A static weight-based multidimensional force sensor calibration device

Abstract

This invention provides a static weight-based multi-dimensional force sensor calibration device, comprising: a worktable, a force reversing mechanism, a rotating platform, a loading disk, and a loading assembly; the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism; a turntable is fixed to the rotating platform, and a multi-component force sensor to be calibrated is fixed to the turntable; the loading disk is fixed to the top of the multi-component force sensor to be calibrated, and a loading connector is provided on the loading disk; a pulley assembly is provided on the top of the worktable; when calibrating the force of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is on the central axis of the worktable; when calibrating the torque of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable. This device optimizes the force loading method, changing from loading each component separately to loading the resultant force through a single rope, avoiding mechanical interference during multi-dimensional loading, achieving high repeatability of force loading, and improving the accuracy and reliability of calibration results.

Description

Technical Field

[0001] This utility model relates to the field of force sensor calibration technology, and in particular to a static weight-based multidimensional force sensor calibration device. Background Technology

[0002] Multi-component force sensors, as high-precision measuring devices, are widely used in intelligent manufacturing, robotics, medical, aerospace, and automotive fields for measuring and calculating force vectors. Through multi-component force sensors, we can obtain accurate force values, thereby evaluating and controlling the performance and safety of various devices and systems. Therefore, ensuring the accuracy and reliability of sensors under various operating conditions is particularly important.

[0003] To ensure the accuracy and reliability of multi-component force sensors, the issue of traceability for the calibration of multi-component force sensors has also emerged: when using traditional force standard machines for calibration, special fixtures need to be customized to limit the displacement of the sensor being calibrated in the direction of the test component, and there are problems such as needing to install repeatedly, limited positioning accuracy, inability to test coupling errors, and complex operation procedures.

[0004] To this end, various mainstream calibration devices have been developed both domestically and internationally. According to the comparison standard, they can be divided into three categories: 1. Calibration devices that use the gravity of weights as the comparison standard; 2. Calibration devices that use single-component standard force gauges as the comparison standard; 3. Calibration devices that use multi-component force sensors as the comparison standard.

[0005] Currently, weight-based calibration devices generally employ a method of applying forces in multiple dimensions separately, which results in inter-dimensional interference, poor repeatability, and low calibration efficiency, making them unsuitable for actual production. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a static weight-based multidimensional force sensor calibration device that optimizes the force loading method by changing the loading of each component separately to the loading of all components in the form of a resultant force through a rope.

[0007] This utility model is implemented as follows:

[0008] In the first aspect, this utility model provides a static weight-based multidimensional force sensor calibration device, including: a worktable, a force reversal mechanism, a rotating platform, a loading disk, and a loading assembly;

[0009] The force reversing mechanism is rotatably connected to the worktable. A first servo motor is provided on the top of the worktable. The first servo motor is connected to the force reversing mechanism to drive the force reversing mechanism to rotate. An encoder is also connected to the force reversing mechanism. The rotating platform is rotatably connected to the force reversing mechanism, and the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism.

[0010] A turntable is fixed to the top of the rotating platform, a multi-component force sensor to be calibrated is fixed to the top of the turntable, a loading disk is fixed to the top of the multi-component force sensor to be calibrated, and the center line of the loading disk and the center line of the multi-component force sensor to be calibrated coincide with the rotation center of the rotating platform. A loading connector is provided on the top of the loading disk, and a pulley assembly is provided on the top of the worktable.

[0011] When calibrating the force of the multi-component force sensor being calibrated, the loading connector is located at the center of the loading disk, and the line connecting the pulley assembly and the loading connector is on the central axis of the worktable.

[0012] When calibrating the torque of the multi-component force sensor being calibrated, the loading connector is located in the edge area of ​​the loading disk, and the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable.

[0013] The loading assembly includes a steel wire rope and a weight connected to the steel wire rope. The steel wire rope is wound around the outside of the pulley assembly. The loading connector has a ring portion that is coaxial with the rotation center of the force reversing mechanism. The steel wire rope is connected to the ring portion.

[0014] Furthermore, the force reversing mechanism includes: a rotating shaft, a rotating arm, and a base plate;

[0015] The rotating platform is connected to the base plate. The rotating shaft is mounted on the top of the workbench via a bearing seat and is connected to the rotating arm. The first servo motor is connected to the rotating shaft via a coupling. The lower end of the rotating arm is connected to the base plate. The workbench has a recessed accommodating space. In the initial position, the lower end of the rotating arm is located within the accommodating space.

[0016] Furthermore, an angle sensor for detecting the rotation angle of the rotating platform is also provided on the top of the base plate.

[0017] Furthermore, a horizontal calibration platform is provided on the top of the base plate.

[0018] Furthermore, the edge region of the loading disk is provided with an arc-shaped groove, and when calibrating the torque of the multi-component force sensor being calibrated, the loading connector is fixed in the arc-shaped groove by a nut.

[0019] Furthermore, the pulley assembly includes a mounting bracket and a pulley rotatably connected to the mounting bracket. The edge of the worktable has a sliding part, and the mounting bracket is slidably connected to the sliding part. The sliding part has a T-slot, and a locking screw is provided in the T-slot. The mounting bracket has a through hole, and one end of the locking screw passes through the through hole and is tightened by a nut.

[0020] Furthermore, the sliding part has three positioning marking lines, which correspond to the three working positions of the pulley assembly, and the mounting bracket is provided with indicator lines corresponding to the positioning marking lines.

[0021] The advantages of this utility model are:

[0022] 1. This invention changes the traditional weight-based calibration device's method of applying forces separately in each dimension. Instead, it uses a steel wire rope to apply the force source as a resultant force. Combined with the motion of the force reversal mechanism and the rotating platform, the angle between the force source and the multi-component force sensor being calibrated can be arbitrarily adjusted in a spatial rectangular coordinate system, allowing the force values ​​(F) of each component force to be adjusted accordingly. X F Y F Z ) or torque (M) X M Y M Z It can be used to independently act on the coordinate system of the multi-component force sensor under calibration through mechanical decomposition, avoiding mechanical interference during multi-dimensional loading, ensuring the loading accuracy of each component force value, and meeting the full component calibration requirements of the sensor in three-dimensional space.

[0023] 2. The gravity of the weights serves as a stable force source. Through the combined motion of the force reversal mechanism and the rotating platform, the spatial angle between the force source and the multi-component force sensor being calibrated is precisely adjusted. Because the direction of the force source is fixed and the loading path is unique, the repeatability error of the mechanical structure is significantly reduced. Combined with the precise adjustment of the weight mass, high repeatability of force loading can be achieved, improving the accuracy and reliability of the calibration results.

[0024] 3. This utility model can quickly switch the loading direction within a spatial range after a single installation by combining the motion of the force reversing mechanism and the rotating platform, thereby shortening the single calibration time and improving efficiency.

[0025] 4. Traditional calibration methods cannot reproduce the real force scenario due to component force loading. By applying resultant force and adjusting the force reversal mechanism and the rotation angle of the rotating platform, the combined force action on the sensor in actual working conditions can be simulated. This can simulate the force state under complex working conditions such as robot grasping and attitude changes of aviation equipment, thereby improving the consistency between calibration results and actual working conditions. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the structure of a static weight-based multidimensional force sensor calibration device according to this utility model. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the structure of a static weight-based multidimensional force sensor calibration device according to this utility model. Figure 2 .

[0029] Figure 3 This utility model Figure 1 Exploded view of the structure shown.

[0030] Figure 4 for Figure 3 Enlarged view of a portion of point A in the middle.

[0031] Figure 5 for Figure 3 Enlarged view of section B in the middle.

[0032] Figure 6 This is a schematic diagram of the loading structure in this utility model.

[0033] Figure 7 This is a schematic diagram showing that the annular portion does not coincide with the axis of the rotating shaft.

[0034] Figure 8 The calibration single component force F in this utility model X A schematic diagram of the calibration structure.

[0035] Figure 9 The calibration single component force F in this utility model Y A schematic diagram of the calibration structure.

[0036] Figure 10 The calibration single component force F in this utility model Z A schematic diagram of the calibration structure.

[0037] Figure 11 F in this utility model X and F Y A schematic diagram of the coupling calibration structure.

[0038] Figure 12 F in this utility model X and F Z A schematic diagram of the coupling calibration structure.

[0039] Figure 13 F in this utility model Y and F Z A schematic diagram of the coupling calibration structure.

[0040] Figure 14 F in this utility model X F Y and F Z A schematic diagram of the coupling calibration structure.

[0041] Figure 15 The single-component torque M in this utility model Z A schematic diagram of the calibration structure.

[0042] Figure 16 The single-component torque M in this utility model X A schematic diagram of the calibration structure.

[0043] Figure 17 The single-component torque M in this utility model Y A schematic diagram of the calibration structure.

[0044] Figure 18 M in this utility model X and M Z A schematic diagram of the coupling calibration structure.

[0045] Figure 19 M in this utility model X and M Y A schematic diagram of the coupling calibration structure.

[0046] Figure 20 M in this utility model Y and M Z A schematic diagram of the coupling calibration structure.

[0047] Figure 21 M in this utility model X M Y and M Z A schematic diagram of the coupling calibration structure.

[0048] Explanation of the labels in the diagram:

[0049] 1. Worktable; 2. Force reversing mechanism; 21. Rotating shaft; 22. Rotating arm; 23. Base plate; 231. Horizontal calibration platform; 24. Bearing seat; 3. Rotating platform; 4. Loading disk; 41. Arc groove; 5. Loading assembly; 51. Steel wire rope; 52. Weight; 6. Positioning mark line; 7. Worktable central axis; 8. Turntable; 9. Multi-component force sensor to be calibrated; 10. Loading connector; 101. Circular part; 11. Pulley assembly; 111. Mounting bracket; 1111. Indicator line; 112. Pulley; 12. Accommodation space; 13. First servo motor; 14. Second servo motor; 15. Sliding part; 151. T-slot; 16. Locking screw. Detailed Implementation

[0050] Please see Figures 1 to 21 This utility model provides a static weight-based multidimensional force sensor calibration device, including: a worktable 1, a force reversal mechanism 2, a rotating platform 3, a loading disk 4, and a loading component 5;

[0051] A column is provided at the bottom of the workbench 1. The force reversing mechanism 2 is rotatably connected to the workbench 1. A first servo motor 13 is provided at the top of the workbench 1. The first servo motor 13 is connected to the force reversing mechanism 2 to drive the force reversing mechanism 2 to rotate. An encoder (not shown in the figure) is also connected to the force reversing mechanism 2. The rotating platform 3 is rotatably connected to the force reversing mechanism 2, and the rotation center of the rotating platform 3 is perpendicular to the rotation center of the force reversing mechanism 2.

[0052] In the initial position, the Y-axis of the multi-component force sensor 9 being calibrated coincides with the rotation center of the force reversing mechanism 2, the X-axis of the multi-component force sensor 9 being calibrated coincides with the central axis 7 of the worktable, and the Z-axis of the multi-component force sensor 9 being calibrated coincides with the rotation center of the rotating platform 3.

[0053] The rotating platform 3 has a turntable 8 fixed on its top. The rotating platform 3 is an existing product. The rotating platform 3 has a rotating part, and the turntable 8 is fixed on the rotating part.

[0054] The top of the turntable 8 is fixed with the multi-component force sensor 9 to be calibrated. The loading disk 4 is fixed on the top of the multi-component force sensor 9 to be calibrated. The center line of the loading disk 4 and the center line of the multi-component force sensor 9 to be calibrated coincide with the rotation center of the rotating platform 3. That is, the center line of the loading disk 4 coincides with the Z-axis of the multi-component force sensor 9 to be calibrated. The top of the loading disk 4 is provided with a loading connector 10. The top of the worktable 1 is provided with a pulley assembly 11.

[0055] When calibrating the force of the multi-component force sensor 9 being calibrated, the loading connector 10 is located at the center of the loading disk 4, and the line connecting the pulley assembly 11 and the loading connector 10 is on the central axis 7 of the worktable; that is, the force line of the loading assembly 5 is on the central axis 7 of the worktable.

[0056] When calibrating the torque of the multi-component force sensor 9, the loading connector 10 is located in the edge area of ​​the loading disk 4, and the line connecting the pulley assembly 11 and the loading connector 10 is parallel to the central axis 7 of the worktable; that is, the force line of the loading assembly 5 is parallel to the central axis 7 of the worktable.

[0057] The loading assembly 5 includes a steel wire rope 51 and a weight 52 connected to the steel wire rope 51. The steel wire rope 51 is wound around the outside of the pulley assembly 11. The loading connector 10 has a circular portion 101, which is coaxial with the rotation center (i.e., the rotating shaft 21) of the force reversing mechanism. The steel wire rope 51 is connected to the circular portion 101. The loading connector 10 is a lifting eye screw. One end of the steel wire rope 51 is connected to the circular portion 101 of the lifting eye screw, and the other end passes through the pulley assembly 11 and connects to the weight 52. The height of the pulley assembly 11 matches the height of the lifting eye screw, so that when the weight 52 is loaded, the force line is always parallel to the upper surface of the worktable 1. After the loading assembly 5 is loaded, the data acquisition system collects the data output by the calibrated multi-component force sensor 9, and the computer processes the collected data to calculate parameters such as error values ​​and calibration coefficients. The calibration results of the sensor, including error values ​​and calibration coefficients, are recorded for subsequent use and reference.

[0058] Specifically, the force reversing mechanism 2 includes: a rotating shaft 21, a rotating arm 22, and a base plate 23;

[0059] The annular portion 101 is coaxial with the rotating shaft 21. The rotating platform 3 is connected to the base plate 23. The rotating shaft 21 is mounted on the top of the workbench 1 via a bearing seat 24 and is connected to the rotating arm 22. The first servo motor 13 is connected to one of the rotating shafts 21 via a coupling, and the other rotating shaft 21 is connected to an encoder. The encoder can detect the rotation angle of the rotating shaft 21 and feed the rotation angle back to the control system. The control system then performs closed-loop adjustment of the rotation of the first servo motor 13 to achieve high-precision control of the rotation angle of the rotating shaft 21. The lower end of the rotating arm 22 is connected to the base plate 23. The workbench 1 has a recessed receiving space 12. In the initial position, the lower end of the rotating arm 22 is located within the receiving space 12.

[0060] By adjusting the depth of the extension of the rotating arm 22 into the receiving space 12, the position of the annular portion 101 can be adjusted so that the annular portion 101 is coaxial with the rotating shaft 21.

[0061] When the force reversing mechanism 2 rotates, since the annular part 101 is coaxial with the rotating shaft 21, a position can always be found on the annular part 101 without changing the height of the pulley assembly 11, so that after the wire rope 51 is connected to the annular part 101, the force line is always parallel to the upper surface of the worktable 1.

[0062] If the annular portion 101 does not coincide with the axis of the rotating shaft 21, such as Figure 7As shown, when the force reversing mechanism 2 rotates, the height of the pulley assembly 11 needs to be adjusted so that the force line is parallel to the upper surface of the worktable 1 to ensure the accuracy of the calibration. However, adjusting the height of the pulley assembly 11 is inconvenient and reduces the efficiency of the calibration.

[0063] Specifically, the edge region of the loading disk 4 is provided with an arc-shaped groove 41. When calibrating the torque of the multi-component force sensor 9 being calibrated, the loading connector 10 is fixed in the arc-shaped groove 41 by a nut. Figure 6 As shown, there are two arc-shaped grooves 41, and the central angle α of each arc-shaped groove 41 is greater than 90 degrees.

[0064] If the eye screw is locked to the edge area of ​​the loading disk 4 through the threaded hole (i.e., the position of the eye screw cannot be changed), when calibrating the torque of the multi-component force sensor 9, if the rotating platform 3 rotates around the Z-axis of the multi-component force sensor 9, or if the rotating platform 3 and the force reversing mechanism 2 move in combination, the spatial position of the eye screw will change. Since the position of the eye screw cannot be changed, the force line of the loading component 5 cannot be parallel to the upper surface of the worktable 1 and parallel to the central axis 7 of the worktable. If the force line is not parallel to the upper surface of the worktable 1 or the central axis 7 of the worktable, the force line will form an angle with the coordinate axis when a single component force or torque is applied, reducing the calibration accuracy.

[0065] The eye screw is fixed in the arc groove 41 by the nut. When applying a single component or coupled torque, the position of the eye screw can be adjusted to ensure the consistency of the actual spatial position of the eye screw and improve the accuracy of calibration.

[0066] Specifically, the top of the base plate 23 is also equipped with an angle sensor (not shown in the figure) for detecting the rotation angle of the rotating platform 3. The rotating platform 3 is an existing product, which is driven to rotate by the second servo motor 14, and the control is the same as that of the first servo motor 13. The angle sensor feeds back the rotation angle of the rotating platform 3 to the control system, and the control system then performs closed-loop adjustment of the rotation of the second servo motor 14 to achieve high-precision control of the rotation angle of the rotating platform 3.

[0067] Specifically, a level calibration platform 231 is provided on the top of the base plate 23. By placing a level or electronic level on the level calibration platform 231, it can be confirmed whether the base plate 23 is level in the initial position.

[0068] Specifically, the pulley assembly 11 includes a mounting bracket 111 and a pulley 112 rotatably connected to the mounting bracket 111. The edge of the worktable 1 has a sliding part 15, and the mounting bracket 111 is slidably connected to the sliding part 15. The sliding part 15 has a T-slot 151, and a locking screw 16 is provided in the T-slot 151. The mounting bracket 111 has a through hole, and one end of the locking screw 16 passes through the through hole and is tightened by a nut. After the single component force or coupling force of the multi-component force sensor 9 is calibrated, the pulley assembly 11 can be moved to correspond to the lifting eye screw located in the edge area of ​​the loading disk 4, and then the pulley assembly 11 is locked and fixed by a nut.

[0069] Specifically, the sliding part 15 has three positioning marker lines 6, corresponding to the three working positions of the pulley assembly 11, and the mounting bracket 111 is provided with indicator lines 1111 corresponding to the positioning marker lines 6. By setting the positioning marker lines 6 and indicator lines 1111, the operator can easily move the pulley assembly 11 to the designated position. The three working positions are, in order, the first working position, the second working position, and the third working position. The second working position is located between the first and third working positions. The second working position corresponds to the calibration of the force of the multi-component force sensor 9 being calibrated, and the other two working positions correspond to the calibration of the torque of the multi-component force sensor 9 being calibrated.

[0070] One specific application of this utility model is:

[0071] The multi-component force sensor 9 to be calibrated is fixed on the top of the turntable 8, and the loading disk 4 is attached to the top of the multi-component force sensor 9 by bolts.

[0072] like Figure 8 As shown, in the initial position, the Z-axis of the multi-component force sensor 9 being calibrated coincides with the rotation center of the rotary platform 3, the Y-axis of the multi-component force sensor 9 being calibrated coincides with the rotation center of the rotating shaft 21, and the X-axis of the multi-component force sensor 9 being calibrated coincides with the central axis 7 of the worktable. When calibrating the single component force or coupling force of the multi-component force sensor 9 being calibrated, the loading connector 10 is located at the center of the loading disk 4; when calibrating the single component torque or coupling torque of the multi-component force sensor 9 being calibrated, the loading connector 10 is located in the edge region of the loading disk 4.

[0073] The single component force F of the multi-component force sensor 9 being calibrated X During calibration, in the initial position, a weight 52 is attached to the loading connector 10 for loading, such as... Figure 8 As shown, at this time, the force line of the loading component 5 coincides with the X-axis of the multi-component force sensor 9 being calibrated, and is a single-component force F. X load.

[0074] After the rotating platform 3 rotates 90 degrees, the X-axis and Y-axis of the multi-component force sensor 9 being calibrated are interchanged. At this time, after the weight 52 is hung, as... Figure 9 As shown, this is a single-component force F. Y load.

[0075] After the force reversing mechanism 2 rotates 90 degrees, the Z-axis of the multi-component force sensor 9 being calibrated rotates to a position coinciding with the central axis 7 of the worktable. At this time, after the weight 52 is hung, as... Figure 10 As shown, this is a single-component force F. Z load.

[0076] The single component force F of the multi-component force sensor 9 under calibration was applied. X Based on the calibration, if F is to be performed X and F Y The coupled loading allows the rotating platform 3 to rotate at preset angles (excluding 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements, such as... Figure 11 As shown, after the weight 52 is mounted, the force line (steel wire rope 51) of the loading component 5 forms an angle with both the X-axis and Y-axis of the multi-component force sensor 9 being calibrated. This allows the resultant force generated by the weight 52 to be decomposed onto the X-axis and Y-axis of the multi-component force sensor 9 being calibrated, thus achieving F... X and F Y Coupled loading.

[0077] The single component force F of the multi-component force sensor 9 under calibration was applied. X Based on the calibration, if F is to be performed X and F Z The coupled loading allows the force reversing mechanism 2 to rotate at a preset angle (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements, such as... Figure 12 As shown, after the weight 52 is mounted, the force line (steel wire rope 51) of the loading component 5 forms an angle with both the X-axis and Z-axis of the multi-component force sensor 9 being calibrated. This allows the resultant force generated by the weight 52 to be decomposed onto the X-axis and Z-axis of the multi-component force sensor 9 being calibrated, thus achieving F X and F Z Coupled loading.

[0078] The single component force F of the multi-component force sensor 9 under calibration was applied. Y Based on the calibration, if F is to be performed Y and F Z The coupled loading allows the force reversing mechanism 2 to rotate at a preset angle (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements, such as... Figure 13As shown, after the weight 52 is mounted, the force line (steel wire rope 51) of the loading component 5 forms an angle with both the Y-axis and Z-axis of the multi-component force sensor 9 being calibrated. This allows the resultant force generated by the weight 52 to be decomposed onto the Y-axis and Z-axis of the multi-component force sensor 9 being calibrated, thus achieving F Y and F Z Coupled loading.

[0079] F-type multi-component force sensor 9 under calibration X F Y and F Z During coupling calibration, the force reversing mechanism 2 and the rotating platform 3 can be rotated by preset angles (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements, such as... Figure 14 As shown, after the weight 52 is mounted, the force line (steel wire rope 51) of the loading component 5 forms an angle with the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 being calibrated. This allows the resultant force generated by the weight 52 to be distributed along the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 being calibrated, thus achieving F... X F Y and F Z Coupled loading.

[0080] The single-component torque M of the multi-component force sensor 9 being calibrated Z During calibration, the pulley assembly 11 moves to the first or third working position, such as... Figure 15 As shown, in the initial position, a weight 52 is loaded onto the loading connector 10. At this time, the torque is a single component M. Z load. Figures 15 to 21 In this system, torque can be calibrated clockwise or counterclockwise by attaching loading components to different workstations.

[0081] In the single-component torque M Z Based on the calibration, the single-component torque M of the calibrated multi-component force sensor 9 was measured. X During calibration, the control shaft 21 is rotated 90 degrees, and the X-axis and Z-axis positions of the multi-component force sensor 9 being calibrated are interchanged, such as... Figure 16 As shown, after mounting weight 52, the torque is a single component M. X load.

[0082] In the single-component torque M X Based on this, the single-component torque M of the multi-component force sensor 9 under calibration was... Y During calibration, the rotating platform 3 is rotated 90 degrees, and the X-axis and Y-axis of the multi-component force sensor 9 being calibrated are interchanged. After the loading disk 4 rotates 90 degrees, the position of the eye screw changes. At this time, by adjusting the position of the eye screw in the arc groove 41, the spatial position of the eye screw is adjusted to match the calibration single-component torque M. XAt the same position, the wire rope 51 is parallel to the surface and central axis of the worktable 1. For example... Figure 17 As shown, after adjusting the position of the eye bolt, the weight 52 is then hung. At this point, the torque is a single component, M. Y load.

[0083] In the single-component torque M Z Based on the calibration, if torque M is to be measured... X and M Z For coupling calibration, the rotating shaft 21 can be controlled to rotate at a preset angle (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements. After the weight 52 is mounted, as... Figure 18 As shown, at this time, the force line of the loading component 5 acts on the Y-axis of the multi-component force sensor 9 being calibrated, and the wire rope 51 is parallel to the surface and central axis of the worktable 1. As shown in the figure, the force line (wire rope 51) of the loading component 5 has an angle with both the X-axis and Z-axis of the multi-component force sensor 9 being calibrated, which can decompose the resultant force generated by the weight 52 onto the X-axis and Z-axis of the multi-component force sensor 9 being calibrated, thus achieving M X and M Z Coupled loading.

[0084] In the single-component torque M X Based on the calibration, if torque M is to be measured... X and M Y For coupling calibration, the rotating platform 3 can be controlled to rotate at a preset angle (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements. After mounting the weight 52, as... Figure 19 As shown, the force line of the loading component 5 extends towards the Z-axis of the multi-component force sensor 9 being calibrated, and the wire rope 51 is parallel to the surface and central axis of the worktable 1. The force line (wire rope 51) of the loading component 5 forms an angle with both the X-axis and Y-axis of the multi-component force sensor 9 being calibrated, which can decompose the resultant force generated by the weight 52 onto the X-axis and Y-axis of the multi-component force sensor 9 being calibrated, thus achieving M X and M Y Coupled loading.

[0085] In the single-component torque M Y Based on the calibration, if torque M is to be measured... Y and M Z For coupling calibration, the rotating shaft 21 can be controlled to rotate at a preset angle (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees) according to calibration requirements. After the weight 52 is mounted, as... Figure 20As shown, at this time, the force line of the loading component 5 acts on the X-axis of the multi-component force sensor 9 being calibrated, and the steel wire rope 51 is parallel to the surface and central axis of the worktable 1. As shown in the figure, the force line (steel wire rope 51) of the loading component 5 has an angle with both the Y-axis and Z-axis of the multi-component force sensor 9 being calibrated, which can decompose the resultant force generated by the weight 52 onto the Y-axis and Z-axis of the multi-component force sensor 9 being calibrated, thus achieving M Y and M Z Coupled loading.

[0086] Perform M X M Y and M Z During coupling calibration, the control shaft 21 and the rotating platform 3 are rotated by preset angles (except for 90 degrees, 180 degrees, 270 degrees, and 360 degrees), and the position of the lifting eye screw is adjusted so that after the weight 52 is hung, the wire rope 51 is parallel to the surface and central axis of the worktable 1. At this time, the force line of the loading component 5 (wire rope 51) has an angle with the X-axis, Y-axis, and Z-axis of the multi-component force sensor 9 being calibrated. Figure 21 As shown, the resultant force generated by the weight 52 can be decomposed onto the X, Y, and Z axes of the multi-component force sensor 9 under calibration, achieving M... X M Y and M Z Coupled loading.

[0087] The calibration device of this invention can apply a load of preset magnitude and preset angle to one or more components of the multi-component force sensor under test according to different calibration requirements, thereby simulating the complex combined force state faced by the sensor in actual applications. This improves the comprehensiveness and accuracy of the calibration work, ensuring that the measurement data of the sensor under multi-dimensional working conditions is closer to the real use scenario.

[0088] The advantages of this invention are as follows: It changes the traditional method of separately loading forces in each dimension using a weight 52 calibration device. Instead, it loads the force source as a resultant force through a single steel wire rope 51. Combined with the motion of the force reversing mechanism 2 and the rotating platform 3, the angle between the force source and the multi-component force sensor 9 under calibration can be arbitrarily adjusted in a spatial rectangular coordinate system. This allows each component force value or torque to act independently on the coordinate system of the multi-component force sensor 9 through mechanical decomposition, avoiding mechanical interference during multi-dimensional loading, ensuring the loading accuracy of each component force value, and meeting the full-component calibration requirements of the sensor in three-dimensional space. The gravity of the weight 52 serves as a stable force source. Through the combined motion of the force reversing mechanism 2 and the rotating platform 3, the spatial angle between the force source and the multi-component force sensor 9 under calibration is precisely adjusted. Because the force source direction is fixed and the loading path is unique, the repeatability error of the mechanical structure is significantly reduced. Combined with the precise adjustment of the mass of the weight 52, high repeatability of force loading can be achieved, improving the accuracy and reliability of the calibration results. This invention allows for rapid switching of the loading direction within a spatial range after a single installation, through the combined movement of the force-reversing mechanism 2 and the rotating platform 3. This shortens the calibration time per cycle and improves efficiency. Traditional calibration methods cannot reproduce the actual force scenario due to component force loading. By applying the resultant force and adjusting the rotation angle of the force-reversing mechanism 2 and the rotating platform 3, the composite force acting on the sensor under actual working conditions can be simulated. This can simulate the force state under complex working conditions such as robot grasping and attitude changes of aerospace equipment, improving the consistency between calibration results and actual working conditions.

[0089] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A static weight multi-dimensional force sensor calibration device, characterized by: include: Worktable, force reversing mechanism, rotary platform, loading disk and loading assembly; The force reversing mechanism is rotatably connected to the worktable. A first servo motor is provided on the top of the worktable. The first servo motor is connected to the force reversing mechanism to drive the force reversing mechanism to rotate. An encoder is also connected to the force reversing mechanism. The rotating platform is rotatably connected to the force reversing mechanism, and the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism. A turntable is fixed to the top of the rotating platform, a multi-component force sensor to be calibrated is fixed to the top of the turntable, a loading disk is fixed to the top of the multi-component force sensor to be calibrated, and the center line of the loading disk and the center line of the multi-component force sensor to be calibrated coincide with the rotation center of the rotating platform. A loading connector is provided on the top of the loading disk, and a pulley assembly is provided on the top of the worktable. When calibrating the force of the multi-component force sensor being calibrated, the loading connector is located at the center of the loading disk, and the line connecting the pulley assembly and the loading connector is on the central axis of the worktable. When calibrating the torque of the multi-component force sensor being calibrated, the loading connector is located in the edge area of ​​the loading disk, and the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable. The loading assembly includes a steel wire rope and a weight connected to the steel wire rope. The steel wire rope is wound around the outside of the pulley assembly. The loading connector has a ring portion that is coaxial with the rotation center of the force reversing mechanism. The steel wire rope is connected to the ring portion.

2. A static load multi-dimensional force sensor calibration apparatus as claimed in claim 1, characterized in that: The force reversing mechanism includes: a rotating shaft, a rotating arm, and a base plate; The rotating platform is connected to the base plate. The rotating shaft is mounted on the top of the workbench via a bearing seat and is connected to the rotating arm. The first servo motor is connected to the rotating shaft via a coupling. The lower end of the rotating arm is connected to the base plate. The workbench has a recessed accommodating space. In the initial position, the lower end of the rotating arm is located within the accommodating space.

3. A static load multi-dimensional force sensor calibration apparatus as claimed in claim 2, characterized in that: An angle sensor for detecting the rotation angle of the rotating platform is also installed on the top of the base plate.

4. The static weight-based multidimensional force sensor calibration device as described in claim 2, characterized in that: A horizontal calibration platform is provided on the top of the base plate.

5. The static weight-based multidimensional force sensor calibration device as described in claim 1, characterized in that: The edge region of the loading disk is provided with an arc-shaped groove. When calibrating the torque of the multi-component force sensor being calibrated, the loading connector is fixed in the arc-shaped groove by a nut.

6. The static weight-based multidimensional force sensor calibration device as described in claim 1, characterized in that: The pulley assembly includes a mounting bracket and a pulley rotatably connected to the mounting bracket. The edge of the workbench has a sliding part. The mounting bracket is slidably connected to the sliding part. The sliding part has a T-slot. A locking screw is provided in the T-slot. The mounting bracket has a through hole. One end of the locking screw passes through the through hole and is tightened by a nut.

7. The static weight-based multidimensional force sensor calibration device as described in claim 6, characterized in that: The sliding part has three positioning mark lines, which correspond to the three working positions of the pulley assembly, and the mounting bracket is provided with indicator lines corresponding to the positioning mark lines.

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