A multi-dimensional force sensor on-line automatic calibration device for robots

Abstract

The utility model provides a kind of online automatic calibration device of multidimensional force sensor for robot, it is related to multidimensional force sensor calibration field, calibration unit, including protective shell and sensor, the closing door for closing protective shell is hingedly connected in the two sides of the front of protective shell and is used to close protective shell, microcontroller is fixedly connected in the front of closing door, touch display screen is set in the front of microcontroller, loading assembly is set in the inner chamber of protective shell and is used to exert force to sensor;The utility model can adjust the interval between first clamping block and second clamping block by screw rod and screw sleeve cooperation spring, so as to adjust and fix according to different size sensor, greatly improve the versatility and convenience of calibration, while by the introduction cooperation loading assembly of microcontroller and touch display screen, force can be automatically exerted to sensor, so that calibration process can realize intelligent operation and real-time monitoring, improve the efficiency and convenience of calibration.

Description

Technical Field

[0001] This utility model belongs to the field of multidimensional force sensor calibration, specifically an online automatic calibration device for multidimensional force sensors used in robots. Background Technology

[0002] Multi-dimensional force sensors, as precision measuring devices capable of simultaneously measuring forces and torques in multiple directions, are widely used in fields such as robotics, automated production lines, and aerospace. To ensure the measurement accuracy and reliability of multi-dimensional force sensors, calibration equipment is used to calibrate them periodically.

[0003] When using the multi-dimensional force sensor calibration device, the multi-dimensional force sensor is first installed in the groove of the fixing component and fixed in an embedded manner to ensure the stability and accuracy of the sensor during the calibration process. Then, the loading parameters are set according to the requirements, and the loading mechanism is started to load the sensor according to the set parameters. During the loading process, the output signal of the sensor is collected, and the collected data and preset data are processed and analyzed. By comparing the theoretical value and the actual value, the measurement accuracy and performance of the sensor are evaluated. Finally, based on the calibration results, the sensor can be adjusted or calibrated as necessary to improve its measurement accuracy. However, in actual use, due to the embedded fixing method, the size of the fixing parts of the calibration equipment is fixed and cannot be adjusted according to the size of multi-dimensional force sensors. This means that when dealing with sensors of different sizes, it is necessary to replace the corresponding fixing parts. Replacing the fixing parts not only requires additional time, but may also introduce human error during the replacement process, which not only affects the accuracy and efficiency of calibration, but also increases the cumbersomeness of calibration.

[0004] In summary, this utility model provides an online automatic calibration device for a multidimensional force sensor for robots to solve the above-mentioned problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: An online automatic calibration device for a multidimensional force sensor for robots, comprising: The calibration unit includes a protective shell and a sensor, a door hinged to both sides of the front of the protective shell for closing the protective shell, a microcontroller fixedly connected to the front of the door, a touch screen on the front of the microcontroller, a loading component in the inner cavity of the protective shell for applying force to the sensor, and a fixing component in the bottom of the inner cavity of the protective shell for positioning the sensor. The fixing assembly includes a base, a first clamping block fixedly connected to the rear end of the top of the base, a second clamping block movably connected to the front end of the top of the base, an anti-slip pad fixedly connected to the inner walls of the first and second clamping blocks and in contact with the sensor, a spring fixedly connected to the front of the inner cavity of the base, a movable plate fixedly connected to the other end of the spring and fixedly connected to the bottom of the second clamping block, a screw movably connected to the back of the inner cavity of the base via a bearing, and a threaded sleeve threadedly connected to the surface of the screw and capable of contacting the movable plate.

[0006] Furthermore, in this invention, the loading assembly includes a first cylinder fixedly connected to the top of the inner cavity of the protective shell, and a second cylinder fixedly connected to the back of the inner cavity of the protective shell.

[0007] Furthermore, in this utility model, a calibration cap is fixedly connected to the top of the sensor component by bolts, and the output ends of the first cylinder and the second cylinder can both contact the calibration cap on the top of the sensor component. A sealing strip is provided on the surface of the closed door, and the sealing strip contacts the protective shell.

[0008] Furthermore, in this utility model, the bottom of the base is fixedly connected to the bottom of the inner cavity of the protective shell, and through slots are provided on both sides of the top of the base. The top of the movable plate passes through the through slot and is slidably connected to the inner cavity of the through slot. A pull bracket is fixedly connected to the front of the second clamping block.

[0009] Furthermore, in this utility model, limit rods are fixedly connected to both sides of the inner cavity of the base, and the limit rods pass through the inner cavity of the spring and the movable plate. One end of the screw extends to the outside of the base and is fixedly connected to a rotary knob.

[0010] Furthermore, in this utility model, a limiting block is fixedly connected to the bottom of the screw sleeve, a limiting groove is formed at the bottom of the inner cavity of the base, and the limiting block at the bottom of the screw sleeve extends into the inner cavity of the limiting groove and is slidably connected to the inner cavity of the limiting groove.

[0011] Beneficial effects: This utility model has the following beneficial effects: This invention allows for adjustment of the distance between the first and second clamping blocks using a screw and a screw sleeve in conjunction with a spring. This adjustment and fixation can be made according to sensor components of different sizes, greatly improving the versatility and convenience of calibration. At the same time, the introduction of a microcontroller and a touch display screen, along with a loading component, allows for automatic application of force to the sensor components, enabling intelligent operation and real-time monitoring of the calibration process, thus improving the efficiency and convenience of calibration. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2This is a cross-sectional structural diagram of the protective shell of this utility model; Figure 3 This is a schematic diagram of the connection structure of the base, the first clamping block, and the second clamping block of this utility model; Figure 4 This is a cross-sectional structural diagram of the base of this utility model.

[0013] In the picture: 100. Calibration unit; 110. Protective housing; 120. Sealing door; 130. Microcontroller; 140. Loading assembly; 141. First cylinder; 142. Second cylinder; 150. Fixing assembly; 151. Base; 1511. Through groove; 1512. Limiting groove; 152. First clamping block; 153. Second clamping block; 154. Anti-slip pad; 155. Spring; 1551. Limiting rod; 156. Movable plate; 157. Screw; 158. Screw sleeve; 160. Sensor component. Detailed Implementation

[0014] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0015] Example 1 like Figure 1-4 As shown, this is the first embodiment of the present invention. This embodiment provides an online automatic calibration device for a multi-dimensional force sensor for robots, including... The calibration unit 100 includes a protective housing 110 and a sensor 160, a sealing door 120 that is hinged to both sides of the front of the protective housing 110 and used to close the protective housing 110, a microcontroller 130 that is fixedly connected to the front of the sealing door 120, a touch screen that is disposed on the front of the microcontroller 130, a loading component 140 disposed in the inner cavity of the protective housing 110 and used to apply force to the sensor 160, and a fixing component 150 disposed at the bottom of the inner cavity of the protective housing 110 and used to position the sensor 160. The fixing assembly 150 includes a base 151, a first clamping block 152 fixedly connected to the rear end of the top of the base 151, a second clamping block 153 movably connected to the front end of the top of the base 151, an anti-slip pad 154 fixedly connected to the inner wall of the first clamping block 152 and the second clamping block 153 and in contact with the sensor 160, a spring 155 fixedly connected to the front of the inner cavity of the base 151, a movable plate 156 fixedly connected to the other end of the spring 155 and fixedly connected to the bottom of the second clamping block 153, a screw 157 movably connected to the back of the inner cavity of the base 151 via a bearing, and a threaded sleeve 158 threadedly connected to the surface of the screw 157 and in contact with the movable plate 156.

[0016] like Figure 1-4 As shown, the distance between the first clamping block 152 and the second clamping block 153 can be adjusted according to the size of the sensor 160 by using the screw 157 and the screw sleeve 158 in conjunction with the spring 155. This allows for adjustment and fixation of sensor 160s of different sizes, greatly improving the versatility and convenience of calibration. At the same time, the microcontroller 130 controls the activation of the loading components 140, which apply predetermined lateral and axial forces to the sensor 160 respectively. The sensor 160 converts the applied forces and torques into electrical signals and outputs them to the microcontroller 130 for subsequent measurement and analysis. With the introduction of the microcontroller 130 and the touch screen, theoretical and actual values ​​can be compared and displayed to evaluate the measurement accuracy and performance of the sensor 160, thereby realizing automatic calibration and improving the efficiency and convenience of calibration.

[0017] Example 2 Reference Figure 1 and 2 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0018] In this embodiment, the loading component 140 includes a first cylinder 141 fixedly connected to the top of the inner cavity of the protective shell 110, and a second cylinder 142 fixedly connected to the back of the inner cavity of the protective shell 110. The input terminals of the first cylinder 141 and the second cylinder 142 are connected to the output terminal of the microcontroller 130.

[0019] A calibration cap is fixedly connected to the top of the sensor 160 by bolts. The output ends of the first cylinder 141 and the second cylinder 142 can both contact the calibration cap on the top of the sensor 160. A sealing strip is provided on the surface of the closed door 120, and the sealing strip contacts the protective shell 110.

[0020] The input terminal of the touch screen is connected to the output terminal of the microcontroller 130, which is an STM32F407VGT6. The touch screen is a TFT LCD touch screen. The output terminal of the sensor 160 is connected to the input terminal of the microcontroller 130.

[0021] like Figure 1 and 2 As shown, axial and lateral forces can be applied to the sensor 160 through the first cylinder 141 and the second cylinder 142, and the output ends of the first cylinder 141 and the second cylinder 142 are in contact with the calibration cap on the top of the sensor 160, thereby ensuring the direct transmission of the loading force and the accuracy of the measurement. The input ends of the first cylinder 141 and the second cylinder 142 are connected to the output end of the microcontroller 130, so that the loading process can be precisely controlled and adjusted in real time according to the calibration requirements. An intuitive user interface is provided through the touch screen for setting calibration parameters, monitoring the calibration process, and displaying calibration results, which greatly improves the convenience and real-time performance of user operation. The sealing strip on the surface of the closed door 120 is in close contact with the protective shell 110, effectively isolating external interference and ensuring the stability and reliability of the calibration environment.

[0022] Example 3 Reference Figure 2-4 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0023] In this embodiment, the bottom of the base 151 is fixedly connected to the bottom of the inner cavity of the protective shell 110. Both sides of the top of the base 151 are provided with through slots 1511. The top of the movable plate 156 passes through the through slots 1511 and is slidably connected to the inner cavity of the through slots 1511. A pull bracket is fixedly connected to the front of the second clamping block 153.

[0024] Limiting rods 1551 are fixedly connected to both sides of the inner cavity of the base 151, and the limiting rods 1551 pass through the inner cavity of the spring 155 and the movable plate 156. One end of the screw 157 extends to the outside of the base 151 and is fixedly connected to a rotary knob.

[0025] A limiting block is fixedly connected to the bottom of the threaded sleeve 158, and a limiting groove 1512 is opened at the bottom of the inner cavity of the base 151. The limiting block at the bottom of the threaded sleeve 158 extends into the inner cavity of the limiting groove 1512 and is slidably connected to the inner cavity of the limiting groove 1512.

[0026] like Figure 2-4 As shown, the movable plate 156 slides through the top through slot 1511, allowing it to move freely within a limited range, thus enabling flexible adjustment of the position of the second clamping block 153. A rotary knob facilitates the rotation of the screw 157 by a person. The limiting rod 1551 provides stable guidance for the movable plate 156 and the spring 155. The limiting block slides through the limiting slot 1512, ensuring the stability of the screw sleeve 158 during movement and preventing it from rotating. A pull bracket is fixedly connected to the front of the second clamping block 153, allowing the user to easily pull the second clamping block 153.

[0027] In use, firstly, by rotating the screw 157 and pulling the spring 155, the second clamping block 153 is moved to one side. This allows adjustment of the distance between the first clamping block 152 and the second clamping block 153 according to the size of the sensor component 160. After adjustment, the sensor component 160 is placed between the first clamping block 152 and the second clamping block 153. Then, rotating the screw 157 moves the screw sleeve 158, which in turn pushes the movable plate 156 to one side. The spring 155 is compressed, causing the second clamping block 153 to move closer to the first clamping block 152 until the anti-slip pad 154 makes tight contact with and fixes the sensor component 160. This completes the positioning of the sensor component 160, greatly improving the versatility of the calibration. For ease of use, after positioning is completed, the microcontroller 130 controls the activation of the first cylinder 141 and the second cylinder 142, which apply predetermined lateral and axial forces to the sensor 160, respectively. The sensor 160 converts the received forces and torques into electrical signals and outputs them to the microcontroller 130 for subsequent measurement and analysis. After receiving the electrical signals output by the sensor 160, the microcontroller 130 processes and analyzes the data. By comparing theoretical and actual values, it evaluates the measurement accuracy and performance of the sensor 160. After calibration, the microcontroller 130 displays the calibration results on a touch screen for easy viewing by personnel, thereby achieving automatic calibration and improving calibration efficiency and convenience.

[0028] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0029] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. An online automatic calibration device for a multidimensional force sensor used in robots, characterized in that: include The calibration unit (100) includes a protective shell (110) and a sensor (160), a door (120) hinged to both sides of the front of the protective shell (110) and used to close the protective shell (110), a microcontroller (130) fixedly connected to the front of the door (120), a touch screen on the front of the microcontroller (130), a loading component (140) in the inner cavity of the protective shell (110) and used to apply force to the sensor (160), and a fixing component (150) at the bottom of the inner cavity of the protective shell (110) and used to position the sensor (160). The fixing assembly (150) includes a base (151), a first clamping block (152) fixedly connected to the rear end of the top of the base (151), a second clamping block (153) movably connected to the front end of the top of the base (151), an anti-slip pad (154) fixedly connected to the inner wall of the first clamping block (152) and the second clamping block (153) and in contact with the sensor (160), a spring (155) fixedly connected to the front of the inner cavity of the base (151), a movable plate (156) fixedly connected to the other end of the spring (155) and fixedly connected to the bottom of the second clamping block (153), a screw (157) movably connected to the back of the inner cavity of the base (151) via a bearing, and a threaded sleeve (158) threadedly connected to the surface of the screw (157) and in contact with the movable plate (156).

2. The online automatic calibration device for a multi-dimensional force sensor for robots as described in claim 1, characterized in that: The loading assembly (140) includes a first cylinder (141) fixedly connected to the top of the inner cavity of the protective shell (110), and a second cylinder (142) fixedly connected to the back of the inner cavity of the protective shell (110).

3. The online automatic calibration device for a multi-dimensional force sensor for robots as described in claim 2, characterized in that: The top of the sensor (160) is fixedly connected to a calibration cap by bolts. The output ends of the first cylinder (141) and the second cylinder (142) can both contact the calibration cap on the top of the sensor (160). The surface of the closed door (120) is provided with a sealing strip, and the sealing strip is in contact with the protective shell (110).

4. The online automatic calibration device for a multidimensional force sensor for robots as described in claim 1, characterized in that: The bottom of the base (151) is fixedly connected to the bottom of the inner cavity of the protective shell (110). Both sides of the top of the base (151) are provided with through slots (1511). The top of the movable plate (156) passes through the through slots (1511) and is slidably connected to the inner cavity of the through slots (1511). The front of the second clamping block (153) is fixedly connected with a puller.

5. The online automatic calibration device for a multi-dimensional force sensor for robots as described in claim 1, characterized in that: Limiting rods (1551) are fixedly connected to both sides of the inner cavity of the base (151), and the limiting rods (1551) pass through the inner cavity of the spring (155) and the movable plate (156). One end of the screw (157) extends to the outside of the base (151) and is fixedly connected to a rotary knob.

6. The online automatic calibration device for a multidimensional force sensor for robots as described in claim 1, characterized in that: The bottom of the threaded sleeve (158) is fixedly connected to a limiting block, and the bottom of the inner cavity of the base (151) is provided with a limiting groove (1512). The limiting block at the bottom of the threaded sleeve (158) extends into the inner cavity of the limiting groove (1512) and is slidably connected to the inner cavity of the limiting groove (1512).

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