Dead weight type multi-component force sensor calibration device

Abstract

The invention provides a dead weight type multi-component force sensor calibration device. The dead weight type multi-component force sensor calibration device comprises a workbench, a force reversing mechanism, a rotating platform, a loading disc and a loading assembly, the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism. A turntable is fixed on the rotating platform, a calibrated multi-component force sensor is fixed on the turntable, a loading disc is fixed at the top of the calibrated multi-component force sensor, the loading disc is provided with a loading connecting piece, and a pulley assembly is arranged at the top of the workbench; when the force of the calibrated multi-component force sensor is calibrated, the connecting line of the pulley assembly and the loading connecting piece is located on the central axis of the workbench. When the torque of the calibrated multi-component force sensor is calibrated, the connecting line of the pulley assembly and the loading connecting piece is parallel to the central axis of the workbench. According to the invention, a force loading mode is optimized, loading of each component is converted into loading of a resultant force through one rope, mechanical interference during multi-dimensional loading is avoided, high repeatability of force value loading can be realized, and accuracy and reliability of a calibration result are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of force sensor calibration, and particularly to a static weight multi-component force sensor calibration device. Background Art

[0002] As a high-precision measuring device, multi-component force sensors are widely used in fields such as intelligent manufacturing, robotics, medical treatment, aviation, aerospace, and motor vehicles for measuring and calculating force vectors. Through multi-component force sensors, accurate force values can be obtained, thereby evaluating and controlling the performance and safety of various devices and systems. Therefore, ensuring the accuracy and reliability of sensors under various working conditions is particularly important.

[0003] In order to ensure the accuracy and reliability of multi-component force sensors, the problem of calibrating and tracing the quantity value of multi-component force sensors also emerges: when calibrating with a traditional force standard machine, special fixtures need to be customized to limit the displacement of the sensor under test in the direction of the test component, and there are problems such as repeated installation, limited positioning accuracy, inability to test coupling errors, and complex operation procedures.

[0004] Therefore, a variety of mainstream calibration devices have been developed at home and abroad, which can be divided into three categories according to the comparison standard: 1. Calibration devices with the gravity of weights as the comparison standard; 2. Calibration devices with a single-component standard force measuring instrument as the comparison standard; 3. Calibration devices with multi-component force sensors as the comparison standard.

[0005] The weight calibration device currently generally adopts the method of separately loading forces in multiple dimensions, which has inter-dimensional interference, poor repeatability, low calibration efficiency, and is not suitable for actual production. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a static weight multi-component force sensor calibration device, which optimizes the force loading method, changing from separately loading each component to loading the force source of all components in the form of a resultant force through a single rope.

[0007] The present invention is implemented as follows: In a first aspect, the present invention provides a static weight multi-component force sensor calibration device, including: a workbench, a force reversing mechanism, a rotating platform, a loading disk, and a loading assembly; The force reversing mechanism is rotatably connected to the workbench, the rotating platform is rotatably connected to the force reversing mechanism, and the center of rotation of the rotating platform is perpendicular to the center of rotation of the force reversing mechanism; A turntable is fixed on the top of the rotary platform. A multi-component force sensor to be calibrated is fixed on the top of the turntable. The loading plate is fixed on the top of the multi-component force sensor to be calibrated, and the center line of the loading plate and the center line of the multi-component force sensor to be calibrated coincide with the rotation center of the rotary platform. A loading connecting piece is arranged on the top of the loading plate, and a pulley assembly is arranged on the top of the workbench. When calibrating the force of the multi-component force sensor to be calibrated, the loading connecting piece is arranged at the center of the loading plate, and the connection line between the pulley assembly and the loading connecting piece is on the central axis of the workbench. When calibrating the torque of the multi-component force sensor to be calibrated, the loading connecting piece is arranged in the edge area of the loading plate, and the connection line between the pulley assembly and the loading connecting piece is parallel to the central axis of the workbench; and an arc-shaped groove is arranged in the edge area of the loading plate. When calibrating the torque of the multi-component force sensor to be calibrated, the loading connecting piece is fixed in the arc-shaped groove through a first nut.

[0008] The loading assembly includes a steel wire rope and weights connected to the steel wire rope. The steel wire rope is wound outside the pulley assembly. The loading connecting piece has a circular ring part, and the circular ring part is coaxial with the rotation center of the force reversing mechanism. The steel wire rope is connected to the circular ring part.

[0009] Further, the force reversing mechanism includes: a rotating shaft, a rotating arm and a bottom plate. The rotary platform is connected to the bottom plate. The rotating shaft is arranged on the top of the workbench through a bearing seat and is connected to the rotating arm. The lower end of the rotating arm is connected to the bottom plate. The workbench has a sunken accommodation space. In the initial position, the lower end of the rotating arm is located in the accommodation space.

[0010] Further, a first servo motor is also arranged on the top of the workbench. The first servo motor is connected to one of the rotating shafts to drive the rotating shaft to rotate.

[0011] Further, an angle sensor for detecting the rotation angle of the rotary platform is also arranged on the top of the bottom plate.

[0012] Further, a horizontal calibration table is arranged on the top of the bottom plate.

[0013] Further, the pulley assembly includes a mounting bracket and a pulley rotatably connected to the mounting bracket. The edge of the workbench has a sliding part. The mounting bracket is slidably connected to the sliding part. A T-shaped groove is arranged in the sliding part, and a locking screw is arranged in the T-shaped groove. A through hole is arranged in the mounting bracket. One end of the locking screw passes through the through hole and is tightened by a second nut.

[0014] Further, the sliding part has three positioning marking lines, which respectively correspond to three working positions of the pulley assembly, and indicating lines corresponding to the positioning marking lines are arranged on the mounting bracket.

[0015] The advantages of the present invention are as follows: 1. It changes the mode of separately loading forces in each dimension of the traditional weight calibration device. By using a steel wire rope to load the force source in the form of a resultant force, and combining the motion combination of the force reversing mechanism and the rotating platform, the included angle between the force source and the multi-component force sensor to be calibrated can be arbitrarily adjusted in the space rectangular coordinate system, so that the values of each component force ( , , ), or torques ( , ) can act independently on the coordinate system of the multi-component force sensor to be calibrated through mechanical decomposition, avoiding mechanical interference during multi-dimensional loading, ensuring the loading accuracy of the values of each component force, and meeting the full-component calibration requirements of the sensor in three-dimensional space.

[0016] 2. The gravity of the weight is used as a stable force source. Through the combined movement of the force reversing mechanism and the rotating platform, the spatial angle between the force source and the multi-component force sensor to be calibrated is accurately adjusted. Since the direction of the force source is fixed and the loading path is unique, the repetitive error of the mechanical structure is greatly reduced. With the precise adjustment of the weight mass, high repeatability of the force value loading can be achieved, improving the accuracy and reliability of the calibration result.

[0017] 3. After one installation, through the combined movement of the force reversing mechanism and the rotating platform, the present invention can quickly switch the loading direction within the space range, shortening the single calibration time and improving the efficiency.

[0018] 4. Because the traditional calibration method cannot restore the real stress scenario due to the separate force loading, through the combined force loading and the adjustment of the rotation angle of the force reversing mechanism and the rotating platform, the composite force acting on the sensor under actual working conditions can be simulated, and the stress states under complex working conditions such as robot grasping and attitude change of aviation equipment can be simulated, improving the consistency between the calibration result and the actual working conditions. Description of the Drawings

[0019] The following further describes the present invention with reference to the drawings in conjunction with the embodiments.

[0020] Figure 1 Structural schematic of a deadweight multi-component force sensor calibration device in the present invention Figure One .

[0021] Figure 2 Structural schematic of a deadweight multi-component force sensor calibration device in the present invention Figure Two .

[0022] Figure 3 The exploded view of the structure shown in the present invention Figure 1 is shown in the figure.

[0023] Figure 4 is Figure 3 the enlarged partial view of the part at A in

[0024] Figure 5 is Figure 3 the enlarged partial view of the part at B in

[0025] Figure 6 the schematic diagram of the loading structure in the present invention

[0026] Figure 7 is the schematic diagram of the structure where the circular ring part does not coincide with the axis of the rotating shaft

[0027] Figure 8 is the schematic diagram of the calibration of the single - component force in the present invention

[0028] Figure 9 is the schematic diagram of the calibration of the single - component force in the present invention

[0029] Figure 10 is the schematic diagram of the calibration of the single - component force in the present invention

[0030] Figure 11 is in the present invention and the schematic diagram of the coupled calibration

[0031] Figure 12 is in the present invention and the schematic diagram of the coupled calibration

[0032] ​ is in the present invention and the schematic diagram of the coupled calibration

[0033] ​ is in the present invention 、 and the schematic diagram of the coupled calibration

[0034] ​ is the schematic diagram of the calibration of the single - component torque in the present invention

[0035] ​ is the schematic diagram of the calibration of the single - component torque in the present invention

[0036] ​ The single - component moment in the present invention Schematic structural diagram of calibration

[0037] ​ In the present invention and Schematic structural diagram of coupling calibration

[0038] ​ In the present invention and Schematic structural diagram of coupling calibration

[0039] ​ In the present invention and Schematic structural diagram of coupling calibration

[0040] ​ In the present invention 、 and Schematic structural diagram of coupling calibration

[0041] Explanation of reference numerals in the figure: 1. Workbench; 2. Force reversing mechanism; 21. Rotating shaft; 22. Rotating arm; 23. Base plate; 231. Horizontal calibration table; 24. Bearing seat; 3. Rotating platform; 4. Loading disk; 41. Arc groove; 5. Loading assembly; 51. Steel wire rope; 52. Weight; 6. Positioning marking line; 7. Central axis of the workbench; 8. Turntable; 9. Multi - component force sensor to be calibrated; 10. Loading connecting piece; 101. Ring part; 11. Pulley assembly; 111. Mounting bracket; 1111. Indicating line; 112. Pulley; 12. Accommodating space; 13. First servo motor; 14. Second servo motor; 15. Sliding part; 151. T - shaped groove; 16. Locking screw Specific embodiments

[0042] Please refer to ​ , the present invention provides a static - weight multi - component force sensor calibration device, including: workbench 1, force reversing mechanism 2, rotating platform 3, loading disk 4 and loading assembly 5; A column is provided at the bottom of the workbench 1, the force reversing mechanism 2 is rotatably connected to the workbench 1, the rotating platform 3 is rotatably connected to the force reversing mechanism 2, and the rotation center of the rotating platform 3 is perpendicular to the rotation center of the force reversing mechanism 2; In the initial position, the Y - axis of the multi - component force sensor 9 to be calibrated coincides with the rotation center of the force reversing mechanism 2, the X - axis direction of the multi - component force sensor 9 to be calibrated coincides with the central axis 7 of the workbench, and the Z - axis of the multi - component force sensor 9 to be calibrated coincides with the rotation center of the rotating platform 3.

[0043] A turntable 8 is fixed to the top of the rotary platform 3. The rotary platform 3 is an existing product and has a rotating part, and the turntable 8 is fixed on the rotating part. A multi-component force sensor 9 to be calibrated is fixed to the top of the turntable 8. The loading plate 4 is fixed to the top of the multi-component force sensor 9 to be calibrated. The center lines of the loading plate 4 and the multi-component force sensor 9 to be calibrated coincide with the rotation center of the rotary platform 3, that is, the center line of the loading plate 4 coincides with the Z-axis of the multi-component force sensor 9 to be calibrated. A loading connecting member 10 is arranged on the top of the loading plate 4, and a pulley assembly 11 is arranged on the top of the workbench 1. When calibrating the force of the multi-component force sensor 9 to be calibrated, the loading connecting member 10 is arranged at the center of the loading plate 4, and the connection line between the pulley assembly 11 and the loading connecting member 10 is on the central axis 7 of the workbench; that is, the force line of the loading assembly 5 is on the central axis 7 of the workbench.

[0044] When calibrating the torque of the multi-component force sensor 9 to be calibrated, the loading connecting member 10 is arranged in the edge area of the loading plate 4, and the connection line between the pulley assembly 11 and the loading connecting member 10 is parallel to the central axis 7 of the workbench; that is, the force line of the loading assembly 5 is parallel to the central axis 7 of the workbench.

[0045] The loading assembly 5 includes a steel wire rope 51 and a weight 52 connected to the steel wire rope 51. The steel wire rope 51 is wound outside the pulley assembly 11. The loading connecting member 10 has a ring portion 101, and the ring portion 101 is coaxial with the rotation center (i.e., the rotating shaft 21) of the force reversing mechanism 2. The steel wire rope 51 is connected to the ring portion 101. The loading connecting member 10 is a lifting eye bolt. One end of the steel wire rope 51 is connected to the ring portion 101 of the lifting eye bolt, and the other end is connected to the weight 52 after passing through the pulley assembly 11. The height of the pulley assembly 11 matches the height of the lifting eye bolt, so that when the weight 52 is loaded, the force line is always parallel to the upper surface of the workbench 1. After the loading assembly 5 is loaded, the data acquisition system collects the data output by the multi-component force sensor 9 to be calibrated, and the computer processes the collected data to calculate parameters such as the error value and the calibration coefficient. And record the calibration results of the sensor, including the error value and the calibration coefficient, etc., for subsequent use and reference.

[0046] Specifically, the force reversing mechanism 2 includes: a rotating shaft 21, a rotating arm 22 and a bottom plate 23. The circular ring part 101 is coaxial with the rotating shaft 21. The rotating platform 3 is connected to the bottom plate 23. The rotating shaft 21 is arranged at the top of the workbench 1 through a bearing block 24 and is connected to the rotating arm 22. The lower end of the rotating arm 22 is connected to the bottom plate 23. The workbench 1 has a sunken accommodation space 12. In the initial position, the lower end of the rotating arm 22 is located within the accommodation space 12.

[0047] By configuring the depth of the rotating arm 22 extending into the accommodation space 12, the position of the circular ring part 101 can be adjusted so that the circular ring part 101 is coaxial with the rotating shaft 21.

[0048] When the force reversing mechanism 2 rotates, since the circular ring part 101 is coaxial with the rotating shaft 21, therefore, without changing the height of the pulley assembly 11, a position can always be found on the circular ring part 101 such that after the steel wire rope 51 is connected to the circular ring part 101, the force line is always parallel to the upper surface of the workbench 1.

[0049] If the circular ring part 101 and the rotating shaft 21 are not concentric, as ​ shown, when the force reversing mechanism 2 rotates, it is necessary to adjust the height of the pulley assembly 11 to make the force line parallel to the upper surface of the workbench 1 to ensure the calibration accuracy. However, the method of adjusting the height of the pulley assembly 11 is inconvenient to operate and reduces the calibration efficiency.

[0050] Specifically, an arc-shaped groove 41 is provided in the edge area of the loading disc 4. When calibrating the torque of the multi-component force sensor 9 to be calibrated, the loading connecting piece 10 is fixed in the arc-shaped groove 41 through a first nut. As ​ shown, there are two arc-shaped grooves 41, and the central angle α corresponding to each arc-shaped groove 41 is greater than 90 degrees.

[0051] If the lifting ring screw is locked to the edge area of the loading disc 4 through a threaded hole (i.e., the position of the lifting ring screw is not adjustable), when calibrating the torque of the multi-component force sensor 9 to be calibrated, if the rotating platform 3 rotates around the Z-axis of the multi-component force sensor 9 to be calibrated, or the combined movement of the rotating platform 3 and the force reversing mechanism 2, the spatial position of the lifting ring screw will change. Since the position of the lifting ring screw is not adjustable, therefore, the force line of the loading assembly 5 cannot be made parallel to the upper surface of the workbench 1 and parallel to the central axis 7 of the workbench. If the force line is not parallel to the upper surface of the workbench 1 or the central axis 7 of the workbench, when a single-component force or torque is loaded, the force line forms an angle with the coordinate axis, reducing the calibration accuracy.

[0052] The setting that the eyebolt is fixed in the arc groove 41 through the first nut can adjust the position of the eyebolt when performing single-component or coupled loading of torque, ensuring the consistency of the actual spatial position of the eyebolt and improving the calibration accuracy.

[0053] Specifically, a first servo motor 13 is further provided on the top of the workbench 1. The first servo motor 13 is connected to one of the rotating shafts 21 to drive the rotating shaft 21 to rotate. The other rotating shaft 21 is also connected with an encoder (not shown in the figure). The rotation angle of the rotating shaft 21 can be detected by the encoder and fed back to the control system, and then the control system performs closed-loop adjustment on the rotation of the first servo motor 13 to achieve high-precision control of the rotation angle of the rotating shaft 21.

[0054] Specifically, an angle sensor (not shown in the figure) for detecting the rotation angle of the rotating platform 3 is further provided on the top of the bottom plate 23. The rotating platform 3 is an existing product, which is driven by a second servo motor 14 to rotate. The control is the same as that of the first servo motor 13. The angle sensor feeds back the rotation angle of the rotating platform 3 to the control system, and then the control system performs closed-loop adjustment on the rotation of the second servo motor 14 to achieve high-precision control of the rotation angle of the rotating platform 3.

[0055] Specifically, a horizontal calibration table 231 is provided on the top of the bottom plate 23. By placing a spirit level or an electronic level on the horizontal calibration table 231, it can be confirmed whether the bottom plate 23 is in a horizontal state at the initial position.

[0056] Specifically, the pulley assembly 11 includes a mounting bracket 111 and a pulley 112 rotatably connected to the mounting bracket 111. The edge of the workbench 1 has a sliding portion 15. The mounting bracket 111 is slidably connected to the sliding portion 15. The sliding portion 15 is provided with a T-shaped groove 151. A locking screw 16 is provided in the T-shaped groove 151. The mounting bracket 111 is provided with a through hole. After one end of the locking screw 16 passes through the through hole, it is tightened by a second nut. After calibrating the single-component force or coupled force of the multi-component force sensor 9 to be calibrated, the pulley assembly 11 can be moved to correspond to the eyebolt located at the edge area of the loading plate 4, and then the pulley assembly 11 is locked and fixed by the second nut.

[0057] Specifically, the sliding part 15 has three positioning marking lines 6, which respectively correspond to three working positions of the pulley assembly 11, and an indicating line 1111 corresponding to the positioning marking line 6 is arranged on the mounting bracket 111. By providing the positioning marking line 6 and the indicating line 1111, it is convenient for the operator to move the pulley assembly 11 to the specified position. The three working positions are the first working position, the second working position, and the third working position in sequence. The second working position is in the middle of the first working position and the third working position, and the second working position corresponds to the calibration of the force of the multi-component force sensor 9 to be calibrated, and the remaining two working positions correspond to the calibration of the torque of the multi-component force sensor 9 to be calibrated.

[0058] A specific application of the present invention is as follows: The multi-component force sensor 9 to be calibrated is fixed on the top of the turntable 8, and the loading plate 4 is bolted to the top of the multi-component force sensor 9 to be calibrated.

[0059] As ​ shown, in the initial position, the Z-axis of the multi-component force sensor 9 to be calibrated coincides with the center of rotation of the rotating platform 3, the Y-axis of the multi-component force sensor 9 to be calibrated coincides with the center of rotation of the rotating shaft 21, and the X-axis direction of the multi-component force sensor 9 to be calibrated coincides with the central axis 7 of the workbench. When calibrating the single-component force or coupled force of the multi-component force sensor 9 to be calibrated, the loading connecting piece 10 is located at the center of the loading plate 4; when calibrating the single-component torque or coupled torque of the multi-component force sensor 9 to be calibrated, the loading connecting piece 10 is located in the edge area of the loading plate 4.

[0060] When calibrating the single-component force of the multi-component force sensor 9 to be calibrated At the initial position, weights 52 are hung on the loading connecting piece 10 for loading. As ​ shown, at this time, the force line of the loading assembly 5 coincides with the X-axis of the multi-component force sensor 9 to be calibrated, which is single-component force loading.

[0061] After the rotating platform 3 rotates 90 degrees, the X-axis and the Y-axis of the multi-component force sensor 9 to be calibrated are interchanged. At this time, after hanging the weights 52, as ​ shown, it is single-component force loading.

[0062] After the force reversing mechanism 2 rotates 90 degrees, the Z-axis of the multi-component force sensor 9 to be calibrated rotates to a position coinciding with the central axis 7 of the workbench. At this time, after hanging the weights 52, as ​ shown, it is single-component force loading.

[0063] On the basis of calibrating the single-component force of the multi-component force sensor 9 to be calibrated if it is necessary to perform and For the coupled loading, according to the calibration requirements, the rotation platform 3 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). For example, ​ As shown, after hanging the weight 52, there are angles between the force line (steel wire rope 51) of the loading component 5 and both the X-axis and Y-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the X-axis and Y-axis of the multi-component force sensor 9 to achieve and coupled loading.

[0064] Based on the calibration of the single-component force of the multi-component force sensor 9 to be calibrated, if coupled loading of and is to be carried out, according to the calibration requirements, the force commutation mechanism 2 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). For example, ​ As shown, after hanging the weight 52, there are angles between the force line (steel wire rope 51) of the loading component 5 and both the X-axis and Z-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the X-axis and Z-axis of the multi-component force sensor 9 to achieve and coupled loading.

[0065] Based on the calibration of the single-component force of the multi-component force sensor 9 to be calibrated, if coupled loading of and is to be carried out, according to the calibration requirements, the force commutation mechanism 2 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). For example, ​ As shown, after hanging the weight 52, there are angles between the force line (steel wire rope 51) of the loading component 5 and both the Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the Y-axis and Z-axis of the multi-component force sensor 9 to achieve and coupled loading.

[0066] When performing , and coupled calibration of the multi-component force sensor 9 to be calibrated, according to the calibration requirements, the force commutation mechanism 2 and the rotation platform 3 can be controlled to rotate preset angles (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). For example, ​ As shown, after hanging the weight 52, there are angles between the force line (steel wire rope 51) of the loading component 5 and the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 to achieve , and coupled loading

[0067] For the single - component torque of the multi - component force sensor 9 to be calibrated During calibration, the pulley assembly 11 moves to the first or third working position. As shown ​ In the initial position, weights 52 are hung on the loading connector 10 for loading. At this time, it is single - component torque loading ​ Among them, by hanging the loading assembly 5 at different working positions, calibration in the clockwise or counter - clockwise direction of the torque can be achieved

[0068] Based on the single - component torque During the calibration of the single - component torque of the multi - component force sensor 9 to be calibrated Control the rotating shaft 21 to rotate 90 degrees. The X - axis and Z - axis positions of the multi - component force sensor 9 to be calibrated are interchanged. As shown ​ After hanging the weights 52, it is single - component torque loading

[0069] Based on the single - component torque During the calibration of the single - component torque of the multi - component force sensor 9 to be calibrated Control the rotating platform 3 to rotate 90 degrees. The X - axis and Y - axis of the multi - component force sensor 9 to be calibrated are interchanged. After the loading disk 4 rotates 90 degrees, the position of the eye - bolt changes. At this time, by adjusting the position of the eye - bolt in the arc - shaped groove 41, the spatial position of the eye - bolt is adjusted to the position consistent with that during the calibration of the single - component torque so that the wire rope 51 is parallel to the surface and the central axis of the workbench 1. As shown ​ After adjusting the position of the eye - bolt and then hanging the weights 52, at this time it is single - component torque loading

[0070] Based on the single - component torque During calibration, if the coupled calibration of torque and is to be carried out, according to the calibration requirements, the rotating shaft 21 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). After hanging the weights 52, as shown ​ At this time, the force line of the loading assembly 5 acts on the Y - axis of the multi - component force sensor 9 to be calibrated, and the wire rope 51 is parallel to the surface and the central axis of the workbench 1. As shown in the figure, the force line (wire rope 51) of the loading assembly 5 has an included angle with both the X - axis and Z - axis of the multi - component force sensor 9 to be calibrated. The resultant force generated by the weights 52 can be decomposed onto the X - axis and Z - axis of the multi - component force sensor 9 to be calibrated, realizing and coupled loading

[0071] Based on the calibration of the single-component torque If torque and coupling calibration is to be carried out, according to the calibration requirements, the rotating platform 3 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). After hanging the weight 52, as ​ shown, the force line of the loading component 5 extends in the Z-axis direction of the multi-component force sensor 9 to be calibrated, and the steel wire rope 51 is parallel to the surface and the central axis of the workbench 1. There are angles between the force line of the loading component 5 (steel wire rope 51) and both the X-axis and Y-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the X-axis and Y-axis of the multi-component force sensor 9 to be calibrated, realizing and coupling loading.

[0072] Based on the calibration of the single-component torque If torque and coupling calibration is to be carried out, according to the calibration requirements, the rotating shaft 21 can be controlled to rotate a preset angle (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees). After hanging the weight 52, as ​ shown, at this time, the force line of the loading component 5 acts on the X-axis of the multi-component force sensor 9 to be calibrated, and the steel wire rope 51 is parallel to the surface and the central axis of the workbench 1. As shown in the figure, there are angles between the force line of the loading component 5 (steel wire rope 51) and both the Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated. The resultant force generated by the weight 52 can be decomposed onto the Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated, realizing and coupling loading.

[0073] When performing , and coupling calibration, control the rotating shaft 21 and the rotating platform 3 to rotate preset angles (except 90 degrees, 180 degrees, 270 degrees, and 360 degrees) respectively, and adjust the position of the lifting eye screw so that after hanging the weight 52, the steel wire rope 51 is parallel to the surface and the central axis of the workbench 1. At this time, there are angles between the force line of the loading component 5 (steel wire rope 51) and the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 to be calibrated. As ​ shown, the resultant force generated by the weight 52 can be decomposed onto the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 to be calibrated, realizing , and coupling loading.

[0074] The calibration device of the present invention can apply loads of preset magnitudes and preset angles to single or multiple components of the multi-component force sensor to be calibrated according to different calibration requirements, so as to simulate the complex combined force states faced by the sensor in actual applications. This improves the comprehensiveness and accuracy of the calibration work and ensures that the measurement data of the sensor under multi-dimensional working conditions is closer to the actual usage scenarios.

[0075] The advantages of the present invention are as follows: It changes the mode of separately loading forces in each dimension of the traditional weight 52 type calibration device. By using a steel wire rope 51 to load the force source in the form of a resultant force, combined with the movement combination of the force reversing mechanism 2 and the rotating platform 3, the included angle between the force source and the multi-component force sensor 9 to be calibrated can be arbitrarily adjusted in the space rectangular coordinate system, enabling each component force value or torque to act independently on the coordinate system of the multi-component force sensor 9 to be calibrated through mechanical decomposition. This avoids mechanical interference during multi-dimensional loading, ensures the loading accuracy of each component force value, and can meet the full-component calibration requirements of the sensor in three-dimensional space. The gravity of the weight 52 serves as a stable force source, and through the combined movement of the force reversing mechanism 2 and the rotating platform 3, the spatial angle between the force source and the multi-component force sensor 9 to be calibrated is precisely adjusted. Since the direction of the force source is fixed and the loading path is unique, the repetitive error of the mechanical structure is significantly reduced. Coupled with the precise adjustment of the mass of the weight 52, high repeatability of force value loading can be achieved, improving the accuracy and reliability of the calibration results. The present invention can quickly switch the loading direction within the space range through the movement combination of the force reversing mechanism 2 and the rotating platform 3 after one installation, shortening the single calibration time and improving the efficiency. Due to the inability of the traditional calibration method with component force loading to restore the actual force scenario, through the resultant force loading and the adjustment of the rotation angle of the force reversing mechanism 2 and the rotating platform 3, the combined force acting on the sensor in the actual working condition can be simulated, and the force states under complex working conditions such as robot grasping and attitude changes of aviation equipment can be simulated, improving the consistency between the calibration results and the actual working conditions.

[0076] Although the specific implementation manners of the present invention have been described above, those skilled in the art of this technology should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should all be covered within the scope protected by the claims of the present invention.

Claims

1. A calibration device for a deadweight multi-component force sensor, characterized in that: Comprising: A workbench, a force reversing mechanism, a rotating platform, a loading plate and a loading assembly; The force reversing mechanism is rotationally connected to the workbench, the rotating platform is rotationally connected to the force reversing mechanism, and the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism; A turntable is fixed on the top of the rotating platform, a multi-component force sensor to be calibrated is fixed on the top of the turntable, the loading plate is fixed on the top of the multi-component force sensor to be calibrated, and the center lines of the loading plate and the multi-component force sensor to be calibrated coincide with the rotation center of the rotating platform. A loading connecting piece is arranged on the top of the loading plate, and a pulley assembly is arranged on the top of the workbench; When calibrating the force of the multi-component force sensor to be calibrated, the loading connecting piece is arranged at the center of the loading plate, and the connection line between the pulley assembly and the loading connecting piece is on the central axis of the workbench; When calibrating the torque of the multi-component force sensor to be calibrated, the loading connecting piece is arranged in the edge area of the loading plate, and the connection line between the pulley assembly and the loading connecting piece is parallel to the central axis of the workbench; and an arc-shaped groove is arranged in the edge area of the loading plate. When calibrating the torque of the multi-component force sensor to be calibrated, the loading connecting piece is fixed in the arc-shaped groove by a first nut; The loading assembly includes a steel wire rope and weights connected to the steel wire rope. The steel wire rope is wound outside the pulley assembly. The loading connecting piece has a circular ring part, and the circular ring part is coaxial with the rotation center of the force reversing mechanism. The steel wire rope is connected to the circular ring part.

2. The static weight multi-component force sensor calibration device according to claim 1, characterized in that: The force reversing mechanism includes: a rotating shaft, a rotating arm and a bottom plate; The rotating platform is connected to the bottom plate. The rotating shaft is arranged on the top of the workbench through a bearing seat and is connected to the rotating arm. The lower end of the rotating arm is connected to the bottom plate. The workbench has a sunken accommodation space. In the initial position, the lower end of the rotating arm is located in the accommodation space.

3. A deadweight multi-component force sensor calibration device according to claim 2, characterized in that: A first servo motor is further arranged on the top of the workbench, and the first servo motor is connected to one of the rotating shafts to drive the rotating shaft to rotate.

4. A static weight multi-component force sensor calibration device according to claim 2, characterized in that: An angle sensor for detecting the rotation angle of the rotating platform is further arranged on the top of the bottom plate.

5. The calibration device for a deadweight multi-component force sensor according to claim 2, characterized in that: A horizontal calibration table is arranged on the top of the bottom plate.

6. The calibration device for a deadweight multi-component force sensor according to claim 1, characterized in that: The pulley assembly includes a mounting bracket and a pulley rotationally connected to the mounting bracket. The edge of the workbench has a sliding part. The mounting bracket is slidably connected to the sliding part. The sliding part is provided with a T-shaped groove. A locking screw is arranged in the T-shaped groove. The mounting bracket is provided with a through hole. One end of the locking screw passes through the through hole and is tightened by a second nut.

7. The calibration device for a dead weight multi-component force sensor according to claim 6, characterized in that: The sliding part has three positioning marking lines corresponding to three working positions of the pulley assembly respectively, and indicating lines corresponding to the positioning marking lines are arranged on the mounting bracket.

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