Calibration device of six-dimensional force sensor

Abstract

A calibration device of a six-dimensional force sensor comprises a T-shaped groove plate, a bottom plate, a fixing block, a pressing block and a first loading plate, and is characterized in that the bottom plate comprises a mounting part and a fixing part, the fixing part can be fixed on the T-shaped groove plate, the mounting part is arranged above the T-shaped groove plate, and the fixing part is arranged above the T-shaped groove plate. The distance between the mounting part and the T-shaped groove plate is larger than the sum of the thickness of the first loading plate, the thickness of the sensor and the thickness of the fixing block, the fixing block is arranged on the side, facing the T-shaped groove plate, of the mounting part, the sensor is fixed to the fixing block, the pressing block is fixed to the bottom plate, the pressing block is matched with the mounting part to clamp and fix the fixing block, and the first loading plate is fixed to the sensor. A first loading plate is arranged on one side of the mounting part, a stand column is arranged on the first loading plate, a second loading plate is arranged on the other side of the mounting part, the second loading plate is not in contact with the mounting part, the second loading plate is fixedly connected with the first loading plate through the stand column, and a loading column is arranged on the second loading plate. The calibration device is simple in overall structure, and can convert the downward pressing load of the force testing machine into the pulling force acting on the six-dimensional force sensor, so that the calibration in the Fz positive direction is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of six-dimensional force sensor calibration, in particular to a six-dimensional force sensor calibration device. BACKGROUND

[0002] A six-dimensional force sensor can simultaneously detect full force information in a three-dimensional space, i.e., three-dimensional force information and three-dimensional torque information. It is mainly applied in force and force / position hybrid control occasions, such as contour tracking, precision assembly, constant force polishing, etc., especially in the fields of space manipulators, aerial robots, rocket engine thrust testing, etc., where large-range six-dimensional force sensors play a very important role.

[0003] The measurement accuracy of a sensor is one of the most important performance indicators for evaluating the sensor. At present, high-precision six-dimensional force sensors in China mainly rely on imports, so it is of great strategic significance to develop six-dimensional force sensors with independent intellectual property rights. The calibration device plays a very important role in the development process of the sensor, and the accuracy of the calibration device directly restricts the measurement accuracy of the six-dimensional force sensor. Developing a high-precision six-dimensional force sensor calibration device can provide important technical support for the accurate calibration of six-dimensional force sensors and has a wide prospect.

[0004] The patent application No. 2023101494493 discloses a six-dimensional force sensor calibration tool, which comprises a tool base plate and an adjusting plate. The adjusting plate is fixed on the tool base plate. The six-dimensional force sensor is fixed on the pressure fixed disc through an assembly. The six-dimensional force sensor is fixed with a pressure loaded disc. The upper end face and the side face of the pressure loaded disc are provided with a loaded head. The pressure is applied on the loaded head by using a force standard machine to realize calibration. The adjusting plate is divided into a horizontal adjusting plate and a bent adjusting plate. By using different adjusting plates, the positional relationship of the six-dimensional force sensor and the loaded plate about the tool base plate is changed, so that the calibration of forces and torques in different directions is realized.

[0005] The utility model No. 2015202909790 discloses a six-dimensional force sensor calibration device, which comprises a workbench, four short supports, a rotary workbench, a sensor lower chuck, a six-dimensional force sensor, a sensor loading disc, a cross beam and support columns. The four short supports are installed in the middle of the four sides of the workbench. The rotary workbench is installed in the middle of the workbench. The cross beam is horizontally installed on the top of the support columns. The six-dimensional force sensor is installed on the sensor lower chuck. The sensor loading disc is installed on the six-dimensional force sensor. Horizontal pull rods are arranged on the four sides of the sensor loading disc. A vertical pull rod is arranged on the top of the sensor loading disc. Pulleys are arranged on the short supports and the workbench. Fine ropes and weights are used to apply loads on the six-dimensional force sensor.

[0006] The calibration device of the six-dimensional force sensor in the prior art has the following problems: 1. The loading mode of the force standard machine can only perform relative loading of the force downward of the platform, although most of the force or torque calibration can be completed, the calibration of the Fz positive direction needs to apply a pulling force to the six-dimensional force sensor, and the calibration device in the prior art is difficult to achieve; 2. The calibration device of some six-dimensional force sensors applies a pulling force to the six-dimensional force sensor by installing an upper pulley assembly and the like to achieve the calibration of the Fz positive direction, but the device has too many components arranged on the upper portion, so that the overall structure of the calibration device is complex, and the use thereof is also troublesome. SUMMARY

[0007] In order to solve the above problems, the utility model provides a calibration device which can calibrate the Fz positive direction of a six-dimensional force sensor, and has a simple overall structure and is convenient to use.

[0008] A calibration device of a six-dimensional force sensor, comprising a T-shaped groove plate, a bottom plate, a fixing block, a pressing block and a loading plate one, characterized in that: the bottom plate comprises a mounting portion and a fixing portion, the fixing portion can be fixed to the T-shaped groove plate, the mounting portion is arranged above the T-shaped groove plate, the distance between the mounting portion and the T-shaped groove plate is greater than the sum of the thicknesses of the loading plate one, the sensor and the fixing block, the fixing block is arranged on the side of the mounting portion facing the T-shaped groove plate, the sensor is fixed to the fixing block, the pressing block is fixed to the bottom plate, the pressing block clamps and fixes the fixing block in cooperation with the mounting portion, the loading plate one is fixed to the sensor, a stand is arranged on the loading plate one, and the stand is not in contact with the bottom plate, the other side of the mounting portion is provided with a loading plate two, the loading plate two is not in contact with the mounting portion, the loading plate two is fixedly connected with the loading plate one through the stand, and a loading column is arranged on the loading plate two.

[0009] One end of the six-dimensional force sensor is fixed to the mounting portion of the bottom plate through the fixing block and the pressing block, and the six-dimensional force sensor is fixed towards the T-shaped groove plate, the other end of the six-dimensional force sensor is fixedly connected with the loading plate one, the loading plate one is fixedly connected with the loading plate two arranged on the other side of the mounting portion through the stand, when the force testing machine applies a load to the loading column, the loading plate two, the stand and the loading plate one move downward, a pulling force is generated on the six-dimensional force sensor, and the calibration of the Fz positive direction is completed; and the calibration device does not arrange other excessive components similar to a lever on the upper portion, so that the overall structure is simple and convenient to use.

[0010] The second loading plate is not in contact with the mounting part, so as to avoid that the second loading plate is blocked by the mounting part when being pressed down, thereby affecting the calibration data, and the overall structure of the calibration device forms sufficient space between the T-shaped groove plate and the mounting part, so as to avoid that the loading plate is in contact with the T-shaped groove plate, thereby affecting the calibration result due to that the load cannot be completely transmitted to the sensor, and the accuracy of the calibration result is ensured; the bottom plate mainly plays a role of fixing the sensor, so that the column and the bottom plate are not in contact, thereby avoiding that the load applied by the force standard is directly conducted to the bottom plate through the column, thereby affecting the calibration result, and the accuracy of the calibration result is ensured.

[0011] The fixing part is provided with two L-shaped fixing parts, a vertical side of each of the two fixing parts is connected to the mounting part, and a horizontal side of each of the two fixing parts is fixed to the T-shaped groove plate, and the two fixing parts are arranged on two sides of the mounting part.

[0012] The fixing part includes a first fixing part and a second fixing part, and the mounting part and the second fixing part are respectively fixed vertically on two sides of the first fixing part.

[0013] The first fixing part can be fixed to the T-shaped groove plate, the column and the second loading plate can be detached, the first loading plate can be replaced by a third loading plate, the end surface area of the third loading plate is smaller than that of the first loading plate, and the side edge of the third loading plate is provided with a loading column.

[0014] The mounting part and the second fixing part are perpendicular to the first fixing part, and the mounting part and the second fixing part are parallel to each other.

[0015] The fixed block is provided with a clamping part, the clamping part is arranged on the periphery of the fixed block, the pressing block is provided with a clamping groove, the depth of the clamping groove is equal to the height of the clamping part, the clamping part is arranged in the clamping groove, and the outer side wall of the clamping part is in abutment with the inner side wall of the clamping groove. The pressing block can better limit and fix the fixed block, avoid movement during calibration, make the calibration more accurate, and ensure the accuracy of test data.

[0016] The fixed block is provided with a clamping part, the clamping part is arranged on the periphery of the fixed block, the pressing block is provided with a clamping groove, the depth of the clamping groove is equal to the height of the clamping part, the clamping part is arranged in the clamping groove, and the outer side wall of the clamping part is in abutment with the inner side wall of the clamping groove. The pressing block can better limit and fix the fixed block, avoid movement during calibration, make the calibration more accurate, and ensure the accuracy of test data.

[0017] The fixed block is provided with a clamping part, the clamping part is arranged on the periphery of the fixed block, the pressing block is provided with a clamping groove, the depth of the clamping groove is equal to the height of the clamping part, the clamping part is arranged in the clamping groove, and the outer side wall of the clamping part is in abutment with the inner side wall of the clamping groove. The pressing block can better limit and fix the fixed block, avoid movement during calibration, make the calibration more accurate, and ensure the accuracy of test data.

[0018] The six-dimensional force sensor calibration device in the patent can perform six-dimensional force sensor Fz positive direction calibration test. The force testing machine applies a load to the loading column on the loading plate two. The load applied to the loading column is transmitted to the six-dimensional force sensor through the loading plate two, the column and the loading plate one, and becomes the tension applied to the six-dimensional force sensor, so that the Fz positive direction calibration is realized. No lever, pulley and other devices are used, so that the overall structure is simple and convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective view of the calibration device of example one;

[0020] Figure 2 It is a bottom view of the calibration device of example one after the T-shaped groove plate and the loading plate one are removed;

[0021] Figure 3 It is a front view of the calibration device of example one;

[0022] Figure 4 It is a perspective view of the bottom plate of example one;

[0023] Figure 5 It is a perspective view of the fixed block;

[0024] Figure 6 It is a perspective view of the loading plate two;

[0025] Figure 7 It is a perspective view of the fixed part two of the calibration device of example two fixed to the T-shaped groove plate;

[0026] Figure 8 It is a perspective view of the fixed part one of the calibration device of example two fixed to the T-shaped groove plate;

[0027] Figure 9Fig. 2 is a perspective view of the base of Example 2;

[0028] Fig. 1 is a perspective view of the base plate of Example 1

[0029] In the figure, 1. T-shaped groove plate, 2. Base plate, 21. Mounting part, 22. Fixing part, 221. Fixing part one, 222. Fixing part two, 3. Fixing block, 31. Clamping part, 32. Mounting groove one, 4. Pressing block, 41. Clamping groove, 5. Loading plate one, 51. Column, 52. Mounting groove two, 6. Loading plate two, 7. Sensor, 8. Loading column, 9. Loading plate three. DETAILED DESCRIPTION

[0030] As Figures 1-3 shown in the figure, a calibration device for a six-dimensional force sensor includes a T-shaped groove plate 1, a base plate 2, a fixing block 3, a pressing block 4, and a loading plate one 5. The base plate 2 includes a mounting part 21 and a fixing part 22. The fixing part 22 can be fixed to the T-shaped groove plate 1. The mounting part 21 is arranged above the T-shaped groove plate 1. The distance between the mounting part 21 and the T-shaped groove plate 1 is greater than the sum of the thicknesses of the loading plate one 5 and the sensor 7 and the fixing block 3. The fixing block 3 is arranged on the side of the mounting part 21 facing the T-shaped groove plate 1. The sensor 7 is fixed to the fixing block 3. The pressing block 4 is fixed to the base plate 2. The pressing block 4 clamps and fixes the fixing block 3 in cooperation with the mounting part 21. The loading plate one 5 is fixed to the sensor 7. The loading plate one 5 is provided with a column 51. The column 51 is not in contact with the base plate 2. The other side of the mounting part 21 is provided with a loading plate two 6. The loading plate two 6 is not in contact with the mounting part 21. The loading plate two 6 is fixedly connected to the loading plate one 5 through the column 51. The loading plate two 6 is provided with a loading column 8.

[0031] One end of the sensor 7 is fixed to the mounting part 21 of the base plate 2 through the fixing block 3 and the pressing block 4. The sensor 7 is fixed towards the T-shaped groove plate 1. The other end of the sensor 7 is fixedly connected to the loading plate one 5. The loading plate one 5 is fixedly connected to the loading plate two 6 arranged on the other side of the mounting part 21 through the column 51. When the force testing machine applies a load to the loading column 8, the loading plate two 6, the column 51, and the loading plate one 5 will move downward, generating a pulling force on the sensor 7, thereby completing the calibration in the positive direction of Fz. Moreover, the calibration device is not provided with other excessive components similar to levers. The overall structure is simple and convenient to use.

[0032] The loading plate two 6 is not in contact with the mounting part 21, avoiding the loading plate two 6 from being blocked by the mounting part 21 when pressed, which affects the calibration data. The overall structure of the calibration device forms sufficient space between the T-shaped groove plate 1 and the mounting part 21, ensuring that the loading plate one 5 will not be blocked by the T-shaped groove plate 1 when moving downward, and ensuring the accuracy of the calibration results.

[0033] The structure of the base plate 2 provides two design schemes

[0034] Example 1

[0035] like Figures 1-6 As shown, there are two fixing parts 22, both of which are L-shaped. The vertical side of each fixing part 22 is connected to the mounting part 21, and the horizontal side is fixed to the T-shaped groove plate 1. The two fixing parts 22 are located on both sides of the mounting part 21, and the column 51 is located on the side of the base plate 2. This makes the overall structure more stable and ensures the accuracy of the calibration results.

[0036] Example 2

[0037] like Figures 7-9 As shown, the fixing part 22 includes fixing part one 221 and fixing part two 222. The mounting part 21 and fixing part two 222 are respectively vertically fixed on both sides of fixing part one 221, forming a C-shape. The mounting part 21 and fixing part two 222 are both perpendicular to fixing part one 221 and parallel to each other. The column 51 passes through the through hole on the mounting part 21 to connect loading plate one 5 and loading plate two 6.

[0038] When it is necessary to calibrate the positive direction of Fz, fix part 222 to the T-slot plate 1; when it is necessary to calibrate the positive and negative directions of Fx, Fy, and Mz, remove the column 51 and the loading plate 2 5, and replace the loading plate 1 5 with the loading plate 3 9, with a loading column 8 on the side of the loading plate 3 9.

[0039] The above examples are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those familiar with this project to understand the content of this utility model and implement it accordingly. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made according to this utility model should be included within the protection scope of this utility model.

Claims

1. A calibration device for a six-dimensional force sensor, comprising a T-shaped slot plate (1), a bottom plate (2), a fixed block (3), a pressing block (4), and a loading plate I (5), characterized in that: The bottom plate (2) comprises a mounting portion (21) and a fixing portion (22), the fixing portion (22) can be fixed on the T-shaped groove plate (1), the mounting portion (21) is arranged above the T-shaped groove plate (1), the distance between the mounting portion (21) and the T-shaped groove plate (1) is greater than the sum of the thicknesses of the loading plate one (5), the sensor (7) and the fixing block (3), the fixing block (3) is arranged on the side of the mounting portion (21) facing the T-shaped groove plate (1), the sensor (7) is fixed on the fixing block (3), the pressing block (4) is fixed on the bottom plate (2), the pressing block (4) clamps and fixes the fixing block (3) in cooperation with the mounting portion (21), the loading plate one (5) is fixed on the sensor (7), the loading plate one (5) is provided with a stand column (51), and the stand column (51) is not in contact with the bottom plate (2), the other side of the mounting portion (21) is provided with a loading plate two (6), the loading plate two (6) is not in contact with the mounting portion (21), the loading plate two (6) is fixedly connected with the loading plate one (5) through the stand column (51), and the loading plate two (6) is provided with a loading column (8).

2. A device for calibrating a six-axis force sensor as claimed in claim 1, characterized in that: The fixing portion (22) is provided with two fixing portions (22), the two fixing portions (22) are both L-shaped, the vertical side is connected to the mounting portion (21), and the horizontal side is fixed to the T-shaped groove plate (1); the two fixing portions (22) are arranged on the two sides of the mounting portion (21).

3. The device for calibrating a six-axis force sensor of claim 1, wherein: The fixing portion (22) comprises a fixing portion one (221) and a fixing portion two (222), and the mounting portion (21) and the fixing portion two (222) are vertically fixed on the two sides of the fixing portion one (221) respectively.

4. A device for calibrating a six-axis force sensor as claimed in claim 3, characterized in that: The fixing portion one (221) can be fixed to the T-shaped groove plate (1), the stand column (51) and the loading plate two (6) can be detached, the loading plate one (5) can be replaced with a loading plate three (9), the end face area of the loading plate three (9) is smaller than that of the loading plate one (5), and the side edge of the loading plate three (9) is provided with a loading column (8).

5. A device for calibrating a six-axis force sensor as claimed in claim 3, characterized in that: The mounting portion (21) and the fixing portion two (222) are both perpendicular to the fixing portion one (221), and the mounting portion (21) and the fixing portion two (222) are parallel to each other.

6. The apparatus for calibrating a six-axis force sensor of claim 1, wherein: The fixing block (3) is provided with a clamping portion (31), the clamping portion (31) is arranged on the periphery of the fixing block, the pressing block (4) is provided with a clamping groove (41), the depth of the clamping groove (41) is equal to the height of the clamping portion (31), the clamping portion (31) is arranged in the clamping groove (41), and the outer side wall of the clamping portion (31) abuts against the inner side wall of the clamping groove (41).

7. The apparatus for calibrating a six-axis force sensor of claim 1, wherein: The fixing block (3) is provided with a mounting groove one (32), and the sensor is arranged in the mounting groove one (32).

8. The apparatus for calibrating a six-axis force sensor of claim 1, wherein: The loading plate one (5) is provided with a mounting groove two (52), and the sensor (7) is arranged in the mounting groove two (52).

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