. The buffer bottom plate contacts the series-connected weights when the weights are loaded and fall.

[0017] As a further solution of the present invention: the series-connected weights are provided with limit heads on both sides. The weight set includes a fence. A gap is reserved between the fence and the limit heads to prevent the weights from spinning.

[0018] As a further solution of the present invention: the horizontal adjustment device is a fulcrum leveling structure composed of four struts. Each strut is connected and contacted with the bottom of the workbench surface through bolts. The length of the protruding bolts is adjusted to adjust the levelness of the workbench surface.

[0019] As a further solution of the present invention: the height adjustment device includes a height rod, a limiting nut, and a connecting plate. The lower end of the height rod is provided with a thread to cooperate with the limiting nut, and the upper end is fixed to the connecting plate through bolts. The connecting plate is connected to the flange.

[0020] Technical solution of the second aspect: A calibration method applied to a calibration device for a multi-dimensional force sensor as described in any one of the above, including the following steps:

[0021] Step S1: Install the sensor under test on the flange and lock it. Adjust the height of the calibration cap and the workbench to align the coordinate systems, ensuring that the protruding calibration force application point is flush with the horizontal plane of the mechanism, thus completing the installation and initial calibration of the sensor. Among them, the directions of the XYZ coordinate system are as follows: the positive direction of the Z-axis is the horizontal direction perpendicular to the upper surface of the workbench and upward from the workbench surface; the positive direction of the X-axis is the horizontal direction perpendicular to the installation direction of the MZ loading device on the workbench; the positive direction of the Y-axis is the horizontal direction perpendicular to the X-axis within the horizontal plane and forms a 90-degree clockwise angle with the positive direction of the X-axis.

[0022] Step S2: Connect the weight group outside the positive direction of the X-axis to the force application point of the sensor through a pulley block. Gradually adjust the weight limit and sample the signals, and record the signal changes under the load in the positive direction of FX on the workbench surface.

[0023] Step S3: According to Step S2, conduct loading tests on the negative direction of FX, the positive and negative directions of FY, and the positive and negative directions of FZ on the workbench surface to obtain the sensor responses when weights are applied in each direction.

[0024] Step S4: Connect the weight groups inside the positive and negative directions of the Y-axis to the force application points on the left and right sides of the MZ of the calibration cap respectively. Adjust the weight limit and perform cyclic loading, and record the signal data under the action of the positive torque of MZ.

[0025] Step S5: Based on the process of Step S4, conduct a weight loading test on the negative direction of MZ to obtain the signal changes of the sensor in this torque direction.

[0026] Step S6: Connect the weight group inside the positive direction of the X-axis and the weight group outside the negative direction of the X-axis to the force application points on both sides of MX respectively. Through multi-level weight loading tests, collect the moment signal responses in the positive direction of MY.

[0027] Step S7: According to Step S6, conduct loading tests on the negative direction of MX and the positive and negative directions of MY, and record the sensor data under the action of the corresponding moments.

[0028] Step S8: Integrate the calibration data in all directions and complete the multi-dimensional force / torque calibration of the sensor through algorithm processing.

[0029] Compared with the prior art, the present invention has the following technical effects:

[0030] Adopting the above technical solution, the sensor under test is installed and fixed by modifying the calibration cap and the flange, which improves the convenience of installing the sensor under test. The quick-release weight group is used, which simplifies the steps of manually carrying weights and reduces the influence of the weight installation accuracy on the measurement, thereby improving the manpower efficiency. Compared with the existing multi-dimensional force sensor calibration device, the present invention also reduces the manufacturing costs of the flange and the calibration cap, and there is no need to manufacture a new adapter plate to adapt to different sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings:

[0032] Figure 1 Structural schematic diagram of the multi - dimensional force sensor calibration device for the disclosed embodiment of the present application Figure 1 ;

[0033] Figure 2 Layout diagram of the workbench surface of the multi - dimensional force sensor calibration device for the disclosed embodiment of the present application;

[0034] Figure 3 Layout diagram of the bottom surface of the workbench of the multi - dimensional force sensor calibration device for the disclosed embodiment of the present application;

[0035] Figure 4 Layout diagram of the top of the workbench of the multi - dimensional force sensor calibration device for the disclosed embodiment of the present application;

[0036] Figure 5 Schematic diagram of the calibration cap for the disclosed embodiment of the present application Figure 1 ;

[0037] Figure 6 Schematic diagram of the calibration cap for the disclosed embodiment of the present application Figure 2 ;

[0038] Figure 7 Schematic diagram of the lifting device and flange for the disclosed embodiment of the present application Figure 1 ;

[0039] Figure 8 Schematic diagram of the lifting device and flange for the disclosed embodiment of the present application Figure 2 ;

[0040] Figure 9 Schematic diagram of the weight set for the disclosed embodiment of the present application;

[0041] Figure 10 Cross - sectional schematic diagram of the weight set for the disclosed embodiment of the present application;

[0042] Figure 11 Schematic diagram of the wire rope tension in the positive directions of FX and FY for the disclosed embodiment of the present application;

[0043] Figure 12 Schematic diagram of the wire rope tension in the positive direction of FZ for the disclosed embodiment of the present application;

[0044] Figure 13 Cross - sectional schematic diagram of the wire rope tension in the positive directions of MX and MY for the disclosed embodiment of the present application;

[0045] Figure 14 Flow block diagram of the wire rope tension in the MZ direction for the disclosed embodiment of the present application.

[0046] In the figure: 1. Workbench; 11. Workbench top plate; 111. Outer pulley group in the positive MY direction at the top; 112. Inner pulley group in the positive MY direction at the top; 111A. Outer pulley group in the negative MX direction at the top; 112A. Inner pulley group in the negative MX direction at the top; 111B. Outer pulley group in the positive MX direction at the top; 112B. Inner pulley group in the positive MX direction at the top; 111C. Outer pulley group in the negative MY direction at the top; 112C. Inner pulley group in the negative MY direction at the top; 12. Workbench surface column; 13. Workbench surface; 131. Pulley group in the positive FX direction of the surface; 131A. Pulley group in the negative FY direction of the surface; 131B. Pulley group in the positive FY direction of the surface; 131C. Pulley group in the negative FX direction of the surface; 132. Pulley group in the MZ direction of the surface; 132A. Second pulley group in the MZ direction of the surface; 133. Outer pulley group in the positive MY direction at the bottom of the table; 133A. Outer pulley group in the negative MY direction at the bottom of the table; 134. Inner pulley group in the positive MY direction at the bottom of the table; 134A. Inner pulley group in the positive MX direction at the bottom of the table; 134B. Inner pulley group in the negative MX direction at the bottom of the table; 134C. Inner pulley group in the negative MY direction at the bottom of the table; 135. Outer pulley group in the negative MZ and MX directions at the bottom of the table; 135A. Outer pulley group in the positive MZ and MX directions at the bottom of the table; 136. Pulley group in the MZ direction at the bottom of the table; 136A. Second pulley group in the MZ direction at the bottom of the table; 14. Leveling column; 2. Weight set; 22. Wire rope loading device; 221. Wire rope fixing device; 222. Male ball head screw; 223. Lateral force arm; 23. Top force-receiving block; 24. Seriable weights; 25. Weight quantity adjusting rod; 26. Weight enclosure; 261. Four-sided enclosure of the weights; 262. Bottom of the weight set; 263. Foot pads of the weight set; 264. Inner enclosure of the weights; 27. Buffer device; 271. Buffer spring; 272. Buffer connection block; 273. Buffer bottom plate; 3. Flange; 31. Flange claw; 32. Flange claw connection block; 33. Flange chuck chassis; 33A. Flange chuck chassis connecting bolt; 34. Flange claw thread locking block; 35. Inner plate of the flange claw; 35A. Inner plate connecting bolt of the flange claw; 36. Connecting plate; 37. Height rod; 38. Limiting nut; 4. Calibration cap; 41. Calibration cap claw; 42. Calibration cap claw connection block; 43. Calibration cap chuck chassis; 43A. Calibration cap chuck chassis connecting bolt; 44. Calibration cap claw thread locking block; 45. Inner plate of the calibration cap claw; 45A. Inner plate connecting bolt of the calibration cap claw; 46. Calibration cap force-receiving outer shell. Detailed implementation method

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0048] Please refer to Figure 1 , in the embodiment of the present invention, a multi-dimensional force sensor calibration device includes a workbench, a calibration adjustment component, a flange component, a calibration cap, and a weight set;

[0049] Fixed pulley groups are respectively arranged on the top plate, the table top, and the bottom of the table top of the workbench, and the fixed pulley groups are connected to the wire harness tightening devices of eight groups of weight sets distributed on the four sides of the workbench;

[0050] The calibration adjustment component includes a horizontal adjustment device and a height adjustment device arranged on the workbench;

[0051] The flange is provided with a first locking claw, and each claw is configured with a first threaded pressing device for pressing against the sensor to be measured, and the sensor to be measured is locked by applying force through a knob;

[0052] In this embodiment, the first locking claw is a flange claw, and the first threaded pressing device is four threaded pressing blocks 34 for limiting movement;

[0053] The calibration cap is provided with a second locking claw and a protruding calibration stress point part. Each claw is configured with a second threaded pressing device for pressing against the sensor to be measured, and the sensor to be measured is locked by applying force through a knob;

[0054] In this embodiment, the second locking claw is a calibration cap claw, and the second threaded pressing device is four threaded pressing blocks 44 for limiting movement;

[0055] The weight set includes a top stress block, a wire rope loading device, series-connected weights, a weight amount adjustment rod for changing the loading amount by switching gears, and a descending buffer device arranged at the bottom of the workbench.

[0056] As Figure 2 , 3 and 4 show, the figures are respectively the layout diagram of the workbench surface of the multi-dimensional force sensor calibration device, the layout diagram of the bottom of the workbench, and the layout diagram of the top of the workbench;

[0057] Workbench 1, a weight set 2 arranged around the lower part of the workbench, a flange 3 and a calibration cap 4 arranged in the middle of the workbench. The XYZ coordinate system directions of the device are as follows: the positive direction of the Z-axis is the horizontal direction perpendicular to the upper surface of the workbench and upward along the workbench surface; the positive direction of the X-axis is the horizontal direction perpendicular to the installation direction of the MZ loading device of the workbench; the positive direction of the Y-axis is the horizontal direction perpendicular to the X-axis and forms a 90-degree clockwise angle with the positive direction of the X-axis. As Figure 1 shown, the positive direction of the X-axis is the direction in which the workbench 1 faces to the right, the positive direction of the Y-axis is the direction in which the workbench 1 faces to the left, the up and down direction of the workbench 1 is the Z-axis direction, and the positive direction of the Z-axis is the direction in which the workbench 1 faces upward.

[0058] The top plate 11 and the workbench surface 13 of the workbench 1 are respectively provided with a fixed pulley set 111 capable of changing the pulling direction, an outer pulley set 111A in the negative MX direction at the top, an inner pulley set 112A in the negative MX direction at the top, an outer pulley set 111B in the positive MX direction at the top, an inner pulley set 112B in the positive MX direction at the top, an outer pulley set 111C in the negative MY direction at the top, an inner pulley set 112C in the negative MY direction at the top, a pulley set 131 in the positive FX direction of the workbench surface, a pulley set 131A in the negative FY direction of the workbench surface, a pulley set 131B in the positive FY direction of the workbench surface, a pulley set 131C in the negative FX direction of the workbench surface, a pulley set 132 in the MZ direction of the workbench surface, a pulley set two 132A in the MZ direction of the workbench surface, an outer pulley set 133 in the positive MY direction at the bottom of the workbench, an outer pulley set 133A in the negative MY direction at the bottom of the workbench, an inner pulley set 134 in the positive MY direction at the bottom of the workbench, an inner pulley set 134A in the positive MX direction at the bottom of the workbench, an inner pulley set 134B in the negative MX direction at the bottom of the workbench, an inner pulley set 134C in the negative MY direction at the bottom of the workbench, an outer pulley set 135 in the negative MZ and MX directions at the bottom of the workbench, an outer pulley set 135A in the positive MZ and MX directions at the bottom of the workbench, a pulley set 136 in the MZ direction at the bottom of the workbench, a pulley set two 136A in the MZ direction at the bottom of the workbench, and are connected to the wire harness tightening device 22 of a total of eight weight sets 2 on the four sides of the workbench. The calibration device workbench surface 13 has a horizontally adjustable device, including four columns 14 and the connecting bolts with the lower surface of the workbench. There is a height-adjustable device 3 at the center of the workbench; the flange 3 includes four claws 31 and has four threaded compression blocks 34 for limiting movement. When the claws 31 are connected to the measured sensor, force needs to be applied to lock; the calibration cap 4 includes four claws 41 and twelve protruding calibration stress points, and has four threaded compression blocks 44 for limiting movement. When the claws 41 are connected to the measured sensor, force needs to be applied to lock; the weight set 2 includes a top stress block 23, a wire rope loading device 22, five serializable weights 24 and four weight adjustment rods 25. When the loading amount changes, the weight amount is changed by switching the gears of the weight adjustment rods 25. There is a descending buffer device 27 at the bottom of the device group.

[0059] Before the sensor starts measurement, the inner plate 35 of the flange chuck should be placed in contact with the lower surface of the sensor. Move the flange chuck 31. When the flange chuck 31 of the flange 3 is in contact with the outer shell of the sensor to be measured, rotate the threaded locking block 34 of the flange chuck so that the flange chuck 31 cannot move. Then lower the calibration cap so that the inner plate 45 of the calibration cap chuck is in contact with the upper surface of the sensor. Move the calibration cap chuck 41. When the calibration cap chuck 41 of the calibration cap 4 is in contact with the outer shell of the sensor to be measured, rotate the threaded locking block 44 of the calibration cap chuck so that the calibration cap chuck 41 cannot move.

[0060] After the sensor, the flange 3, and the calibration cap 4 are installed, rotate the limiting nut 38 and adjust the height adjustment rod 37 so that the force application point of the force-bearing outer shell 46 of the calibration cap is at the same height as the pulley block 131 in the positive FX direction of the tabletop, the pulley block 131A in the negative FY direction of the tabletop, the pulley block 131B in the positive FY direction of the tabletop, the pulley block 131C in the negative FX direction of the tabletop, the pulley block 132 in the MZ direction of the tabletop, and the pulley block two 132A in the MZ direction of the tabletop.

[0061] When calibrating and measuring the sensor in the positive FX direction, as Figure 11 shown, the force application point of the calibration cap outer shell should be connected to the steel wire rope in the FX direction as shown in the figure. At this time, the steel wire rope cooperates with the pulley block 131 in the positive FX direction and the outer weight 2 in the positive X-axis direction. Then adjust the wire harness tightening device 22, rotate the male ball head screw 222 to raise the weight 24, and at this time, a downward force FX is generated. When the weight adjustment rod 25 is inserted from the installation hole of the top force-bearing block 23 into the fifth weight limit from top to bottom in sequence to the next-level weight limit, the lowest weight of the weight 24 slips off, and at this time, the downward force FX changes. Therefore, a total of six different magnitudes of positive FX-direction forces can be obtained for calibrating the sensor data. When the steel wire rope is installed in the negative FX direction, the positive and negative FY directions of the calibration cap and matches with the corresponding pulley blocks and weight groups, a total of six different magnitudes of negative FX-direction forces and positive and negative FY-direction forces can be obtained in sequence for calibrating the sensor data.

[0062] When calibrating and measuring the sensor in the positive FZ direction, as Figure 12As shown, the force application point on the calibration cap housing should be connected to the wire rope in the FZ direction as shown in the figure. At this time, the wire rope cooperates with the outer pulley block 111 in the positive MY direction at the top, the inner pulley block 112 in the positive MY direction at the top, the outer pulley block 111A in the negative MX direction at the top, the inner pulley block 112A in the negative MX direction at the top, the outer pulley block 111B in the positive MX direction at the top, the inner pulley block 112B in the positive MX direction at the top, the outer pulley block 111C in the negative MY direction at the top, the inner pulley block 112C in the negative MY direction at the top, and the outer weights 2 in the positive and negative directions of the XY axis. At this time, adjust the wire harness tightening device 22, rotate the male ball head screw 222 to make the weight 24 rise, and at this time, a downward force FZ is generated. When the weight adjustment rod 25 is inserted into the next-level weight limit in sequence from the fifth weight limit of the installation hole position of the top force receiving block 23, the lowermost weight of the weight 24 slides off, and at this time, the downward force FZ changes. Therefore, a total of six levels of different magnitudes of FZ positive direction forces can be obtained for calibrating the sensor data. When the wire rope is installed in the FZ negative direction of the calibration cap and matches the corresponding pulley block and weight set, a total of six levels of different magnitudes of FZ negative direction forces can be obtained in sequence for calibrating the sensor data.

[0063] When calibrating and measuring the positive direction of the sensor MX, as Figure 13 shown, the force application point on the calibration cap housing should be connected to the wire rope in the MX direction as shown in the figure. At this time, the wire rope cooperates with the outer pulley block 111B in the positive MX direction at the top, the inner pulley block 112B in the positive MX direction at the top, the inner pulley block 134A in the positive MX direction at the bottom of the platform, the outer weight 2 in the positive Y axis direction, and the inner weight 2 in the negative Y axis direction. At this time, adjust the wire harness tightening device 22, rotate the male ball head screw 222 to make the weight 24 rise, and at this time, a downward force MX is generated. When the weight adjustment rod 25 is inserted into the next-level weight limit in sequence from the fifth weight limit of the installation hole position of the top force receiving block 23, the lowermost weight of the weight 24 slides off, and at this time, the downward force FX changes. Therefore, a total of six levels of different magnitudes of MX positive direction forces can be obtained for calibrating the sensor data. When the wire rope is installed in the negative MX direction and the positive and negative MY directions of the calibration cap and matches the corresponding pulley block and weight set, a total of six levels of different magnitudes of MX negative direction forces and positive and negative MY direction forces can be obtained in sequence for calibrating the sensor data.

[0064] When calibrating and measuring the positive direction of the sensor MZ, as Figure 14As shown, the force application point on the calibration cap housing should be connected to the wire rope in the MZ direction as shown in the figure. At this time, the wire rope cooperates with the outer pulley sets 135 in the negative directions of MZ and MX at the bottom of the platform, the outer pulley sets 135A in the positive directions of MZ and MX at the bottom of the platform, the pulley set 136 in the MZ direction at the bottom of the platform, the second pulley set 136A in the MZ direction at the bottom of the platform, and the inner weights 2 in the positive and negative directions of the Y-axis. At this time, adjust the wire harness tightening device 22, rotate the male ball head screw 222 to raise the weight 24, and at this time, a downward force MZ is generated. When the weight adjustment rod 25 is inserted from the installation hole of the top force receiving block 23 into the fifth weight limit position from top to bottom in sequence to the next-level weight limit, the lowest weight of the weight 24 slides off. At this time, the downward force MZ changes. Therefore, a total of six levels of different magnitudes of the MZ force can be obtained for calibrating the sensor.

[0065] Specifically, as Figure 5 、 6 shown, the calibration cap 4 includes a calibration cap claw 41, a calibration cap claw connecting block 42, a calibration cap chuck chassis 43, a calibration cap chuck chassis connecting bolt 43A, a calibration cap claw thread locking block 44, a calibration cap claw inner plate 45, a calibration cap claw inner plate connecting bolt 45A, and a calibration cap force receiving housing 46. The calibration cap claw 41 is connected to the calibration cap claw connecting block 42, the calibration cap claw connecting block 42 is connected to the calibration cap claw thread locking block 44, the calibration cap claw thread locking block 44 is slidably connected to the calibration cap chuck chassis 43, the calibration cap chuck chassis 43 is connected to the calibration cap force receiving housing 46 through the calibration cap chuck chassis connecting bolt 43A, and the calibration cap claw inner plate 45 is connected to the calibration cap chuck chassis 43 through the calibration cap claw inner plate connecting bolt 45A.

[0066] Specifically, as Figure 7 、 8 shown, the flange 3 includes a flange claw 31, a flange claw connecting block 32, a flange chuck chassis 33, a flange chuck chassis connecting bolt 33A, a flange claw thread locking block 34, a flange claw inner plate 35, a flange claw inner plate connecting bolt 35A, a connecting plate 36, a height rod 37, and a limiting nut 38. The flange claw 31 is connected to the flange claw connecting block 32, the flange claw connecting block 32 is connected to the flange claw thread locking block 34, the flange claw thread locking block 34 is slidably connected to the flange chuck chassis 33, the flange chuck chassis 33 is connected to the connecting plate 36 through the flange chuck chassis connecting bolt 33A, the flange claw inner plate 35 is connected to the flange chuck chassis 33 through the flange claw inner plate connecting bolt 35A, the connecting plate 36 is connected to the height rod 37, and the height rod 37 is helically connected to the limiting nut 38.

[0067] Specifically, as Figure 9 、 10As shown in the figure, the weight set 2 includes a wire rope loading device 22, a wire rope fixing device 221, a male ball head screw 222, a transverse force arm 223, a top force receiving block 23, stackable weights 24, a weight quantity adjusting rod 25, a weight retaining fence 26, a surrounding weight retaining fence 261, a bottom of the weight set 262, a weight set foot pad 263, an inner weight retaining fence 264, a buffer device 27, a buffer spring 271, a buffer connecting block 272, and a buffer bottom plate 273. The wire rope loading device 22 is connected to the top force receiving block 23. The top force receiving block 23 and the stackable weights 24 are movably matched through the weight quantity adjusting rod 25. The wire rope fixing device 221 and the male ball head screw 222 are connected through a male ball head and a female ball head. The male ball head screw 222 is threadedly connected to the transverse force arm 223. The surrounding weight retaining fence 261, the weight set foot pad 263, the inner weight retaining fence 264 are connected to the bottom of the weight set 262. The buffer spring 271 is connected to the buffer connecting block 272 and the bottom of the weight set 262. The buffer connecting block 272 is connected to the buffer bottom plate 273. The buffer bottom plate 273 is in contact with the weight 22.

[0068] Specifically, as Figure 10 shown in the figure, a buffer device 27 is provided at the bottom of the weight set 2. After the buffer device 27 is provided in the weight set 2, when the lowermost weight 24 of the weight set 2 slides down during sensor calibration, the impact of the falling vibration of the weight 24 on sensor calibration is reduced.

[0069] Specifically, the output data of the calibrated sensor will be received by an external computer and analyzed and processed by the external computer.

[0070] A calibration method for a multi-dimensional force sensor calibration device applied to any one of the above, comprising the following steps:

[0071] Step S1: Install the sensor to be measured on the upper end of the flange 3, tighten the flange claw thread block 34 so that the flange claw 31 is locked with the sensor, lower the calibration cap 4 until the coordinate system of the sensor to be measured is the same as the coordinate system of the device; tighten the calibration cap claw thread locking block 44 so that the calibration cap claw 41 is locked with the sensor, and use the workbench up and down adjusting devices 37, 38 to make the protruding calibration force receiving point and the corresponding direction mechanism be on the same horizontal plane, and tighten the limiting nut 38;

[0072] Step S2: Connect the weight group 2 outside the positive X-axis direction to the protruding calibration force-receiving point in the positive X-axis direction on the weight calibration cap housing 46 through a steel wire rope and the corresponding pulley block 131. Adjust the weight of the weight group 2 in the positive X-axis direction to the fifth weight limit from top to bottom. Rotate the male ball head screw 222 of the wire rope loading device. Wait until the weight 24 rises stably, sample the sensor signal, insert a new adjusting weight amount adjusting rod 25 into the next level, remove the upper-level weight adjusting rod 25. Wait until the upper-level weight 24 falls and the weight is stable. Repeat this process until the fifth-level limit hole is adjusted to obtain the change of the FX positive-direction sensor signal under the application of force by each level of weight.

[0073] Step S3: Taking Step S2 as the process, connect the corresponding-direction weight group 2 to the protruding calibration force-receiving point in the corresponding direction on the calibration cap housing 46 through a steel wire rope and the corresponding pulley block, and the change of the signal of each level of the measured sensor in the negative FX direction, positive FY direction, negative FY direction, negative FZ direction, and positive FZ direction can be obtained.

[0074] Step S4: Connect the inner weight group 2 in the positive Y-axis direction to the protruding calibration force-receiving point on the right side of the MZ direction on the weight calibration cap housing 46 through a steel wire rope and the corresponding pulley blocks 135 and 136. Connect the inner weight group 2 in the negative Y-axis direction to the protruding calibration force-receiving point on the left side of the MZ direction on the weight calibration cap housing 46 through a steel wire rope and the corresponding pulley blocks 136 and 136A. Adjust the weight of the inner weight group 2 in the positive Y-axis direction to the fifth weight limit from top to bottom in the Z-axis coordinate system of the workbench. Rotate the male ball head screw 222 of the wire rope loading device. Adjust the weight of the inner weight group in the positive Y-axis direction to the first weight limit from top to bottom in the Z-axis coordinate system of the workbench. Rotate the male ball head screw 222 of the wire rope loading device. Wait until the weight 24 rises stably, sample the sensor signal, insert a new adjusting weight amount adjusting rod 25 into the next level, remove the upper-level weight adjusting rod 25. Wait until the upper-level weight 24 falls and the weight is stable. Repeat this process until the fifth-level left limit hole is adjusted to obtain the change of the MZ positive-direction sensor signal under the application of force by each level of weight.

[0075] Step S5: Taking Step S4 as the process, connect the corresponding-direction weight group 2 to the protruding calibration force-receiving point in the corresponding direction on the calibration cap housing 46 through a steel wire rope and the corresponding pulley block, and the change of the signal of each level of the measured sensor in the negative MZ direction can be obtained.

[0076] Step S6: Connect the weight group 2 on the inner side in the positive X-axis direction to the calibration force application point protruding on the positive MX side of the calibration cap housing 46 through a steel wire rope and the corresponding pulley groups 133A and 134C. Connect the weight group on the outer side in the negative X-axis direction to the other calibration force application point protruding on the positive MX side of the calibration cap housing 46 through a steel wire rope and the corresponding pulley groups 111C and 112C. Adjust the weight of the weight group to the fifth weight limit from top to bottom in the Z-axis coordinate system of the workbench. Rotate the male ball screw 222 of the steel wire rope tightening device. Wait until the weight 24 rises stably, sample the sensor signal, insert a new adjusting weight lever 25 into the next level downward, remove the upper-level weight adjusting lever 25. Wait until the upper-level weight 24 falls and the weight 24 is stable. Repeat this cycle until the fifth-level left limit hole is adjusted to obtain the change of the sensor signal in the positive MY direction under the application of force by each level of weight.

[0077] Step S7: Taking Step S6 as the process, connect the corresponding weight group 2 in the corresponding direction to the calibration force application point protruding in the corresponding direction on the calibration cap housing 46 through a steel wire rope and the corresponding pulley group, and the change of the sensor signal of each level of the measured sensors in the negative MX direction, positive MY direction, and negative MY direction can be obtained.

[0078] Step S8: Through the operations in Steps S1 to S7, six calibration data of ±FX, ±FY, ±FZ, ±MX, ±MY, and ±MZ can be obtained. After obtaining the six calibration data, the measured multi-dimensional force sensor is calibrated through the arithmetic processing of the data. [[ID=X]] [[ID=Y]]

[0079] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents, and all should be included within the protection scope of the present invention.

Claims

1. A multi-dimensional force sensor calibration device, characterized in that The device includes a workbench, a calibration adjustment component, a flange component, a calibration cap, and a weight set; Fixed pulley groups are respectively arranged on the top plate, the tabletop, and the bottom of the tabletop of the workbench, and the fixed pulley groups are connected to the wire harness tightening devices of eight groups of weight sets distributed on the four sides of the workbench; The calibration adjustment component includes a horizontal adjustment device and a height adjustment device arranged on the workbench; The flange is provided with first locking claws, and each claw is configured with a first threaded pressing device for tightly pressing the sensor to be measured, and the sensor to be measured is locked by applying force through a knob; The calibration cap is provided with second locking claws and a protruding calibration force application point part, and each claw is configured with a second threaded pressing device for tightly pressing the sensor to be measured, and the sensor to be measured is locked by applying force through a knob; The weight set includes a top force receiving block, a wire rope loading device, series-connected weights, a weight amount adjustment rod for changing the loading amount by switching gears, and a descending buffer device arranged at the bottom of the workbench.

2. The multi-dimensional force sensor calibration device according to claim 1, wherein A cylindrical calibration space is formed between the flange and the calibration cap, and the calibration cap includes fourteen protruding calibration force application point parts.

3. The multi-dimensional force sensor calibration device according to claim 1, wherein The top force receiving block is provided with two mounting grooves and two long limiting holes. Five limiting holes are opened in each long rod. The series-connected weights penetrate through the long limiting holes, and the weight amount adjustment rod is inserted into the limiting holes to fix the positions of the weights.

4. The multi-dimensional force sensor calibration device according to claim 1, wherein The wire rope loading device includes a threaded tightening structure and a lateral force arm; The threaded tightening structure is composed of a screw rod with a male ball head and a wire rope fixing device with a female ball head. One end of the screw rod is combined with the internal thread of the lateral force arm, and the other end is connected to the female ball head of the wire rope fixing device through the male ball head; The lateral force arm is provided with two card slots, which are fitted with the two mounting grooves of the top force receiving block.

5. The multi-dimensional force sensor calibration device according to claim 1, characterized in that, The descending buffer device includes four springs. Every two springs form a group. One end is connected to the bottom of the weight set, and the other end is connected to a buffer bottom plate. The buffer bottom plate contacts the series-connected weights when the weights are loaded and fall.

6. The multi-dimensional force sensor calibration device according to claim 5, characterized in that, Limit heads are arranged on both sides of the series-connected weights. The weight set includes a fence. A gap is reserved between the fence and the limit heads to prevent the weights from spinning.

7. The calibration device for a multi-dimensional force sensor according to claim 1, characterized in that, The horizontal adjustment device is a fulcrum leveling structure composed of four struts. Each strut is connected and contacted with the bottom of the workbench surface through bolts. The length of the protruding bolts is adjusted to adjust the levelness of the workbench surface.

8. The multi-dimensional force sensor calibration device according to claim 1, characterized in that, The height adjustment device includes a height rod, a limiting nut, and a connecting plate. The lower end of the height rod is provided with a thread to cooperate with the limiting nut, and the upper end is fixed to the connecting plate through a bolt. The connecting plate is connected to the flange.

9. A calibration method applied to a calibration device for a multi-dimensional force sensor according to any one of claims 1 to 8, characterized in that, It includes the following steps: Step S1: Install the sensor to be measured on the flange and lock it. Adjust the heights of the calibration cap and the workbench to align the coordinate systems, and ensure that the protruding calibration force application point parts are consistent with the horizontal plane of the mechanism, completing the installation and initial calibration of the sensor; among them, the directions of the XYZ coordinate system are that the positive direction of the Z axis is perpendicular to the horizontal direction of the upper surface of the workbench and upward from the workbench surface, the positive direction of the X axis is along the horizontal direction and perpendicular to the installation direction of the MZ loading device of the workbench, and the positive direction of the Y axis is the horizontal direction perpendicular to the X axis and forms a 90-degree clockwise angle with the positive direction of the X axis; Step S2: Connect the weight set outside the positive X-axis direction to the sensor force application point through a pulley block, gradually adjust the weight limit and sample the signals, and record the signal changes under the positive load of the tabletop FX in the positive direction; Step S3: According to Step S2, conduct loading tests on the negative direction of the tabletop FX, the positive and negative directions of FY, and the positive and negative directions of FZ to obtain the sensor responses when applying forces with weights in each direction; Step S4: Connect the weight sets inside the positive and negative Y-axis directions to the force application points on the left and right sides of the calibration cap MZ respectively, adjust the weight limit and perform cyclic loading, and record the signal data under the action of the positive torque of MZ; Step S5: Based on the process of Step S4, conduct a weight loading test on the negative direction of MZ to obtain the signal changes of the sensor in this torque direction; Step S6: Connect the weight set inside the positive X-axis direction and the weight set outside the negative X-axis direction to the force application points on both sides of MX respectively, and collect the moment signal response in the positive direction of MY through multi-stage weight loading tests; Step S7: According to Step S6, conduct loading tests on the negative direction of MX and the positive and negative directions of MY, and record the sensor data under the action of the corresponding moments; Step S8: Integrate the calibration data in all directions and complete the multi-dimensional force / moment calibration of the sensor through algorithm processing.

Images