A static weight type multi-component force sensor calibration device

Abstract

The application provides a static heavy type multi-component force sensor calibration device, which comprises a workbench, a force reversing mechanism, a rotating platform, a loading disc and a loading assembly; the rotating center of the rotating platform is perpendicular to the rotating center of the force reversing mechanism; the rotating platform is fixed with a rotating disc, the rotating disc is fixed with a calibrated multi-component force sensor, the loading disc is fixed on the top of the calibrated multi-component force sensor, the loading disc is provided with a loading connecting piece, and the top of the workbench is provided with a pulley assembly; when the force of the calibrated multi-component force sensor is calibrated, the connecting line between the pulley assembly and the loading connecting piece is on the central axis of the workbench; when the torque of the calibrated multi-component force sensor is calibrated, the connecting line between the pulley assembly and the loading connecting piece is parallel to the central axis of the workbench. The force loading mode is optimized, the force loading mode is changed from loading by each component to loading by a rope in the form of resultant force, mechanical interference during multi-dimensional loading is avoided, the high repeatability of force value loading can be realized, and the accuracy and reliability of the calibration result are improved.

Description

Technical Field

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

[0002] Multi-component force sensors, as high-precision measurement devices, are widely used in intelligent manufacturing, robotics, healthcare, aviation, aerospace, automotive, and other fields to measure and calculate force vectors. Multi-component force sensors can obtain accurate force values, enabling performance and safety evaluation and control of various devices and systems. Therefore, ensuring the accuracy and reliability of sensors under various operating conditions is crucial.

[0003] In order to ensure the accuracy and reliability of multi-component force sensors, the issue of traceability of the calibration of multi-component force sensors has also emerged: when using traditional force standard machines for calibration, special fixtures need to be customized to limit the displacement of the calibrated sensor in the direction of the test component. There are also problems such as the need for repeated installation, limited positioning accuracy, inability to test coupling errors, and complex operating procedures.

[0004] To this end, 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 device using weight as the comparison standard; 2. Calibration device using single-component standard dynamometer as the comparison standard; 3. Calibration device using multi-component force sensor as the comparison standard.

[0005] The weight-type calibration device currently generally adopts the method of loading forces in multiple dimensions separately, 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 and transforms the loading of each component into a combined force of all component loading sources through a rope.

[0007] The present invention is achieved in that:

[0008] In a first aspect, the present invention provides a static weight multi-component force sensor calibration device, comprising: a workbench, a force reversing mechanism, a rotating platform, a loading plate, and a loading assembly;

[0009] The force reversing mechanism is rotatably connected to the workbench, the rotating platform is rotatably 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;

[0010] A turntable is fixed on the top of the rotating platform, a calibrated multi-component force sensor is fixed on the top of the turntable, the loading disc is fixed on the top of the calibrated multi-component force sensor, and the center line of the loading disc and the center line of the calibrated multi-component force sensor coincide with the rotation center of the rotating platform, a loading connector is provided on the top of the loading disc, and a pulley assembly is provided on the top of the workbench;

[0011] When calibrating the force of the multi-component force sensor being calibrated, the loading connection member is arranged at the center of the loading disk, and the line connecting the pulley assembly and the loading connection member is on the central axis of the workbench;

[0012] When calibrating the torque of the calibrated multi-component force sensor, the loading connector is arranged at the edge area of ​​the loading disk, and the line connecting the pulley assembly and the loading connector is parallel to the central axis of the workbench; and an arc groove is provided at the edge area of ​​the loading disk, and when calibrating the torque of the calibrated multi-component force sensor, the loading connector is fixed in the arc groove by a first nut.

[0013] The loading assembly includes a steel wire rope and a weight connected to the steel wire rope. The steel wire rope is wound around the outside of the pulley assembly. The loading connector has an annular portion that is coaxial with the rotation center of the force reversing mechanism. The steel wire rope is connected to the annular portion.

[0014] Furthermore, the force reversing mechanism includes: a rotating shaft, a rotating arm and a bottom plate;

[0015] The rotating platform is connected to the base 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 base plate, and the workbench has a sunken accommodating space. In the initial position, the lower end of the rotating arm is located in the accommodating space.

[0016] Furthermore, a first servo motor is provided 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.

[0017] Furthermore, an angle sensor for detecting the rotation angle of the rotating platform is also provided on the top of the base plate.

[0018] Furthermore, a horizontal calibration platform is provided on the top of the base plate.

[0019] Furthermore, the pulley assembly includes a mounting bracket and a pulley rotatably connected to the mounting bracket. The edge of the workbench has a sliding portion, the mounting bracket is slidably connected to the sliding portion, the sliding portion is provided with a T-slot, a locking screw is provided in the T-slot, and 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.

[0020] Furthermore, the sliding portion has three positioning identification lines, which respectively correspond to the three working positions of the pulley assembly, and the mounting bracket is provided with indicator lines corresponding to the positioning identification lines.

[0021] The advantages of the present invention are:

[0022] 1. Change the mode of loading each dimension of force separately in the traditional weight-type calibration device, and load the force source in the form of combined force through a steel wire rope. Combined with the motion combination of the force reversing mechanism and the rotating platform, the angle between the force source and the calibrated multi-component force sensor can be arbitrarily adjusted in the spatial rectangular coordinate system to make the force value of each component ( 、 、 ) or torque ( 、 ) 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 each component force value, and meeting the full-component calibration requirements of the sensor in three-dimensional space.

[0023] 2. The weight of the weight acts as a stable force source. Through the combined motion of the force reversing mechanism and the rotating platform, the spatial angle between the force source and the multi-component force sensor being calibrated is precisely adjusted. Because the force source direction is fixed and the loading path is unique, the repeatability error of the mechanical structure is significantly reduced. Combined with precise adjustment of the weight mass, high repeatability of force loading can be achieved, improving the accuracy and reliability of the calibration results.

[0024] 3. After one installation, the present invention can quickly switch the loading direction within the spatial range through the movement combination of the force reversing mechanism and the rotating platform, shortening the single calibration time and improving efficiency.

[0025] 4. Traditional calibration methods cannot restore the actual force scenario due to component force loading. By adjusting the combined force loading and the force reversing mechanism and the rotation angle of the rotating platform, the composite force acting on the sensor in actual working conditions can be simulated. The force state under complex working conditions such as robot grasping and aviation equipment posture changes can be simulated, thereby improving the consistency of the calibration results with the actual working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the structure of a static weight multi-component force sensor calibration device in the present invention. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the structure of a static weight multi-component force sensor calibration device in the present invention. Figure 2 .

[0029] Figure 3 For the present invention Figure 1 Exploded view of the structure shown.

[0030] Figure 4 for Figure 3 A partial enlarged view of point A in the middle.

[0031] Figure 5 for Figure 3 A partial enlarged view of point B in the middle.

[0032] Figure 6 Schematic diagram of the loading structure in the present invention.

[0033] Figure 7 It is a structural schematic diagram in which the annular portion and the axis of the rotating shaft do not coincide with each other.

[0034] Figure 8 is the calibration single-component force in the present invention Schematic diagram of the calibration structure.

[0035] Figure 9 is the calibration single-component force in the present invention Schematic diagram of the calibration structure.

[0036] Figure 10 is the calibration single-component force in the present invention Schematic diagram of the calibration structure.

[0037] Figure 11 For the present invention and Schematic diagram of the coupling calibration structure.

[0038] Figure 12 For the present invention and Schematic diagram of the coupling calibration structure.

[0039] Figure 13 For the present invention and Schematic diagram of the coupling calibration structure.

[0040] Figure 14 For the present invention 、 and Schematic diagram of the coupling calibration structure.

[0041] Figure 15 is the single component moment in the present invention Schematic diagram of the calibration structure.

[0042] Figure 16 is the single component moment in the present invention Schematic diagram of the calibration structure.

[0043] Figure 17 is the single component moment in the present invention Schematic diagram of the calibration structure.

[0044] Figure 18 For the present invention and Schematic diagram of the coupling calibration structure.

[0045] Figure 19 For the present invention and Schematic diagram of the coupling calibration structure.

[0046] Figure 20 For the present invention and Schematic diagram of the coupling calibration structure.

[0047] Figure 21 For the present invention 、 and Schematic diagram of the coupling calibration structure.

[0048] Description of the numbers in the figure:

[0049] 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 plate; 41. Arc groove; 5. Loading assembly; 51. Wire rope; 52. Weight; 6. Positioning marking line; 7. Center axis of workbench; 8. Turntable; 9. Calibrated multi-component force sensor; 10. Loading connector; 101. Circular ring; 11. Pulley assembly; 111. Mounting bracket; 1111. Indicator line; 112. Pulley; 12. Accommodating space; 13. First servo motor; 14. Second servo motor; 15. Sliding part; 151. T-slot; 16. Locking screw. DETAILED DESCRIPTION

[0050] See also Figures 1 to 21 , the present invention provides a static weight type multi-component force sensor calibration device, comprising: a workbench 1, a force reversing mechanism 2, a rotating platform 3, a loading disk 4 and a loading assembly 5;

[0051] 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;

[0052] In the initial position, the Y-axis of the calibrated multi-component force sensor 9 coincides with the center of rotation of the force reversing mechanism 2, the X-axis direction of the calibrated multi-component force sensor 9 coincides with the center axis 7 of the workbench, and the Z-axis of the calibrated multi-component force sensor 9 coincides with the center of rotation of the rotating platform 3.

[0053] A turntable 8 is fixed on the top of the rotating platform 3. The rotating platform 3 is an existing product. The rotating platform 3 has a rotating part, and the turntable 8 is fixed on the rotating part.

[0054] The calibrated multi-component force sensor 9 is fixed on the top of the turntable 8, and the loading disk 4 is fixed on the top of the calibrated multi-component force sensor 9, and the center line of the loading disk 4 and the center line of the calibrated multi-component force sensor 9 coincide with the rotation center of the rotating platform 3, that is, the center line of the loading disk 4 coincides with the Z axis of the calibrated multi-component force sensor 9, a loading connector 10 is provided on the top of the loading disk 4, and a pulley assembly 11 is provided on the top of the workbench 1;

[0055] When calibrating the force of the calibrated multi-component force sensor 9, the loading connector 10 is arranged at the center of the loading disk 4, and the line connecting the pulley assembly 11 and the loading connector 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.

[0056] When calibrating the torque of the calibrated multi-component force sensor 9, the loading connector 10 is arranged in the edge area of ​​the loading disk 4, and the line connecting the pulley assembly 11 and the loading connector 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.

[0057] The loading assembly 5 includes a wire rope 51 and a weight 52 connected to the wire rope 51. The wire rope 51 is wound around the outside of the pulley assembly 11. The loading connector 10 has a circular ring portion 101 that is coaxial with the center of rotation of the force reversing mechanism 2 (i.e., the rotating shaft 21). The wire rope 51 is connected to the circular ring portion 101. The loading connector 10 is a lifting eye screw. One end of the wire rope 51 is connected to the circular ring portion 101 of the lifting eye screw, and the other end passes through the pulley assembly 11 and then connects to the weight 52. The height of the pulley assembly 11 matches the height of the lifting eye screw, ensuring that when the weight 52 is loaded, the force line remains 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 calibrated multi-component force sensor 9. The computer processes the collected data and calculates parameters such as error values ​​and calibration coefficients. The sensor calibration results, including error values ​​and calibration coefficients, are recorded for subsequent use and reference.

[0058] Specifically, the force reversing mechanism 2 includes: a rotating shaft 21, a rotating arm 22 and a bottom plate 23;

[0059] The annular portion 101 is coaxial with the rotating shaft 21, the rotating platform 3 is connected to the base plate 23, the rotating shaft 21 is arranged on the top of the workbench 1 through the bearing seat 24, and is connected to the rotating arm 22, the lower end of the rotating arm 22 is connected to the base plate 23, the workbench 1 has a sunken accommodating space 12, and in the initial position, the lower end of the rotating arm 22 is located in the accommodating space 12.

[0060] By configuring the depth of the rotating arm 22 extending into the accommodating space 12 , the position of the annular portion 101 can be adjusted so that the annular portion 101 is coaxial with the rotating shaft 21 .

[0061] When the force reversing mechanism 2 rotates, since the annular portion 101 is coaxial with the rotating shaft 21, without changing the height of the pulley assembly 11, a position can always be found on the annular portion 101 so that after the wire rope 51 is connected to the annular portion 101, the force line is always parallel to the upper surface of the workbench 1.

[0062] If the annular portion 101 and the axis of the rotating shaft 21 do not coincide with each other, Figure 7 As shown, when the force reversing mechanism 2 rotates, the height of the pulley assembly 11 needs to be adjusted to make the force line parallel to the upper surface of the workbench 1 to ensure the accuracy of the calibration. However, the method of adjusting the height of the pulley assembly 11 is inconvenient to operate and reduces the efficiency of the calibration.

[0063] Specifically, an arc groove 41 is provided at the edge of the loading plate 4. When calibrating the torque of the multi-component force sensor 9, the loading connector 10 is fixed in the arc groove 41 by a first nut. Figure 6 As shown, two arc-shaped grooves 41 are provided, and the central angle α corresponding to each arc-shaped groove 41 is greater than 90 degrees.

[0064] If the eye screw is locked to the edge area of ​​the loading plate 4 via a threaded hole (i.e., the position of the eye screw cannot be changed), when calibrating the torque of the multi-component force sensor 9, if the rotating platform 3 rotates about the Z-axis of the multi-component force sensor 9, or if the rotating platform 3 and the force reversing mechanism 2 undergo combined motion, the spatial position of the eye screw will change. Since the position of the eye screw cannot be changed, the force line of the loading assembly 5 cannot be made parallel to the upper surface of the worktable 1 or the worktable central axis 7. If the force line is not parallel to the upper surface of the worktable 1 or the worktable central axis 7, when a single-component force or moment is applied, the force line forms an angle with the coordinate axis, reducing the accuracy of the calibration.

[0065] When the single component or coupling load of the moment is loaded by the setting of the lifting ring screw fixed in the arc-shaped groove 41 by the first nut, the position of the lifting ring screw can be adjusted to ensure the consistency of the actual space position of the lifting ring screw and improve the accuracy of calibration.

[0066] Specifically, the top of the workbench 1 is further provided with a first servo motor 13, and one of the rotating shafts 21 is connected with the first servo motor 13 to drive the rotating shaft 21 to rotate. The other rotating shaft 21 is further connected with an encoder (not shown in the figure). The rotating angle of the rotating shaft 21 can be detected by the encoder, and the rotating angle is fed back to the control system. The control system then performs closed-loop adjustment on the rotation of the first servo motor 13 to achieve high-precision control of the rotating angle of the rotating shaft 21.

[0067] Specifically, the top of the bottom plate 23 is further provided with an angle sensor (not shown in the figure) for detecting the rotating angle of the rotating platform 3. The rotating platform 3 is a product in the prior art, and is driven to rotate by a second servo motor 14. The control of the second servo motor 14 is the same as that of the first servo motor 13. The rotating angle of the rotating platform 3 is fed back to the control system by the angle sensor. The control system then performs closed-loop adjustment on the rotation of the second servo motor 14 to achieve high-precision control of the rotating angle of the rotating platform 3.

[0068] Specifically, the top of the bottom plate 23 is provided with a horizontal calibration table 231. By placing a 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.

[0069] Specifically, the pulley assembly 11 includes a mounting bracket 111 and a pulley 112 rotationally connected with the mounting bracket 111. The edge of the workbench 1 has a sliding part 15, and the mounting bracket 111 is slidingly connected with the sliding part 15. The sliding part 15 is provided with a T-shaped groove 151, and the T-shaped groove 151 is provided with a locking screw 16. The mounting bracket 111 is provided with a through hole, and one end of the locking screw 16 passes through the through hole and is tightened by a second nut. After the single component force or coupling force of the multi-component force sensor 9 is calibrated, the pulley assembly 11 can be moved to correspond to the lifting ring screw located at the edge area of the loading disc 4, and then the pulley assembly 11 is locked and fixed by the second nut.

[0070] Specifically, the sliding portion 15 has three positioning marking lines 6, corresponding to the three working positions of the pulley assembly 11. The mounting bracket 111 is provided with indicator lines 1111 corresponding to the positioning marking lines 6. The provision of the positioning marking lines 6 and the indicator lines 1111 facilitates the operator in moving the pulley assembly 11 to a designated position. The three working positions are the first working position, the second working position, and the third working position, respectively. The second working position is located between the first and third working positions and corresponds to the force calibration of the calibrated multi-component force sensor 9. The remaining two working positions correspond to the torque calibration of the calibrated multi-component force sensor 9.

[0071] A specific application of the present invention is:

[0072] The multi-component force sensor 9 to be calibrated is fixed on the top of the turntable 8, and the loading plate 4 is fastened to the top of the multi-component force sensor 9 to be calibrated by bolts.

[0073] like Figure 8 As shown, in the initial position, the Z-axis of the calibrated multi-component force sensor 9 coincides with the center of rotation of the rotating platform 3, the Y-axis of the calibrated multi-component force sensor 9 coincides with the center of rotation of the rotating shaft 21, and the X-axis of the calibrated multi-component force sensor 9 coincides with the center axis 7 of the worktable. When calibrating the single-component force or coupled force of the calibrated multi-component force sensor 9, the loading connector 10 is located at the center of the loading plate 4; when calibrating the single-component torque or coupled torque of the calibrated multi-component force sensor 9, the loading connector 10 is located at the edge of the loading plate 4.

[0074] The single component force of the multi-component force sensor 9 is During calibration, in the initial position, a weight 52 is mounted on the loading connector 10 for loading, as shown in FIG. Figure 8 As shown, at this time, the force line of the loading assembly 5 coincides with the X-axis of the calibrated multi-component force sensor 9, which is a single-component force. load.

[0075] After the rotating platform 3 rotates 90 degrees, the X-axis and Y-axis of the calibrated multi-component force sensor 9 are interchanged. At this time, after the weight 52 is hung, as shown in FIG. Figure 9 As shown, it is a single component force load.

[0076] After the force reversing mechanism 2 rotates 90 degrees, the Z axis of the calibrated multi-component force sensor 9 rotates to a position that coincides with the center axis 7 of the workbench. At this time, after the weight 52 is hung, as shown in FIG. Figure 10 As shown, it is a single component force load.

[0077] In the case of the single-component force of the multi-component force sensor 9 being calibrated Based on the calibration, if you want to and The coupling loading can control the rotating platform 3 to rotate to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees) according to the calibration requirements. Figure 11 As shown in the figure, after the weight 52 is hung, the force line of the loading assembly 5 (wire rope 51) and the X-axis and Y-axis of the calibrated multi-component force sensor 9 are at an angle, and the resultant force generated by the weight 52 can be decomposed into the X-axis and Y-axis of the calibrated multi-component force sensor 9, achieving and coupled loading.

[0078] In the case of the single-component force of the multi-component force sensor 9 being calibrated Based on the calibration, if you want to and The coupling load can be controlled to rotate the force reversing mechanism 2 to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees) according to the calibration requirements, such as Figure 12 As shown in the figure, after the weight 52 is hung, the force line of the loading assembly 5 (wire rope 51) and the X-axis and Z-axis of the multi-component force sensor 9 to be calibrated have an angle, and the resultant force generated by the weight 52 can be decomposed into the X-axis and Z-axis of the multi-component force sensor 9 to be calibrated, so as to achieve and coupled loading.

[0079] In the case of the single-component force of the multi-component force sensor 9 being calibrated Based on the calibration, if you want to and The coupling load can be controlled to rotate the force reversing mechanism 2 to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees) according to the calibration requirements, such as Figure 13 As shown in the figure, after the weight 52 is hung, the force line of the loading assembly 5 (wire rope 51) and the Y axis and Z axis of the calibrated multi-component force sensor 9 have an angle, and the resultant force generated by the weight 52 can be decomposed into the Y axis and Z axis of the calibrated multi-component force sensor 9, achieving and coupled loading.

[0080] The calibrated multi-component force sensor 9 is 、 and During the coupling calibration, the force reversing mechanism 2 and the rotating platform 3 can be controlled to rotate to preset angles (except 90 degrees, 180 degrees, 270 degrees and 360 degrees) according to the calibration requirements, such as Figure 14 As shown in the figure, after the weight 52 is hung, the force line of the loading assembly 5 (wire rope 51) and the X-axis, Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated have angles, and the resultant force generated by the weight 52 can be decomposed into the X-axis, Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated, so as to achieve 、 and coupled loading.

[0081] The single component moment of the calibrated multi-component force sensor 9 During calibration, the pulley assembly 11 moves to the first or third working position, such as Figure 15 As shown, in the initial position, a weight 52 is mounted on the loading connector 10 to load the load. At this time, the load is a single-component moment. load. Figures 15 to 21 In the embodiment, the loading assembly 5 can be hung on different working positions to achieve the calibration of the torque in the clockwise or counterclockwise direction.

[0082] In single-component moment Based on the calibration, the single component moment of the multi-component force sensor 9 is During calibration, the control shaft 21 is rotated 90 degrees, and the X-axis and Z-axis positions of the multi-component force sensor 9 to be calibrated are interchanged, as shown in FIG. Figure 16 As shown, after the weight 52 is installed, it becomes a single component moment load.

[0083] In single-component moment On this basis, the single component moment of the calibrated multi-component force sensor 9 is During calibration, the rotating platform 3 is controlled to rotate 90 degrees, and the X-axis and Y-axis of the multi-component force sensor 9 to be calibrated are interchanged. After the loading plate 4 rotates 90 degrees, the position of the eye screw changes. At this time, the position of the eye screw in the arc groove 41 is adjusted to adjust the spatial position of the eye screw to the same as the calibration single-component moment. At the same position as the working table 1, the wire rope 51 is parallel to the surface and the central axis of the working table 1. Figure 17 As shown, after adjusting the position of the eye screw, the weight 52 is hung, and the moment is a single component. load.

[0084] In single-component moment Based on the calibration, if you want to perform torque and The coupling calibration can be carried out according to the calibration requirements. The shaft 21 can be controlled to rotate to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees). After the weight 52 is mounted, Figure 18 As shown, at this time, the force line of the loading assembly 5 acts on the Y axis of the calibrated multi-component force sensor 9, and the wire rope 51 is parallel to the surface and the central axis of the workbench 1. As shown in the figure, there is an angle between the force line of the loading assembly 5 (wire rope 51) and the X axis and Z axis of the calibrated multi-component force sensor 9, and the resultant force generated by the weight 52 can be decomposed into the X axis and Z axis of the calibrated multi-component force sensor 9, realizing and coupled loading.

[0085] In single-component moment Based on the calibration, if you want to perform torque and The coupling calibration can be carried out by controlling the rotating platform 3 to rotate to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees) according to the calibration requirements. After the weight 52 is mounted, Figure 19 As shown, the force line of the loading assembly 5 extends toward the Z-axis direction of the calibrated multi-component force sensor 9, and the steel wire rope 51 is parallel to the surface and the central axis of the workbench 1. There is an angle between the force line of the loading assembly 5 (steel wire rope 51) and the X-axis and Y-axis of the calibrated multi-component force sensor 9, and the resultant force generated by the weight 52 can be decomposed into the X-axis and Y-axis of the calibrated multi-component force sensor 9, realizing and coupled loading.

[0086] In single-component moment Based on the calibration, if you want to perform torque and The coupling calibration can be carried out according to the calibration requirements. The shaft 21 can be controlled to rotate to a preset angle (except 90 degrees, 180 degrees, 270 degrees and 360 degrees). After the weight 52 is mounted, Figure 20 As shown, at this time, the force line of the loading assembly 5 acts on the X axis of the calibrated multi-component force sensor 9, and the wire rope 51 is parallel to the surface and the central axis of the workbench 1. As shown in the figure, there is an angle between the force line of the loading assembly 5 (wire rope 51) and the Y axis and Z axis of the calibrated multi-component force sensor 9, and the resultant force generated by the weight 52 can be decomposed into the Y axis and Z axis of the calibrated multi-component force sensor 9, realizing and coupled loading.

[0087] conduct 、 and During the coupling calibration, the control shaft 21 and the rotating platform 3 are rotated by preset angles (except 90 degrees, 180 degrees, 270 degrees and 360 degrees), and the position of the eye screws is adjusted so that after the weight 52 is hung, the wire rope 51 is parallel to the surface and the central axis of the workbench 1. At this time, the force line of the loading assembly 5 (wire rope 51) and the X-axis, Y-axis and Z-axis of the multi-component force sensor 9 to be calibrated all have angles, such as Figure 21 As shown, the resultant force generated by the weight 52 can be decomposed into the X-axis, Y-axis and Z-axis of the calibrated multi-component force sensor 9 to achieve 、 and coupled loading.

[0088] The calibration device of this invention can apply loads of preset magnitudes and angles to a single or multiple components of a multi-component force sensor, depending on the calibration requirements. This simulates the complex and complex stress conditions encountered by the sensor in actual applications. This improves the comprehensiveness and accuracy of calibration, ensuring that the sensor's measurement data under multi-dimensional working conditions more closely resembles actual usage scenarios.

[0089] The advantages of the present invention are: changing the mode of loading the forces of each dimension separately in the traditional calibration device with weights 52, loading the force source in the form of a combined force through a steel wire rope 51, and combining the movement combination of the force reversing mechanism 2 and the rotating platform 3, the angle between the force source and the multi-component force sensor 9 to be calibrated can be arbitrarily adjusted in the spatial rectangular coordinate system, so that each component force value or torque can act independently on the coordinate system of the multi-component force sensor 9 to be calibrated through mechanical decomposition, avoiding mechanical interference during multi-dimensional loading, ensuring the loading accuracy of each component force value, and meeting 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 the spatial angle between the force source and the multi-component force sensor 9 to be calibrated is accurately adjusted through the combined movement of the force reversing mechanism 2 and the rotating platform 3. Since the direction of the force source is fixed and the loading path is unique, the repeatability error of the mechanical structure is greatly reduced. Combined 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. After a single installation, the present invention rapidly switches the loading direction within a spatial range through the combined motion of the force reversing mechanism 2 and the rotating platform 3, shortening the single calibration time and improving efficiency. Traditional calibration methods cannot reproduce the actual force scenario due to component force loading. By combining combined force loading with adjustment of the rotation angles of the force reversing mechanism 2 and the rotating platform 3, the combined forces acting on the sensor in actual working conditions can be simulated. This can also simulate the force state under complex working conditions such as robot grasping and the posture changes of aviation equipment, improving the consistency of calibration results with actual working conditions.

[0090] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A static weight multi-component force sensor calibration device, characterized by: include: Workbench, force reversing mechanism, rotating platform, loading plate and 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 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 calibrated multi-component force sensor is fixed on the top of the turntable, the loading disc is fixed on the top of the calibrated multi-component force sensor, and the center line of the loading disc and the center line of the calibrated multi-component force sensor coincide with the rotation center of the rotating platform, a loading connector is provided on the top of the loading disc, and a pulley assembly is provided on the top of the workbench; When calibrating the force of the multi-component force sensor being calibrated, the loading connection member is arranged at the center of the loading disk, and the line connecting the pulley assembly and the loading connection member is on the central axis of the workbench; When calibrating the torque of the calibrated multi-component force sensor, the loading connector is provided at an edge region of the loading disk, and a line connecting the pulley assembly and the loading connector is parallel to the central axis of the workbench; an arcuate groove is provided at the edge region of the loading disk, and when calibrating the torque of the calibrated multi-component force sensor, the loading connector is fixed in the arcuate groove by a first nut; The loading assembly includes a steel wire rope and a weight connected to the steel wire rope, the steel wire rope is wound around the outside of the pulley assembly, the loading connector has a circular ring portion, the circular ring portion is coaxial with the rotation center of the force reversing mechanism, and the steel wire rope is connected to the circular ring portion; The force reversing mechanism includes: a rotating shaft, a rotating arm and a bottom plate; The rotating platform is connected to the base 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 base plate, and the workbench has a sunken accommodating space. In the initial position, the lower end of the rotating arm is located in the accommodating space.

2. The deadweight multi-component force sensor calibration device according to claim 1, characterized in that: A first servo motor is also provided 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.

3. The deadweight multi-component force sensor calibration device according to claim 1, characterized in that: An angle sensor for detecting the rotation angle of the rotating platform is also provided on the top of the base plate.

4. The deadweight multi-component force sensor calibration device according to claim 1, characterized in that: A horizontal calibration platform is provided on the top of the base plate.

5. The deadweight multi-component force sensor calibration device according to claim 1, characterized in that: The pulley assembly includes a mounting bracket and a pulley rotatably connected to the mounting bracket. The edge of the workbench has a sliding portion, the mounting bracket is slidably connected to the sliding portion, the sliding portion is provided with a T-slot, a locking screw is provided in the T-slot, and 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.

6. The static weight type multi-component force sensor calibration device according to claim 5, characterized in that: The sliding portion has three positioning identification lines corresponding to the three working positions of the pulley assembly respectively, and the mounting bracket is provided with indicator lines corresponding to the positioning identification lines.

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