Calibration device

Abstract

The utility model discloses a calibration device. The calibration device comprises a rack; the calibration assembly comprises an installation platform and a loading part which are arranged in the first direction, the installation platform is arranged on the rack, the installation platform is suitable for installing a force sensor, and the loading part is arranged on the side, away from the installation platform in the first direction, of the force sensor and is suitable for being fixedly connected with the installation platform through the force sensor; the weight is connected with the loading piece, the weight is configured to apply a first acting force parallel to the X axis, a second acting force parallel to the Y axis and / or a third acting force parallel to the Z axis to the force sensor through the loading piece, and the acting line of the first acting force, the acting line of the second acting force and the acting line of the third acting force pass through the geometric center of the force sensor. According to the calibration device provided by the utility model, the force generated by the weight can directly act on the central point of the force sensor, so that the interference of force in other dimensions can be prevented, and the calibration precision of the force sensor can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensor calibration technical field especially is related to a calibration device. BACKGROUND

[0002] The six-dimensional force sensor static calibration device mainly has two schemes of force device exertion force calibration and weight exertion force calibration, wherein the mode of force device exertion force calibration outputs the loading value by the force gauge, this mode is high in efficiency, but the precision error of the output loading value is always greater than the precision error of the force gauge, the six-dimensional force sensor cannot be calibrated accurately, the high-precision force device is inconvenient to install and is expensive, the weight type calibration fixes the sensor by using the six-dimensional force sensor calibration device, the weight acts the gravity on the sensor through the force transmission structure such as rope, this method can provide relatively accurate calibration results in theory, but in actual application, the force interference in additional dimension can be introduced due to the force transmission structure, thereby affecting the accuracy of calibration. SUMMARY

[0003] The utility model discloses at least solve one of the technical problems in the prior art. For this purpose, the utility model provides a calibration device, the calibration device can make the force generated by the weight can directly act on the center point of force sensor, and then can prevent the generation of other dimensional force interference, and can also avoid the measurement error caused by eccentric loading, so as to improve the calibration accuracy of force sensor.

[0004] According to the calibration device of the utility model, the calibration device is used for calibrating the force sensor to be calibrated, the force sensor has a three-dimensional coordinate system with the geometric center of the force sensor as the origin, the three-dimensional coordinate system includes X-axis, Y-axis and Z-axis perpendicular to each other, the calibration device includes: a rack, a calibration assembly, the calibration assembly includes: the installation platform and the loading piece arranged along the first direction, the installation platform is arranged on the rack, the installation platform is suitable for installing the force sensor, the loading piece is arranged on the side of the force sensor away from the installation platform in the first direction, and is suitable for being fixedly connected with the installation platform through the force sensor, the weight is connected with the loading piece, the weight is configured to exert the first action force parallel to the X-axis, the second action force parallel to the Y-axis and / or the third action force parallel to the Z-axis on the force sensor through the loading piece, and the action line of the first action force, the action line of the second action force and the action line of the third action force pass through the geometric center of the force sensor.

[0005] According to the calibration device, the action lines of the first force, the second force and the third force pass the geometric center of the force sensor, so that the force generated by the weight can directly act on the center point of the force sensor, thereby preventing other inter-dimensional force interference, and avoiding measurement error caused by eccentric loading, so that the calibration precision of the force sensor is improved.

[0006] According to some embodiments of the present application, the loading member has a first loading part and a second loading part, the weight is configured to be connected to the first loading part and apply the third force to the force sensor through the first loading part, and the weight is configured to be connected to the second loading part and apply the first force and / or the second force to the force sensor through the second loading part.

[0007] According to some embodiments of the present application, the first loading part is formed in a flat plate shape perpendicular to the first direction, the number of the second loading parts is plural, the plural second loading parts are connected to the first loading part and arranged in a circumferential direction of the first loading part, wherein a part of the plural second loading parts is formed as a first loading arm and another part is formed as a second loading arm, the first loading arm and the second loading arm are arranged at a 90° angle in a plane perpendicular to the first direction, the weight is configured to apply the first force to the force sensor through the first loading arm, and the weight is configured to apply the second force to the force sensor through the second loading arm.

[0008] According to some embodiments of the present application, the second loading part comprises: a first plate part, one end of the first plate part is connected to a circumferential edge of the first loading part, and the other end extends in a direction away from the first loading part in a plane perpendicular to the first direction; a second plate part, one end of the second plate part is connected to the other end of the first plate part, and the other end extends toward the mounting platform in the first direction; and a third plate part, one end of the third plate part is connected to the other end of the second plate part, and the other end of the third plate part extends away from the first plate part in a plane perpendicular to the first direction, and the weight is adapted to be connected to the other end of the third plate part.

[0009] According to some embodiments of the present application, the rack comprises: a mounting plate, the mounting platform is fixed on the mounting plate and is rotatable relative to the mounting plate about a first axis extending in the first direction, and the first axis passes the geometric center of the force sensor.

[0010] According to some embodiments of the present application, the first direction is a horizontal direction, the mounting platform, the force sensor and the loading piece are arranged in the horizontal direction, the mounting platform is rotatable about the first axis extending horizontally between the first position and the second position, wherein, when the mounting platform is in the first position, the lower side of the first loading part is connected with a first loading arm extending vertically downward, the weight is hung at the lower end of the first loading arm, and the first loading arm is used for applying the first force to the force sensor, when the mounting platform is in the second position, the lower side of the first loading part is connected with a second loading arm extending vertically downward, the weight is hung at the lower end of the second loading arm, and the second loading arm is used for applying the second force to the force sensor.

[0011] According to some embodiments of the present application, the first direction is a vertical direction, the loading piece is arranged on the upper side of the force sensor, and the weight is configured to be placed on the upper surface of the first loading part and used for applying the third force to the force sensor.

[0012] According to some embodiments of the present application, the force sensor is a six-dimensional force sensor, and the calibration device is configured to calibrate the first moment of force about the X axis, the second moment of force about the Y axis and / or the third moment of force about the Z axis of the force sensor.

[0013] According to some embodiments of the present application, the loading piece comprises at least two loading arms, the plurality of loading arms are arranged at intervals around the first direction, and the at least two loading arms are symmetrically arranged about a first axis passing through the geometric center and parallel to the first direction, the weight comprises a first weight and a second weight, the first weight and the second weight are configured to be connected with the two symmetrically arranged loading arms respectively, the first weight and the second weight apply two forces of equal size and opposite directions to the force sensor through the two symmetrically arranged loading arms, to form the first moment of force, the second moment of force or the third moment of force acting on the force sensor, wherein, the action lines of the two forces are coplanar with the geometric center, and the action points of the two forces have the same distance from the geometric center.

[0014] According to some embodiments of the present application, further comprising: a fixed pulley rotatably arranged on the rack, an axis of the fixed pulley is arranged horizontally, the first weight is configured to be hung on one of the two symmetrically arranged loading arms through a first pull rope, and the second weight is configured to be connected with the other of the two symmetrically arranged loading arms through a second pull rope arranged on the fixed pulley.

[0015] According to some embodiments of the present application, the number of loading arms is four, the four loading arms are uniformly spaced around the first axis, the four loading arms include two first loading arms and two second loading arms, the two first loading arms are symmetrically arranged about the first axis, and the two second loading arms are symmetrically arranged about the first axis.

[0016] According to some embodiments of the present application, the rack includes a mounting plate, the mounting platform is fixed on the mounting plate and is rotatable relative to the mounting plate about a first axis extending in a first direction, the first axis passes through the geometric center of the force sensor, the first direction is a vertical direction, the loading member is arranged on the upper side of the force sensor, and the mounting platform is rotatable about the first axis extending in the vertical direction between a third position and a fourth position.

[0017] According to some embodiments of the present application, the first direction is a horizontal direction, the mounting platform, the force sensor and the loading member are arranged in the horizontal direction, and the first weight and the second weight jointly act to form the third moment acting on the force sensor.

[0018] According to some embodiments of the present application, the rack includes a mounting plate, the mounting platform is fixed on the mounting plate and is rotatable relative to the mounting plate about a first axis extending in a first direction, the first axis passes through the geometric center of the force sensor, the first direction is a vertical direction, the loading member is arranged on the upper side of the force sensor, and the mounting platform is rotatable about the first axis extending in the vertical direction between a third position and a fourth position.

[0019] According to some embodiments of the present application, the calibration assembly includes a first calibration assembly and a second calibration assembly, the mounting platform and the loading member of the first calibration assembly are arranged in a horizontal direction in a stack for calibrating the first force and / or the second force of the force sensor and the third moment about the Z axis, and the second mounting platform and the loading member are arranged in a vertical direction in a stack for calibrating the third force of the force sensor and the first moment about the X axis and / or the second moment about the Y axis.

[0020] According to some embodiments of the present application, the rack further comprises: a plurality of mounting plates, the plurality of mounting plates comprising: a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate being arranged at intervals, the first calibration assembly being fixed on the first mounting plate, and the second calibration assembly being fixed on the second mounting plate.

[0021] According to some embodiments of the present application, the rack comprises: a bottom plate, a top plate and side plates, the top plate and the bottom plate being arranged horizontally and at intervals in the up-down direction, the number of the side plates being a plurality, and the plurality of side plates being arranged uniformly at the left and right ends of the bottom plate and being fixedly connected with the top plate and the bottom plate.

[0022] According to some embodiments of the present application, the first mounting plate is fixedly connected with the side plate, and the second mounting plate is fixed on the bottom plate through a support.

[0023] According to some embodiments of the present application, the rack comprises: a plurality of feet, the heights of the plurality of feet being adjustable, and the plurality of feet being arranged at intervals along the circumference of the bottom plate on the side of the bottom plate away from the top plate.

[0024] According to some embodiments of the present application, further comprising: an adapter, the loading piece being fixedly connected with the adapter, and the adapter being adapted to be fixedly connected with the force sensor.

[0025] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic view of a calibration device according to an embodiment of the present application;

[0027] Figure 2 is a schematic view of a calibration assembly according to an embodiment of the present application;

[0028] Figure 3 is a schematic view of a calibration assembly calibrating Fx of a force sensor according to an embodiment of the present application;

[0029] Figure 4 is a schematic view of a calibration assembly calibrating Fz of a force sensor according to an embodiment of the present application;

[0030] Figure 5 is a schematic view of a calibration assembly calibrating Mz of a force sensor according to an embodiment of the present application;

[0031] Figure 6 is a schematic view of a calibration assembly calibrating Mx of a force sensor according to an embodiment of the present application.

[0032] Reference signs:

[0033] 100, calibration device;

[0034] 10, rack; 11, mounting plate; 11a, first mounting plate; 11b, second mounting plate; 12, top plate; 13, bottom plate; 131, bottom foot; 132, support; 14, side plate;

[0035] 20, calibration assembly; 20a, first calibration assembly; 20b, second calibration assembly; 21, mounting platform; 22, loading piece; 221, first loading part; 222, second loading part; 222a, first loading arm; 222b, second loading arm; 2221, first plate part; 2222, second plate part; 2223, third plate part;

[0036] 30, weight; 30a, first weight; 30b, second weight;

[0037] 40, fixed pulley;

[0038] 50, adapter;

[0039] 200, force sensor. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0041] Reference is made below to Figures 1-6 The calibration device 100 according to the embodiments of the present application is described.

[0042] As Figures 1-6 shown, the calibration device 100 according to the embodiments of the present application is used to calibrate a force sensor 200 to be calibrated, the force sensor 200 has a three-dimensional coordinate system with the geometric center of the force sensor 200 as the origin, and the three-dimensional coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis.

[0043] The calibration device 100 comprises a rack 10, a calibration assembly 20 and a weight 30. It can be understood that the calibration device 100 of the present application is calibrated by the weight 30, wherein the rack 10 is mainly used to provide structural support, thereby ensuring the stability and rigidity of the entire calibration device 100, and providing mounting space for the calibration assembly 20, the force sensor 200 and the weight 30, so as to ensure the normal work of the entire device; the calibration assembly 20 and the weight 30 cooperate to calibrate the force of the force sensor 200.

[0044] Specifically, the calibration assembly 20 comprises a mounting platform 21 arranged in a first direction and a loading piece 22, the mounting platform 21 is arranged on the rack 10, the mounting platform 21 is adapted to mount the force sensor 200, and the loading piece 22 is arranged on the side of the force sensor 200 away from the mounting platform 21 in the first direction and is adapted to be fixedly connected with the mounting platform 21 through the force sensor 200.

[0045] Among them, the mounting platform 21 is mainly used to fix the force sensor 200 and the loading piece 22 on the rack 10; the loading piece 22 is mainly used as a medium for transmitting force to ensure that the applied force can be accurately transmitted to the force sensor 200.

[0046] The weight 30 is connected with the loading piece 22, and the weight 30 is configured to apply a first action force parallel to the X axis, a second action force parallel to the Y axis and / or a third action force parallel to the Z axis to the force sensor 200 through the loading piece 22, and the action line of the first action force, the action line of the second action force and the action line of the third action force pass through the geometric center of the force sensor 200.

[0047] It can be understood that the weight 30 is mainly used to apply an action force in a specific direction to the force sensor 200 through the loading piece 22. It should be noted that the weight 30 can apply one or more of the first action force, the second action force and the third action force to the force sensor 200 through the loading piece 22. It should be further noted that the loading piece 22 has a part parallel to the X axis, the Y axis and / or the Z axis.

[0048] Among them, "the action line of the first action force, the action line of the second action force and the action line of the third action force pass through the geometric center of the force sensor 200" can be understood as that the force generated by the weight 30 can directly act on the center point of the force sensor 200, thereby preventing other inter-dimensional force interference, and also avoiding measurement error caused by eccentric loading, so as to improve the calibration accuracy of the force sensor 200.

[0049] According to the calibration device 100 of this utility model embodiment, by setting the lines of action of the first force, the second force, and the third force to pass through the geometric center of the force sensor 200, the force generated by the weight 30 can be directly applied to the center point of the force sensor 200, thereby preventing interdimensional force interference that generates torque, and also avoiding measurement errors caused by eccentric loading, thus improving the calibration accuracy of the force sensor 200.

[0050] According to some embodiments of this utility model, such as Figure 2 As shown, the loading member 22 has a first loading part 221 and a second loading part 222. The weight 30 is configured to be connected to the first loading part 221 and apply a third force to the force sensor 200 through the first loading part 221. The weight 30 is configured to be connected to the second loading part 222 and apply a first force and / or a second force to the force sensor 200 through the second loading part 222. It is understood that one loading member 22 in the above embodiment can realize force calibration in multiple directions, thereby reducing the structural complexity of the calibration device 100 and improving the operability of the calibration device 100.

[0051] The phrase "the weight 30 is configured to be connected to the second loading part 222 and to apply a first force and / or a second force to the force sensor 200 through the second loading part 222" is intended to indicate that the weight 30 can apply only a first force to the force sensor 200, apply only a second force to the force sensor 200, or apply both a first force and a second force to the force sensor 200 through the second loading part 222.

[0052] According to some embodiments of this utility model, such as Figure 2As shown, the first loading part 221 is formed into a flat plate shape perpendicular to the first direction. Multiple second loading parts 222 are connected to the first loading part 221 and arranged at intervals along the circumference of the first loading part 221. A portion of the multiple second loading parts 222 are formed as a first loading arm 222a and another portion as a second loading arm 222b. The first loading arm 222a and the second loading arm 222b are arranged at a 90° angle in a plane perpendicular to the first direction. The weight 30 is configured to apply a first force to the force sensor 200 through the first loading arm 222a, and the weight 30 is configured to apply a second force to the force sensor 200 through the second loading arm 222b. It can be understood that in this embodiment, the loading member 22 precisely divides each transmission area, allowing the weight 30 to apply force to the force sensor 200 through each area, thereby achieving calibration of each force of the force sensor 200. This simplifies the operation process, reduces operational errors, and improves calibration accuracy.

[0053] It should be noted that in this embodiment, the first direction is the Z-axis direction, the first loading arm 222a is arranged parallel to the X-axis, and the second loading arm 222b is arranged parallel to the Y-axis.

[0054] According to some embodiments of this utility model, such as Figure 2 As shown, the second loading part 222 includes: a first plate part 2221, a second plate part 2222, and a third plate part 2223. One end of the first plate part 2221 is connected to the periphery of the first loading part 221, and the other end extends in a plane perpendicular to the first direction toward a direction away from the first loading part 221. One end of the second plate part 2222 is connected to the other end of the first plate part 2221, and the other end extends in the first direction toward the mounting platform 21. One end of the third plate part 2223 is connected to the other end of the second plate part 2222, and the other end of the third plate part 2223 extends in a plane perpendicular to the first direction away from the first plate part 2221. The weight 30 is adapted to be connected to the other end of the third plate part 2223. Understandably, the second loading part 222 is formed in a "Z" shape. This allows the lines of action of the first and second forces applied by the weight 30 to the force sensor 200 through the second loading part 222 to pass through the geometric center of the force sensor 200. As a result, the force generated by the weight 30 can act directly on the center point of the force sensor 200, thereby preventing interdimensional force interference that generates torque. It can also avoid measurement errors caused by eccentric loading, thus improving the calibration accuracy of the force sensor 200.

[0055] According to some embodiments of the present invention, the frame 10 includes a mounting plate 11, wherein the mounting plate 11 is mainly used to provide basic support for fixing the mounting platform 21 and other components.

[0056] Specifically, the mounting platform 21 is fixed on the mounting plate 11 and is rotatable relative to the mounting plate 11 about a first axis extending along a first direction, the first axis passing through the geometric center of the force sensor 200. It can be understood that the first axis is the Z-axis. The mounting platform 21 can rotate the force sensor 200 and the loading member 22 about the Z-axis, thereby adjusting the positions of the first loading arm 222a, the second loading arm 222b, and the force sensor 200 to be measured, so that the direction of the single-dimensional force to be measured by the force sensor 200 reaches a preset position, thus enabling the calibration of the force sensor 200Fx and Fy.

[0057] The first axis passes through the geometric center of the force sensor 200. This ensures that the attitude change of the force sensor 200 during rotation will not introduce additional eccentric loading errors, thereby ensuring the accuracy and consistency of the measurement results.

[0058] According to some embodiments of this utility model, such as Figure 3 As shown, the first direction is horizontal. The mounting platform 21, force sensor 200, and loading member 22 are arranged in the horizontal direction. The mounting platform 21 is rotatable between a first position and a second position around a horizontally extending first axis. When the mounting platform 21 is in the first position, a first loading arm 222a extending vertically downward is connected to the lower side of the first loading part 221, and a weight 30 is suspended from the lower end of the first loading arm 222a to apply a first force to the force sensor 200. When the mounting platform 21 is in the second position, a second loading arm 222b extending vertically downward is connected to the lower side of the first loading part 221, and a weight 30 is suspended from the lower end of the second loading arm 222b to apply a second force to the force sensor 200.

[0059] It is understandable that when calibrating the force sensor 200 for forces in the X and Y directions, the force sensor 200 and the loading component 22 can be rotated by rotating the mounting platform 21, so that the direction of the single-dimensional force to be measured by the force sensor 200 is parallel to the direction of gravity, thereby preventing interference from inter-dimensional forces and improving calibration accuracy.

[0060] It should be noted that when the mounting platform 21 is rotated to the first position, the calibration device 100 of this application is used to calibrate the force Fx in the X direction of the force sensor 200 to be tested. When the mounting platform 21 is rotated to the second position, the calibration device 100 of this application is used to calibrate the force Fy in the Y direction of the force sensor 200 to be tested.

[0061] Specifically, when calibrating the force sensor 200, the mounting platform 21 is first driven to rotate to the first position. At this time, the direction of the force sensor 200's Fx is perpendicular to the center of the earth, which ensures that gravity only acts on the force sensor 200 in the X direction. Different masses of weights 30 are suspended on the first loading arm 222a arranged on the lower side of the first loading part 221 in turn. The change in the resistance value of the force sensor 200's resistor is recorded when different masses of weights 30 are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of Fx and the change in resistance, thus realizing the calibration of the force sensor 200's Fx.

[0062] When calibrating the force sensor 200, the mounting platform 21 is first rotated to the second position. At this time, the direction of the force sensor 200 is perpendicular to the center of the earth, which ensures that gravity only acts on the Y direction of the force sensor 200. Different masses of weights 30 are suspended on the second loading arm 222b arranged below the first loading part 221 in turn. The change of resistance of the resistive element of the force sensor 200 is recorded when different masses of weights 30 are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of Fy and the change of resistance, thus realizing the calibration of the force sensor 200's Fy.

[0063] For example Figure 3 As shown, the frame 10 has a first calibration position. When the calibration component 20 is in the first calibration position, the first direction is the front-to-back direction. The mounting platform 21, force sensor 200, and loading component 22 are arranged sequentially from back to front. There are two first loading arms 222a, which are symmetrically arranged about the first axis. There are also two second loading arms 222b, which are symmetrically arranged about the first axis. When the mounting platform 21 is in the first position, two first loading arms 222a are respectively arranged on the upper and lower sides of the first loading part 221, and two second loading arms 222b are respectively arranged on the left and right sides of the first loading part 221. The weight 30 is connected to the first loading arm 222a arranged on the lower side of the first loading part 221 to calibrate the Fx of the force sensor 200. When the mounting platform 21 is in the second position, two second loading arms 222b are respectively arranged on the upper and lower sides of the first loading part 221, and two first loading arms 222a are respectively arranged on the left and right sides of the first loading part 221. The weight 30 is connected to the second loading arm 222b arranged on the lower side of the first loading part 221 to calibrate the Fy of the force sensor 200.

[0064] According to some embodiments of this utility model, such as Figure 4As shown, the first direction is vertical. The loading member 22 is arranged above the force sensor 200, and the weight 30 is configured to be placed on the upper surface of the first loading part 221 to apply a third force to the force sensor 200. It can be understood that in this embodiment, the force Fz in the Z direction of the force sensor 200 is calibrated. The weight 30 can be directly placed on the upper surface of the first loading part 221 without any other operating steps. This simplifies the calibration process and improves the calibration speed.

[0065] Specifically, when calibrating the force sensor 200 under test, the first loading part 221 is adjusted to a horizontal state, and weights 30 of different masses are placed at the center position of the upper surface of the first loading part 221. The change in the resistance value of the resistive element of the sensor under test is recorded when different weights 30 of different masses are placed. The matrix is ​​solved to obtain the relationship between the magnitude of Fz and the change in resistance, thereby realizing the calibration of the force sensor 200's Fz.

[0066] For example Figure 4 As shown, the frame 10 has a second calibration position. When the calibration component 20 is in the second calibration position, the first direction is the up and down direction. The mounting platform 21, the force sensor 200 and the loading component 22 are arranged in sequence from bottom to top. The weight 30 is placed directly on the upper surface of the first loading part 221 to calibrate the Fz of the force sensor 200.

[0067] According to some embodiments of this utility model, such as Figures 5-6 As shown, the force sensor 200 is a six-dimensional force sensor 200, and the calibration device 100 is configured to calibrate the first torque about the X-axis, the second torque about the Y-axis, and / or the third torque about the Z-axis of the force sensor 200. It is understood that the calibration device 100 of this application can not only measure the forces (Fx, Fy, Fz) along the three orthogonal axes (X, Y, Z), but also measure the torques (Mx, My, Mz) about these three axes. Therefore, a single calibration device 100 can complete the calibration tasks for all dimensions, thereby avoiding the need for multiple independent devices and reducing overall costs.

[0068] According to some embodiments of this utility model, such as Figures 5-6As shown, the loading member 22 includes at least two loading arms, and multiple loading arms are spaced apart around a first direction. At least two loading arms are symmetrically arranged about a first axis passing through the geometric center and parallel to the first direction. The weight 30 includes a first weight 30a and a second weight 30b. The first weight 30a and the second weight 30b are configured to be connected to the two symmetrically arranged loading arms, respectively. The first weight 30a and the second weight 30b apply two forces of equal magnitude and opposite direction to the force sensor 200 through the two symmetrically arranged loading arms to form a first torque, a second torque, or a third torque acting on the force sensor 200. The lines of action of the two forces are coplanar with the geometric center, and the distance between the points of action of the two forces and the geometric center is the same. This ensures that the force exerted by the weight 30 on the force sensor 200 through the loading arm is zero, allowing the force sensor 200 to be subjected only to torque. Therefore, during matrix calculations, interference from other forces can be shielded, and only the matrix calculations for each torque can be performed, eliminating the need for decoupling calculations with other forces. This reduces the computational complexity of the decoupling matrix, thereby increasing the calibration accuracy of the force sensor 200. Furthermore, the lines of action of the two forces are coplanar with the geometric center, and the distance between the points of action of the two forces and the geometric center is the same, further ensuring the absence of interference from other forces, thus further improving the calibration accuracy of the force sensor 200.

[0069] For example, the number of loading arms can be two or four.

[0070] According to some embodiments of this utility model, such as Figures 5-6 As shown, the calibration device 100 further includes a fixed pulley 40, which is rotatably mounted on the frame 10. The axis of the fixed pulley 40 is horizontally positioned. A first weight 30a is configured to be directly suspended from one of the two symmetrically arranged loading arms via a first pull rope. A second weight 30b is configured to be connected to the other of the two symmetrically arranged loading arms via a second pull rope wound around the fixed pulley 40. Specifically, the fixed pulley 40 is mainly used to change the direction of the pull rope, thereby making the force exerted by the second weight 30b on the force sensor 200 through the loading arm opposite to the force exerted by the first weight 30a. The fixed pulley 40 has a relatively simple structure and low cost, thus simplifying the overall structure and reducing the overall cost.

[0071] According to some embodiments of this utility model, such as Figures 5-6As shown, there are four loading arms, evenly spaced around a first axis. Each loading arm includes two first loading arms 222a and two second loading arms 222b. The two first loading arms 222a and the two second loading arms 222b are symmetrically arranged about the first axis. The evenly spaced arrangement of the four loading arms around the first axis forms a symmetrical structure. This reduces errors caused by eccentric loading, improves measurement accuracy, simplifies structural and operational complexity, and enhances the operability of the calibration device 100. Furthermore, different combinations of loading arms can be selected as needed to achieve calibration tasks involving various forces and torques, thereby increasing the system's flexibility.

[0072] According to some embodiments of this utility model, such as Figures 5-6 As shown, the frame 10 includes: a mounting plate 11, a mounting platform 21 fixed on the mounting plate 11 and rotatable relative to the mounting plate 11 about a first axis extending in a first direction, the first axis passing through the geometric center of the force sensor 200, the first direction being vertical, a loading member 22 arranged on the upper side of the force sensor 200, and the mounting platform 21 rotatable about the vertically extending first axis between a third position and a fourth position. When the mounting platform 21 is in the third position, the first weight 30a and the second weight 30b work together to form a first torque acting on the force sensor 200. When the mounting platform 21 is in the fourth position, the first weight 30a and the second weight 30b work together to form a second torque acting on the force sensor 200.

[0073] Understandably, when calibrating the force sensor 200 for torque in the X and Y directions, the force sensor 200 and the loading component 22 can be rotated by rotating the mounting platform 21, thereby achieving calibration of Mx and My. This reduces the number of disassembly and assembly steps, thus further improving the calibration speed. At the same time, it can prevent the position of the loading component 22 and the stress generated when tightening the fixing screws of the loading component 22 during disassembly and assembly from affecting the calibration of the force sensor, thereby improving the calibration accuracy.

[0074] It should be noted that when the mounting platform 21 is rotated to the third position, the calibration device 100 of this application is used to calibrate the torque Mx in the X direction of the force sensor 200 to be tested, and when the mounting platform 21 is rotated to the fourth position, the calibration device 100 of this application is used to calibrate the torque My in the Y direction of the force sensor 200 to be tested.

[0075] Specifically, when calibrating the force sensor 200, the mounting platform 21 is first rotated to the third position. At this time, both first loading arms 222a are horizontally arranged. Then, the first weight 30a is directly suspended from one of the two first loading arms 222a by the first pull rope. The second weight 30b is connected to the other of the two second loading arms 222b by the second pull rope wound around the fixed pulley 40. It should be noted that the first weight 30a and the second weight 30b have the same mass, and both the first weight 30a and the second weight 30b include multiple weights 30 of different masses. The change in the resistance value of the resistive element of the force sensor 200 is recorded when weights 30 of different masses are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of Mx and the change in resistance, thus realizing the calibration of Mx of the force sensor 200.

[0076] When calibrating the My of the force sensor 200, the mounting platform 21 is first rotated to the fourth position. At this time, both second loading arms 222b are horizontally arranged. Then, the first weight 30a is directly suspended on one of the two second loading arms 222b through the first pull rope. The second weight 30b is connected to the other of the two second loading arms 222b through the second pull rope wound around the fixed pulley 40. It should be noted that the first weight 30a and the second weight 30b have the same mass, and both the first weight 30a and the second weight 30b include multiple weights 30 of different masses. The change in the resistance value of the resistive element of the force sensor 200 is recorded when weights 30 of different masses are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of My and the change in resistance, thus realizing the calibration of the My of the force sensor 200.

[0077] For example Figure 6 As shown, the frame 10 has a second calibration position. When the calibration component 20 is in the second calibration position, the first direction is the up-down direction. The mounting platform 21, force sensor 200 and loading component 22 are arranged in sequence from bottom to top. There are two first loading arms 222a, which are symmetrically arranged about the first axis. There are also two second loading arms 222b, which are symmetrically arranged about the first axis.

[0078] When the installation platform 21 is in the third position, the two first loading arms 222a are arranged symmetrically from left to right, and the two second loading arms 222b are arranged symmetrically from front to back. The first weight 30a is directly suspended from the first loading arm 222a on the right side by a first pull rope, and the second weight 30b is connected to the first loading arm 222a on the left side by a second pull rope wound around the fixed pulley 40, so as to calibrate the Mx of the force sensor 200. When the installation platform 21 is in the fourth position, the two second loading arms 222b are arranged symmetrically from left to right, and the two first loading arms 222a are symmetrically from front to back. The first weight 30a is directly suspended from the second loading arm 222b on the right side by a first pull rope, and the second weight 30b is connected to the second loading arm 222b on the left side by a second pull rope wound around the fixed pulley 40, so as to calibrate the My of the force sensor 200.

[0079] According to some embodiments of the present invention, the first direction is horizontal, the mounting platform 21, the force sensor 200 and the loading member 22 are arranged in the horizontal direction, and the first weight 30a and the second weight 30b work together to form a third torque acting on the force sensor 200.

[0080] It is understood that the calibration device 100 in this embodiment calibrates the force sensor 200Mz by connecting the first weight 30a and the second weight 30b to two symmetrically arranged loading arms. The first weight 30a and the second weight 30b apply two forces of equal magnitude and opposite direction to the force sensor 200 through the two symmetrically arranged loading arms. It should be noted that the force sensor 200 in this embodiment is subjected to a force in the X direction or a force in the Y direction. That is, the first weight 30a and the second weight 30b can make the force sensor 200's Fx or Fy equal to zero through the two loading arms. Thus, the force sensor 200 is only subjected to the force of moment Mz. This allows interference from other dimensions of forces to be shielded during matrix calculations, and only the matrix calculation of the Mz moment can be performed without decoupling calculations from other dimensions of forces. This reduces the computational complexity of the decoupling matrix and increases the calibration accuracy of the force sensor 200.

[0081] Specifically, when calibrating the Mz of the force sensor 200 under test, firstly, adjust the two relatively arranged loading arms to be horizontally arranged. Suspend a first weight 30a of different masses at one end of one loading arm in several stages, and suspend a second weight 30b of different masses at one end of the other loading arm in several stages. The first weight 30a and the second weight 30b have the same mass and opposite forces. Record the change in resistance of the resistive element of the sensor under test when suspending weights 30 of different masses, solve the matrix, and obtain the relationship between the magnitude of Mz and the change in resistance. Then, calibrate the Mz of the force sensor 200.

[0082] For example Figure 5As shown, the frame 10 has a first calibration position. When the calibration component 20 is in the first calibration position, the first direction is horizontal. The mounting platform 21, force sensor 200, and loading member 22 are arranged sequentially from back to front. There are two first loading arms 222a, which are symmetrically arranged about the first axis. There are also two second loading arms 222b, which are symmetrically arranged about the first axis.

[0083] When calibrating the force sensor 200, rotate the mounting platform 21 so that the two first loading arms 222a or the two second loading arms 222b are arranged symmetrically on the left and right. Then, the first weight 30a is directly suspended from the first loading arm 222a or the second loading arm 222b arranged on the right side by the first pull rope. The second weight 30b is connected to the first loading arm 222a or the second loading arm 222b arranged on the left side by the second pull rope wound around the fixed pulley 40, so as to calibrate the force sensor 200's Mz.

[0084] According to some embodiments of the present invention, the frame 10 includes: a mounting plate 11, a calibration component 20 fixed on the mounting plate 11, and the mounting plate 11 being rotatable in a first calibration position and a second calibration position. In the first calibration position, the mounting platform 21, the force sensor 200, and the loading member 22 are arranged sequentially in the horizontal direction to calibrate the first force and / or the second force and the third torque about the Z-axis of the force sensor 200. In the second calibration position, the calibration component 20 is arranged on one side of the mounting plate 11 in the vertical direction, and the loading member 22 is arranged above the mounting platform 21 to calibrate the third force and the first torque about the X-axis and / or the second torque about the Y-axis of the force sensor 200. It is understood that in this embodiment, the calibration states of both the horizontal and vertical positions can be achieved simply by rotating the mounting plate 11, thereby simplifying the disassembly steps of the calibration device 100 during the calibration process, which can further improve the calibration speed. At the same time, it can also prevent the position of the loading member 22 and the stress generated when the fixing screws of the loading member 22 are tightened during the disassembly and assembly process from affecting the calibration of the force sensor, thereby improving the calibration accuracy.

[0085] According to some embodiments of the present invention, the calibration component 20 includes: a first calibration component 20a and a second calibration component 20b. The mounting platform 21 and the loading member 22 of the first calibration component 20a are stacked horizontally to calibrate the first force and / or the second force and the third torque about the Z-axis of the force sensor 200. The second mounting platform 21 and the loading member 22 are stacked vertically to calibrate the third force and the first torque about the X-axis and / or the second torque about the Y-axis of the force sensor 200. It is understood that the calibration device 100 of this application includes two calibration components 20, wherein the first calibration component 20a is mainly used to calibrate the Fx, Fy, and Mz of the force sensor 200, and the second calibration component 20b is mainly used to calibrate the Mx, My, and Fz of the force sensor 200. Thus, when calibrating multiple force sensors 200, two sets can be calibrated simultaneously, thereby improving calibration efficiency.

[0086] According to some embodiments of the present invention, the frame 10 further includes: a plurality of mounting plates 11, the plurality of mounting plates 11 including: a first mounting plate 11a and a second mounting plate 11b, the first mounting plate 11a and the second mounting plate 11b being arranged at intervals, a first calibration component 20a being fixed on the first mounting plate 11a, and a second calibration component 20b being fixed on the second mounting plate 11b. This can prevent interference between the first calibration component 20a and the second calibration component 20b, thereby improving the calibration reliability of the calibration device 100.

[0087] According to some embodiments of this utility model, the frame 10 includes a base plate 13, a top plate 12, and side plates 14. The top plate 12 and the base plate 13 are arranged horizontally and spaced apart in the vertical direction. Multiple side plates 14 are evenly arranged at the left and right ends of the base plate 13 and are fixedly connected to the top plate 12 and the base plate 13. The design of the base plate 13, the top plate 12, and the multiple side plates 14 provides a stable support structure, thereby ensuring that the calibration device 100 has sufficient stability and rigidity during operation.

[0088] For example, the number of side panels 14 can be two, three or more.

[0089] According to some embodiments of this utility model, the first mounting plate 11a is fixedly connected to the side plate 14, and the second mounting plate 11b is fixed to the base plate 13 by a bracket 132. This facilitates a more rational layout to meet different calibration requirements.

[0090] According to some embodiments of this utility model, the frame 10 includes a plurality of feet 131, the height of which is adjustable, and the plurality of feet 131 are arranged at intervals along the circumference of the base plate 13 on the side of the base plate 13 opposite to the top plate 12. It should be noted that the levelness of the frame 10 can be adjusted by adjusting the height of the plurality of adjustable feet, thereby improving the calibration accuracy of the force sensor 200.

[0091] Optionally, the frame 10 prevents calibration operations from being performed on a marble platform. The marble platform can reduce fluctuations in the force of the calibration device 100 caused by minor vibrations from the ground and personnel walking during the calibration process, thereby improving calibration accuracy.

[0092] According to some embodiments of this utility model, it further includes: an adapter 50, to which the loading member 22 is fixedly connected, and the adapter 50 is adapted to be fixedly connected to the force sensor 200. That is, the loading member 22 is connected to the force sensor 200 through the adapter 50, wherein the adapter 50 mainly serves as an adapter, enabling the loading member 22 of different specifications or types and the force sensor 200 to be adapted, thereby improving the compatibility and maintainability of the calibration device 100.

[0093] The following is for reference. Figures 1-6 The calibration device 100 according to an embodiment of the present invention is described. The calibration device 100 is used to calibrate a force sensor 200 to be calibrated. The force sensor 200 is a six-dimensional force sensor 200. The six-dimensional force sensor 200 has a three-dimensional coordinate system with the geometric center of the six-dimensional force sensor 200 as the origin. The three-dimensional coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis.

[0094] Reference Figure 1 and Figure 3 The calibration device 100 includes: a frame 10, a calibration component 20, a weight 30, and a fixed pulley 40.

[0095] Specifically, the frame 10 includes a base plate 13, a top plate 12, side plates 14, and a mounting plate 11. The top plate 12 and the base plate 13 are arranged horizontally and spaced apart in the vertical direction. There are multiple side plates 14, which are evenly arranged on the left and right ends of the base plate 13 and fixedly connected to the top plate 12 and the base plate 13. The mounting plate 11 includes a first mounting plate 11a and a second mounting plate 11b. The first mounting plate 11a is arranged at the first calibration position of the calibration device 100, and its left and right ends are fixedly connected to two side plates 14 arranged symmetrically on the left and right, respectively. The second mounting plate 11b is arranged at the second calibration position of the calibration device 100 and is fixed to the base plate 13 by a bracket 132.

[0096] The calibration component 20 includes a first calibration component 20a and a second calibration component 20b. The first calibration component 20a is fixed on the first mounting plate 11a for calibrating the force in the X direction, the force in the Y direction, and the torque about the Z axis of the force sensor 200. The second calibration component 20b is fixed on the second mounting plate 11b for calibrating the force in the Z direction, the torque about the X axis, and / or the torque about the Y axis of the force sensor 200.

[0097] Specifically, both the first calibration component 20a and the second calibration component 20b have a mounting platform 21 and a loading element 22. The mounting platform 21 and the loading element 22 of the first calibration component 20a are stacked in the front-back direction, and the mounting platform 21 is fixed to the front side of the first mounting plate 11a, while the loading element 22 is arranged on the side of the mounting platform 21 away from the first mounting plate 11a. The mounting platform 21 and the loading element 22 of the second calibration component 20b are stacked in the vertical direction, and the mounting platform 21 is fixed to the upper side of the second mounting plate 11b, while the loading element 22 is arranged on the upper side of the mounting platform 21.

[0098] Specifically, the force sensor 200 is fixedly connected between the mounting platform 21 and the loading member 22. The mounting platform 21 is fixed on the mounting plate 11 and can rotate relative to the mounting plate 11 about a first axis extending along the Z-axis. The first axis passes through the geometric center of the force sensor 200.

[0099] The loading member 22 has a first loading portion 221 and a second loading portion 222. The first loading portion 221 is formed into a flat plate shape perpendicular to the Z-axis. There are multiple second loading portions 222 connected to the first loading portion 221 and arranged at intervals along the circumference of the first loading portion 221. A portion of the multiple second loading portions 222 is formed as a first loading arm 222a and another portion is formed as a second loading arm 222b. The first loading arm 222a and the second loading arm 222b are arranged at a 90° angle in a plane perpendicular to the Z-axis. There are two first loading arms 222a and two loading arms 222b. The two first loading arms 222a are arranged symmetrically about the first axis, and the two second loading arms 222b are arranged symmetrically about the first axis.

[0100] The second loading section 222 includes: a first plate section 2221, a second plate section 2222, and a third plate section 2223. One end of the first plate section 2221 is connected to the periphery of the first loading section 221, and the other end extends in a plane perpendicular to the first direction toward a direction away from the first loading section 221. One end of the second plate section 2222 is connected to the other end of the first plate section 2221, and the other end extends in the first direction toward the mounting platform 21. One end of the third plate section 2223 is connected to the other end of the second plate section 2222, and the other end of the third plate section 2223 extends in a plane perpendicular to the first direction away from the first plate section 2221. The weight 30 is adapted to be connected to the other end of the third plate section 2223.

[0101] The weight 30 is connected to the loading member 22 via a pull rope. The weight 30 is configured to apply a first force parallel to the X-axis, a second force parallel to the Y-axis, and / or a third force parallel to the Z-axis to the force sensor 200 via the loading member 22. The lines of action of the first force, the second force, and the third force pass through the geometric center of the force sensor 200.

[0102] Fixed pulleys 40 are fixed on the top plate 12 and are used to change the direction of the weight 30 acting on the force sensor 200. There are two sets of fixed pulleys 40, which are arranged at intervals in the front-back direction and are respectively arranged above the first mounting plate 11a and the second mounting plate 11b. Each set of fixed pulleys 40 includes two fixed pulleys, which are arranged at intervals in the left-right direction.

[0103] The calibration method of the calibration device 100 of this application for six-dimensional force sensors 200Fx, Fy, Fz, Mx, My and Mz is described in detail below.

[0104] Calibration of Fx: The force sensor 200 to be tested is fixedly connected to the first calibration component 20a. The mounting platform 21 of the first calibration component 20a is driven to rotate. The mounting platform 21 of the first calibration component 20a drives the loading component 22 of the first calibration component 20a to rotate, so that one of the first loading arms 222a moves to the lower side of the first loading part 221. At this time, the Fx direction of the force sensor 200 is perpendicular to the center of the earth. Different masses of weights 30 are suspended on the first loading arm 222a arranged on the lower side of the first loading part 221 in turn. The change of resistance value of the resistive element of the force sensor 200 is recorded when different masses of weights 30 are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of Fx and the change of resistance, thus realizing the calibration of Fx of the force sensor 200.

[0105] Calibration of Fy: The force sensor 200 to be tested is fixedly connected to the first calibration component 20a. The mounting platform 21 of the first calibration component 20a is driven to rotate. The mounting platform 21 of the first calibration component 20a drives the loading component 22 of the first calibration component 20a to rotate, so that one of the second loading arms 222b moves to the lower side of the first loading part 221. At this time, the Fy direction of the force sensor 200 is perpendicular to the center of the earth. Different masses of weights 30 are suspended on the second loading arm 222b arranged on the lower side of the first loading part 221 in turn. The change of resistance value of the resistive element of the force sensor 200 is recorded when different masses of weights 30 are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of Fy and the change of resistance, thus realizing the calibration of Fy of the force sensor 200.

[0106] Calibration of Fz: The force sensor 200 to be tested is fixedly connected to the second calibration component 20b. The loading component 22 of the second calibration component 20b is adjusted to be horizontal. Weights 30 of different masses are placed in turn at the center position of the upper surface of the first loading part 221. The change in resistance of the resistive element of the sensor under test is recorded when different weights 30 are placed. The matrix is ​​solved to obtain the relationship between the magnitude of Fz and the change in resistance, thus realizing the calibration of Fz of the force sensor 200.

[0107] Calibration of Mx: The force sensor 200 to be tested is fixedly connected to the second calibration component 20b. The loading member 22 of the second calibration component 20b is adjusted to a horizontal state. The mounting platform 21 of the second calibration component 20b is driven to rotate. The mounting platform 21 of the first calibration component 20a drives the loading member 22 of the first calibration component 20a to rotate, so that the two first loading arms 222a are respectively arranged on the left and right sides of the first loading part 221. Weights 30 of different masses are suspended on the first loading arm 222a arranged on the right side in turn. Weights 30 of the same mass as those suspended on the first loading arm 222a on the left side are suspended on the first loading arm 222a arranged on the left side through the fixed pulley 40 in turn. The change in resistance of the resistive element of the force sensor 200 when different masses of weights 30 are suspended is recorded. The matrix is ​​solved to obtain the relationship between the magnitude of Mx and the change in resistance, thus realizing the calibration of Mx of the force sensor 200.

[0108] Calibration of My: The force sensor 200 to be tested is fixedly connected to the second calibration component 20b. The loading member 22 of the second calibration component 20b is adjusted to a horizontal state. The mounting platform 21 of the second calibration component 20b is driven to rotate. The mounting platform 21 of the first calibration component 20a drives the loading member 22 of the first calibration component 20a to rotate, so that the two second loading arms 222b are respectively arranged on the left and right sides of the first loading part 221. Weights 30 of different masses are suspended on the second loading arm 222b arranged on the right side in turn. Weights 30 of the same mass as those suspended on the second loading arm 222b on the left side are suspended on the second loading arm 222b arranged on the left side through the fixed pulley 40 in turn. The change in resistance of the force sensor 200 resistor is recorded when different masses of weights 30 are suspended. The matrix is ​​solved to obtain the relationship between the magnitude of My and the change in resistance, thus realizing the calibration of My of the force sensor 200.

[0109] For Mz calibration, the force sensor 200 to be tested is fixedly connected to the first calibration component 20a. The mounting platform 21 is rotated so that the two first loading arms 222a or the two second loading arms 222b are arranged symmetrically from left to right. Weights 30 of different masses are suspended at one end of the first loading arm 222a or the second loading arm 222b on the right side. At one end of the other first loading arm 222a or the second loading arm 222b, a weight 30 of the same mass as the right side is suspended at one time through a fixed pulley 40. The change in the resistance value of the resistive element of the sensor under test when different weights 30 are suspended is recorded. The matrix is ​​solved to obtain the relationship between the magnitude of Mz and the resistance change, and the Mz of the force sensor 200 is calibrated.

[0110] According to the calibration device 100 of this utility model embodiment, by setting the lines of action of the first force, the second force, and the third force to pass through the geometric center of the force sensor 200, the force generated by the weight 30 can be directly applied to the center point of the force sensor 200, thereby preventing interference from other interdimensional forces and avoiding measurement errors caused by eccentric loading, thus improving the calibration accuracy of the force sensor 200.

[0111] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0113] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0114] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0115] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A calibration device (100) for calibrating a force sensor (200) to be calibrated, the force sensor (200) having a three-dimensional coordinate system with a geometric center of the force sensor (200) as an origin, the three-dimensional coordinate system comprising an X-axis, a Y-axis and a Z-axis perpendicular to each other, characterized in that, The calibration device (100) comprises: a rack (10); a calibration assembly (20) comprising: a mounting platform (21) arranged along a first direction and a loading piece (22), the mounting platform (21) is arranged on the rack (10), the mounting platform (21) is suitable for mounting the force sensor (200), and the loading piece (22) is arranged on a side of the force sensor (200) away from the mounting platform (21) in the first direction and is suitable for being fixedly connected with the mounting platform (21) through the force sensor (200); a weight (30) connected with the loading piece (22), the weight (30) is configured to exert a first action force parallel to the X-axis, a second action force parallel to the Y-axis and / or a third action force parallel to the Z-axis on the force sensor (200) through the loading piece (22), and the action line of the first action force, the action line of the second action force and the action line of the third action force pass through the geometric center of the force sensor (200).

2. The calibration device (100) according to claim 1, characterized in that The loading piece (22) has a first loading part (221) and a second loading part (222), the weight (30) is configured to be connected with the first loading part (221) and exert the third action force on the force sensor (200) through the first loading part (221), and the weight (30) is configured to be connected with the second loading part (222) and exert the first action force and / or the second action force on the force sensor (200) through the second loading part (222).

3. The calibration device (100) according to claim 2, characterized in that The first loading part (221) is formed in a flat plate shape perpendicular to the first direction, the number of the second loading parts (222) is plural, the plural second loading parts (222) are connected with the first loading part (221) and are arranged in a circumferential direction of the first loading part (221) at intervals, wherein part of the plural second loading parts (222) is formed into a first loading arm (222a) and the other part is formed into a second loading arm (222b), the first loading arm (222a) and the second loading arm (222b) are arranged at a 90° angle in a plane perpendicular to the first direction, the weight (30) is configured to exert the first action force on the force sensor (200) through the first loading arm (222a), and the weight (30) is configured to exert the second action force on the force sensor (200) through the second loading arm (222b).

4. The calibration device (100) according to claim 3, characterized in that The second loading part (222) comprises: a first plate part (2221) having one end connected with a circumferential edge of the first loading part (221) and the other end extending in a direction away from the first loading part (221) in a plane perpendicular to the first direction; a second plate portion (2222) having one end connected to the other end of the first plate portion (2221) and the other end extending toward the mounting platform (21) along the first direction; a third plate portion (2223) having one end connected to the other end of the second plate portion (2222) and the other end extending away from the first plate portion (2221) in a plane perpendicular to the first direction, the weight (30) being adapted to be connected to the other end of the third plate portion (2223).

5. The calibration device (100) according to claim 3, characterized in that The rack (10) comprises a mounting plate (11), the mounting platform (21) being fixed on the mounting plate (11) and being rotatable relative to the mounting plate (11) about a first axis extending along a first direction, the first axis passing through the geometric center of the force sensor (200).

6. The calibration device (100) according to claim 5, characterized in that The first direction is a horizontal direction, the mounting platform (21), the force sensor (200) and the loading member (22) being arranged in the horizontal direction, the mounting platform (21) being rotatable about the first axis extending horizontally between a first position and a second position, wherein, when the mounting platform (21) is in the first position, a first loading arm (222a) is connected to the lower side of the first loading portion (221), the first loading arm (222a) extending vertically downward, the weight (30) being hung at the lower end of the first loading arm (222a) for applying the first action force to the force sensor (200), when the mounting platform (21) is in the second position, a second loading arm (222b) is connected to the lower side of the first loading portion (221), the second loading arm (222b) extending vertically downward, the weight (30) being hung at the lower end of the second loading arm (222b) for applying the second action force to the force sensor (200).

7. The calibration device (100) according to claim 2, characterized in that The first direction is a vertical direction, the loading member (22) being arranged on the upper side of the force sensor (200), the weight (30) being configured to be placed on the upper side surface of the first loading portion (221) for applying the third action force to the force sensor (200).

8. The calibration device (100) according to claim 1, characterized in that The force sensor (200) is a six-dimensional force sensor (200), the calibration device (100) being configured to calibrate a first moment of force about the X axis, a second moment of force about the Y axis and / or a third moment of force about the Z axis of the force sensor (200).

9. The calibration device (100) according to claim 8, characterized in that The loading member (22) comprises at least two loading arms, the plurality of loading arms being arranged at intervals around the first direction, and at least two of the loading arms being arranged symmetrically about a first axis passing through the geometric center and parallel to the first direction, The weight (30) comprises a first weight (30a) and a second weight (30b), the first weight (30a) and the second weight (30b) are configured to be connected with two symmetrically arranged loading arms respectively, the first weight (30a) and the second weight (30b) apply two action forces with equal size and opposite direction to the force sensor (200) through the two symmetrically arranged loading arms to form the first moment, the second moment or the third moment acting on the force sensor (200), wherein the action lines of the two action forces are coplanar with the geometric center, and the action points of the two action forces are spaced apart from the geometric center by the same distance.

10. The calibration device (100) according to claim 9, characterized in that Further comprising: A fixed pulley (40) is rotatably arranged on the rack (10), the axis of the fixed pulley (40) is arranged horizontally, the first weight (30a) is configured to be directly suspended on one of the two symmetrically arranged loading arms through a first pull rope, and the second weight (30b) is configured to be connected with the other of the two symmetrically arranged loading arms through a second pull rope arranged on the fixed pulley (40).

11. The calibration device (100) according to claim 9, characterized in that The number of the loading arms is four, the four loading arms are uniformly spaced around the first axis, and the four loading arms comprise two first loading arms (222a) and two second loading arms (222b), the two first loading arms (222a) are symmetrically arranged about the first axis, and the two second loading arms (222b) are symmetrically arranged about the first axis.

12. The calibration device (100) according to claim 11, characterized in that The rack (10) comprises: a mounting plate (11), the mounting platform (21) is fixed on the mounting plate (11) and is rotatable relative to the mounting plate (11) about a first axis extending in a first direction, the first axis passes through the geometric center of the force sensor (200), The first direction is a vertical direction, the loading member (22) is arranged on the upper side of the force sensor (200), the mounting platform (21) is rotatable about the first axis extending in the vertical direction between a third position and a fourth position, Wherein, when the mounting platform (21) is at the third position, the first weight (30a) and the second weight (30b) jointly act to form the first moment acting on the force sensor (200), and when the mounting platform (21) is at the fourth position, the first weight (30a) and the second weight (30b) jointly act to form the second moment acting on the force sensor (200).

13. The calibration device (100) according to claim 9, characterized in that The first direction is a horizontal direction, the mounting platform (21), the force sensor (200) and the loading member (22) are arranged in the horizontal direction, and the first weight (30a) and the second weight (30b) jointly act to form the third moment acting on the force sensor (200).

14. The calibration device (100) according to claim 1, characterized in that The rack (10) comprises a mounting plate (11), the calibration assembly (20) is fixed on the mounting plate (11), the mounting plate (11) is rotatable at a first calibration position and a second calibration position, Wherein, when the mounting plate (11) is at the first calibration position, the mounting platform (21), the force sensor (200) and the loading piece (22) are arranged in sequence in the horizontal direction, so as to calibrate the first force and / or the second force of the force sensor (200) and the third torque around the Z axis, when the mounting plate (11) is at the second calibration position, the calibration assembly (20) is arranged on one side of the mounting plate (11) in the vertical direction, and the loading piece (22) is arranged above the mounting platform (21), so as to calibrate the third force of the force sensor (200) and the first torque around the X axis and / or the second torque around the Y axis.

15. The calibration device (100) according to claim 1, characterized in that The calibration assembly (20) comprises a first calibration assembly (20a) and a second calibration assembly (20b), the mounting platform (21) and the loading piece (22) of the first calibration assembly (20a) are arranged in a horizontal direction, so as to calibrate the first force and / or the second force of the force sensor (200) and the third torque around the Z axis, the second mounting platform (21) and the loading piece (22) are arranged in a vertical direction, so as to calibrate the third force of the force sensor (200) and the first torque around the X axis and / or the second torque around the Y axis.

16. The calibration device (100) according to claim 15, characterized in that The rack (10) further comprises a plurality of mounting plates (11), the plurality of mounting plates (11) comprises a first mounting plate (11a) and a second mounting plate (11b), the first mounting plate (11a) and the second mounting plate (11b) are arranged in a spaced manner, the first calibration assembly (20a) is fixed on the first mounting plate (11a), and the second calibration assembly (20b) is fixed on the second mounting plate (11b).

17. The calibration device (100) according to claim 16, characterized in that The rack (10) comprises a bottom plate (13), a top plate (12) and a side plate (14), the top plate (12) and the bottom plate (13) are arranged horizontally and in a spaced manner in the up-down direction, the number of the side plates (14) is plural, and the plurality of side plates (14) are uniformly arranged on the left and right ends of the bottom plate (13) and fixedly connected with the top plate (12) and the bottom plate (13).

18. The calibration device (100) according to claim 17, characterized in that The first mounting plate (11a) is fixedly connected with the side plate (14), and the second mounting plate (11b) is fixed on the bottom plate (13) through a support (132).

19. The calibration device (100) according to claim 17, characterized in that The rack (10) comprises a plurality of bottom feet (131), the heights of the plurality of bottom feet (131) are adjustable, and the plurality of bottom feet (131) are arranged in a spaced manner along the circumference of the bottom plate (13) on the side of the bottom plate (13) away from the top plate (12).

20. The calibration device (100) according to claim 1, characterized in that Further comprising: An adapter (50), the loading piece (22) is fixedly connected with the adapter (50), and the adapter (50) is adapted to be fixedly connected with the force sensor (200).

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