A multi-range multi-component sensor calibration apparatus and method

Abstract

The present application relates to the technical field of sensor calibration equipment, in particular to a large-range multi-component sensor calibration device and method, comprising a calibration table, a rotating table arranged inside the calibration table, force loading devices arranged on the left and right sides and directly above the rotating table, and a driver for adjusting the internal structure position of the force loading devices. The present application realizes full-automatic switching and accurate positioning of the sensor test direction through an integrated rotating and locking mechanism. The cylinder drives the moving disc, the rotating tube and the upper sensor are rotated 90° through the spiral slot, and the rigid locking is realized by the cooperation of the limiting rod and the positioning hole of the fixed cylinder. The multi-directional test in the traditional calibration, which needs to be manually disassembled, reassembled or uses multiple independent stations, is integrated into an automatic sequential action under one clamping.

Description

Technical Field

[0001] This invention relates to the field of sensor calibration equipment technology, and more specifically, to a large-range, multi-component sensor calibration device and method. Background Technology

[0002] A large-range multi-component sensor is a precision device that can simultaneously measure physical quantities such as force, torque, or acceleration in multiple directions. The core objective of its calibration is to establish a precise mathematical relationship between each input component and the output signal over a wide range and to eliminate cross-interference between components. Typically, this requires applying a precise and controllable multi-dimensional standard load on a professional multi-axis calibration device to systematically acquire full-range data, using algorithms to identify parameters, and achieving high-precision decoupling and output correction through a compensation matrix.

[0003] Patent application number CN202510935288.X discloses a large-range multi-component sensor calibration device and method. First, the device components are inspected and the target temperature range and compensation models for each temperature range are set. Then, dynamic temperature control is initiated, fixture deformation is monitored in real time, transient temperature gradient suppression technology is applied, multi-physical quantity calibration is performed, and compensated measurement values ​​are output. Next, multi-environment coupling calibration test conditions are set to simulate actual working conditions, and calibration data of each physical quantity are monitored and recorded. Finally, the calibration error is calculated by combining the calibration results with reference standard values.

[0004] However, existing calibration equipment typically requires manual operation to disassemble, reinstall, or transfer sensors between different workstations when calibrating sensors. This process is not only inefficient and lacks automation, but also inevitably introduces reinstallation errors, making it difficult to unify calibration benchmarks in different directions. This seriously affects the consistency and repeatability of calibration. Furthermore, when applying a composite load that can simultaneously generate axial force and bending moment around the axis, existing methods often require complex multi-step load superposition operations or rely on cumbersome tooling combinations, making it impossible to directly and efficiently generate the required composite load state. This results in a complex calibration process and makes it difficult to directly obtain the raw data required for high-quality decoupling calculations.

[0005] In view of this, we propose a calibration device and method for a large-range, multi-component sensor. Summary of the Invention

[0006] The purpose of this invention is to provide a large-range, multi-component sensor calibration device and method, which achieves fully automatic switching and precise positioning of the sensor test direction through an integrated rotation and locking mechanism, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A calibration device for a large-range multi-component sensor includes a calibration stage, a rotary table disposed inside the calibration stage, force loading devices disposed on the left and right sides and directly above the rotary table, and a driver for adjusting the position of the internal structure of the force loading devices.

[0009] The rotary table includes, from bottom to top, a cylinder, a rotating part, a sensor body that rotates with the rotating part, and a force-applying part;

[0010] The rotating part includes a fixed cylinder, a rotating tube rotating inside the fixed cylinder, a movable disk sliding inside the rotating tube and driven by a cylinder, a pair of levers disposed on the outer wall of the movable disk, a pair of rings disposed on the upper and lower sides of the movable disk, and several limiting rods circumferentially distributed inside the rotating tube wall and capable of radial extension and retraction. Two levers are provided on the inner wall of the rotating tube.

[0011] When the cylinder drives the moving disk to move upward, the paddle block moves along the paddle groove and drives the rotating tube to rotate 90°. When the moving disk moves to the top, the ring presses the limiting rod located on its outer side to fix the rotating tube.

[0012] The force-acting part includes a fixed plate that is fixedly connected to the top surface of the sensor body by bolts, four eccentric blocks that are regularly welded and fixed to the outer wall of the fixed plate, a sleeve set at the center of the top surface of the fixed plate, and a connecting rod that rotates inside the sleeve.

[0013] This setup allows the force to be applied to the eccentric block and the sleeve separately via a connecting rod, thus enabling the measurement of the radial bending moment and axial force components of the sensor body.

[0014] In the technical solution of the present invention, the calibration platform includes a support plate, a support rod fixedly connected to the top corner of the support plate by bolts, a top plate fixedly connected to the top of the four support rods by bolts, a mounting bracket welded to the top surface of the top plate, and support legs fixedly connected to the bottom corner of the support plate by bolts. A through groove is provided in the center of the top plate, and a partition is snapped into the inside of the support plate.

[0015] This setting provides a stable installation reference and force support for the entire calibration system, ensuring the rigidity of the device when a large range load is applied, and rationally planning the layout space of each functional module, which is a structural prerequisite for ensuring calibration accuracy.

[0016] In the technical solution of the present invention, the cylinder is fixedly connected to the bottom surface of the partition by bolts, the fixed cylinder in the rotating part is snapped and fixed between the support plate and the partition, the inner wall of the fixed cylinder is provided with positioning holes at the corresponding positions of the limiting rod, the two grooves in the rotating tube are vertical at the ends and spiral in the middle, and the rotating tube is provided with a through hole for the limiting rod to slide and the longitudinal section is H-shaped.

[0017] In the technical solution of the present invention, the movable disk is snapped and fixed to the end of the cylinder telescopic rod, the toggle block is snapped and fixed to the outer wall of the movable disk, a first spring is welded between the end wall of the ring and the rotating tube, the elastic force provided by the first spring pushes the ring to move towards the movable disk, the protrusion at the end of the limiting rod is adapted to the size of the positioning hole, a second spring is sleeved on the outside of the central shaft of the limiting rod, the end of the second spring is welded to the inner wall of the through hole, and the elastic force provided by the second spring pushes the limiting rod to move into the rotating tube.

[0018] The aforementioned rotation and locking mechanism enables precise indexing and rigid fixation of the sensor body at 90° in the horizontal plane, allowing for load calibration of the sensor body in another set of orthogonal directions without the need for manual adjustment of the sensor body's position.

[0019] In the technical solution of the present invention, the rotary table further includes a turntable fixedly connected to the top of the rotating tube by bolts, a connecting plate fixedly connected to the top surface of the turntable by bolts, and the sensor body fixedly connected to the top surface of the connecting plate by bolts.

[0020] In the technical solution of the present invention, the force-acting part further includes a limiting block that slides in the groove of the outer wall of the connecting rod and a third spring welded between the groove of the outer wall of the connecting rod and the inner wall of the limiting block. The outer wall of the sleeve is provided with a limiting groove that matches the size of the limiting block. The limiting block is flat-topped curved.

[0021] The aforementioned force-acting part serves as the interface for transmitting calibration loads. Its eccentric block is used to bear lateral forces to calibrate Fx and Fy and to generate a force couple to calibrate Mz. The sleeve and connecting rod combination is used to apply pure axial force Fz, which is the core carrier for realizing independent and composite loading of multidimensional force components.

[0022] In the technical solution of the present invention, the force loading device located below includes a guide rail fixedly connected to the top surface of the support plate by bolts, a lead screw rotatably connected to the brackets at both ends of the top surface of the guide rail, a slide table slidably connected to the top surface of the guide rail and threadedly connected to the lead screw, a hydraulic cylinder fixedly connected to the outer wall of the protruding frame on the top surface of the slide table by bolts, and a force-acting rod clamped to the end of the telescopic rod of the hydraulic cylinder. The guide rail in the force loading device located directly above is fixedly connected to the outer wall of the mounting frame by bolts, and the end of the force-acting rod in the force loading device located directly above is fixedly connected to the connecting rod by bolts.

[0023] This setting allows for lateral adjustment of the point of application to accommodate eccentric blocks in different directions. The hydraulic cylinder, as a force source, provides a standard load with a large range, thus enabling the application of precise force or torque to specific locations as needed.

[0024] In the technical solution of the present invention, the driver includes a motor, a rotating shaft coaxially connected to the output shaft of the motor, two symmetrically arranged main bevel gears and snapped and fixed on the outer wall of the rotating shaft, and a secondary bevel gear meshing with the main bevel gears. The secondary bevel gears are snapped and fixed to the end of the lead screw in the lower force loading device.

[0025] In the technical solution of the present invention, the driver also includes two symmetrically arranged bending frames that are fixedly connected to the top surface of the support plate by bolts and a bearing for supporting the rotating shaft. The motor is fixed to the outer wall of the bending frame by bolts, and the motor is fixedly connected to the mounting frame by bolts on the outer side of the lead screw end in the force loading device located above.

[0026] The above setup uses a single motor to drive a symmetrical gear transmission system, which can synchronously and in reverse drive the slides on both sides to move, ensuring the symmetrical coordination of the left and right force application points and improving the efficiency and consistency of loading point positioning during calibration.

[0027] On the other hand, the present invention also provides a large-range multi-component sensor calibration method, using the above-mentioned large-range multi-component sensor calibration device, comprising the following steps:

[0028] S1. First, the operator fixes the sensor body to be calibrated onto the connecting plate and fixes the connecting plate to the top of the turntable. Then, the connecting rod in the force application part is fixedly connected to the end of the force application rod of the force loading device located above.

[0029] S2. Next, the hydraulic cylinders on the left and right sides of the rotary table are controlled to move sequentially, applying horizontal forces to the sides of the eccentric blocks at the left and right ends of the fixed disk through the force rods. The output signal of the sensor body is collected and recorded simultaneously to calibrate the force response of the sensor in the Fx direction. After completion, the motor of the driver is controlled to run, driving the lead screw in a pair of force loading devices to rotate through gear transmission, causing the slides on the left and right sides to move towards each other along the guide rail until the force rods move to a position opposite to the sides of the eccentric blocks at the front and rear ends of the fixed disk. Then, the hydraulic cylinders are controlled to move sequentially again, applying horizontal forces to the sides of the eccentric blocks at the front and rear ends through the force rods. This set of force couples will generate a torque Mz around the Z-axis on the sensor body. The sensor output signal at this time is collected and recorded simultaneously to calibrate the torque response in the Mz direction.

[0030] S3. Subsequently, the motor located above is controlled to rotate, which drives the slide table in the force loading device above to move, positioning the hydraulic cylinder and the force rod to be directly above the top surface of the eccentric blocks at both ends of the fixed plate. Then, the hydraulic cylinder drives the force rod to apply a vertical force downward to the top surface of the eccentric block. Since the point of application is off from the center of the sensor, this vertical force will simultaneously generate a bending moment around the X-axis. The output signal of the sensor body is collected and recorded simultaneously to obtain the response data under the combined load of Fz and Mx.

[0031] S4. Then, the control cylinder drives the moving disk to move upward, causing the paddle to move along the spiral groove, driving the rotating tube and sensor body to rotate 90°. Then the moving disk continues to move upward to the top, and the ring squeezes the limiting rod to make it extend radially and insert into the positioning hole of the fixed cylinder, locking the rotating tube in the position after rotation.

[0032] S5. Subsequently, control the force loading devices on the left and right sides to repeat the operation in S2, and perform lateral force calibration on the sensor body after rotating 90° again. The physical quantities corresponding to this calibration are Fy and Mz in the original coordinate system of the sensor, respectively. Then control the force loading device above to repeat the operation described in step S3 to obtain new composite load response data after the sensor rotates.

[0033] S6. Next, control the upper hydraulic cylinder to drive the force rod and connecting rod downwards, so that the connecting rod is inserted into the sleeve and a vertically downward force is applied to the sleeve. Simultaneously, the output signal of the sensor body is collected and recorded to calibrate the response of the pure axial force -Fz in the negative Z-axis direction. After the connecting rod is in place, the limiting block on its outer side is locked into the limiting groove under the action of the third spring to achieve circumferential fixation. Then, control the hydraulic cylinder to drive the connecting rod upwards, apply a vertically upward force to the sleeve, and simultaneously collect and record the sensor output signal to calibrate the response of the pure axial force +Fz in the positive Z-axis direction.

[0034] S7. Finally, based on all the standard load values ​​and sensor output signals recorded in the above steps, the sensor sensitivity matrix and coupling coefficients between each dimension are calculated by the system identification algorithm to complete the calibration. Then, the control cylinder drives the moving plate to move down to reset the rotating part, and the upper hydraulic cylinder is controlled to separate the connecting rod from the sleeve to remove the calibrated sensor body.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] 1. This large-range, multi-component sensor calibration device and method achieves fully automatic switching and precise positioning of sensor test directions through an integrated rotation and locking mechanism. A cylinder drives a moving disk, which in turn rotates the rotating tube and the sensor above it by 90° via a spiral groove. Rigid locking is achieved through the cooperation of a limit rod and the positioning hole of the fixed cylinder. This integrates multi-directional testing, which traditionally requires manual disassembly, reassembly, or multiple independent workstations, into an automated, sequential action within a single clamping operation. This significantly reduces human intervention, avoids reassembly errors, ensures the uniformity and reliability of calibration benchmarks in each direction, and improves the automation and repeatability of the calibration process.

[0037] 2. This large-range, multi-component sensor calibration device and method achieves efficient generation and decoupling calibration of composite loads under a single loading action through a two-dimensionally movable force application system and an eccentric point of application. The force loading device can be precisely moved and positioned along the guide rail. By accurately controlling the position and direction of the force application point, a single linear loading can simultaneously generate axial force and bending moment around the axis on the sensor, thereby directly obtaining the original response data of coupled states such as Fz, Mx or Fz, My. This method avoids the complex load superposition operation required to obtain composite loads, simplifies the calibration model, and provides a more direct and efficient experimental data basis for subsequent high-precision decoupling calculations. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 This is a cross-sectional schematic diagram of the calibration platform in this invention;

[0040] Figure 3 This is a schematic diagram of the rotating platform in this invention;

[0041] Figure 4 This is a structural breakdown diagram of the rotary table in this invention;

[0042] Figure 5 This is a cross-sectional schematic diagram of the rotating part in this invention;

[0043] Figure 6 This is a cross-sectional schematic diagram of the fixed cylinder structure in this invention;

[0044] Figure 7 This is a cross-sectional schematic diagram of the rotating tube in this invention;

[0045] Figure 8 This is a partial structural diagram of the rotating part in this invention;

[0046] Figure 9 This is a schematic diagram of the force-acting part in the present invention;

[0047] Figure 10 This is a partial structural breakdown diagram of the force-acting part in this invention;

[0048] Figure 11 This is a schematic diagram of the force loading device in this invention;

[0049] Figure 12 This is a schematic diagram of the driver structure in this invention;

[0050] Explanation of reference numerals in the attached figures:

[0051] 100. Calibration platform; 110. Support plate; 120. Support rod; 130. Top plate; 131. Through slot; 140. Mounting bracket; 150. Support leg; 160. Partition plate;

[0052] 200. Rotary table; 210. Cylinder; 220. Rotating part; 221. Fixed cylinder; 2210. Positioning hole; 222. Rotating tube; 2220. Slot; 2221. Through hole; 223. Moving disk; 224. Slot; 225. Ring; 226. First spring; 227. Limiting rod; 228. Second spring; 230. Turntable; 240. Connecting disk; 250. Sensor body; 260. Force-acting part; 261. Fixed disk; 262. Eccentric block; 263. Sleeve; 2630. Limiting slot; 264. Connecting rod; 265. Limiting block; 266. Third spring;

[0053] 300. Force loading device; 310. Guide rail; 320. Lead screw; 330. Slide table; 340. Hydraulic cylinder; 350. Force actuating rod;

[0054] 400, Driver; 410, Motor; 420, Shaft; 430, Main bevel gear; 440, Secondary bevel gear; 450, Bending frame; 460, Shaft seat. Detailed Implementation

[0055] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0056] Please see Figures 1-2 As shown, this embodiment provides the following technical solution:

[0057] A calibration device for a large-range multi-component sensor includes a calibration stage 100, a rotary stage 200 disposed inside the calibration stage 100, force loading devices 300 disposed on the left and right sides and directly above the rotary stage 200, and a driver 400 for adjusting the position of the internal structure of the force loading device 300.

[0058] Specifically, the calibration platform 100 includes a support plate 110, support rods 120 fixedly connected to the top corners of the support plate 110 by bolts, a top plate 130 fixedly connected to the tops of the four support rods 120 by bolts, a mounting bracket 140 welded to the top surface of the top plate 130, and support legs 150 fixedly connected to the bottom corners of the support plate 110 by bolts. A through groove 131 is provided in the center of the top plate 130, and a partition 160 is snapped into the inside of the support plate 110.

[0059] Furthermore, the support plate 110, support rod 120, top plate 130, and support leg 150 are all used to ensure the overall structural strength of the calibration platform 100. The mounting frame 140 and partition plate 160 are used to provide fixed intervals for the structures in the force loading device 300 and the rotary table 200, respectively. This setting provides a stable installation reference and force support for the entire calibration system, ensures the rigidity of the device when a large range load is applied, and rationally plans the layout space of each functional module, which is a structural prerequisite for ensuring calibration accuracy.

[0060] Please see Figures 1-8 As shown, in this embodiment, the rotary table 200 includes a cylinder 210, a rotating part 220, a sensor body 250 that rotates with the rotating part 220, and a force application part 260 arranged sequentially from bottom to top.

[0061] Specifically, the rotating part 220 includes a fixed cylinder 221, a rotating tube 222 rotating inside the fixed cylinder 221, a movable disk 223 sliding inside the rotating tube 222 and driven by a cylinder 210, a pair of levers 224 disposed on the outer wall of the movable disk 223, a pair of rings 225 disposed on the upper and lower sides of the movable disk 223, and several limiting rods 227 circumferentially distributed inside the wall of the rotating tube 222 and capable of radial extension and retraction. Two grooves 2220 are provided on the inner wall of the rotating tube 222. When the cylinder 210 drives the movable disk 223 to move upward, the levers 224 move along the grooves 2220 and drive the rotating tube 222 to rotate 90°. When the movable disk 223 moves to the top, the rings 225 press the limiting rods 227 located on its outer side to fix the rotating tube 222.

[0062] Furthermore, the cylinder 210 is fixedly connected to the bottom surface of the partition 160 by bolts, and the fixed cylinder 221 in the rotating part 220 is snapped and fixed between the support plate 110 and the partition 160. The inner wall of the fixed cylinder 221 is provided with positioning holes 2210 at the corresponding positions of the limiting rod 227. The two grooves 2220 in the rotating tube 222 are vertical at the ends and spiral in the middle. The rotating tube 222 is provided with a through hole 2221 with an H-shaped longitudinal section for the limiting rod 227 to slide.

[0063] Furthermore, the movable disk 223 is snapped and fixed to the end of the telescopic rod of the cylinder 210, and the toggle block 224 is snapped and fixed to the outer wall of the movable disk 223. A first spring 226 is welded between the end wall of the ring 225 and the rotating tube 222. The elastic force provided by the first spring 226 pushes the ring 225 to move towards the movable disk 223. The protrusion at the end of the limiting rod 227 is adapted to the size of the positioning hole 2210. A second spring 228 is sleeved on the outside of the central shaft of the limiting rod 227. The end of the second spring 228 is welded to the inner wall of the through hole 2221. The elastic force provided by the second spring 228 pushes the limiting rod 227 to move into the rotating tube 222.

[0064] Furthermore, the control cylinder 210 drives the moving disk 223 to move upward, causing the toggle block 224 to move along the spiral groove 2220, driving the rotating tube 222 and the sensor body 250 to rotate 90°. Then the moving disk 223 continues to move upward to the top, and the ring 225 squeezes the limiting rod 227 to make it extend radially and insert into the positioning hole 2210 of the fixed cylinder 221, locking the rotating tube 222 in the position after rotation. This rotation and locking mechanism enables the sensor body 250 to be accurately indexed and rigidly fixed in the horizontal plane at 90°, and completes the load calibration of the sensor body 250 in another set of orthogonal directions without the need for manual adjustment of the position of the sensor body 250.

[0065] Please see Figures 9-10 As shown, in this embodiment, the rotary table 200 also includes a turntable 230 fixedly connected to the top of the rotating tube 222 by bolts, a connecting plate 240 fixedly connected to the top surface of the turntable 230 by bolts, and a sensor body 250 fixedly connected to the top surface of the connecting plate 240 by bolts.

[0066] Specifically, the force application part 260 includes a fixed plate 261 fixed to the top surface of the sensor body 250 by bolts, four eccentric blocks 262 regularly welded and fixed to the outer wall of the fixed plate 261, a sleeve 263 set at the center of the top surface of the fixed plate 261, and a connecting rod 264 rotating inside the sleeve 263. By applying force to the eccentric blocks 262 and the sleeve 263 through the connecting rod 264, the radial bending moment and axial force components of the sensor body 250 can be measured.

[0067] Furthermore, the force-acting part 260 also includes a limiting block 265 that slides in the groove on the outer wall of the connecting rod 264 and a third spring 266 welded between the groove on the outer wall of the connecting rod 264 and the inner wall of the limiting block 265. A limiting groove 2630 adapted to the size of the limiting block 265 is provided on the outer wall of the sleeve 263. The limiting block 265 is flat-topped curved.

[0068] Furthermore, before calibration begins, the operator fixes the sensor body 250 to be calibrated onto the connecting plate 240 and fixes the connecting plate 240 onto the top of the turntable 230. Then, the connecting rod 264 in the force application part 260 is fixedly connected to the end of the force application rod 350 of the force loading device 300 located above. The four eccentric blocks 262 on the fixed plate 261 are used to provide the force application point for the structure in the force loading device 300. After the connecting rod 264 is inserted into the sleeve 263, when the sleeve 263 rotates 90°, the limiting block 265 can extend into the limiting groove 2630 under the action of the third spring 266. This setting of the force application part serves as the interface for transmitting calibration load. Its eccentric block 262 is used to bear lateral force to calibrate Fx, Fy and generate a force couple to calibrate Mz. The sleeve 263 and the connecting rod 264 are combined to apply pure axial force Fz, which is the core carrier for realizing independent and composite loading of multi-dimensional force components.

[0069] Please see Figure 11 As shown, in this embodiment, the force loading device 300 located below includes a guide rail 310 fixedly connected to the top surface of the support plate 110 by bolts, a lead screw 320 rotatably connected to the brackets at both ends of the top surface of the guide rail 310, a slide table 330 slidably connected to the top surface of the guide rail 310 and threadedly connected to the lead screw 320, a hydraulic cylinder 340 fixedly connected to the outer wall of the protruding frame on the top surface of the slide table 330 by bolts, and a force-applying rod 350 snapped into the end of the telescopic rod of the hydraulic cylinder 340. The guide rail 310 in the force loading device 300 located directly above is fixedly connected to the outer wall of the mounting frame 140 by bolts, and the end of the force-applying rod 350 in the force loading device 300 located directly above is fixedly connected to the connecting rod 264 by bolts.

[0070] Furthermore, the guide rail 310 provides a rotating platform for the lead screw 320. After the lead screw 320 rotates, it drives the slide 330 to move on the guide rail 310, thereby adjusting the position of the hydraulic cylinder 340 and the force rod 350. The hydraulic cylinder 340 controls the movement of the force rod 350 to apply force to the eccentric block 262. This setting enables lateral adjustment of the point of application to accommodate the eccentric block 262 in different directions. The hydraulic cylinder 340 provides a standard load with a large range as a force source, thereby enabling the application of precise force or torque to specific parts as needed.

[0071] Please see Figure 12 As shown, in this embodiment, the driver 400 includes a motor 410, a rotating shaft 420 coaxially connected to the output shaft of the motor 410, two symmetrically arranged main bevel gears 430 and snapped onto the outer wall of the rotating shaft 420, and a secondary bevel gear 440 meshing with the main bevel gears 430. The secondary bevel gear 440 is snapped onto the end of the lead screw 320 in the lower force loading device 300.

[0072] Specifically, the driver 400 also includes two symmetrically arranged bending frames 450 that are bolted to the top surface of the support plate 110 and a bearing 460 for supporting the rotating shaft 420. The motor 410 is bolted to the outer wall of the bending frame 450. The motor 410 is bolted to the outer side of the end of the lead screw 320 in the upper force loading device 300.

[0073] Furthermore, the motor 410 of the control driver 400 operates, driving the rotating shaft 420 to rotate. Through the meshing of the main bevel gear 430 and the secondary bevel gear 440, the lead screw 320 in the pair of force loading devices 300 is driven to rotate. The bending frame 450 and the bearing 460 are used to ensure the stability of the overall structure of the driver 400. This setting drives the symmetrical gear transmission system through a single motor 410, which can drive the slides 330 on both sides to move synchronously and in opposite directions, ensuring the symmetrical coordination of the left and right force application points and improving the efficiency and consistency of the loading point positioning during the calibration process.

[0074] The large-range multi-component sensor calibration method of the present invention, using the above-described large-range multi-component sensor calibration device, includes the following steps:

[0075] S1. First, the operator fixes the sensor body 250 to be calibrated on the connecting plate 240 and fixes the connecting plate 240 to the top of the turntable 230. Then, the connecting rod 264 in the force application part 260 is fixedly connected to the end of the force application rod 350 of the force loading device 300 located above.

[0076] S2. Next, the hydraulic cylinders 340 on the left and right sides of the rotary table 200 are controlled to move sequentially, and the force rods 350 apply horizontal forces to the sides of the eccentric blocks 262 at the left and right ends of the fixed disk 261 respectively. The output signal of the sensor body 250 is collected and recorded simultaneously to calibrate the force response of the sensor in the Fx direction. After completion, the motor 410 of the driver 400 is controlled to run, and the lead screws 320 in the pair of force loading devices 300 are driven to rotate through gear transmission, which drives the slides 330 on the left and right sides to move towards each other along the guide rail 310 until the force rods 350 move to a position opposite to the sides of the eccentric blocks 262 at the front and rear ends of the fixed disk 261. Then, the hydraulic cylinders 340 are controlled to move sequentially again, and the force rods 350 apply horizontal forces to the sides of the eccentric blocks 262 at the front and rear ends. This set of force couples will generate a torque Mz around the Z-axis on the sensor body 250. The sensor output signal at this time is collected and recorded simultaneously to calibrate the torque response in the Mz direction.

[0077] S3. Subsequently, the motor 410 located above is controlled to rotate, which drives the slide 330 in the force loading device 300 above to move, positioning the hydraulic cylinder 340 and the force rod 350 directly above the top surface of the eccentric blocks 262 at both ends of the fixed plate 261. Then, the hydraulic cylinder 340 drives the force rod 350 to apply a vertical force downward to the top surface of the eccentric block 262. Since the point of application is off-center from the sensor, the vertical force will simultaneously generate a bending moment around the X-axis. The output signal of the sensor body 250 is collected and recorded simultaneously to obtain the response data under the combined load of Fz and Mx.

[0078] S4. Then, the control cylinder 210 drives the moving disk 223 to move upward, causing the toggle block 224 to move along the spiral groove 2220, driving the rotating tube 222 together with the sensor body 250 to rotate 90°. Then the moving disk 223 continues to move upward to the top, and the ring 225 squeezes the limiting rod 227 to make it extend radially and insert into the positioning hole 2210 of the fixed cylinder 221, locking the rotating tube 222 in the position after rotation.

[0079] S5. Subsequently, the force loading devices 300 on the left and right sides are controlled to repeat the operation in S2 to perform lateral force calibration on the sensor body 250 after it has been rotated 90°. The physical quantities corresponding to this calibration are Fy and Mz in the original coordinate system of the sensor, respectively. The force loading device 300 above is controlled to repeat the operation in step S3 to obtain the new Fz and My composite load response data after the sensor is rotated.

[0080] S6. Next, the hydraulic cylinder 340 above drives the force rod 350 and connecting rod 264 downward, so that the connecting rod 264 is inserted into the sleeve 263 and a vertically downward force is applied to the sleeve 263. At the same time, the output signal of the sensor body 250 is collected and recorded to calibrate the response of the pure axial force -Fz in the negative Z-axis direction. After the connecting rod 264 is in place, the limiting block 265 on its outer side is locked into the limiting groove 2630 under the action of the third spring 266 to achieve circumferential fixation. Then, the hydraulic cylinder 340 is controlled to drive the connecting rod 264 upward, applying a vertically upward force to the sleeve 263. At the same time, the sensor output signal is collected and recorded to calibrate the response of the pure axial force +Fz in the positive Z-axis direction.

[0081] S7. Finally, based on all the standard load values ​​and sensor output signals recorded in the above steps, the sensor sensitivity matrix and coupling coefficients between each dimension are calculated by the system identification algorithm to complete the calibration. Then, the control cylinder 210 drives the moving disk 223 to move down to reset the rotating part 220, and the control cylinder 340 above controls the connecting rod 264 to separate from the sleeve 263, and the calibrated sensor body 250 is taken out.

[0082] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the specification and its equivalents.

Claims

1. A calibration device for a large-range, multi-component sensor, characterized in that: It includes a calibration stage, a rotary table inside the calibration stage, force loading devices on the left and right sides and directly above the rotary table, and a driver for adjusting the position of the internal structure of the force loading device. The rotary table includes, from bottom to top, a cylinder, a rotating part, a sensor body that rotates with the rotating part, and a force-applying part; The rotating part includes a fixed cylinder, a rotating tube rotating inside the fixed cylinder, a movable disk sliding inside the rotating tube and driven by a cylinder, a pair of levers disposed on the outer wall of the movable disk, a pair of rings disposed on the upper and lower sides of the movable disk, and several limiting rods circumferentially distributed inside the rotating tube wall and capable of radial extension and retraction. Two levers are provided on the inner wall of the rotating tube. When the cylinder drives the movable disk to move upward, the levers move along the levers and drive the rotating tube to rotate 90°. When the movable disk moves to the top, the rings press the limiting rods located on its outer side to fix the rotating tube. The force-applying part includes a fixed plate that is bolted to the top surface of the sensor body, four eccentric blocks that are regularly welded and fixed to the outer wall of the fixed plate, a sleeve set at the center of the top surface of the fixed plate, and a connecting rod that rotates inside the sleeve. The connecting rod applies force to the eccentric blocks and the sleeve respectively, so that the radial bending moment and axial force components of the sensor body can be measured. Next, the hydraulic cylinders on the left and right sides of the rotary table are controlled to move sequentially, applying horizontal forces to the sides of the eccentric blocks at the left and right ends of the fixed plate through the force-acting rods. The output signal of the sensor body is collected and recorded simultaneously to calibrate the force response of the sensor in the Fx direction. After completion, the motor of the driver is controlled to run, driving the lead screw in a pair of force loading devices to rotate through gear transmission, causing the slides on the left and right sides to move towards each other along the guide rail until the force-acting rods move to a position opposite to the sides of the eccentric blocks at the front and rear ends of the fixed plate. Then, the hydraulic cylinders are controlled to move sequentially again, applying horizontal forces to the sides of the eccentric blocks at the front and rear ends through the force-acting rods. This set of force couples will generate a torque Mz around the Z-axis on the sensor body. The sensor output signal at this time is collected and recorded simultaneously to calibrate the torque response in the Mz direction. Subsequently, the motor located above is rotated, which drives the slide in the force loading device above to move, positioning the hydraulic cylinder and the force rod directly above the top surface of the eccentric blocks at both ends of the fixed plate. Then, the hydraulic cylinder drives the force rod to apply a vertical force downward to the top surface of the eccentric block. Since the point of application is off-center from the sensor, this vertical force will simultaneously generate a bending moment around the X-axis. The output signal of the sensor body is collected and recorded synchronously to obtain the response data under the combined load of Fz and Mx.

2. The large-range multi-component sensor calibration device according to claim 1, characterized in that: The calibration platform includes a support plate, support rods fixed to the top corners of the support plate with bolts, a top plate fixed to the top of the four support rods with bolts, a mounting bracket welded to the top surface of the top plate, and support legs fixed to the bottom corners of the support plate with bolts. A through groove is provided in the center of the top plate, and a partition is snapped into the inside of the support plate.

3. The large-range multi-component sensor calibration device according to claim 2, characterized in that: The cylinder is fixedly connected to the bottom surface of the partition by bolts. The fixed cylinder in the rotating part is snapped and fixed between the support plate and the partition. The inner wall of the fixed cylinder is provided with positioning holes at the corresponding positions of the limiting rod. The two grooves in the rotating tube are vertical at the ends and spiral in the middle. The rotating tube is provided with a through hole with an H-shaped longitudinal section for the limiting rod to slide.

4. The large-range multi-component sensor calibration device according to claim 3, characterized in that: The movable disc is snapped and fixed to the end of the cylinder telescopic rod, and the lever is snapped and fixed to the outer wall of the movable disc. A first spring is welded between the end wall of the ring and the rotating tube. The elastic force provided by the first spring pushes the ring to move towards the movable disc. The protrusion at the end of the limiting rod is adapted to the size of the positioning hole. A second spring is sleeved on the outside of the central shaft of the limiting rod. The end of the second spring is welded to the inner wall of the through hole. The elastic force provided by the second spring pushes the limiting rod to move into the rotating tube.

5. The large-range multi-component sensor calibration device according to claim 4, characterized in that: The rotary table also includes a turntable fixedly connected to the top of the rotating tube by bolts, a connecting plate fixedly connected to the top surface of the turntable by bolts, and the sensor body fixedly connected to the top surface of the connecting plate by bolts.

6. The large-range multi-component sensor calibration device according to claim 5, characterized in that: The force-acting part also includes a limiting block that slides in a groove on the outer wall of the connecting rod and a third spring welded between the groove on the outer wall of the connecting rod and the inner wall of the limiting block. The outer wall of the sleeve is provided with a limiting groove that matches the size of the limiting block. The limiting block is flat-topped curved.

7. The large-range multi-component sensor calibration device according to claim 6, characterized in that: The force loading device located below includes a guide rail fixedly connected to the top surface of the support plate by bolts, a lead screw rotatably connected to the brackets at both ends of the top surface of the guide rail, a slide table slidably connected to the top surface of the guide rail and threadedly connected to the lead screw, a hydraulic cylinder fixedly connected to the outer wall of the protruding frame on the top surface of the slide table by bolts, and a force-applying rod snapped onto the end of the telescopic rod of the hydraulic cylinder. The guide rail in the force loading device located directly above is fixedly connected to the outer wall of the mounting frame by bolts, and the end of the force-applying rod in the force loading device located directly above is fixedly connected to the connecting rod by bolts.

8. The large-range multi-component sensor calibration device according to claim 7, characterized in that: The driver includes a motor, a rotating shaft coaxially connected to the output shaft of the motor, two symmetrically arranged main bevel gears that are snapped and fixed to the outer wall of the rotating shaft, and a secondary bevel gear that meshes with the main bevel gears. The secondary bevel gear is snapped and fixed to the end of the lead screw in the lower force loading device.

9. The large-range multi-component sensor calibration device according to claim 8, characterized in that: The driver also includes two symmetrically arranged bending frames that are bolted to the top surface of the support platform and a bearing for supporting the rotating shaft. The motor is bolted to the outer wall of the bending frame, and the motor is bolted to the mounting bracket on the outer side of the lead screw end in the upper force loading device.

10. A method for calibrating a large-range multi-component sensor, using the large-range multi-component sensor calibration device as described in claim 9, characterized in that, Includes the following steps: S1. First, the operator fixes the sensor body to be calibrated onto the connecting plate and fixes the connecting plate to the top of the turntable. Then, the connecting rod in the force application part is fixedly connected to the end of the force application rod of the force loading device located above. S2. Next, the hydraulic cylinders on the left and right sides of the rotary table are controlled to move sequentially, applying horizontal forces to the sides of the eccentric blocks at the left and right ends of the fixed disk through the force rods. The output signal of the sensor body is collected and recorded simultaneously to calibrate the force response of the sensor in the Fx direction. After completion, the motor of the driver is controlled to run, driving the lead screw in a pair of force loading devices to rotate through gear transmission, causing the slides on the left and right sides to move towards each other along the guide rail until the force rods move to a position opposite to the sides of the eccentric blocks at the front and rear ends of the fixed disk. Then, the hydraulic cylinders are controlled to move sequentially again, applying horizontal forces to the sides of the eccentric blocks at the front and rear ends through the force rods. This set of force couples will generate a torque Mz around the Z-axis on the sensor body. The sensor output signal at this time is collected and recorded simultaneously to calibrate the torque response in the Mz direction. S3. Subsequently, the motor located above is controlled to rotate, which drives the slide table in the force loading device above to move, positioning the hydraulic cylinder and the force rod to be directly above the top surface of the eccentric blocks at both ends of the fixed plate. Then, the hydraulic cylinder drives the force rod to apply a vertical force downward to the top surface of the eccentric block. Since the point of application is off from the center of the sensor, this vertical force will simultaneously generate a bending moment around the X-axis. The output signal of the sensor body is collected and recorded simultaneously to obtain the response data under the combined load of Fz and Mx. S4. Then, the control cylinder drives the moving disk to move upward, causing the paddle to move along the spiral groove, driving the rotating tube and sensor body to rotate 90°. Then the moving disk continues to move upward to the top, and the ring squeezes the limiting rod to make it extend radially and insert into the positioning hole of the fixed cylinder, locking the rotating tube in the position after rotation. S5. Subsequently, control the force loading devices on the left and right sides to repeat the operation in S2, and perform lateral force calibration on the sensor body after rotating 90° again. The physical quantities corresponding to this calibration are Fy and Mz in the original coordinate system of the sensor, respectively. Then control the force loading device above to repeat the operation described in step S3 to obtain new composite load response data after the sensor rotates. S6. Next, control the upper hydraulic cylinder to drive the force rod and connecting rod downwards, so that the connecting rod is inserted into the sleeve and a vertically downward force is applied to the sleeve. Simultaneously, the output signal of the sensor body is collected and recorded to calibrate the response of the pure axial force -Fz in the negative Z-axis direction. After the connecting rod is in place, the limiting block on its outer side is locked into the limiting groove under the action of the third spring to achieve circumferential fixation. Then, control the hydraulic cylinder to drive the connecting rod upwards, apply a vertically upward force to the sleeve, and simultaneously collect and record the sensor output signal to calibrate the response of the pure axial force +Fz in the positive Z-axis direction. S7. Finally, based on all the standard load values ​​and sensor output signals recorded in the above steps, the sensor sensitivity matrix and coupling coefficients between each dimension are calculated by the system identification algorithm to complete the calibration. Then, the control cylinder drives the moving plate to move down to reset the rotating part, and the upper hydraulic cylinder is controlled to separate the connecting rod from the sleeve to remove the calibrated sensor body.

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