Static calibration and calibration platform for precise six-dimensional force sensor

Abstract

The utility model discloses a static calibration and calibration platform for a precise six-dimensional force sensor. The static calibration and calibration platform comprises a detection platform, and a calibration clamping table, a calibration and calibration module and a plurality of counterweight modules which are arranged on the detection platform. And the counterweight modules are respectively arranged at the calibration ends of the calibration module. The calibration module comprises a force loading tool, an X-axis force calibration assembly, a Y-axis force calibration assembly and a Z-axis force calibration assembly. The force loading tool is fixed on the top of the tested six-dimensional force sensor. The force loading tool comprises a sensor chuck and a cantilever beam frame fixed on the sensor chuck. According to the utility model, the force loading tool is matched with the steel cables and the counterweight modules in multiple directions to form a multi-direction and multi-dimensional force-torque system calibration system, the design is precise, the structure is simple and easy to realize, a worker can quickly complete the installation and detection calibration of the detected six-dimensional force sensor, the detection precision is ensured, and the detection efficiency is improved. The device structure is simplified and the device cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of sensor measurement and calibration, and particularly relates to a static calibration and calibration platform for a precision six-dimensional force sensor. Background Art

[0002] With the rapid development of sensor technology, six-axis force sensors are widely used in industrial automation, robotic control, mechanical manufacturing, and other fields. They can simultaneously detect three linear forces and three moments, providing key support for multi-dimensional force measurement and control. However, six-axis force sensors require extremely high measurement accuracy, especially in high-precision applications, where even the slightest error can affect overall system performance. Therefore, a calibration platform is required to debug the sensor to ensure its accuracy and stability.

[0003] The six-axis force sensor calibration platforms currently available on the market are complex and expensive, especially for large-scale applications. Furthermore, the structural design of these platforms is limited in their ability to flexibly adapt to different calibration scenarios, particularly in laboratories or factory workshops. Therefore, a cost-effective, simple, and easy-to-maintain calibration platform is urgently needed that can achieve precise calibration and calibration. Utility Model Content

[0004] In order to make up for the deficiencies of the existing technology, the utility model provides a static calibration platform for a precision six-dimensional force sensor to solve the technical problems of a complex structure and high cost of the calibration platform for the precision six-dimensional force sensor.

[0005] In order to achieve the above purpose, the specific technical solutions of the present utility model are as follows:

[0006] A static calibration platform for precision six-axis force sensors includes a testing platform, a calibration fixture mounted on the testing platform, a calibration module, and multiple counterweight modules. The calibration fixture is used to clamp and secure the six-axis force sensor under test. Each counterweight module is mounted on a respective calibration end of the calibration module and can apply force in the corresponding direction to the six-axis force sensor under test.

[0007] The calibration module includes a force-loading fixture, an X-axis force calibration assembly, a Y-axis force calibration assembly, and a Z-axis force calibration assembly. The force-loading fixture is fixed to the top of the six-axis force sensor being measured. The force-loading fixture includes a sensor chuck and a cantilever beam fixed to the sensor chuck.

[0008] The X-axis force calibration component is connected to the cantilever beam on one side of the X-axis direction of the force loading tooling, and is used to calibrate and detect the force in the X-axis direction of the six-dimensional force sensor being tested.

[0009] The Y-axis force calibration component is connected to the cantilever beam on one side of the Y-axis direction of the force loading tooling, and is used to calibrate and detect the force in the Y-axis direction of the six-dimensional force sensor being measured.

[0010] The Z-axis force calibration component is connected to the axis of the force loading fixture and is used to calibrate and detect the force in the Z-axis direction of the six-dimensional force sensor being tested.

[0011] Furthermore, the Z-axis force calibration assembly includes a positive direction calibration assembly and a negative direction calibration assembly. The positive direction calibration assembly is installed directly above the force loading fixture, and the detection end is connected to the axis of the force loading fixture, and is used to calibrate and detect the force in the positive direction of the Z axis of the six-axis force sensor under test. The negative direction calibration assembly is installed on the bottom surface of the force loading fixture, and is used to calibrate and detect the force in the negative direction of the Z axis of the six-axis force sensor under test.

[0012] Furthermore, the positive direction calibration assembly includes a crossbeam support, a first steel cable, and a first guide pulley. The first guide pulley is mounted on the crossbeam support and located directly above the axis of the force-loading fixture. The inner end of the first steel cable is connected to the axis of the force-loading fixture, while the outer end passes around the first guide pulley and carries the corresponding counterweight module.

[0013] Furthermore, the negative direction calibration assembly includes a second steel cable and a third steel cable. The second steel cable is fixed to the bottom surface of the cantilever beam frame on one side of the X-axis direction of the force loading fixture, and the bottom end is equipped with a corresponding counterweight module, which can calibrate and detect the force in the negative direction of the Z axis of the six-axis force sensor being tested, as well as the torque generated in the Y-axis direction. The third steel cable is fixed to the bottom surface of the cantilever beam frame on one side of the Y-axis direction of the force loading fixture, and the bottom end is equipped with a corresponding counterweight module, which can calibrate and detect the force in the negative direction of the Z axis of the six-axis force sensor being tested, as well as the torque generated in the X-axis direction.

[0014] Furthermore, a Z-axis torque calibration assembly is provided on one side of the Y-axis cantilever group, and the detection end of the Z-axis torque calibration assembly is connected to the side of the cantilever beam frame on the X-axis direction of the force loading tooling, so as to calibrate and detect the torque in the Z-axis direction of the six-dimensional force sensor being measured.

[0015] Furthermore, the X-axis force calibration assembly, Y-axis force calibration assembly, and Z-axis moment calibration assembly each include a mounting bracket, a slide, a fourth steel cable, and a lift adjustment assembly. The slide is slidably connected to the mounting bracket and can be vertically adjusted by the lift adjustment assembly and locked after being adjusted to a specified position. The inner end of the fourth steel cable is connected to the corresponding portion of the corresponding cantilever beam frame, and the outer end bypasses the slide and carries the corresponding counterweight module.

[0016] Furthermore, the lifting and adjusting assembly includes a screw and a knob. The screw is rotatably connected to the mounting bracket and engages with the slide thread. The knob is fixed to the top of the screw.

[0017] Furthermore, the slide is provided with a third guide pulley that is rotatably connected, the fourth steel cable passes around the third guide pulley, and a corresponding counterweight module is carried at the bottom.

[0018] Furthermore, the counterweight module includes a hanging plate and an expansion plate. The hanging plate is fixed to the end of the corresponding steel cable. The expansion plate is stacked on the hanging plate.

[0019] Compared with the prior art, the utility model has the following advantages:

[0020] 1. In this utility model, a multi-directional and multi-dimensional force-torque calibration system is formed by using force-loading tooling in combination with steel cables and counterweight modules in multiple directions. It has a precise design, a simple structure and is easy to implement. Workers can quickly complete the installation and detection calibration of the six-dimensional force sensor being tested, while ensuring detection accuracy, simplifying the device structure and reducing device costs.

[0021] 2. The force calibration components in each direction in the present invention are further optimized by setting a slide that can be raised and lowered and cooperating with corresponding guide pulleys, so that the applied force can be aligned with the detection end, avoiding errors caused by tilting the angle of applied force, and ensuring the accuracy of static calibration and calibration of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the Z-axis force calibration component in the present invention ( Figure 1 Partial enlarged view of part A);

[0024] Figure 3 Schematic diagram of the relative positions of the force loading fixture and the X-axis force calibration assembly, the Y-axis force calibration assembly, and the Z-axis moment calibration assembly in the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the Z-axis torque calibration component in the present invention ( Figure 1 (partial enlarged view of part B in the middle).

[0026] Reference numerals: 1, detection platform; 2, calibration fixture; 3, calibration module; 4, counterweight module; 4-1, counterweight module A; 4-2, counterweight module B; 4-3, counterweight module C; 4-4, counterweight module D; 4-5, counterweight module E; 4-6, counterweight module F; 5, force loading fixture; 5-1, sensor chuck; 5-2, cantilever beam frame; 5-2-1, first cantilever beam; 5-2-2, second cantilever beam; 5 -2-3, third cantilever beam; 5-2-4, fourth cantilever beam; 6, X-axis force calibration assembly; 7, Y-axis force calibration assembly; 8, Z-axis force calibration assembly; 8-1, crossbeam bracket; 8-2, first steel cable; 8-3, first guide pulley; 9, mounting bracket; 10, slide; 11, third guide pulley; 12, fourth steel cable; 13, knob; 14, Z-axis torque calibration assembly; 15, second steel cable; 16, third steel cable. DETAILED DESCRIPTION

[0027] In the description of the present invention, it should be understood that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, a static calibration and calibration platform for a precision six-axis force sensor includes a detection platform 1, a calibration fixture 2, a calibration and calibration module 3, and a plurality of counterweight modules 4 arranged on the detection platform 1. The six-axis force sensor to be measured is mounted on the calibration fixture 2, and the bottom is clamped and fixed by the calibration fixture 2. The calibration and calibration module 3 includes a force loading fixture 5, an X-axis force calibration component 6, a Y-axis force calibration component 7, and a Z-axis force calibration component 8. The top of the six-axis force sensor to be measured is fixed to the force loading fixture 5 by bolts. The force loading fixture 5 includes a sensor chuck 5-1, and four cantilever beams 5-2 fixed on the circumferential surface of the sensor chuck 5-1. The four cantilever beams 5-2 are evenly distributed along the circumference of the axis of the sensor chuck 5-1. The four cantilever beams 5-2 are divided into a first cantilever beam 5-2-1, a second cantilever beam, a third cantilever beam, and a fourth cantilever beam. The first cantilever beam 5-2-1 and the second cantilever beam, the third cantilever beam and the fourth cantilever beam form pairs and are divided into an X-direction cantilever group and a Y-direction cantilever group.

[0030] like Figure 1 and 3As shown, the X-axis force calibration assembly 6 and the Y-axis force calibration assembly 7 are respectively arranged on opposite sides of the X-axis cantilever group and the Y-axis cantilever group. When the counterweight module 4 is loaded, they can measure the X-axis and Y-axis forces applied to the six-axis force sensor under test. The Z-axis force calibration assembly 8 is arranged on the central axis of the sensor chuck 5-1 and can measure the Z-axis force applied to the six-axis force sensor under test when the counterweight module 4 is loaded. By comparing the measured force with the force of the counterweight module 4, it is detected whether the six-axis force sensor under test meets the requirements.

[0031] Furthermore, a Z-axis torque calibration component is provided on one side of the Y-direction cantilever group, which can measure the torque applied to the six-dimensional force sensor in the Z direction when the counterweight module 4 is loaded.

[0032] like Figure 2 As shown, the Z-axis force calibration assembly 8 includes a positive direction calibration assembly and a negative direction calibration assembly. The positive direction calibration assembly can calibrate and detect the tension applied to the six-axis force sensor being tested; the negative direction calibration assembly can calibrate and detect the pressure applied to the six-axis force sensor being tested, as well as the moments in the X-axis and Y-axis directions.

[0033] The positive direction calibration assembly includes a crossbeam support 8-1, a first steel cable 8-2, a first guide pulley 8-3, and a second guide pulley. The crossbeam support 8-1 includes two spaced-apart columns and a crossbeam mounted horizontally on top of the columns. The first guide pulley 8-3 and the second guide pulley are both mounted on the crossbeam. The first guide pulley 8-3 is located directly above the center of the sensor chuck 5-1, and the second guide pulley is located at the end of the crossbeam. The inner end of the first steel cable 8-2 is connected to the center of the sensor chuck 5-1, and it passes around the first guide pulley 8-3 and the second guide pulley in sequence, with the corresponding counterweight module 4 being mounted at the end.

[0034] The negative direction calibration assembly includes a second steel cable 8-5 and a third steel cable 8-6. The second steel cable 8-5 and the third steel cable 8-6 are respectively fixed to the bottom surfaces of the outer ends of the first cantilever beam 5-2-1 and the third cantilever beam. When the second steel cable 8-5 is equipped with the corresponding counterweight module 4, it will apply a force in the negative direction of the Z axis to the sensor chuck 5-1, and form a torque in the Y axis direction, thereby completing the calibration test of the force in the negative direction of the Z axis and the torque in the Y axis direction of the six-dimensional force sensor under test. When the third steel cable 8-6 is equipped with the corresponding counterweight module 4, it will apply a force in the negative direction of the Z axis to the sensor chuck 5-1, and form a torque in the X axis direction, thereby completing the calibration test of the force in the negative direction of the Z axis and the torque in the X axis direction of the six-dimensional force sensor under test.

[0035] like Figure 1 and 4As shown, the X-axis force calibration assembly 6, the Y-axis force calibration assembly 7 and the Z-axis moment calibration assembly all include a mounting bracket 9, a slide 10, a third guide pulley 11, a fourth steel cable 12 and a lifting and adjusting assembly. Among them, the slide 10 is slidably connected to the mounting bracket 9, and can be raised and lowered in the vertical direction under the drive of the lifting and adjusting assembly, and locked after being adjusted to the specified position. The third guide pulley 11 is rotatably connected to the slide 10 and is directly opposite to the specified part of the corresponding cantilever group. The inner end of the fourth steel cable 12 is connected to the specified part of the corresponding cantilever group, and the other end passes around the third guide pulley 11 and carries the corresponding counterweight module 4.

[0036] The specific structure is as Figure 1 and 3 As shown, the fourth steel cable 12 in the X-axis force calibration assembly 6 is connected to the outer end face of the second cantilever beam, and can measure the force in the X-axis direction when the corresponding counterweight module 4 is installed at the end. The fourth steel cable 12 in the Y-axis force calibration assembly 7 is connected to the outer end face of the fourth cantilever beam, and can measure the force in the Y-axis direction when the corresponding counterweight module 4 is installed at the end. The fourth steel cable 12 in the Z-axis torque calibration assembly is connected to the side face of the third cantilever beam, and can complete the calibration and detection of the force in the X-axis direction and the torque in the Z-axis direction of the measured six-dimensional force sensor when the corresponding counterweight module 4 is installed at the end.

[0037] like Figure 4 As shown, the lift adjustment assembly includes a screw and knob 13. The screw is rotatably connected to the mounting bracket 9 and threadedly engages with the slide 10. Knob 13 is fixed to the top of the screw. During operation, the user rotates the screw by turning knob 13. The slide 10 is raised and lowered, driven by the screw, until the third guide pulley 11 on the slide 10 is aligned with the designated position of the corresponding cantilever group.

[0038] like Figure 1 As shown, the counterweight module 4 includes a hanging plate and an increasing plate. The hanging plate is fixed to the end of the corresponding steel cable. The increasing plate is stacked on the hanging plate and can be increased or decreased according to the needs of the user.

[0039] In this embodiment, there are six counterweight modules 4, namely counterweight module A4-1, counterweight module B4-2, counterweight module C4-3, counterweight module D4-4, counterweight module E4-5, and counterweight module F4-6. Among them, counterweight module A is mounted on the first steel cable 8-2, counterweight module B is mounted on the fourth steel cable 12 in the Z-axis torque calibration assembly; counterweight module C is mounted on the fourth steel cable 12 in the Y-axis force calibration assembly 7; counterweight module D is mounted on the fourth steel cable 12 in the Z-axis force calibration assembly 8; counterweight module E is mounted on the second steel cable 8-5; and counterweight module F is mounted on the third steel cable 8-6.

[0040] When each steel cable is equipped with the corresponding counterweight module, the force and torque measured by the six-dimensional sensor are shown in Table 1.

[0041]

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A static calibration and calibration platform for a precision six-dimensional force sensor, comprising a detection platform (1), a calibration clamp (2), a calibration and calibration module (3), and a plurality of counterweight modules (4) arranged on the detection platform (1); the calibration clamp (2) is used to clamp and fix the six-dimensional force sensor to be measured; each counterweight module (4) is respectively installed at each calibration end of the calibration and calibration module (3) and can apply a force in a corresponding direction to the six-dimensional force sensor to be measured, characterized in that: The calibration module (3) includes a force loading fixture (5), an X-axis force calibration component (6), a Y-axis force calibration component (7), and a Z-axis force calibration component (8); the force loading fixture (5) is fixed on the top of the six-dimensional force sensor to be measured; the force loading fixture (5) includes a sensor chuck (5-1), and a cantilever beam frame (5-2) fixed on the sensor chuck (5-1); The X-axis force calibration component (6) is connected to a cantilever beam frame (5-2) on one side of the X-axis direction of the force loading tooling (5) and is used to calibrate and detect the force in the X-axis direction of the six-dimensional force sensor being tested; The Y-axis force calibration component (7) is connected to a cantilever beam frame (5-2) on one side of the Y-axis direction of the force loading tooling (5) and is used to calibrate and detect the force in the Y-axis direction of the six-dimensional force sensor being tested; The Z-axis force calibration component (8) is connected to the axis of the force loading fixture (5) and is used to calibrate and detect the force in the Z-axis direction of the six-dimensional force sensor being measured.

2. A precision six-axis force sensor static calibration and calibration platform according to claim 1, characterized in that: The Z-axis force calibration component (8) comprises a positive direction calibration component and a negative direction calibration component; the positive direction calibration component is installed directly above the force loading tooling (5), and the detection end is connected to the axis of the force loading tooling (5); the negative direction calibration component is installed on the bottom surface of the force loading tooling (5).

3. The static calibration platform for a precision six-axis force sensor according to claim 2, characterized in that: The positive direction calibration component comprises a crossbeam support (8-1), a first steel cable (8-2) and a first guide pulley (8-3); the first guide pulley (8-3) is mounted on the crossbeam support (8-1) and is located directly above the axis of the force loading tooling (5); the inner end of the first steel cable (8-2) is connected to the axis of the force loading tooling (5), and the outer end passes around the first guide pulley (8-3) and carries a corresponding counterweight module (4).

4. The static calibration platform for a precision six-axis force sensor according to claim 2, characterized in that: The negative direction calibration component includes a second steel cable (8-5) and a third steel cable (8-6); the second steel cable (8-5) is fixed on the bottom surface of a cantilever beam frame (5-2) on one side of the X-axis direction of the force loading tooling (5), and a corresponding counterweight module (4) is mounted on the bottom end; the third steel cable (8-6) is fixed on the bottom surface of a cantilever beam frame (5-2) on one side of the Y-axis direction of the force loading tooling (5), and a corresponding counterweight module (4) is mounted on the bottom end.

5. The static calibration platform for a precision six-axis force sensor according to claim 1, characterized in that: A Z-axis moment calibration component is provided on one side of the cantilever beam frame (5-2) in the Y-axis direction on the loading fixture, and a detection end of the Z-axis moment calibration component is connected to the side surface of the cantilever beam frame (5-2) in the X-axis direction on the force loading fixture (5), so as to be able to calibrate and detect the moment in the Z-axis direction of the six-dimensional force sensor being measured.

6. The static calibration platform for a precision six-axis force sensor according to claim 5, characterized in that: The X-axis force calibration assembly (6), the Y-axis force calibration assembly (7) and the Z-axis moment calibration assembly all include a mounting bracket (9), a slide (10), a fourth steel cable (12) and a lifting and adjusting assembly; the slide (10) is slidably connected to the mounting bracket (9), and can be lifted and lowered in the vertical direction under the drive of the lifting and adjusting assembly, and locked after being adjusted to a specified position; the inner end of the fourth steel cable (12) is connected to the corresponding part of the corresponding cantilever beam frame (5-2), and the outer end bypasses the slide (10) and carries the corresponding counterweight module (4).

7. The static calibration platform for a precision six-axis force sensor according to claim 6, characterized in that: The lifting and adjusting assembly includes a screw and a knob (13); the screw is rotatably connected to the mounting bracket (9) and is threadedly engaged with the slide (10); the knob (13) is fixed to the top of the screw.

8. The static calibration platform for a precision six-axis force sensor according to claim 6, characterized in that: The slide (10) is provided with a rotatably connected third guide pulley (11), and the fourth steel cable (12) passes around the third guide pulley (11) and carries a corresponding counterweight module (4) at the bottom.

9. The static calibration platform for a precision six-axis force sensor according to claim 1, characterized in that: The counterweight module (4) comprises a hanging plate and an increasing plate; the hanging plate is fixed on the corresponding calibration end; and the increasing plate is stacked on the hanging plate.

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