Loading device for multi-dimensional force calibration

Abstract

The utility model relates to the technical field of multi-dimensional force calibration, in particular to a loading device for multi-dimensional force calibration. A loading device for multi-dimensional force calibration comprises a rack, a calibration table and a plurality of loading mechanisms are arranged on the rack, the calibration table is used for placing and fixing a calibrated sensor, and the loading mechanisms are used for loading force to the calibrated sensor arranged on the calibration table. And the plurality of loading mechanisms are arranged at different positions around the calibration table. The multi-dimensional force sensor calibration platform has the following effects: the loading mechanisms are respectively arranged at different positions around the calibration platform, so that the calibrated multi-dimensional force sensor can be regularly calibrated in multiple directions, and the calibration platform is relatively convenient.

Description

Technical Field

[0001] The present application relates to the technical field of multi-dimensional force calibration, and in particular to a loading device for multi-dimensional force calibration. Background Art

[0002] A multi-dimensional force sensor refers to a force sensor that can simultaneously measure force and torque components in more than two directions. It is widely used in aviation, aerospace, mechanical processing, automobile and other industries.

[0003] A multi-dimensional force calibration device is a calibration device used for regular calibration of multi-dimensional force sensors. It mainly refers to the use of standard measuring instruments to detect multi-dimensional force sensors to check whether they meet the standards. However, most multi-dimensional force calibration devices currently can only use unidirectional force detection and calibration, and need to be repeatedly disassembled and adjusted in position to complete the calibration of the forces and torques of the multi-dimensional force sensors in multiple directions, which is rather troublesome. Utility Model Content

[0004] In order to facilitate the periodic calibration of a multi-dimensional force sensor in multiple directions, the present application provides a loading device for multi-dimensional force calibration.

[0005] The present application provides a loading device for multi-dimensional force calibration, which adopts the following technical solution: it includes a frame, on which a calibration table and multiple loading mechanisms are provided, the calibration table is used to place and fix the calibrated sensor, the loading mechanism is used to apply loading force to the calibrated sensor placed on the calibration table, and multiple loading mechanisms are arranged at different positions around the calibration table.

[0006] By adopting the above technical solution, since loading mechanisms are respectively arranged at different positions around the calibration platform, the calibrated multi-dimensional force sensor can be calibrated regularly in multiple directions, which is relatively convenient.

[0007] Preferably, a horizontal loading seat is provided on the frame, and the horizontal loading seat is sleeved on the calibration platform. The loading mechanism is provided on two adjacent side walls of the horizontal loading seat in the horizontal direction, and the loading mechanism is provided directly above the calibration platform in the vertical direction.

[0008] By adopting the above technical solution, the two loading mechanisms arranged on the horizontal loading seat are used to realize the loading of X-direction force and Y-direction force respectively, and the loading mechanism arranged directly above the calibration platform is used to realize the loading of Z-direction force, so that the device has the ability to calibrate the force and torque in the three directions of X, Y, and Z, as well as the ability to load the combined forces and torques of X, Y, and Z.

[0009] Preferably, the loading mechanism includes a loading cylinder, a standard sensor and a flexible connector, the loading cylinder is arranged on the frame, the loading cylinder, the standard sensor and the flexible connector are coaxially connected in sequence, one end of the standard sensor is coaxially connected to the loading cylinder, and the other end of the standard sensor is connected to the flexible connector, the flexible connector is used to face the calibrated sensor, and a strain gauge is arranged on the flexible connector.

[0010] By adopting the above technical solution, the strain gauge set on the flexible connector can detect the force value change there, collect data changes in real time for system compensation, reduce the mutual influence between multi-directional force components as much as possible, and improve detection accuracy.

[0011] Preferably, a movable beam is provided on the frame, and the movable beam is located directly above the calibration platform in the vertical direction. The loading mechanism located above the calibration platform is vertically penetrated through the movable beam, and the movable beam is connected to the frame in a positionable reciprocating sliding manner in the vertical direction.

[0012] By adopting the above technical solution, the movable beam can reciprocate and slide in the vertical direction so that the loading mechanism in the Z direction can move up and down to meet the calibration needs of multi-dimensional force sensors of different sizes.

[0013] Preferably, more than one connecting column is arranged on the horizontal loading seat in the vertical direction, one end of the connecting column is connected to the horizontal loading seat, and the other end of the connecting column is connected to the movable beam, and the plurality of connecting columns are arranged at equal angles along the circumferential direction of the central axis of the calibration platform.

[0014] By adopting the above technical solution, the setting of the connecting column enables the moving beam to drive the horizontal loading seat to slide back and forth in the vertical direction during the reciprocating sliding of the moving beam in the vertical direction, so that the operator can install calibrated sensors of different sizes easily.

[0015] Preferably, the two loading mechanisms arranged on the horizontal loading seat are respectively an X-direction loading mechanism and a Y-direction loading mechanism, and two X-direction loading mechanisms are arranged, and the two X-direction loading mechanisms are symmetrically arranged on one side wall of the horizontal loading seat, and two Y-direction loading mechanisms are arranged, and the two Y-direction loading mechanisms are symmetrically arranged on adjacent side walls of the horizontal loading seat, and the loading mechanism arranged on the moving beam is a Z-direction loading mechanism, and four Z-direction loading mechanisms are arranged, and the four Z-direction loading mechanisms are distributed in a rectangular shape and are all vertically arranged on the moving beam.

[0016] By adopting the above technical solution, the arrangement of multiple X-direction loading mechanisms, Y-direction loading mechanisms and Z-direction loading mechanisms makes the loading more stable and improves the detection accuracy to a certain extent.

[0017] Preferably, the frame includes at least one column, and a plurality of the columns are arranged at equal angles along the circumferential direction of the central axis of the calibration table. The columns are fixedly connected to the frame, and the columns pass perpendicularly through the movable beam in the vertical direction. The movable beam is slidably connected to the columns.

[0018] By adopting the above technical solution, the column provides a guiding function for the reciprocating sliding of the moving beam in the vertical direction, and can withstand the force and moment generated by the X-direction loading mechanism and the Y-direction loading mechanism.

[0019] Preferably, the column includes a column shaft and a column sleeve, the column sleeve is coaxially sleeved on the column shaft, the column shaft and the column sleeve are slidably connected, the column sleeve is fixedly inserted into the movable beam, a limiting semi-cylinder is arranged on the inner wall of the column sleeve, the length direction of the limiting semi-cylinder is arranged along the axial direction of the column shaft, and a cylindrical groove for the limiting semi-cylinder to be slidably embedded is opened on the outer wall of the column shaft.

[0020] By adopting the above technical solution, the limiting semi-cylinder is embedded in the cylindrical groove, which reduces the probability of circumferential rotation of the column shaft during the reciprocating sliding of the column shaft along the vertical direction.

[0021] In summary, the present application includes at least one of the following beneficial technical effects:

[0022] 1. Since loading mechanisms are arranged at different positions around the calibration platform, the multi-dimensional force sensor to be calibrated can be calibrated regularly in multiple directions, which is more convenient;

[0023] 2. The device has the ability to calibrate force and torque in the three directions of X, Y, and Z, as well as the ability to load the combined forces and torques in the X, Y, and Z directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of this application;

[0025] Figure 2 yes Figure 1 A partial enlarged schematic diagram of part A;

[0026] Figure 3 It is a schematic diagram of the overall structure of this application from another perspective;

[0027] Figure 4 It is a partial structural diagram of this application;

[0028] Figure 5 It is a cross-sectional schematic diagram of a partial structure of the present application.

[0029] Explanation of the reference numerals: 110, frame; 1101, base; 1102, column; 1103, upper beam; 111, calibration table; 112, horizontal loading seat; 113, movable beam; 114, loading tooling plate; 115, column shaft; 116, column shaft sleeve; 117, limiting semi-cylinder; 118, cylindrical groove; 119, positioning hole; 120, loading mechanism; 1201, loading cylinder; 1202, standard sensor; 1203, flexible connector; 121, X-axis loading mechanism; 122, Y-axis loading mechanism; 123, Z-axis loading mechanism; 124, elastic sheet; 125, load-bearing disc; 126, strain gauge; 130, connecting column. DETAILED DESCRIPTION

[0030] The present application is further described in detail below in conjunction with the accompanying drawings.

[0031] The present application discloses a loading device for multi-dimensional force calibration, which is used to facilitate the regular multi-directional calibration of a multi-dimensional force sensor.

[0032] refer to Figure 1 , Figure 2 A loading device for multi-dimensional force calibration includes a frame 110, and the frame 110 includes a base 1101, a column 1102 and an upper beam 1103, and the base 1101, the column 1102 and the upper beam 1103 are arranged in sequence from bottom to top along the vertical direction. In this embodiment, a total of four columns 1102 are provided, and the four columns 1102 are distributed in a rectangular shape and are respectively located at the four end corners of the base 1101 and the upper beam 1103, one end of the column 1102 is fixedly connected to the base 1101, and the other end of the column 1102 is fixedly connected to the upper beam 1103. A calibration platform 111 and a plurality of loading mechanisms 120 are provided on the frame 110, and the calibration platform 111 is provided on the base 1101, and the calibration platform 111 is used to place and fix the calibrated sensor, and the loading mechanism 120 is used to apply a loading force to the calibrated sensor placed on the calibration platform 111.

[0033] refer to Figure 1 , Figure 3The frame 110 is provided with a horizontal loading seat 112 and a moving beam 113, which are both arranged between the base 1101 and the upper beam 1103 in the vertical direction, and the moving beam 113 is located between the upper beam 1103 and the horizontal loading seat 112 in the vertical direction. The horizontal loading seat 112 is sleeved on the calibration table 111, and loading mechanisms 120 are arranged on two adjacent side walls of the horizontal loading seat 112 in the horizontal direction, which are respectively an X-direction loading mechanism 121 and a Y-direction loading mechanism 122. The X-direction loading mechanism 121 is provided with two, and the two X-direction loading mechanisms Structure 121 is symmetrically arranged on one side wall of the horizontal loading seat 112, two Y-direction loading mechanisms 122 are arranged, and the two Y-direction loading mechanisms 122 are symmetrically arranged on the adjacent side walls of the horizontal loading seat 112, and a loading mechanism 120 is vertically arranged on the moving beam 113 in the vertical direction, which is a Z-direction loading mechanism 123. There are four Z-direction loading mechanisms 123, which are distributed in a rectangular shape and are vertically arranged on the moving beam 113, so that the device has the force and torque calibration capabilities in the three directions of X, Y, and Z and the combined loading capabilities of the forces and torques in the X, Y, and Z directions.

[0034] Specifically, refer to Figure 1-Figure 3 The loading mechanism 120 includes a loading cylinder 1201, a standard sensor 1202 and a flexible connector 1203. The loading cylinder 1201, the standard sensor 1202 and the flexible connector 1203 are coaxially connected in sequence, that is, the X-axis loading mechanism 121, the Y-axis loading mechanism 122 and the Z-axis loading mechanism 123 all include a loading cylinder 1201, a standard sensor 1202 and a flexible connector 1203. The loading cylinder 1201 is arranged at one end of the loading mechanism 120 away from the calibrated sensor. A loading tooling plate 114 is arranged on the frame 110. The loading tooling plate 114 is arranged just above the calibration table 111 and the loading tooling plate 114 and the X-axis loading mechanism 121 are connected. , the Y-axis loading mechanism 122 is arranged at the same height, the end of the flexible connecting member 1203 of the X-axis loading mechanism 121 away from the loading cylinder 1201 and the end of the flexible connecting member 1203 of the Y-axis loading mechanism 122 away from the loading cylinder 1201 both abut against the side wall of the loading tooling plate 114, and the ends of the flexible connecting members 1203 of the four Z-axis loading mechanisms 123 away from the loading cylinder 1201 abut against the upper surface of the loading tooling plate 114. In this embodiment, the loading cylinder 1201 adopts a double-acting cylinder for outputting compressive or tensile forces, and the standard sensor 1202 selects the U10M tensile pressure sensor produced by HBM of Germany, with an accuracy level of 0.03.

[0035] refer to Figure 1 , Figure 4 , Figure 5In order to meet the calibration needs of multi-dimensional force sensors of different sizes, the mobile beam 113 is connected to the frame 110 in a reciprocating sliding manner that can be positioned in the vertical direction. Specifically, the column 1102 is fixedly connected to the frame 110, and the column 1102 vertically passes through the mobile beam 113 in the vertical direction. The mobile beam 113 and the column 1102 are slidingly connected. The column 1102 provides a guiding effect for the reciprocating sliding of the mobile beam 113 in the vertical direction, and can withstand the force and torque generated by the X-direction loading mechanism 121 and the Y-direction loading mechanism 122. The column 1102 includes a column shaft 115 and a column sleeve 116. The column sleeve 116 is coaxially sleeved on the column shaft 115. The column shaft 115 and the column sleeve 116 are slidingly connected. The column sleeve 116 is fixedly penetrated through the mobile beam 113. The column sleeve 116 A limiting semi-cylinder 117 is arranged on the inner wall, and the length direction of the limiting semi-cylinder 117 is arranged axially along the column shaft 115. A cylindrical groove 118 is opened on the outer wall of the column shaft 115 for the limiting semi-cylinder 117 to slide and embed. The limiting semi-cylinder 117 is embedded in the cylindrical groove 118 to reduce the probability of circumferential rotation of the column shaft 115 during the reciprocating sliding of the column shaft 115 in the vertical direction. In this embodiment, a total of six limiting semi-cylinders 117 are arranged on the inner wall of each column sleeve 116, and two limiting semi-cylinders 117 are grouped together. The two limiting semi-cylinders 117 in each group are arranged side by side along the circumference of the column sleeve 116. The three groups of limiting semi-cylinders 117 are arranged at equal angles along the circumference of the inner wall of the column sleeve 116. Correspondingly, six cylindrical grooves 118 are opened on the outer wall of the column shaft 115.

[0036] refer to Figure 1 , Figure 2 , more than one connecting column 130 is arranged on the horizontal loading seat 112 in the vertical direction, one end of the connecting column 130 is connected to the horizontal loading seat 112, and the other end of the connecting column 130 is connected to the moving beam 113. The multiple connecting columns 130 are arranged at equal angles along the central axis of the calibration platform 111. The arrangement of the connecting columns 130 enables the moving beam 113 to drive the horizontal loading seat 112 to slide back and forth in the vertical direction during the reciprocating sliding of the vertical direction, which is convenient for operators to install calibrated sensors of different sizes. In this embodiment, a total of four connecting columns 130 are arranged. Before starting the detection , the movable beam 113 moves in the direction away from the base 1101, the operator places the calibrated multi-dimensional force sensor at the center of the calibration platform 111, and then moves the movable beam 113 and the horizontal loading seat 112 towards the calibration platform 111 at the same time. A positioning hole 119 is opened at the center of the loading tooling plate 114, and the calibrated sensor is clamped between the loading tooling plate 114 and the calibration platform 111. The positioning hole 119 is for the positioning pin to pass through, and the two ends of the positioning pin are fixed up and down by screws, so that the calibrated multi-dimensional force sensor and the loading tooling plate 114 and the calibration platform 111 are relatively fixed.

[0037] Furthermore, since multiple force components will affect each other and produce coupling errors when loaded at the same time, a strain gauge 126 is provided on the flexible connector 1203. In the present embodiment, the flexible connector 1203 includes three elastic sheets 124 and four bearing discs 125. The three elastic sheets 124 and the four bearing discs 125 are staggered in sequence, and each bearing disc 125 is coaxially arranged. The elastic sheet 124 is arranged in a direction perpendicular to the disc surface of the bearing disc 125. The length direction of the elastic sheet 124 is arranged along the radial direction of the bearing disc 125. Adjacent elastic sheets 124 are cross-staggered. The strain gauge 126 is provided on the elastic sheet 124. Two strain gauges 126 are provided on the elastic sheet 124. The two strain gauges 126 are symmetrically arranged on the elastic sheet 124 along the length direction of the elastic sheet 124. The data collected on each elastic sheet 124 is obtained by taking the average of the data collected on the two strain gauges 126 on the elastic sheet 124. The real-time collection of data changes is used for system compensation, so as to reduce the mutual influence between the multi-directional force components as much as possible and improve the detection accuracy.

[0038] The implementation principle of a loading device for multi-dimensional force calibration in an embodiment of the present application is as follows: two X-direction loading mechanisms 121 are symmetrically arranged on one side wall of a horizontal loading seat 112, two Y-direction loading mechanisms 122 are symmetrically arranged on adjacent side walls of the horizontal loading seat 112, and four Z-direction loading mechanisms 123 are distributed in a rectangular shape and are all vertically arranged on a moving beam 113, so that the device has the ability to calibrate force values ​​and torques in the three directions of X, Y, and Z, as well as the ability to load the combined forces and torques of the X, Y, and Z directions. It is convenient to perform regular multi-directional calibration on the calibrated multi-dimensional force sensor.

[0039] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A loading device for multi-dimensional force calibration, comprising a frame (110), characterized in that: A calibration platform (111) and a plurality of loading mechanisms (120) are arranged on the frame (110); the calibration platform (111) is used to place and fix a sensor to be calibrated; the loading mechanism (120) is used to apply a loading force to the sensor to be calibrated placed on the calibration platform (111); and the plurality of loading mechanisms (120) are arranged at different positions around the calibration platform (111).

2. A loading device for multi-dimensional force calibration according to claim 1, characterized in that: A horizontal loading seat (112) is provided on the frame (110), the horizontal loading seat (112) is sleeved on the calibration platform (111), the loading mechanisms (120) are provided on two adjacent side walls of the horizontal loading seat (112) in a horizontal direction, and the loading mechanism (120) is provided directly above the calibration platform (111) in a vertical direction.

3. A loading device for multi-dimensional force calibration according to claim 2, characterized in that: The loading mechanism (120) comprises a loading cylinder (1201), a standard sensor (1202) and a flexible connecting piece (1203); the loading cylinder (1201) is arranged on the frame (110); the loading cylinder (1201), the standard sensor (1202) and the flexible connecting piece (1203) are coaxially connected in sequence; one end of the standard sensor (1202) is coaxially connected to the loading cylinder (1201); the other end of the standard sensor (1202) is connected to the flexible connecting piece (1203); the flexible connecting piece (1203) is used to face the sensor to be calibrated; and a strain gauge (126) is arranged on the flexible connecting piece (1203).

4. A loading device for multi-dimensional force calibration according to claim 3, characterized in that: A movable beam (113) is provided on the frame (110), and the movable beam (113) is located directly above the calibration platform (111) in the vertical direction. The loading mechanism (120) located above the calibration platform (111) is vertically penetrated through the movable beam (113), and the movable beam (113) is connected to the frame (110) in a positionable reciprocating sliding manner in the vertical direction.

5. A loading device for multi-dimensional force calibration according to claim 4, characterized in that: More than one connecting column (130) is arranged on the horizontal loading seat (112) in the vertical direction, one end of the connecting column (130) is connected to the horizontal loading seat (112), and the other end of the connecting column (130) is connected to the moving beam (113), and the plurality of connecting columns (130) are arranged at equal angles in the circumferential direction of the central axis of the calibration platform (111).

6. A loading device for multi-dimensional force calibration according to claim 5, characterized in that: The two loading mechanisms (120) arranged on the horizontal loading seat (112) are respectively an X-direction loading mechanism (121) and a Y-direction loading mechanism (122). Two X-direction loading mechanisms (121) are arranged, and the two X-direction loading mechanisms (121) are symmetrically arranged on one side wall of the horizontal loading seat (112). Two Y-direction loading mechanisms (122) are arranged, and the two Y-direction loading mechanisms (122) are symmetrically arranged on adjacent side walls of the horizontal loading seat (112). The loading mechanism (120) arranged on the moving beam (113) is a Z-direction loading mechanism (123). Four Z-direction loading mechanisms (123) are arranged, and the four Z-direction loading mechanisms (123) are distributed in a rectangular shape and are all vertically arranged on the moving beam (113).

7. A loading device for multi-dimensional force calibration according to claim 6, characterized in that: The frame (110) comprises at least one column (1102), a plurality of the columns (1102) are arranged at equal angles in the circumferential direction of the central axis of the calibration platform (111), the columns (1102) are fixedly connected to the frame (110), the columns (1102) vertically pass through the movable beam (113) in the vertical direction, and the movable beam (113) is slidably connected to the columns (1102).

8. A loading device for multi-dimensional force calibration according to claim 7, characterized in that: The column (1102) comprises a column shaft (115) and a column sleeve (116); the column sleeve (116) is coaxially sleeved on the column shaft (115); the column shaft (115) and the column sleeve (116) are slidably connected; the column sleeve (116) is fixedly inserted through the movable beam (113); a limiting semi-cylinder (117) is arranged on the inner wall of the column sleeve (116); the limiting semi-cylinder (117) is arranged along the axial direction of the column shaft (115) in its length direction; and a cylindrical groove (118) is provided on the outer wall of the column shaft (115) for the limiting semi-cylinder (117) to be slidably embedded.

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