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

Abstract

The utility model discloses a static calibration and calibration platform for a multi-dimensional six-dimensional force sensor. The static calibration and calibration platform comprises a calibration base station, a clamp, a cross tool, a guide rail support, an X-direction calibration module, a Y-direction calibration module and a Z-direction calibration module. And the clamp is fixed on the top surface of the calibration base station. And the cross tool is fixed at the top of the tested six-dimensional force sensor. The X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module are all installed on the guide rail support, and the output end of each force is connected with the corresponding detection end of the cross tool. According to the utility model, the cross tool is installed on the measured six-dimensional force sensor, the X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module are cooperated to realize calibration of forces and moments in all directions of the measured six-dimensional force sensor, and at the same time, a hanging disc and a weight increasing disc are arranged in each calibration module to realize adjustment of the magnitude of applied forces. And the calibration operation steps are simplified while the calibration accuracy of the measured six-dimensional force sensor is ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to six -dimensional force sensor technical field, concretely relates to a kind of multidimensional six-dimensional force sensor static calibration and calibration platform. BACKGROUND

[0002] Six-dimensional force sensor can simultaneously convert three dimensions force information and three dimensions moment information in space into electrical signal, and is widely used in robot, industrialization, aerospace, national defense construction and other fields.

[0003] Due to manufacturing, assembly, patch error and other factors, any sensor manufacturing, assembly is completed and must be calibrated test to design index, to ensure the accurate transmission of measurement value. When sensor uses, stores a period of time, its technical index must also be rechecked, and the process is called calibration, to ensure that its performance index meets the requirements. This calibration process can directly affect the accuracy of sensor. Therefore, the calibration of sensor measurement accuracy is an important link in the design, manufacture and use of sensor.

[0004] However, the existing six-dimensional force sensor calibration device has the defects of complex structure, complicated process, difficult installation and debugging, inconvenient loading or unable to load. UTILITY MODEL CONTENT

[0005] In order to make up for the deficiency of prior art, the utility model provides a kind of multidimensional six-dimensional force sensor static calibration and calibration platform, to solve six-dimensional force sensor calibration cumbersome, loading is not convenient and other technical problems.

[0006] To achieve the above purpose, the specific technical scheme of the utility model is as follows:

[0007] A kind of multidimensional six-dimensional force sensor static calibration and calibration platform, including calibration base, fixture, cross tooling, guide rail support, X direction calibration module, Y direction calibration module and Z direction calibration module.

[0008] The fixture is fixed on the top surface of calibration base, for clamping and fixing the measured six-dimensional force sensor.

[0009] The cross tooling is fixed on the top of the measured six-dimensional force sensor.

[0010] The X direction calibration module, Y direction calibration module and Z direction calibration module are all installed on guide rail support, and the output end of each force is respectively connected with the corresponding detection end on cross tooling.

[0011] Furthermore, the cross fixture includes a central calibration chuck and multiple connecting rods fixed to the circumference of the calibration chuck. Each connecting rod is equipped with multiple loading points. The output ends of each force in the X-axis calibration module, Y-axis calibration module, and Z-axis calibration module are connected to corresponding loading points, so that force in each direction can be applied to the six-dimensional force sensor under test.

[0012] Furthermore, the connecting rods are evenly distributed along the axis of the calibration chuck, and are sequentially divided into a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod. The second connecting rod and the fourth connecting rod are arranged opposite each other to form a calibration rod group in the X-axis direction; the first connecting rod and the third connecting rod are arranged opposite each other to form a calibration rod group in the Y-axis direction.

[0013] Furthermore, the Z-direction calibration module includes a Z-direction force calibration component and a Z-direction moment calibration component. The output end of the Z-direction force calibration component is installed directly above the axis of the cross fixture. The output end of the Z-direction moment calibration component is connected to the side of the first receiving rod.

[0014] The X-direction calibration module includes an X-direction force calibration component and an X-direction moment calibration component. The output end of the X-direction force calibration component is connected to the outer end surface of the second connecting rod; the X-direction moment calibration component is installed on the bottom surface of the first connecting rod and the third connecting rod.

[0015] The Y-direction calibration module includes a Y-direction force calibration component and a Y-direction moment calibration component. The Y-direction force calibration component is installed on the outer end surfaces of the first and third connecting rods; the Y-direction moment calibration component is installed on the bottom surfaces of the second and fourth connecting rods.

[0016] Furthermore, the Z-force calibration assembly includes a first pulley, a first steel wire rope, and a first load module. The first pulley is mounted on the top surface of the guide rail bracket and is located directly above the axis of the cross fixture. The inner end of the first steel wire rope is connected to the axis of the cross fixture, and the outer end passes around the first pulley and is equipped with the first load module.

[0017] Furthermore, the X-axis torque calibration assembly and the Y-axis torque calibration assembly each include a second steel wire rope and a second load module. The force output end at the top of the second steel wire rope is connected to the corresponding loading point. The second load module is fixed to the force input end at the bottom of the second steel wire rope.

[0018] Furthermore, the X-force calibration assembly, Y-force calibration assembly, and Z-torque calibration assembly each include a slide, a second pulley, a third steel wire rope, and a third load module. The second pulley is slidably connected to the guide rail bracket via the slide. The inner end of the third steel wire rope is connected to the corresponding loading point on the receiving rod, and the outer end passes around the second pulley and is equipped with the third load module.

[0019] Furthermore, a locking bolt is provided between the slide seat and the guide rail bracket, and the locking bolt is threadedly engaged with the slide seat.

[0020] Furthermore, the X-direction force calibration assembly is provided with two, and the force output ends of the two X-direction force calibration assemblies are connected to the loading points on the outer end surfaces of the second support rod and the fourth support rod. The Y-direction force calibration assembly is provided with a total of one, and the force output end of the Y-direction force calibration assembly is connected to the loading point on the outer end surface of the first support rod.

[0021] Furthermore, the first load-bearing module, the second load-bearing module, and the third load-bearing module each include a hanging plate and a plurality of weight-increasing plates. A hook is provided on the top surface of the hanging plate. The weight-increasing plates are stacked on the hanging plate in sequence.

[0022] Compared with the prior art, the utility model has the following advantages:

[0023] 1. The utility model installs a cross tool on the six-dimensional force sensor to be measured, and cooperates with the X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module to realize the calibration of the force and torque in each direction of the six-dimensional force sensor to be measured. At the same time, a hanging plate and a weight plate are set in each calibration module to adjust the magnitude of the applied force. While ensuring the accurate calibration of the six-dimensional force sensor to be measured, the calibration operation steps are simplified.

[0024] 2. The X-direction force calibration assembly, Y-direction force calibration assembly and Z-direction moment calibration assembly in the present invention are connected to the corresponding third steel rope by setting a pulley that can slide on the guide rail bracket, so that the force application angle of the third steel rope can be adjusted to ensure that the application point is flush with the corresponding loading point on the horizontal plane, avoiding calibration errors caused by angle deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the cross tooling in the utility model ( Figure 1 Partial enlarged view of part A);

[0027] Figure 3 Schematic diagram of the relative positions of the cross fixture, the Z-direction moment calibration component, and the X-direction force calibration component in the present invention;

[0028] Figure 4 This is a schematic structural diagram of the X-direction torque calibration component in the present invention.

[0029] Figure numerals: 1, calibration base; 2, fixture; 3, cross fixture; 3-1, calibration chuck; 3-2, first receiving rod; 3-3, second receiving rod; 3-4, third receiving rod; 3-5, fourth receiving rod; 3-6, loading point; 4, guide rail bracket; 4-1, X-direction force calibration bracket; 4-2, Y-direction force calibration bracket; 4-3, Z-direction moment calibration bracket; 5, Z-direction force calibration assembly; 5-1, first pulley; 5-2, first steel wire rope; 6, Z-direction moment calibration assembly; 7 , X-direction force calibration assembly; 8. X-direction moment calibration assembly; 9. Y-direction moment calibration assembly; 10. Y-direction force calibration assembly; 11. Second pulley; 12. Third wire rope; 13. Hanging plate; 14. Hook; 15. Weight-increasing plate; 16. Load module A; 17. Load module B; 18. Load module C; 19. Load module D; 20. Load module E; 21. Load module F; 22. Load module G; 23. Load module H; 24. Load module I; 25. Load module J. DETAILED DESCRIPTION

[0030] 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.

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] like Figure 1 and 2 As shown, a multi-dimensional six-axis force sensor static calibration and calibration platform includes a calibration base 1, a fixture 2, a cross fixture 3, a guide rail bracket 4, an X-axis calibration module, a Y-axis calibration module and a Z-axis calibration module. Among them, the fixture 2 is fixed on the top surface of the calibration base 1, and is used to clamp and fix the six-axis force sensor to be measured. The cross fixture 3 is fixed to the top of the six-axis force sensor to be measured by bolts. The X-axis calibration module, the Y-axis calibration module and the Z-axis calibration module are all installed on the guide rail bracket 4, and the output end of each force is respectively connected to the corresponding detection end on the cross fixture 3, which can realize the detection and calibration of the force and torque in each direction of the six-axis force sensor to be measured.

[0033] Specific structure such as Figure 2As shown, the cross fixture 3 includes a central calibration chuck 3-1 and four connecting rods fixed on the circumferential surface of the calibration chuck 3-1. The four connecting rods are evenly distributed along the axial direction of the axis of the calibration chuck 3-1, and are divided into a first connecting rod 3-2, a second connecting rod 3-3, a third connecting rod 3-4 and a fourth connecting rod 3-5. Among them, the first connecting rod 3-2, the second connecting rod 3-3, the third connecting rod 3-4 and the fourth connecting rod 3-5 are each provided with a plurality of loading points 3-6. The output end of each force in the X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module is connected to the corresponding loading point 3-6. Each load-bearing module is mounted on. The input end of each force in the X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module, through the transmission of the cross fixture 3 and each calibration module, completes the application of forces in each direction of the measured six-dimensional force sensor, and completes the calibration work.

[0034] like Figure 1 、 2 As shown in Figure 3, the Z-direction calibration module includes a Z-direction force calibration component 5 and a Z-direction moment calibration component 6, which are respectively used to detect the force and moment in the Z-axis direction of the six-dimensional force sensor being tested. The X-direction calibration module includes an X-direction force calibration component 7 and an X-direction moment calibration component 8, which are respectively used to detect the force and moment in the X-axis direction of the six-dimensional force sensor being tested. The Y-direction calibration module includes a Y-direction force calibration component 10 and a Y-direction moment calibration component 9, which are respectively used to detect the force and moment in the Y-axis direction of the six-dimensional force sensor being tested.

[0035] like Figure 2 As shown, the Z-direction force calibration assembly 5 includes a first pulley 5-1, a first steel wire rope 5-2, a first load-bearing module and a plurality of guide wheels. Among them, the first pulley 5-1 is mounted on the top surface of the guide rail bracket 4 and is located directly above the axis of the cross fixture 3. The output end of the force in the first steel wire rope 5-2 is connected to the axis of the cross fixture 3. The first steel wire rope 5-2 passes around the first pulley 5-1 and guides the input end of the force in the first steel wire rope 5-2 to one side through each guide wheel. The first load-bearing module is mounted on the input end of the force in the first steel wire rope 5-2. When in use, the first load-bearing module is loaded and unloaded by loading and unloading the input end of the force in the first steel wire rope 5-2, thereby completing the calibration of the Z-axis direction force of the six-dimensional force sensor being measured.

[0036] In this embodiment, two X-axis torque calibration assemblies 8 and two Y-axis torque calibration assemblies 9 are provided. The two X-axis torque calibration assemblies 8 are connected to the loading points 3-6 on the bottom surfaces of the first support rod 3-2 and the third support rod 3-4, respectively. The two Y-axis torque calibration assemblies 9 are connected to the loading points 3-6 on the bottom surfaces of the second support rod 3-3 and the fourth support rod 3-5, respectively.

[0037] like Figure 1 and 4As shown, both the X-axis torque calibration assembly 8 and the Y-axis torque calibration assembly 9 include a second steel wire rope and a second load module. The force output end at the top of the second steel wire rope is connected to the corresponding loading points 3-6. The second load module is fixed to the force input end at the bottom of the second steel wire rope. During testing, the operator uses the second load module to load the second steel wire rope at each loading point 3-6 to detect the torque in each direction.

[0038] like Figure 1 As shown, there are two X-direction force calibration assemblies 7, and the force output ends of the two X-direction force calibration assemblies 7 are connected to the loading points 3-6 on the outer end surfaces of the second supporting rod 3-3 and the fourth supporting rod 3-5, thereby calibrating the positive and negative X-axis forces of the six-dimensional force sensor being measured. There is a single Y-direction force calibration assembly 10, and the force output end of the Y-direction force calibration assembly 10 is connected to the loading point 3-6 on the outer end surface of the first supporting rod 3-2, thereby calibrating the negative Y-direction force of the six-dimensional force sensor being measured. There are two Z-direction moment calibration assemblies 6, and the force output ends of the two Z-direction moment calibration assemblies 6 are respectively connected to the loading points 3-6 on the two side surfaces of the first supporting rod 3-2.

[0039] The X-force calibration assembly 7, the Y-force calibration assembly 10, and the Z-torque calibration assembly 6 all include a slide, a second pulley 11, a third steel wire rope 12, and a third load-bearing module. The second pulley 11 is slidably connected to the guide rail bracket 4 via the slide. The third steel wire rope 12 passes around the second pulley 11, and the force output end at the top is connected to the corresponding loading point 3-6, while the force input end at the bottom is connected to the third load-bearing module. During testing, the staff carries the third load-bearing module on the third steel wire rope 12 at each loading point 3-6, thereby realizing the detection of force in the X-axis direction and the Y-axis direction, as well as the detection of torque in the Z-axis direction.

[0040] In this embodiment, a locking bolt is provided between the slide and the guide rail bracket 4. When the slide slides to a specified position, the locking bolt is screwed to increase the static friction between the locking bolt and the guide rail bracket 4, thereby locking the slide.

[0041] Furthermore, the guide rail bracket 4 includes an X-direction force calibration bracket 4-1, a Y-direction force calibration bracket 4-2, and a Z-direction moment calibration bracket 4-3. The X-direction force calibration bracket 4-1 is aligned with the second support rod 3-3 and the fourth support rod 3-5 in the cross fixture 3; the Y-direction force calibration bracket 4-2 is aligned with the first support rod 3-2 and the third support rod 3-4 in the cross fixture 3; and the Z-direction moment calibration bracket 4-3 is aligned with the two loading points 3-6 on the side of the first support rod 3-2.

[0042] The X-direction force calibration component 7, the Y-direction force calibration component 10, and the second pulley 11 of the middle Z-direction moment calibration bracket 4-3 are slidably connected to the corresponding calibration bracket to ensure that when the third steel wire rope 12 is carrying the third load-bearing module, the force application point is flush with the corresponding loading point 3-6 on the horizontal plane, avoiding calibration errors caused by angle deviations.

[0043] like Figure 4 As shown, the first load-bearing module, the second load-bearing module, and the third load-bearing module each include a hanging plate 13 and a plurality of weight-increasing plates 15. A hook 14 is provided on the top surface of the hanging plate 13. The hanging plate 13 can be hung on the corresponding steel wire rope via the hook 14. The weight-increasing plates 15 are stacked on the hanging plate 13 in sequence, and the user can add or reduce weight-increasing plates as needed. Furthermore, the weight-increasing plates are provided with a clearance groove that cooperates with the hook 14. The weight-increasing plates are connected to the hook 14 via the clearance groove.

[0044] In this embodiment, the bottoms of the first steel rope 5-2, the second steel rope and the third steel rope 12 are all bent to form a suspension area that matches the hook 14. The hook 14 is hung in the suspension area.

[0045] Furthermore, there is one first load-carrying module, designated as load-carrying module A16. There are five third load-carrying modules, including load-carrying modules B17, C18, D19, E20, and F21, which are sequentially mounted on the third steel wire rope 12 in the X-force calibration assembly 7, the Y-force calibration assembly 10, and the Z-torque calibration assembly 6. There are four second load-carrying modules, including load-carrying modules G22, H23, I24, and J25, which are sequentially mounted on the second steel wire ropes in the X-torque calibration assembly 8 and the Y-torque calibration assembly 9.

[0046] When each wire rope is equipped with the corresponding counterweight module, the force and torque measured by the six-dimensional sensor are shown in Table 1.

[0047]

[0048] 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 multi-dimensional six-axis force sensor static calibration and calibration platform, characterized by: It includes a calibration base (1), a fixture (2), a cross fixture (3), a guide rail bracket (4), an X-direction calibration module, a Y-direction calibration module, and a Z-direction calibration module; The clamp (2) is fixed on the top surface of the calibration base (1) and is used to clamp and fix the six-dimensional force sensor to be measured; The cross fixture (3) is fixed on the top of the six-dimensional force sensor to be measured; The X-direction calibration module, the Y-direction calibration module, and the Z-direction calibration module are all mounted on the guide rail bracket (4), and the output ends of the respective forces are respectively connected to corresponding detection ends on the cross tooling (3).

2. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 1, characterized in that: The cross tooling (3) comprises a central calibration chuck (3-1) and a plurality of receiving rods fixed on the circumferential surface of the calibration chuck (3-1); each receiving rod is provided with a plurality of loading points (3-6); the output ends of the respective forces in the X-direction calibration module, the Y-direction calibration module and the Z-direction calibration module are connected to the corresponding loading points (3-6), and can apply forces in various directions to the six-dimensional force sensor being measured.

3. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 2, characterized in that: Each of the receiving rods is evenly distributed along the axial direction of the axis of the calibration chuck (3-1), and is sequentially divided into a first receiving rod (3-2), a second receiving rod (3-3), a third receiving rod (3-4) and a fourth receiving rod (3-5); the second receiving rod (3-3) and the fourth receiving rod (3-5) are arranged opposite to each other to form a calibration rod group in the X-axis direction; the first receiving rod (3-2) and the third receiving rod (3-4) are arranged opposite to each other to form a calibration rod group in the Y-axis direction.

4. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 3, characterized in that: The Z-direction calibration module comprises a Z-direction force calibration component (5) and a Z-direction moment calibration component (6); the output end of the Z-direction force calibration component (5) is installed directly above the axis of the cross fixture (3); the output end of the Z-direction moment calibration component (6) is connected to the side surface of the first receiving rod (3-2); The X-direction calibration module comprises an X-direction force calibration component (7) and an X-direction moment calibration component (8); the output end of the X-direction force calibration component (7) is connected to the outer end surface of the second connecting rod (3-3); the X-direction moment calibration component (8) is installed on the bottom surfaces of the first connecting rod (3-2) and the third connecting rod (3-4); The Y-direction calibration module comprises a Y-direction force calibration component (10) and a Y-direction moment calibration component (9); the Y-direction force calibration component (10) is mounted on the outer end surfaces of the first supporting rod (3-2) and the third supporting rod (3-4); and the Y-direction moment calibration component (9) is mounted on the bottom surfaces of the second supporting rod (3-3) and the fourth supporting rod (3-5).

5. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 4, characterized in that: The Z-direction force calibration assembly (5) comprises a first pulley (5-1), a first steel wire rope (5-2), and a first load-bearing module; the first pulley (5-1) is mounted on the top surface of the guide rail bracket (4) and is located directly above the axis of the cross fixture (3); the inner end of the first steel wire rope (5-2) is connected to the axis of the cross fixture (3), and the outer end passes around the first pulley (5-1) and is equipped with the first load-bearing module.

6. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 5, characterized in that: The X-direction moment calibration assembly (8) and the Y-direction moment calibration assembly (9) both comprise a second steel wire rope and a second load-bearing module; the force output end at the top of the second steel wire rope is connected to the corresponding loading point (3-6); and the second load-bearing module is fixed to the force input end at the bottom of the second steel wire rope.

7. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 6, characterized in that: The X-direction force calibration assembly (7), the Y-direction force calibration assembly (10) and the Z-direction moment calibration assembly (6) all include a slide, a second pulley (11), a third steel wire rope (12) and a third load-bearing module; the second pulley (11) is slidably connected to the guide rail bracket (4) through the slide; the inner end of the third steel wire rope (12) is connected to the loading point (3-6) on the corresponding receiving rod, and the outer end passes around the second pulley (11) and is equipped with the third load-bearing module.

8. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 7, characterized in that: A locking bolt is provided between the slide seat and the guide rail bracket (4); the locking bolt is threadedly engaged with the slide seat.

9. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 4, characterized in that: Two X-direction force calibration components (7) are provided, and the output ends of the force in the two X-direction force calibration components (7) are connected to the loading points (3-6) on the outer end surfaces of the second receiving rod (3-3) and the fourth receiving rod (3-5); and there is a total of one Y-direction force calibration component (10), and the output end of the force in the Y-direction force calibration component (10) is connected to the loading point (3-6) on the outer end surface of the first receiving rod (3-2).

10. The multi-dimensional six-axis force sensor static calibration and calibration platform according to claim 7, characterized in that: The first load-bearing module, the second load-bearing module and the third load-bearing module each comprise a hanging plate (13) and a plurality of weight-increasing plates (15); a hook (14) is provided on the top surface of the hanging plate (13); and the weight-increasing plates (15) are stacked on the hanging plate (13) in sequence.

Images