Six-dimensional force measuring platform calibration equipment

Abstract

The utility model relates to the technical field of force measuring platforms, in particular to six-dimensional force measuring platform calibration equipment, which comprises a frame, a normal loading frame, a lateral loading frame and a force measuring platform clamp, and is characterized in that the normal loading frame is positioned at the upper part of the six-dimensional force measuring platform calibration equipment and is used for realizing calibration of normal force; the lateral loading frame is located on the left side of the six-dimensional force measuring platform calibration device and used for achieving calibration of lateral force, the force measuring platform is fixedly clamped on the force measuring platform clamp, and the top of the force measuring platform is fixedly connected with the normal loading frame through the normal loading clamp. According to the six-dimensional force measuring platform calibration equipment, the influence of the friction force of the pulleys on the loading precision is reduced. The normal loading frame can realize calibration of normal force, and the two lateral loading frames are respectively used for horizontal X-direction and Y-direction force transmission and are matched with a plurality of standard sensors to carry out loading at different positions, so that the actual stress condition can be more accurately simulated, the calibration precision of six-dimensional force is effectively improved, and the requirements of various industries on high-precision measurement can be met.

Description

Technical Field

[0001] This utility model relates to the field of force measurement platform technology, specifically to a six-dimensional force measurement platform calibration device. Background Technology

[0002] In the field of six-dimensional force measurement platform technology, accurate force measurement is crucial for numerous application scenarios. With technological advancements, various industries are placing higher demands on the accuracy and reliability of six-dimensional force measurement platforms. Against this backdrop, the research and optimization of six-dimensional force measurement platform calibration equipment, as a key component in ensuring measurement accuracy, has attracted significant attention.

[0003] Currently, various six-dimensional force sensor calibration devices exist on the market. For example, the combined calibration device for a weight-type uncoupled six-dimensional force sensor disclosed in Chinese Patent Publication No. CN102749168 uses weights as a force source and leverages the lever principle and pulley system to amplify the force. It can calibrate single-dimensional forces in each direction independently and is relatively easy to operate. However, pulley friction introduces a large loading error, significantly affecting calibration accuracy, and it is not suitable for calibrating large-range six-dimensional force sensors. Another example is the stepless lifting six-dimensional force sensor calibration device disclosed in Chinese Patent Publication No. CN1715856A. Although it can perform generalized loading calibration of multi-dimensional force sensors, the angle between the transmission rope and the horizontal plane is difficult to control precisely, and the pulley friction problem also exists, thus limiting the calibration accuracy. Looking at the patent technology in Chinese Patent Publication No. CN101226094A, this method applies load through four standard single-dimensional force sensors and four jacks. It has the problems of large and complex mechanism, cumbersome assembly and debugging, inability to calibrate the + Fz direction, and the generation of lateral force when the loading cap contacts the loading hole, which seriously affects the calibration accuracy and efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a calibration device for a six-dimensional force measurement platform, in order to solve the problem mentioned in the background art that pulley friction introduces a large loading error, which significantly affects the calibration accuracy and is not suitable for the calibration of large-range six-dimensional force sensors.

[0005] To achieve the above objectives, this utility model provides a six-dimensional force measuring platform calibration device, including a frame, a normal loading frame, a lateral loading frame, and a force measuring platform fixture. The normal loading frame is located on the upper part of the six-dimensional force measuring platform calibration device and is used to calibrate the normal force. The lateral loading frame is located on the left side of the six-dimensional force measuring platform calibration device and is used to calibrate the lateral force. The force measuring platform is clamped and fixed on the force measuring platform fixture, and the top of the force measuring platform is connected and fixed to the normal loading frame through the normal loading fixture.

[0006] This setup provides a stable installation foundation through a frame. The normal loading frame and lateral loading frame respectively calibrate the normal and lateral forces. The force measuring platform fixture is used to fix the force measuring platform, and the normal loading fixture connects the normal loading frame and the force measuring platform, forming a complete calibration equipment structure system. Each component has a clear function and works in concert, enabling the equipment to calibrate a six-dimensional force measuring platform. The normal loading frame is responsible for loading and measuring the normal force, while the lateral loading frame is responsible for loading and measuring the lateral force, thus achieving the calibration of forces in different dimensions of the six-dimensional force.

[0007] Preferably, a counterweight mechanism is installed on one side of the normal loading frame.

[0008] This feature includes a counterweight mechanism installed on one side of the normal loading frame. Utilizing the principle of counterweights, components such as counterweight blocks generate a force opposite to the weight of the moving and measuring system, thus balancing the mass of the moving plate and the measuring system. When the moving plate moves along the guide post to perform the loading operation, the force of the counterweight mechanism counteracts the influence of the weight of the moving and measuring system itself, ensuring the stability and accuracy of the loading process.

[0009] Preferably, the force measuring platform fixture includes a base plate with T-shaped guide grooves installed around its perimeter. A pressure block is slidably disposed on the T-shaped guide groove for positioning and fixing the force measuring platform. A T-shaped block is arranged inside the T-shaped guide groove. A strip-shaped opening is provided on the top of the pressure block for adjusting the left and right movement of the pressure block. A locking bolt passes through the pressure block and connects it to the T-shaped block. One side of the pressure block presses down on the force measuring platform to achieve clamping and positioning of the force measuring platform.

[0010] This force-measuring platform fixture features a T-shaped guide groove on its base plate. The pressure block engages with a T-shaped block within the guide groove and is secured using locking bolts. The slotted opening at the top of the pressure block allows for left-right adjustment, enabling adaptation and fixation of force-measuring platforms of different sizes. To secure the force-measuring platform, the pressure block is slid into the appropriate position within the T-shaped guide groove, pressing one side of the pressure block against the platform. The locking bolts then secure the pressure block to the T-shaped block, thus achieving the clamping and positioning of the force-measuring platform.

[0011] Preferably, the normal loading frame includes an upper support plate and a lower fixed plate, with a movable plate disposed between the upper support plate and the lower fixed plate. The top of the movable plate is connected to a normal force loading device, and a guide post is installed between the corners of the upper support plate and the lower fixed plate. The corner of the movable plate is slidably engaged with the guide post through a linear bearing. A connecting rod is installed at the bottom of the movable plate, and the connecting rod passes through the lower fixed plate and is equipped with seven force sensors at different positions.

[0012] This normal loading frame consists of an upper support plate, a lower fixed plate, and a movable plate. Guide columns and linear bearings ensure stable vertical sliding of the movable plate. A normal force loading device is connected to the top of the movable plate to apply the normal force. A connecting rod at the bottom passes through the lower fixed plate and mounts seven force sensors at different positions. These sensors allow for loading and measurement of different locations on the force measuring platform. When the normal force loading device operates, the generated force is transmitted through the movable plate to the force sensors, and then to the force measuring platform, thus achieving the loading and measurement of the normal force.

[0013] Preferably, the normal loading fixture includes a connecting block, an extension rod, an upper pressure block, and a loading head connected sequentially from bottom to top. The bottom of the connecting block is connected to the force measuring platform, and the top of the loading head is connected to the force sensor in the middle of the normal loading frame.

[0014] This normal loading fixture consists of a connecting block, an extension rod, an upper pressure block, and a loading head connected sequentially. The connecting block is connected to the force measuring platform, and the loading head is connected to the force sensor in the middle of the normal loading frame. During force transmission, the force applied by the normal loading frame is transmitted to the upper pressure block through the loading head. The upper pressure block and the extension rod achieve stable force transmission through ball contact. The extension rod then transmits the force to the connecting block, and finally to the force measuring platform. This structural design ensures the stability and accuracy of force transmission.

[0015] Preferably, a lateral force sensor is installed on one side of the lateral loading frame, and the outer side of the lateral force sensor is connected and fixed to the side of the force measuring platform by a connecting rod and bolts.

[0016] This setup involves installing a lateral force sensor on one side of the lateral loading frame, which is then connected and fixed to the side of the force measuring platform via connecting rods and bolts. When the lateral loading frame is in operation, the generated lateral force is transmitted to the force measuring platform through the lateral force sensor. The lateral force sensor can measure the magnitude of the lateral force in real time, converting the force signal into an electrical signal for subsequent data processing and analysis.

[0017] Preferably, the normal loading frame is used for vertical Z-axis force transmission, and there are two lateral loading frames, which are used for horizontal X-axis and Y-axis force transmission, respectively.

[0018] This configuration features a normal loading frame specifically for vertical Z-axis force transmission, while the two lateral loading frames handle horizontal X and Y-axis forces, respectively. By clearly defining the force transmission directions of each loading frame, the equipment can be targeted for loading and measuring forces in different directions during calibration. During calibration, the normal loading frame applies Z-axis force, while the two lateral loading frames apply X and Y-axis forces, thus achieving comprehensive calibration of three of the six force directions.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] This six-dimensional force measurement platform calibration device eliminates the pulley structure, which is prone to large errors in traditional calibration devices, thus reducing the impact of pulley friction on loading accuracy. The normal loading frame and lateral loading frames have clearly defined functions. The normal loading frame calibrates the normal forces Fz, Tx (+, -), and Ty (+, -), while the two lateral loading frames are used for horizontal X and Y force transmission, respectively. Combined with multiple standard sensors for loading at different locations, it can more accurately simulate actual force conditions, effectively improving the calibration accuracy of six-dimensional forces and meeting the high-precision measurement needs of various industries.

[0021] It can calibrate the + Fz direction and avoids the problem of lateral force when the loading cap contacts the loading hole through reasonable loading mechanism design. It achieves accurate calibration of six-dimensional forces (3 forces and 3 moments) in all directions, making up for the shortcomings of existing technologies in calibration direction and accuracy.

[0022] The frame base plate is equipped with a leveling device to ensure the equipment is installed horizontally, providing a stable foundation for accurate calibration. The force measuring platform fixture adopts a combination structure of T-shaped guide grooves, pressure blocks, T-blocks, and locking bolts. Appropriate pads can be selected according to different sizes of force measuring platforms to achieve stable positioning and fixation of the force measuring platform, ensuring that the force measuring platform will not shift during calibration, thus improving the stability and reliability of the calibration process. The counterweight mechanism on one side of the normal loading frame balances the weight of the moving and measuring system, reducing errors and instability caused by weight factors, further enhancing the stability of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a partial structural schematic diagram of the present invention;

[0025] Figure 3 This is a schematic diagram of the normal loading frame in this utility model;

[0026] Figure 4 This is a partial side view of the present invention.

[0027] Figure 5 This is a schematic diagram of the normal loading fixture in this utility model;

[0028] The meanings of the labels in the diagram are as follows:

[0029] 1. Frame; 2. Force measuring platform fixture; 21. Base plate; 22. T-shaped guide groove; 23. Pressure block; 3. Force measuring platform; 4. Lateral loading frame; 41. Lateral force sensor; 5. Counterweight mechanism; 6. Normal loading frame; 61. Upper support plate; 62. Lower fixed plate; 63. Moving plate; 64. Guide column; 65. Force sensor; 7. Normal loading fixture; 71. Connecting block; 72. Extension rod; 73. Upper pressure block; 74. Loading head. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] This utility model provides a calibration device for a six-dimensional force measuring platform, such as... Figure 1 As shown, the device includes a frame 1, a normal loading frame 6, a lateral loading frame 4, and a force measuring platform fixture 2. The normal loading frame 6 is located on the upper part of the six-dimensional force measuring platform calibration device and is used to calibrate the normal force. The lateral loading frame 4 is located on the left side of the six-dimensional force measuring platform calibration device and is used to calibrate the lateral force. The force measuring platform 3 is clamped and fixed on the force measuring platform fixture 2. The top of the force measuring platform 3 is connected and fixed to the normal loading frame 6 through the normal loading fixture 7.

[0032] Frame 1 provides a stable installation foundation. The normal loading frame 6 and lateral loading frame 4 respectively calibrate the normal force and lateral force. Force measuring platform fixture 2 is used to fix the force measuring platform 3. The normal loading fixture 7 connects the normal loading frame 6 and the force measuring platform 3, forming a complete calibration equipment structure system. Each component has a clear division of labor and works together, enabling the equipment to calibrate a six-dimensional force measuring platform. The normal loading frame 6 is responsible for loading and measuring the normal force, and the lateral loading frame 4 is responsible for loading and measuring the lateral force, thus achieving the calibration of forces in different dimensions of the six-dimensional force. By clarifying the core components and basic functional architecture of the equipment, it can comprehensively calibrate the six-dimensional force measuring platform, meeting the needs for calibrating forces and moments in different directions in six-dimensional force measurement. Compared to single-function calibration equipment, this equipment can calibrate multi-dimensional forces, improving its functionality and practicality.

[0033] In this embodiment, as Figure 1 As shown, a counterweight mechanism 5 is installed on one side of the normal loading frame 6.

[0034] A counterweight mechanism 5 is installed on one side of the normal loading frame 6. Utilizing the principle of counterweights, a force opposite to the weight of the moving and measuring system is generated through counterweight blocks and other components to balance the mass of the moving plate 63 and the measuring system. When the moving plate 63 moves on the guide post 64 for loading operations, the force of the counterweight mechanism 5 can counteract the influence of the weight of the moving and measuring system itself, ensuring the stability and accuracy of the loading process. This effectively reduces errors and instability caused by the weight of the moving and measuring system, avoids interference with measurement results due to the system's own weight during loading, improves the accuracy and stability of the normal force calibration, makes the equipment more reliable during operation, and ensures the accuracy and consistency of the calibration results.

[0035] Specifically, such as Figure 2 As shown, the force measuring platform fixture 2 includes a base plate 21. T-shaped guide grooves 22 are installed around the base plate 21. A pressure block 23 is slidably arranged on the T-shaped guide groove 22 for positioning and fixing the force measuring platform 3. A T-shaped block is arranged inside the T-shaped guide groove 22. A strip-shaped opening is provided on the top of the pressure block 23 for adjusting the left and right movement of the pressure block 23. The pressure block 23 is connected to the T-shaped block by a locking bolt passing through the pressure block 23. One side of the pressure block 23 presses down on the force measuring platform 3 to achieve the clamping and positioning of the force measuring platform 3.

[0036] The base plate 21 of the force measuring platform fixture 2 is provided with a T-shaped guide groove 22. The pressure block 23 is fixed by engaging with the T-shaped block in the T-shaped guide groove 22 and using locking bolts. The strip-shaped opening at the top of the pressure block 23 can be adjusted to its left and right positions. By changing the position of the pressure block 23, it can be adapted and fixed to force measuring platforms 3 of different sizes. When it is necessary to fix the force measuring platform 3, the pressure block 23 is slid into the appropriate position in the T-shaped guide groove 22 so that one side of the pressure block 23 presses against the force measuring platform 3. Then, the pressure block 23 is fastened to the T-shaped block by locking bolts, thereby achieving the pressing and positioning of the force measuring platform 3. This achieves flexible positioning and stable fixing of the force measuring platform 3, and allows for the selection of appropriate pads to match different sizes of force measuring platforms, enhancing the adaptability of the equipment to force measuring platforms 3 of different specifications. This structural design ensures that the force measuring platform 3 will not shift during the calibration process, guaranteeing the stability of the calibration process, preventing the accuracy of the calibration results from being affected by the loosening of the force measuring platform 3, and improving the reliability of the calibration.

[0037] Furthermore, such as Figure 3As shown, the normal loading frame 6 includes an upper support plate 61 and a lower fixed plate 62. A movable plate 63 is provided between the upper support plate 61 and the lower fixed plate 62. The top of the movable plate 63 is connected to a normal force loading device. A guide post 64 is installed between the corners of the upper support plate 61 and the lower fixed plate 62. The corner of the movable plate 63 is slidably engaged with the guide post 64 through a linear bearing. A connecting rod is installed at the bottom of the movable plate 63. The connecting rod passes through the lower fixed plate 62 and is equipped with seven force sensors 65 at different positions.

[0038] The normal loading frame 6 consists of an upper support plate 61, a lower fixed plate 62, and a movable plate 63. Through the cooperation of guide posts 64 and linear bearings, the movable plate 63 can slide stably in the vertical direction. A normal force loading device is connected to the top of the movable plate 63 to apply the normal force. A connecting rod at the bottom passes through the lower fixed plate 62 and is equipped with seven force sensors 65 at different positions. These force sensors 65 can measure the load at different positions on the force measuring platform 3. When the normal force loading device is working, the generated force is transmitted through the movable plate 63 to the force sensors 65, and then to the force measuring platform 3, realizing the loading and measurement of the normal force. The sliding of the movable plate 63 and the arrangement of multiple force sensors 65 enable flexible loading at different positions on the force measuring platform 3, allowing for a more comprehensive simulation of actual force conditions and improving the accuracy and precision of the normal force calibration. Simultaneously, the cooperation of the guide posts 64 and linear bearings ensures the stability of the movable plate 63's movement, making the loading process smoother, reducing errors caused by unstable movement, and improving the overall performance of the equipment.

[0039] Furthermore, such as Figure 3 , Figure 4 , Figure 5 As shown, the normal loading fixture 7 includes a connecting block 71, an extension rod 72, an upper pressure block 73, and a loading head 74 connected sequentially from bottom to top. The bottom of the connecting block 71 is connected to the force measuring platform 3, and the top of the loading head 74 is connected to the force sensor 65 in the middle of the normal loading frame 6.

[0040] The normal loading fixture 7 is composed of a connecting block 71, an extension rod 72, an upper pressure block 73, and a loading head 74 connected sequentially. The connecting block 71 is connected to the force measuring platform 3, and the loading head 74 is connected to the force sensor 65 in the middle of the normal loading frame 6. During force transmission, the force applied by the normal loading frame 6 is transmitted to the upper pressure block 73 through the loading head 74. The upper pressure block 73 and the extension rod 72 achieve stable force transmission through ball contact. The extension rod 72 then transmits the force to the connecting block 71, and finally to the force measuring platform 3. This structural design ensures the stability and accuracy of the force during transmission. It ensures the stability and accuracy of the normal force during transmission, avoids losses and deviations during force transmission, and improves the force transmission efficiency and calibration accuracy. The ball contact design effectively reduces the influence of friction and lateral forces during force transmission, making the calibration results more reliable and further enhancing the equipment's ability to guarantee calibration accuracy.

[0041] Furthermore, such as Figure 2 As shown, a lateral force sensor 41 is installed on one side of the lateral loading frame 4. The outer side of the lateral force sensor 41 is connected and fixed to the side of the force measuring platform 3 by a connecting rod and bolts.

[0042] A lateral force sensor 41 is installed on one side of the lateral loading frame 4, and is connected and fixed to the side of the force measuring platform 3 by connecting rods and bolts. When the lateral loading frame 4 is working, the generated lateral force is transmitted to the force measuring platform 3 through the lateral force sensor 41. The lateral force sensor 41 can measure the magnitude of the lateral force in real time and convert the force signal into an electrical signal for subsequent data processing and analysis. This achieves accurate measurement and transmission of lateral force, enabling real-time acquisition of lateral force magnitude information and providing accurate data support for lateral force calibration. By directly connecting the lateral force sensor 41 to the force measuring platform 3, intermediate links in the force transmission process are reduced, the possibility of error generation is decreased, and the accuracy and reliability of lateral force calibration are improved, enabling the equipment to perform lateral force calibration more accurately.

[0043] Furthermore, the normal loading frame 6 is used for vertical Z-axis force transmission, and there are two lateral loading frames 4, which are used for horizontal X-axis and Y-axis force transmission respectively.

[0044] The normal loading frame 6 is specifically designed for vertical Z-axis force transmission, while the two lateral loading frames 4 handle horizontal X-axis and Y-axis force transmission, respectively. By clearly defining the force transmission directions of each loading frame, the equipment can selectively load and measure forces in different directions during calibration. During calibration, the normal loading frame 6 applies Z-axis force, while the two lateral loading frames 4 apply X-axis and Y-axis forces, respectively, thus achieving comprehensive calibration of three force directions in six-dimensional force measurement. This ensures accurate transmission and calibration of the three force directions (Z, X, and Y) in six-dimensional force measurement, guaranteeing comprehensive and accurate measurement and calibration of six-dimensional forces. This clear division of labor avoids mutual interference during force transmission, improves calibration accuracy and efficiency, and enables the equipment to meet the stringent requirements for force calibration in different directions during six-dimensional force measurement, enhancing its professionalism and applicability.

[0045] When using the six-dimensional force measuring platform calibration device of this utility model, first place the force measuring platform 3 on the base plate 21 of the force measuring platform fixture 2. According to the size of the force measuring platform 3, select a suitable pad and place it in the T-shaped guide groove 22. By adjusting the position of the pressure block 23 in the T-shaped guide groove 22, make one side of the pressure block 23 tightly press against the force measuring platform 3. Then, use a locking bolt to pass through the pressure block 23 and connect and tighten it to the T-shaped block, thereby firmly fixing the force measuring platform 3 on the fixture.

[0046] Connect the normal loading fixture 7 sequentially from bottom to top. Connect the bottom of the connecting block 71 to the force measuring platform 3 and connect the top of the loading head 74 to the force sensor 65 in the middle of the normal loading frame 6. Install the lateral force sensor 41 on one side of the lateral loading frame 4 and connect and fix the lateral force sensor 41 to the side of the force measuring platform 3 with connecting rods and bolts to ensure that the connection of each component is stable and to prepare for subsequent calibration work.

[0047] The normal force loading device at the top of the normal loading frame 6 starts working, generating a normal force. This force is transmitted to the moving plate 63. Since the moving plate 63 is slidably engaged with the guide post 64 through a linear bearing, the moving plate 63 can slide stably along the guide post 64 in the vertical direction under the action of the force.

[0048] A connecting rod at the bottom of the movable plate 63 passes through the lower fixed plate 62. Seven force sensors 65 mounted on the connecting rod at different positions receive the force from the movable plate 63. The force sensors 65 transmit the force to the normal loading fixture 7, which then passes sequentially through the loading head 74, the upper pressure block 73, the extension rod 72, and the connecting block 71, finally reaching the force measuring platform 3. During this process, the upper pressure block 73 and the extension rod 72 make ball contact, effectively reducing the influence of friction and lateral force during force transmission, ensuring stable and accurate transmission of the normal force.

[0049] During the normal force loading process, the counterweight mechanism 5 plays a role. The counterweight mechanism 5 generates a force opposite to the weight of the moving and measuring system through components such as counterweight blocks, balancing the mass of the moving plate 63 and the measuring system, counteracting the influence of their own weight, ensuring the stability and accuracy of the loading process, and improving the accuracy of the normal force calibration.

[0050] Force sensor 65 measures the magnitude of the transmitted normal force in real time and converts the force signal into an electrical signal. These electrical signals can then be processed and analyzed to complete the calibration of the normal force.

[0051] When the lateral loading frame 4 is working, it generates a lateral force. This lateral force is transmitted to the force measuring platform 3 through the lateral force sensor 41. Since there are two lateral loading frames 4, which are used for horizontal X-axis and Y-axis force transmission respectively, during the calibration process, the two lateral loading frames 4 can apply X-axis and Y-axis forces respectively to achieve loading in different lateral force directions.

[0052] The lateral force sensor 41 measures the magnitude of the lateral force in real time and converts the force signal into an electrical signal for subsequent data processing and analysis, completing the calibration of the lateral force. In this way, the device can achieve comprehensive and accurate calibration of three force directions (Z, X, and Y) and related torques in six-dimensional force.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A calibration device for a six-dimensional force measuring platform, characterized in that: The device includes a frame (1), a normal loading frame (6), a lateral loading frame (4), and a force measuring platform fixture (2). The normal loading frame (6) is located on the upper part of the six-dimensional force measuring platform calibration device and is used to calibrate the normal force. The lateral loading frame (4) is located on the left side of the six-dimensional force measuring platform calibration device and is used to calibrate the lateral force. The force measuring platform (3) is clamped and fixed on the force measuring platform fixture (2). The top of the force measuring platform (3) is connected and fixed to the normal loading frame (6) through the normal loading fixture (7).

2. The six-dimensional force measuring platform calibration device according to claim 1, characterized in that: A counterweight mechanism (5) is installed on one side of the normal loading frame (6).

3. The six-dimensional force measuring platform calibration device according to claim 1, characterized in that: The force measuring platform fixture (2) includes a base plate (21), and T-shaped guide grooves (22) are installed around the base plate (21). A pressure block (23) is slidably arranged on the T-shaped guide groove (22) for positioning and fixing the force measuring platform (3). A T-shaped block is arranged in the T-shaped guide groove (22). A strip-shaped opening is provided on the top of the pressure block (23) for adjusting the left and right movement of the pressure block (23). The locking bolt passes through the pressure block (23) and connects to the T-shaped block. One side of the pressure block (23) presses down on the force measuring platform (3) to achieve the pressing and positioning of the force measuring platform (3).

4. The six-dimensional force measuring platform calibration device according to claim 1, characterized in that: The normal loading frame (6) includes an upper support plate (61) and a lower fixed plate (62). A movable plate (63) is provided between the upper support plate (61) and the lower fixed plate (62). The top of the movable plate (63) is connected to a normal force loading device. A guide post (64) is installed between the corners of the upper support plate (61) and the lower fixed plate (62). The corner of the movable plate (63) is slidably engaged with the guide post (64) through a linear bearing. A connecting rod is installed at the bottom of the movable plate (63). The connecting rod passes through the lower fixed plate (62) and is equipped with seven force sensors (65) at different positions.

5. The six-dimensional force measuring platform calibration device according to claim 4, characterized in that: The normal loading fixture (7) includes a connecting block (71), an extension rod (72), an upper pressure block (73), and a loading head (74) connected sequentially from bottom to top. The bottom of the connecting block (71) is connected to the force measuring platform (3), and the top of the loading head (74) is connected to the force sensor (65) in the middle of the normal loading frame (6).

6. The calibration device for a six-dimensional force measuring platform according to claim 1, characterized in that: A lateral force sensor (41) is installed on one side of the lateral loading frame (4), and the outer side of the lateral force sensor (41) is connected and fixed to the side of the force measuring platform (3) by a connecting rod and bolt.

7. The six-dimensional force measuring platform calibration device according to claim 1, characterized in that: The normal loading frame (6) is used for vertical Z-axis force transmission, and there are two lateral loading frames (4), which are used for horizontal X-axis and Y-axis force transmission respectively.

Images