Rotary lifting type synchronous calibration device for multi-dimensional force sensor

Abstract

The utility model provides a multi-dimensional force sensor rotary lifting type synchronous calibration device which comprises a working table, a top plate and a lifting mechanism, the top plate is connected with a circumference mechanism, the circumference mechanism is connected with a rotary table, and the rotary table is connected with a standard multi-dimensional force sensor; the standard multi-dimensional force sensor is connected with a first stress mechanism, the detected multi-dimensional force sensor is connected with a second stress mechanism, the two stress mechanisms are connected with a loading mechanism, and the distance from the stress point of the first stress mechanism to the standard multi-dimensional force sensor is equal to the distance from the stress point of the second stress mechanism to the detected multi-dimensional force sensor. When the top plate moves up and down, the loading mechanism is not kept in a horizontal state any more, and the circular motion of the circular mechanism is combined with the lifting motion of the top plate, so that coupling calibration can be performed on the detected multi-dimensional force sensor from multiple directions to show and simulate the most real bearing state. Therefore, the force and the torque borne by the industrial robot in actual operation can be accurately calibrated better.

Description

Technical Field

[0001] The utility model relates to the technical field of sensor calibration, in particular to a rotating and lifting synchronous calibration device for a multi-dimensional force sensor. Background Art

[0002] In the field of industrial robotics, multi-dimensional force sensors are an effective tool for directly measuring the forces acting on industrial robots under dynamic conditions. They can output the multi-dimensional forces or torques acting on the interaction between the industrial robot and the target object in real time. They can be used in processes such as precision assembly, material handling, welding, and grinding. Typically, multi-dimensional force sensors require a load calibration experiment before use to determine the sensor's input-output relationship. Therefore, load calibration equipment is crucial in the sensor calibration process.

[0003] Currently, the calibration of a multi-dimensional force sensor is performed by applying loading force or loading torque successively along the X-axis, Y-axis and Z-axis of the multi-dimensional force sensor to obtain calibration data and calibrate the multi-dimensional force sensor. For example, Chinese patent application number CN202410117443.2 discloses a multi-dimensional force sensor calibration platform, which includes a base, a load frame, a load adapter, an X-direction force loading actuator, a Y-direction force loading actuator, an X-direction curved surface head loading adapter and a Y-direction curved surface head loading adapter. The X-direction force loading actuator is fastened with an X-direction standard force sensor, the X-direction standard force sensor is fastened with an X-direction curved surface head loading adapter, the Y-direction force loading actuator is fastened with a Y-direction standard force sensor, and the Y-direction standard force sensor is fastened with a Y-direction curved surface head loading adapter. The X-direction force loading actuator is fastened with the load frame. When loading, the curved head of the X-direction curved surface head loading adapter is on the side of the load adapter, and the loading direction is perpendicular to the side of the load adapter. The Y-direction force loading actuator is fastened with the load frame. When loading, the curved head of the Y-direction curved surface head loading adapter is on the side of the load adapter, and the loading direction is perpendicular to the side of the load adapter.

[0004] However, the end-points of industrial robots typically perform repetitive movements along a specific path. Under these conditions, multi-dimensional force sensors are only subject to one or two coupling forces. During calibration, companies are more concerned with the accuracy of these coupling forces. Calibration by applying forces and torques along the X, Y, and Z axes of the multi-dimensional force sensor fails to accurately calibrate the forces and torques experienced by industrial robots during actual operation. Utility Model Content

[0005] The technical problem to be solved by the present invention is to provide a multi-dimensional force sensor rotary lifting synchronous calibration device, which can couple and calibrate the multi-dimensional force sensor to be tested from multiple directions, and better carry out targeted calibration of the forces and torques received by the industrial robot during actual operation.

[0006] The utility model is achieved in that:

[0007] The utility model provides a multi-dimensional force sensor rotary lifting synchronous calibration device, comprising a work table for mounting the multi-dimensional force sensor to be tested, the device further comprising a top plate and a lifting mechanism for driving the top plate to move up and down, the lifting mechanism being connected to the top of the work table, the top plate being rotatably connected to a circumferential mechanism, the rotation center of the circumferential mechanism coinciding with the rotation center of the multi-dimensional force sensor to be tested, the top plate being provided with a goniometer for measuring the rotation angle of the circumferential mechanism, the circumferential mechanism being rotatably connected to a turntable on a side facing the multi-dimensional force sensor to be tested, the turntable being provided at an outer end of the circumferential mechanism, and the turntable being connected to a standard multi-dimensional force sensor;

[0008] The standard multi-dimensional force sensor is connected to a first force-bearing mechanism, and the tested multi-dimensional force sensor is connected to a second force-bearing mechanism. The two force-bearing mechanisms are jointly connected to a loading mechanism. The loading force applied by the loading mechanism acts on the first force-bearing mechanism and the second force-bearing mechanism, and the distance from the force-bearing point of the first force-bearing mechanism to the standard multi-dimensional force sensor is equal to the distance from the force-bearing point of the second force-bearing mechanism to the tested multi-dimensional force sensor.

[0009] Furthermore, the loading mechanism includes a housing, a steel wire rope, a trapezoidal block disposed inside the housing, and a bracket disposed above the housing. The trapezoidal block has two inclined surfaces, the two inclined surfaces facing two force-bearing mechanisms respectively, and each inclined surface is slidably connected to a loading rod. Through holes are respectively opened on the left and right side walls of the housing. One end of the loading rod extends through the through hole to the outside of the housing and abuts against the force-bearing mechanism.

[0010] A first guide post is provided inside the housing, the axis direction of the first guide post coincides with the height direction of the housing, and the trapezoidal block is slidably connected to the first guide post;

[0011] A second guide post is fixedly connected to the top of the shell, and the second guide post is slidably connected to the bracket. The bracket is rotatably connected to the first pulley, and the two loading rods are symmetrically arranged on the left and right sides of the center line of the first pulley. The loading rod is provided with a mounting groove at one end close to the trapezoidal block, and the loading rod is provided with a through hole that penetrates the loading rod along its own axial direction. The through hole is connected to the mounting groove, and the second pulley is rotatably connected in the mounting groove, and the lower edge of the second pulley is tangent to the center line of the through hole. The steel wire rope is wound around the first pulley and the second pulley, and the end of the steel wire rope is fixedly connected to the force-bearing mechanism after passing through the through hole;

[0012] The loading mechanism also includes a first driving component for driving the trapezoidal block and the bracket to approach or move away at the same time; when the trapezoidal block and the bracket approach at the same time, the loading rod applies a thrust to the force-bearing mechanism, and when the trapezoidal block and the bracket move away at the same time, the wire rope applies a pulling force to the force-bearing mechanism.

[0013] Furthermore, the first drive assembly includes a screw rod rotatably connected to the shell, the upper end of the screw rod extends above the shell, the outer wall of the shell is provided with a first thread and a second thread, the rotation directions of the first thread and the second thread are opposite, the first thread is provided at the upper part of the screw rod, and the first thread is spirally connected to the bracket, the second thread is provided in the middle part of the screw rod, the second thread is spirally connected to the trapezoidal block, the lower end of the screw rod extends to the bottom of the shell, the outer wall of the shell is provided with a drive motor, and the drive motor is connected to the lower end of the screw rod through a transmission assembly.

[0014] Furthermore, the outer wall of the loading rod is provided with a shoulder, and the shoulder is located inside the shell. The outer wall of the loading rod is sleeved with a spring, one end of the spring is connected to the shoulder, and the other end of the spring is connected to the inner wall of the shell.

[0015] Furthermore, the first force-bearing mechanism includes a first force-bearing rod, the lower end of which is rotatably connected to a first force-bearing ball, the rotation center of the first force-bearing ball is perpendicular to the axis of the first force-bearing rod, and one end of the loading mechanism is connected to the first force-bearing ball;

[0016] The second force-bearing component includes a second force-bearing rod, the end of the second force-bearing rod is rotatably connected to a swivel head, the rotation center of the swivel head coincides with the axis of the second force-bearing rod, the swivel head is rotatably connected to a second force-bearing ball, the rotation center of the second force-bearing ball is perpendicular to the rotation center of the swivel head, and the other end of the loading mechanism is connected to the second force-bearing ball.

[0017] Furthermore, the lifting mechanism includes a screw column rotatably connected to the work surface, the upper end of the screw column has a threaded section, the top plate is spirally connected to the threaded section, a second drive component is provided inside the work surface, and the lower end of the screw column extends to the inside of the work surface and is connected to the second drive component.

[0018] Furthermore, four screw rod columns are provided, and the four screw rod columns are respectively provided at the four corners of the work surface.

[0019] Furthermore, the circumferential mechanism includes a rotating shaft, which is rotatably connected to the center position of the top plate. The outer wall of the rotating shaft is connected to a swing arm, and the swing arm has a mounting portion on the side away from the rotating shaft, and the turntable is mounted at the bottom of the mounting portion.

[0020] Furthermore, a first annular guide groove is provided at the bottom of the top plate, the center of the first guide groove coincides with the center of the rotary shaft, and the top of the mounting portion has a first guide portion, which is slidably connected in the first guide groove.

[0021] Furthermore, the circumferential mechanism is connected to a vertical limiting plate, the vertical limiting plate is provided with a second guide groove, the second guide groove extends in a vertical direction, and the loading mechanism is slidably connected to the second guide groove.

[0022] The advantage of this utility model lies in that when the top plate moves up and down, the loading mechanism no longer remains horizontal, and the loading force applied to the load-bearing rod also has a certain inclination angle. This allows the multi-dimensional force sensor under test to be coupled and calibrated from multiple directions, and can display and simulate the most realistic load-bearing state. In addition, the device combines the circular motion of the circular mechanism with the lifting motion of the top plate, achieving the goal of applying the same loading force in most directions, thereby better achieving the goal of accurately calibrating the forces and moments experienced by industrial robots during actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 The utility model is a structural schematic diagram of a multi-dimensional force sensor rotary lifting synchronous calibration device.

[0025] Figure 2 for Figure 1 The device shown is a three-dimensional Figure 1 .

[0026] Figure 3 for Figure 1 The device shown is a three-dimensional Figure 2 .

[0027] Figure 4 This is a schematic diagram of the loading mechanism structure of the utility model.

[0028] Figure 5 for Figure 4 A partial cross-sectional view of the structure shown.

[0029] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0030] Figure 7 for Figure 4 Exploded view of the structure shown.

[0031] Figure 8 for Figure 7 A partial enlarged view of point B in the middle.

[0032] Figure 9 It is a structural schematic diagram of the screw rod of the utility model.

[0033] Figure 10 This is a structural diagram of the first force-bearing mechanism of the utility model.

[0034] Figure 11 This is a structural diagram of the second force-bearing mechanism of the utility model.

[0035] Figure 12 This is a schematic diagram of the structure of the connection between the screw column and the second drive assembly of the utility model Figure 1 .

[0036] Figure 13 This is a schematic diagram of the structure of the connection between the screw column and the second drive assembly of the utility model Figure 2 .

[0037] Figure 14 This is a structural diagram of the connection between the top plate and the first guide part of the utility model.

[0038] Figure 15 This is a schematic structural diagram of the utility model in which the Y-axis direction of the tested multi-dimensional force sensor coincides with the Y′-axis direction of the standard multi-dimensional force sensor.

[0039] Figure 16 This is a structural diagram of the utility model in which the X-axis direction of the tested multi-dimensional force sensor coincides with the X′-axis direction of the standard multi-dimensional force sensor.

[0040] Figure 17 This is a structural diagram of the utility model in which the X-axis and Y-axis directions of the tested multi-dimensional force sensor do not coincide with the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor.

[0041] Figure 18 This is a structural schematic diagram of the utility model when the top plate is in an inclined state.

[0042] Description of the numbers in the figure:

[0043] 1. Work surface; 2. Top plate; 21. First guide groove; 3. Lifting mechanism; 31. Screw column; 32. Threaded segment; 33. Second drive assembly; 331. First motor; 332. Pulley; 333. Synchronous belt; 4. Circular mechanism; 41. Rotary axis; 42. Swing arm; 43. Mounting portion; 431. First guide portion; 5. Goniometer; 6. Turntable; 7. Standard multi-dimensional force sensor; 8. First force-bearing mechanism; 81. First force-bearing rod; 82. First force-bearing ball; 9. Second force-bearing mechanism; 91. Second force-bearing rod; 92. Rotating head; 93. Second force-bearing ball; 10. Loading mechanism; 101. Housing; 1011. Through hole; 1 02. Steel wire rope; 103. Trapezoidal block; 1031. Inclined surface; 104. Bracket; 105. Loading rod; 1051. Shaft shoulder; 1052. Mounting slot; 1053. Through hole; 106. First guide post; 107. Second guide post; 108. First pulley; 109. Second pulley; 1010. First drive assembly; 10101. Screw; 101011. First thread; 101012. Second thread; 10102. Drive motor; 10103. First gear; 10104. Second gear; 11. Spring; 12. Pin; 13. Vertical limit plate; 131. Second guide slot; 14. Multi-dimensional force sensor under test. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings and specific implementation methods. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation, direction or position relationship, are based on the orientation, direction or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, direction or position, be constructed and operated in a specific orientation, direction or position, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0046] See also Figures 1 to 18 The utility model provides a multi-dimensional force sensor rotation and lifting synchronous calibration device, comprising a work table 1 for installing a multi-dimensional force sensor 14 to be tested, the device further comprising a top plate 2 and a lifting mechanism 3 for driving the top plate 2 to move up and down, the lifting mechanism 3 being connected to the top of the work table 1, the top plate 2 being rotatably connected to a circumferential mechanism 4, the rotation center of the circumferential mechanism 4 coincides with the rotation center of the multi-dimensional force sensor 14 to be tested, the top plate 2 is provided with a goniometer 5 for measuring the rotation angle of the circumferential mechanism 4, the goniometer 5 can detect the rotation angle of the circumferential mechanism 4 to accurately control the rotation angle of the circumferential mechanism 4, the circumferential mechanism 4 is rotatably connected to a turntable 6 on one side toward the multi-dimensional force sensor 14 to be tested, the turntable 6 being arranged at the outer end of the circumferential mechanism 4, the turntable 6 being connected to a standard multi-dimensional force sensor 7;

[0047] The standard multi-dimensional force sensor 7 is connected to a first force-bearing mechanism 8, and the tested multi-dimensional force sensor 14 is connected to a second force-bearing mechanism 9. The two force-bearing mechanisms are jointly connected to a loading mechanism 10. The loading force applied by the loading mechanism 10 acts on the first force-bearing mechanism 8 and the second force-bearing mechanism 9, and the distance from the force point of the first force-bearing mechanism 8 to the standard multi-dimensional force sensor 7 is equal to the distance from the force point of the second force-bearing mechanism 9 to the tested multi-dimensional force sensor 14, so that when the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the tested multi-dimensional force sensor 14 are subjected to the same magnitude of torque.

[0048] Initially, the loading mechanism 10 is horizontal. The vertical movement of the top plate 2 can change the tilt angle and tilt direction of the loading mechanism 10. The vertical movement distance of the top plate 2 can be determined by a displacement sensor or the direction and number of rotations of the screw column 31.

[0049] When the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are both subjected to the same loading force and loading moment. The multi-dimensional force sensor 14 to be tested can be calibrated by comparing their absolute values.

[0050] like Figure 3 As shown, the coordinate system of the multi-dimensional force sensor 14 is:

[0051] The X-axis direction is the front-to-back direction of the work surface 1, and the direction toward the front side of the work surface 1 is the positive direction of the X-axis;

[0052] The Y-axis direction is the left-right direction of the work surface 1, and the direction toward the right side of the work surface 1 is the positive direction of the Y-axis;

[0053] The Z-axis direction is the up-down direction of the work surface 1 , and the direction toward the top of the work surface 1 is the positive direction of the Z-axis.

[0054] The coordinate system of the standard multi-dimensional force sensor 7 is:

[0055] The X′ axis direction is the front-to-back direction of the work surface 1, and the direction toward the rear side of the work surface is the positive direction of the X′ axis;

[0056] The Y′ axis direction is the left and right direction of the work surface 1, and the direction toward the right side of the work surface is the positive direction of the Y′ axis;

[0057] The Z′ axis direction is the up-down direction of the work surface 1 , and the direction toward the bottom of the work surface is the positive direction of the Z′ axis.

[0058] The rotation center of turntable 6 coincides with the center of standard multi-dimensional force sensor 7 (i.e., turntable 6 rotates about the Z' axis). The rotation center of the end of second force-bearing mechanism 9 coincides with the center of multi-dimensional force sensor 14 under test (i.e., rotary head 92 rotates about the Z axis). Second force-bearing mechanism 9 is movably connected to loading mechanism 10 and, in conjunction with turntable 6, ensures that the orientation of the coordinate system of standard multi-dimensional force sensor 7 and the coordinate system of multi-dimensional force sensor 14 under test remain consistent when circular mechanism 4 rotates.

[0059] In the initial state, the force line of the loading force generated by the loading mechanism 10 remains horizontal. The standard multi-dimensional force sensor 7 can be rotated around the multi-dimensional force sensor 14 to achieve the loading force F on the multi-dimensional force sensor 14 by the circular motion of the circular mechanism 4. X 、F Y And the loading moment M X 、M Y calibration.

[0060] When the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force ±F X and loading moment ±M Y When the Y′ axis direction of the standard multi-dimensional force sensor 7 coincides with the Y axis direction of the multi-dimensional force sensor 14 to be tested, the loading force ±F Y and loading moment ±M X When the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor 7 do not coincide with the X-axis and Y-axis directions of the corresponding multi-dimensional force sensor 14 to be tested, the force lines of the loading force generated by the loading mechanism 10 are at angles to both the X-axis and Y-axis directions of the multi-dimensional force sensor 14 to be tested. The loading force can be decomposed into the X-axis and Y-axis directions. Therefore, the loading force generated by the loading mechanism 10 can be coupled to calibrate the multi-dimensional force sensor 14 to be tested from two directions.

[0061] When the top plate 2 is raised or lowered along the vertical direction (Z-axis direction) of the work surface 1, the loading mechanism 10 no longer maintains a horizontal state. Under the above conditions, if the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor 7 do not coincide with the X-axis and Y-axis directions of the corresponding multi-dimensional force sensor 14 to be tested, the loading force can be decomposed into the X-axis, Y-axis and Z-axis, and the loading force applied this time can be regarded as the coupling result of the simultaneous loading of the multi-dimensional forces, which can achieve a loading force ±F X ±F Y ±F Z and loading moment ±M X ±M Y ±M Z Coupling calibration.

[0062] When the loading mechanism 10 is tilted, if the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force generated by the loading mechanism 10 can be decomposed into the X axis and the Z axis to achieve a loading force ±F X ±F Z and loading moment ±M Y If the standard multi-dimensional force sensor 7Y 'axis direction coincides with the tested multi-dimensional force sensor 14Y axis direction, the loading force generated by the loading mechanism 10 can be decomposed into the Y axis and the Z axis to achieve the loading force ± F Y ±F Z and loading moment ±M X Coupling calibration.

[0063] Specifically, the loading mechanism 10 includes a shell 101, a steel wire rope 102, a trapezoidal block 103 arranged inside the shell 101, and a bracket 104 arranged above the shell 101. The trapezoidal block 103 has two inclined surfaces 1031, and the two inclined surfaces 1031 face two force-bearing mechanisms respectively. Each inclined surface 1031 is slidably connected to a loading rod 105. The left and right side walls of the shell 101 are respectively provided with through holes 1011. The loading rod 105 is slidably connected in the through hole 1011. One end of the loading rod 105 extends through the through hole 1011 to the outside of the shell 101 and abuts against the force-bearing mechanism. The diameter of the through hole 1011 is larger than the outer diameter of the loading rod 105. Of course, a linear bearing can also be installed on the inner side of the through hole 1011, and the loading rod 105 is inserted into the linear bearing to realize the sliding of the loading rod 105.

[0064] A first guide column 106 is provided inside the shell 101. The axial direction of the first guide column 106 is parallel to the height direction of the shell 101. The axis of the first guide column 106 extends in the Z-axis direction. The trapezoidal block 103 is slidably connected to the first guide column 106. The first guide column 106 is used to guide the lifting and lowering of the trapezoidal block 103.

[0065] The top of the shell 101 is fixedly connected to a second guide column 107, and the axis of the second guide column 107 also extends in the Z-axis direction. The second guide column 107 is used to guide the lifting and lowering of the bracket 104. The second guide column 107 is slidably connected to the bracket 104. The rotation of the bracket 104 is connected to the first pulley 108. The two loading rods 105 are symmetrically arranged on the left and right sides of the center line of the first pulley 108. The end of the loading rod 105 close to the trapezoidal block 103 is provided with a mounting groove 1052. The loading rod 105 is provided with a through hole 1053 that penetrates the loading rod 105 along its own axis. The center line of 1053 coincides with the axis of the loading rod 105, the through hole 1053 is connected to the installation groove, and the second pulley 109 is rotatably connected in the installation groove, and the lower edge of the second pulley 109 is tangent to the center line of the through hole 1053, ensuring that the wire rope 102 will never touch the inner wall of the through hole 1053. The wire rope 102 is wound around the first pulley 108 and the second pulley 109. The second pulley 109 can ensure that the loading force applied by the wire rope 102 is always along the center of the two force-bearing balls, and the end of the wire rope 102 is fixedly connected to the force-bearing mechanism after passing through the through hole 1053; Figure 2 As shown, the left end of the wire rope 102 is connected to the first force-bearing mechanism 8, and the right end of the wire rope 102 is connected to the second force-bearing mechanism 9. The two inclined surfaces 1031 of the trapezoidal block 103 are also provided with avoidance grooves, which are used to prevent interference between the wire rope 102 and the inclined surfaces 1031 when the trapezoidal block 103 moves.

[0066] The loading mechanism 10 also includes a first drive assembly 1010 for driving the trapezoidal block 103 and the bracket 104 to move toward or away from each other simultaneously. When the trapezoidal block 103 and the bracket 104 move toward each other simultaneously, the loading rod 105 applies a thrust to the two force-bearing mechanisms (the first force-bearing mechanism 8 and the second force-bearing mechanism 9). When the trapezoidal block 103 and the bracket 104 move away from each other simultaneously, the steel wire rope 102 applies a tension to the two force-bearing mechanisms. The present invention causes the loading mechanism 10 to apply equal thrust or tension to the two force-bearing mechanisms by switching the motion state of the trapezoidal block 103 and the bracket 104 (moving toward or away from each other simultaneously).

[0067] However, when the trapezoidal block 103 and the bracket 104 simultaneously approach or move away, the travel range of the trapezoidal block 103 and the bracket 104 is divided into a loading range for applying a loading force and a transition range in which no loading force is applied. When the trapezoidal block 103 and the bracket 104 move into this transition range, the loading mechanism does not apply a loading force to either of the load-bearing mechanisms. The range of this transition range can be achieved by setting the thread pitch between the first thread 101011 and the second thread 101012.

[0068] When the drive assembly simultaneously brings the trapezoidal block 103 and bracket 104 closer together (i.e., the trapezoidal block 103 rises and the bracket 104 descends), the loading rods 105 located on either side of the housing 101, pushed outward by the inclined surface 1031 of the trapezoidal block 103, apply a loading force to both load-bearing mechanisms. Furthermore, because the wire rope 102 remains slack as the bracket 104 descends, only the loading rods 105 apply thrust to the two load-bearing mechanisms. In this state, both the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor being tested 14 are subjected to the same loading force and loading torque. By comparing their absolute values, the multi-dimensional force sensor being tested 14 can be calibrated.

[0069] When the drive assembly simultaneously moves the trapezoidal block 103 and bracket 104 away (i.e., the trapezoidal block 103 descends and the bracket 104 ascends), the wire rope 102 is gradually tightened as the bracket 104 ascends, applying tension to the two force-bearing mechanisms via the wire rope 102. Furthermore, since the loading rod 105 no longer applies thrust to the two force-bearing mechanisms when the trapezoidal block 103 descends, only the wire rope 102 applies tension to the two force-bearing mechanisms. In this state, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor under test 14 are both subjected to the same loading force and loading torque. By comparing their absolute values, the multi-dimensional force sensor under test 14 can be calibrated.

[0070] Specifically, the first drive component 1010 includes a screw rod 10101 rotatably connected to the shell 101, the upper end of the screw rod 10101 extends above the shell 101, and the outer wall of the shell 101 is provided with a first thread 101011 and a second thread 101012, the first thread 101011 and the second thread 101012 have opposite rotation directions, the first thread 101011 is provided at the upper part of the screw rod 10101, and the first thread 101011 is spirally connected to the bracket 104, the second thread 101012 is provided in the middle part of the screw rod 10101, and the second thread 101012 is spirally connected to the trapezoidal block 103, the lower end of the screw rod 10101 extends to the bottom of the shell 101, and the outer wall of the shell 101 is provided with a drive motor 10102, and the drive motor 10102 is connected to the lower end of the screw rod 10101 through a transmission component. The transmission assembly includes a first gear 10103 and a second gear 10104. The first gear 10103 is connected to the output end of the drive motor 10102, and the second gear 10104 is connected to the lower end of the screw rod 10101. After the drive motor 10102 is started, the screw rod 10101 also rotates synchronously under the drive of the transmission assembly.

[0071] Specifically, the outer wall of the loading rod 105 is provided with a shoulder 1051, which is located inside the housing 101. A spring 11 is sleeved on the outer wall of the loading rod 105, with one end of the spring 11 connected to the shoulder 1051 and the other end of the spring 11 connected to the inner wall of the housing 101. When the loading rod 105 is pushed outward, the spring 11 is compressed; when the trapezoidal block 103 descends, the spring 11 rebounds, separating the loading rod 105 from the force-bearing mechanism.

[0072] Specifically, the first force-bearing mechanism 8 includes a first force-bearing rod 81, the lower end of the first force-bearing rod 81 is rotatably connected to the first force-bearing ball 82, the rotation center of the first force-bearing ball 82 is perpendicular to the axis of the first force-bearing rod 81, one end of the loading mechanism 10 is connected to the first force-bearing ball 82; the axis of the first force-bearing rod 81 coincides with the Z′ axis; the left end of the wire rope 102 is connected to the center of the first force-bearing ball 82.

[0073] The second force-bearing component includes a second force-bearing rod 91, the axis of which coincides with the Z axis; the end of the second force-bearing rod 91 is rotatably connected to a swivel head 92, the center of rotation of which coincides with the axis of the second force-bearing rod 91, and the swivel head 92 is rotatably connected to a second force-bearing ball 93. The distance from the center of the second force-bearing ball 93 to the multi-dimensional force sensor 14 to be tested is equal to the distance from the center of the first force-bearing ball 82 to the standard multi-dimensional force sensor 7, so that when the loading mechanism 10 is loaded, the standard multi-dimensional force sensor 7 and the multi-dimensional force sensor 14 to be tested are subjected to the same torque. The right end of the wire rope 102 is connected to the center of the second force-bearing ball 93, the center of rotation of the second force-bearing ball 93 is perpendicular to the center of rotation of the swivel head 92, and the other end of the loading mechanism 10 is connected to the second force-bearing ball 93. The end of the loading rod 105 near the force-bearing ball is provided with a curved groove, the shape of which is consistent with that of the force-bearing ball.

[0074] When the circular mechanism 4 rotates, the turntable 92 rotates around the Z axis and the turntable 6 rotates around the Z′ axis, thereby ensuring that the orientation of the standard multi-dimensional force sensor 7 coordinate system is always consistent with the orientation of the tested multi-dimensional force sensor 14 coordinate system.

[0075] More specifically, the first force-bearing rod 81 and the rotating head 92 are respectively connected to the pin 12, and the first force-bearing ball 82 and the second force-bearing ball 93 are rotatably connected to the corresponding pin 12. When the top plate 2 is raised or lowered, the first force-bearing ball 82 and the second force-bearing ball 93 rotate around the pin 12, thereby changing the posture of the loading mechanism 10.

[0076] Specifically, the lifting mechanism 3 includes a screw column 31 rotatably connected to the work surface 1. The upper end of the screw column 31 has a threaded section 32, and the top plate 2 is spirally connected to the threaded section 32. A second drive assembly 33 is provided inside the work surface 1. The lower end of the screw column 31 extends into the interior of the work surface 1 and is connected to the second drive assembly 33. The screw column 31 rotates to drive the top plate 2 to rise and fall. Of course, the lifting mechanism 3 can also adopt other structures that can drive the top plate 2 to perform linear motion, such as a structure using a hydraulic cylinder or a linear motor connected to the top plate 2 to achieve the lifting of the top plate 2.

[0077] Specifically, four screw columns 31 are provided, one at each of the four corners of the work surface 1. Each of the four screw columns 31 is screw-connected to the top plate 2. When the top plate 2 is raised or lowered, the second drive assembly 33 drives the four screw columns 31 to rotate synchronously, thereby raising or lowering the top plate 2. This synchronous rotation of the four screw columns 31 to raise or lower the top plate 2 ensures smoother lifting and lowering.

[0078] Of course, only one screw column 31 may be provided. When the number of the screw column 31 is set to one, at least one guide rod is further provided on the work surface 1 , and the guide rod is slidably connected to the top plate 2 .

[0079] When four screw columns 31 are used to drive the top plate 2 to rise and fall, the second drive assembly 33 includes a first motor 331, multiple pulleys 332, and multiple synchronous belts 333. The pulleys 332 are respectively mounted on the lower ends of the screw columns 31. The output end of the first motor 331 is also connected to a pulley 332, and the pulleys 332 are connected to each other by a synchronous belt 333. When the first motor 331 drives one of the screw columns 31 to rotate, the other three screw columns 31 also rotate synchronously under the drive of the pulley 332 and the synchronous belt 333.

[0080] When a screw column 31 is used to drive the top plate 2 to rise and fall, the second drive component 33 includes a first motor 331, two pulleys 332 and a synchronous belt 333. The two pulleys 332 are respectively mounted on the lower ends of the first motor 331 and the screw column 31, and the synchronous belt 333 is wound around the two pulleys 332.

[0081] Specifically, the circumferential mechanism 4 includes a rotating shaft 41, which is rotatably connected to the center position of the top plate 2. The outer wall of the rotating shaft 41 is connected to a swing arm 42. The side of the swing arm 42 away from the rotating shaft 41 has a mounting portion 43, and the turntable 6 is mounted at the bottom of the mounting portion 43.

[0082] Specifically, a first annular guide groove 21 is provided at the bottom of the top plate 2 , the center of the first guide groove 21 coincides with the center of the rotating shaft 41 , and a first guide portion 431 is provided at the top of the mounting portion 43 , which is slidably connected in the first guide groove 21 .

[0083] Specifically, the circumferential mechanism 4 is connected to a vertical limit plate 13, which defines a second guide slot 131 extending vertically. The loading mechanism 10 is slidably connected to the second guide slot 131. A sliding portion is provided on a side of the housing 101 near the vertical limit plate 13, which is slidably connected to the second guide slot 131.

[0084] A specific application of the present invention is:

[0085] When the two loading rods 105 are in a horizontal state (i.e. the force line of the loading force generated by the loading mechanism 10 remains horizontal), the loading force ±F X ±F Y And the loading moment ±M X ±M Y The specific calibration is as follows:

[0086] If only the loading force ±F X and loading moment ±M Y During calibration, the circular mechanism 4 performs circular motion to make the standard multi-dimensional force sensor 7 revolve around the multi-dimensional force sensor 14 to be tested, until the X′-axis direction of the standard multi-dimensional force sensor 7 coincides with the X-axis direction of the multi-dimensional force sensor 14 to be tested.

[0087] Drive motor 10102 rotates forward, driving screw 10101 to raise trapezoidal block 103 and lower bracket 104. As trapezoidal block 103 rises, loading rods 105 on either side of it push outward, applying a loading force to first and second force-bearing mechanisms 8 and 9. As bracket 104 descends, wire rope 102 remains slack, so only loading rods 105 exert thrust on first and second force-bearing mechanisms 8 and 9.

[0088] When the loading rod 105 is loaded, the multi-dimensional force sensor 14 is subjected to +F X 、+M Y , standard multi-dimensional force sensor 7 is subjected to -F X′ 、-M Y′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0089] The driving motor 10102 is reversed, the trapezoidal block 103 descends, and the bracket 104 rises. When the trapezoidal block 103 moves downward, the loading rod 105 rebounds through the spring 11, and the loading rod 105 no longer applies thrust to the two force-bearing mechanisms. As the bracket 104 rises, the wire rope 102 is tightened. At this time, the multi-dimensional force sensor 14 under test is subjected to -F X 、-M Y , standard multi-dimensional force sensor 7 is subjected to +F X′ 、+M Y′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0090] If only the loading force ±F Y and loading moment ±M X During calibration, the circular mechanism 4 performs circular motion to make the standard multi-dimensional force sensor 7 revolve around the multi-dimensional force sensor 14 to be tested, until the Y′-axis direction of the standard multi-dimensional force sensor 7 coincides with the Y-axis direction of the multi-dimensional force sensor 14 to be tested.

[0091] When the loading rod 105 is loaded, the multi-dimensional force sensor 14 is subjected to +F Y 、+M X , standard multi-dimensional force sensor 7 is subjected to -F Y′ 、-M X′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0092] When the wire rope 102 is loaded, the multi-dimensional force sensor 14 is subjected to -F Y 、-M X , standard multi-dimensional force sensor 7 is subjected to +F Y′ 、+M X′ , after comparing its absolute value, the multi-dimensional force sensor 14 under test can be calibrated;

[0093] During coupling calibration, the circular mechanism 4 rotates a certain angle so that the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor 7 do not coincide with the X-axis and Y-axis directions of the corresponding multi-dimensional force sensor 14 to be tested. At this time, the force lines of the loading force generated by the loading mechanism 10 are at angles to the X-axis and Y-axis directions of the multi-dimensional force sensor 14 to be tested and the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor 7. The loading force can be decomposed into the X-axis and Y-axis directions. Therefore, the loading force generated by the loading mechanism 10 can couple the multi-dimensional force sensor 14 to be tested from two directions, realizing the loading torque ±F X ±F Y and loading moment ±M X ±M Y Coupling calibration.

[0094] When the top plate 2 is raised or lowered along the vertical direction (Z-axis direction) of the work surface 1, the loading mechanism 10 no longer maintains a horizontal state. Under the above conditions, if the X′-axis and Y′-axis directions of the standard multi-dimensional force sensor 7 do not coincide with the X-axis and Y-axis directions of the corresponding multi-dimensional force sensor 14 to be tested, the loading force can be decomposed into the X-axis, Y-axis and Z-axis, and the loading force applied this time can be regarded as the coupling result of the simultaneous loading of the multi-dimensional forces, which can achieve a loading force ±F X ±F Y ±F Z and loading moment ±M X ±M Y ±M Z Coupling calibration.

[0095] When the loading mechanism 10 is tilted, if the X′ axis direction of the standard multi-dimensional force sensor 7 coincides with the X axis direction of the multi-dimensional force sensor 14 to be tested, the loading force generated by the loading mechanism 10 can be decomposed into the X axis and the Z axis to achieve a loading force ±F X ±F Z and loading moment ±M Y If the standard multi-dimensional force sensor 7Y 'axis direction coincides with the tested multi-dimensional force sensor 14Y axis direction, the loading force generated by the loading mechanism 10 can be decomposed into the Y axis and the Z axis to achieve the loading force ± F Y ±F Z and loading moment ±M X Coupling calibration.

[0096] As the top plate 2 moves up and down, the loading mechanism 10 no longer maintains a horizontal position, and the loading force applied to the load-bearing rod also has a certain tilt angle. This allows the multi-dimensional force sensor 14 to be coupled and calibrated from multiple directions, and can display and simulate the most realistic load-bearing state. In addition, the device can combine the circular motion of the circular mechanism 4 with the lifting motion of the top plate 2, achieving the goal of applying the same loading force in most directions, thereby better achieving the goal of accurately calibrating the forces and moments experienced by industrial robots during actual operation.

[0097] Although the specific implementation methods 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 multi-dimensional force sensor rotary lifting synchronous calibration device, including a work surface for mounting the multi-dimensional force sensor to be tested, characterized in that: The device also includes a top plate and a lifting mechanism for driving the top plate to move up and down, the lifting mechanism is connected to the top of the work table, the top plate is rotatably connected to a circumferential mechanism, the rotation center of the circumferential mechanism coincides with the rotation center of the multi-dimensional force sensor to be tested, the top plate is provided with a goniometer for measuring the rotation angle of the circumferential mechanism, the circumferential mechanism is rotatably connected to a side facing the multi-dimensional force sensor to be tested, the turntable is provided at the outer end of the circumferential mechanism, and the turntable is connected to a standard multi-dimensional force sensor; The standard multi-dimensional force sensor is connected to a first force-bearing mechanism, and the tested multi-dimensional force sensor is connected to a second force-bearing mechanism. The two force-bearing mechanisms are jointly connected to a loading mechanism. The loading force applied by the loading mechanism acts on the first force-bearing mechanism and the second force-bearing mechanism, and the distance from the force-bearing point of the first force-bearing mechanism to the standard multi-dimensional force sensor is equal to the distance from the force-bearing point of the second force-bearing mechanism to the tested multi-dimensional force sensor.

2. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The loading mechanism includes a housing, a steel wire rope, a trapezoidal block disposed inside the housing, and a bracket disposed above the housing. The trapezoidal block has two inclined surfaces, the two inclined surfaces facing two force-bearing mechanisms respectively, and each inclined surface is slidably connected to a loading rod. Through holes are respectively opened on the left and right side walls of the housing. One end of the loading rod extends through the through hole to the outside of the housing and abuts against the force-bearing mechanism. A first guide post is provided inside the housing, the axis direction of the first guide post coincides with the height direction of the housing, and the trapezoidal block is slidably connected to the first guide post; A second guide post is fixedly connected to the top of the shell, and the second guide post is slidably connected to the bracket. The bracket is rotatably connected to the first pulley, and the two loading rods are symmetrically arranged on the left and right sides of the center line of the first pulley. The loading rod is provided with a mounting groove at one end close to the trapezoidal block, and the loading rod is provided with a through hole that penetrates the loading rod along its own axial direction. The through hole is connected to the mounting groove, and the second pulley is rotatably connected in the mounting groove, and the lower edge of the second pulley is tangent to the center line of the through hole. The steel wire rope is wound around the first pulley and the second pulley, and the end of the steel wire rope is fixedly connected to the force-bearing mechanism after passing through the through hole; The loading mechanism also includes a first driving component for driving the trapezoidal block and the bracket to approach or move away at the same time; when the trapezoidal block and the bracket approach at the same time, the loading rod applies a thrust to the force-bearing mechanism, and when the trapezoidal block and the bracket move away at the same time, the wire rope applies a pulling force to the force-bearing mechanism.

3. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 2, characterized in that: The first drive assembly includes a screw rod rotatably connected to the shell, the upper end of the screw rod extends above the shell, the outer wall of the shell is provided with a first thread and a second thread, the rotation directions of the first thread and the second thread are opposite, the first thread is provided at the upper part of the screw rod, and the first thread is spirally connected to the bracket, the second thread is provided in the middle part of the screw rod, the second thread is spirally connected to the trapezoidal block, the lower end of the screw rod extends to the bottom of the shell, the outer wall of the shell is provided with a drive motor, and the drive motor is connected to the lower end of the screw rod through a transmission assembly.

4. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 2, characterized in that: The outer wall of the loading rod is provided with a shaft shoulder, and the shaft shoulder is located inside the shell. The outer wall of the loading rod is sleeved with a spring, one end of the spring is connected to the shaft shoulder, and the other end of the spring is connected to the inner wall of the shell.

5. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The first force-bearing mechanism includes a first force-bearing rod, the lower end of which is rotatably connected to a first force-bearing ball, the rotation center of the first force-bearing ball is perpendicular to the axis of the first force-bearing rod, and one end of the loading mechanism is connected to the first force-bearing ball; The second force-bearing mechanism includes a second force-bearing rod, the end of the second force-bearing rod is rotatably connected to a rotating head, the rotation center of the rotating head coincides with the axis of the second force-bearing rod, the rotating head is rotatably connected to a second force-bearing ball, the rotation center of the second force-bearing ball is perpendicular to the rotation center of the rotating head, and the other end of the loading mechanism is connected to the second force-bearing ball.

6. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The lifting mechanism includes a screw column rotatably connected to the work surface, the upper end of the screw column has a threaded section, the top plate is spirally connected to the threaded section, a second drive assembly is provided inside the work surface, and the lower end of the screw column extends into the work surface and is connected to the second drive assembly.

7. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 6, characterized in that: There are four screw rod columns, which are respectively arranged at the four corners of the work surface.

8. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The circumferential mechanism includes a rotating shaft, which is rotatably connected to the center of the top plate. The outer wall of the rotating shaft is connected to a swing arm, and the swing arm has a mounting portion on a side away from the rotating shaft. The turntable is mounted on the bottom of the mounting portion.

9. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 8, characterized in that: A first annular guide groove is provided at the bottom of the top plate, the center of the first guide groove coincides with the center of the rotary shaft, and a first guide portion is provided at the top of the mounting portion, which is slidably connected in the first guide groove.

10. The multi-dimensional force sensor rotary lifting synchronous calibration device according to claim 1, characterized in that: The circumferential mechanism is connected to a vertical limiting plate, the vertical limiting plate is provided with a second guide groove, the second guide groove extends in a vertical direction, and the loading mechanism is slidably connected to the second guide groove.

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