A multi-dimensional box-type force sensor calibration device

Abstract

The utility model provides a kind of multi-dimensional box type force sensor calibration device, including load platform and multi-dimensional box type force sensor, the load platform is fixedly installed in the side of the multi-dimensional box type force sensor to be calibrated, guide rail and four-wheel dolly capable of moving along the guide rail are equipped on the load platform, standard weight is equipped on the car body upper portion of the four-wheel dolly, another side of the multi-dimensional box type force sensor is connected with ground fixed platform, and the ground fixed platform is used to fix the whole device on ground.The utility model uses four-wheel dolly equipped with calibration weight to move on platform, guide rail design on load platform, realize structure simplification and operation optimization, without complex pulley or additional stabilizing mechanism, significantly reduce manufacturing cost, can quickly carry out multi-point partial load calibration, greatly simplify calibration process, reduce operation time and human error, avoid the complexity and high cost defects of prior art.

Description

Technical Field

[0001] This utility model relates to the field of force sensor technology, and in particular to a multi-dimensional box-type force sensor calibration device. Background Technology

[0002] A calibration device for a multidimensional box-type force sensor is a specialized calibration equipment used to verify the input-output relationship of the multidimensional force sensor. It is widely used in industrial robots, automated production lines, aerospace, and other fields, and is a crucial step in ensuring the measurement accuracy of multidimensional force sensors. Existing calibration devices for multidimensional box-type force sensors are relatively complex. For example, a calibration device and method for a multidimensional force sensor disclosed in Chinese patent literature (publication number CN120403966A) uses a fixed pulley system and eight sets of weights for calibration. This method is complex and the operation is cumbersome. Utility Model Content

[0003] Therefore, one objective of this utility model is to propose a multi-dimensional box-type force sensor calibration device to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0004] To achieve the above objectives, this utility model provides a multidimensional box-type force sensor calibration device, including a load platform and a multidimensional box-type force sensor. The load platform is fixedly installed on one side of the multidimensional box-type force sensor to be calibrated. The load platform is provided with a guide rail and a four-wheeled trolley that can move along the guide rail. The upper part of the four-wheeled trolley is provided with a standard weight. The other side of the multidimensional box-type force sensor is connected to a ground fixing platform, which is used to fix the entire device to the ground.

[0005] Furthermore, the four-wheeled vehicle includes a vehicle body and four wheels mounted on the bottom of the vehicle body. A preset height difference exists between two oppositely arranged wheels in one group and two oppositely arranged wheels in another group. This height difference is adapted to the depth of the guide rail so that the four-wheeled vehicle can move smoothly along the guide rail.

[0006] Furthermore, the wheels of the four-wheeled vehicle are made of wear-resistant rubber material, and the surface of the wheels is provided with anti-slip patterns.

[0007] Furthermore, the cross-section of the guide rail is arc-shaped, and its radius matches the wheel radius of the four-wheeled vehicle to ensure that the vehicle rolls smoothly within the guide rail.

[0008] Furthermore, the load platform is fixedly connected to the mounting holes of the multidimensional box-type force sensor by bolts, and the contact surface between the load platform and the multidimensional box-type force sensor is provided with vibration damping pads.

[0009] Furthermore, the ground fixing platform includes a base plate and anchor bolts, wherein the anchor bolts pass through the base plate through fixing holes and are anchored to the ground.

[0010] Furthermore, the four-wheeled vehicle is provided with a weight positioning groove on its body, which is used to limit the positional deviation of the standard weight during movement.

[0011] Furthermore, the surface of the guide rail is hardened, and the wheels of the four-wheeled vehicle are connected to the lower surface of the vehicle body via bearings.

[0012] Furthermore, the guide rail is a circular guide rail or an elliptical guide rail.

[0013] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows:

[0014] This utility model discloses a multi-dimensional box-type force sensor calibration device. A four-wheeled trolley carrying calibration weights moves on a platform. The guide rail design on the load platform simplifies the structure and optimizes operation, eliminating the need for complex pulleys or additional stabilizing mechanisms, significantly reducing manufacturing costs. By placing the standard weights in the positioning grooves on the upper part of the trolley, the weight position is reliably restricted, preventing deviation. Combined with the base plate and anchor bolts of the ground-fixed platform, the entire device is anchored to the ground, ensuring that the calibration process is highly consistent with actual working conditions and simulating the real working environment. The trolley can move along the guide rails to any preset point for rapid multi-point off-center load calibration, greatly simplifying the calibration process, reducing operation time and human error, and avoiding the complexity and high cost of existing technologies.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the overall structure of the calibration device according to an embodiment of the present invention;

[0018] Figure 2 This is an isometric view of the calibration device according to an embodiment of the present invention;

[0019] Figure 3 This is an isometric view of the calibration device according to another embodiment of the present invention;

[0020] Figure 4 This is an isometric view of the load platform according to an embodiment of the present invention;

[0021] Figure 5 This is a side view of the load platform according to an embodiment of the present invention;

[0022] Figure 6 This is an axonometric drawing of the four-wheeled vehicle according to an embodiment of the present invention;

[0023] Figure 7 This is an axonometric view of the four-wheeled vehicle according to another embodiment of the present invention;

[0024] Figure 8 This is an isometric view of the ground-fixed platform according to an embodiment of the present invention;

[0025] Figure 9 This is an isometric view of the multidimensional box-type force sensor according to an embodiment of this utility model;

[0026] Figure 10 This is an isometric view of the multidimensional box-type force sensor according to another embodiment of this utility model.

[0027] The components include: 1. Load platform; 2. Multidimensional box-type force sensor; 3. Four-wheeled trolley; 4. Ground fixed platform; 5. Guide rail; 6. Wheel; 7. Base plate; 8. Fixing hole; 9. Weight positioning groove; 10. First connector; 11. Second connector; 12. Mounting hole. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] This invention, taking into account the actual installation and use environment of multidimensional box force sensors, designs a simple and practical calibration device. The device uses a four-wheeled cart equipped with calibration weights to move on a platform to calibrate and measure the multidimensional box force sensor installed on the platform at multiple points of off-center load. The operation is simple and fast.

[0031] like Figures 1-10As shown, this utility model embodiment provides a calibration device for a multidimensional box-type force sensor 2, including a load platform 1 and a multidimensional box-type force sensor 2. The load platform 1 is fixedly installed on one side of the multidimensional box-type force sensor 2 to be calibrated. The load platform 1 is provided with a guide rail 5 and a four-wheeled trolley 3 that can move along the guide rail 5. The upper part of the four-wheeled trolley 3 is provided with a standard weight. The other side of the multidimensional box-type force sensor 2 is connected to a ground fixing platform 4, which is used to fix the entire device to the ground.

[0032] This utility model forms a stable force transmission path by directly fixing the load platform 1 to the sensor. The guide rail 5 provides a precise movement trajectory for the four-wheeled trolley 3, ensuring that the weight load can be applied along the preset path. The ground fixed platform 4 eliminates external vibration interference, realizing the simulation of the off-center load scenario under real working conditions. The integrated design greatly simplifies the complexity of the device and reduces manufacturing costs. At the same time, it avoids the mechanical redundancy problem of traditional pulley group calibration systems, making the calibration process highly consistent with actual applications.

[0033] Furthermore, such as Figure 4 As shown, the guide rail 5 is a circular guide rail or an elliptical guide rail.

[0034] Furthermore, such as Figure 6 and Figure 7 As shown, the four-wheeled vehicle 3 includes a vehicle body and four wheels 6 installed at the bottom of the vehicle body. There is a preset height difference between two pairs of oppositely arranged wheels 6 and two pairs of oppositely arranged wheels 6. This height difference is adapted to the depth of the guide rail 5 so that the four-wheeled vehicle 3 can move smoothly along the guide rail 5.

[0035] In one embodiment, such as Figure 7 As shown, the front and rear wheels 6 at the bottom of the vehicle body form one group, and the left and right wheels 6 at the bottom of the vehicle body form another group. There is a height difference between the front and rear wheels 6 and the left and right wheels 6, that is, the height of the front and rear wheels 6 is lower than the height of the left and right wheels 6. The front and rear wheels 6 are located inside the guide rail 5.

[0036] This invention achieves dynamic balance through a mechanical self-adaptive design. When the trolley is placed on the guide rail 5, the height difference automatically compensates for the curvature of the guide rail 5, ensuring full contact between the wheel 6 and the curved surface of the guide rail 5. This eliminates the risk of overturning caused by wheel-rail mismatch in traditional calibration, significantly improves movement stability, and allows operators to achieve smooth pushing without adjustment, reducing operational complexity and avoiding measurement errors caused by weight swaying.

[0037] Furthermore, the wheels 6 of the four-wheeled vehicle 3 are made of wear-resistant rubber material, and the surface of the wheels 6 is provided with anti-slip patterns.

[0038] The wheel 6 of this invention is made of wear-resistant rubber with added anti-slip texture. The rubber material provides elastic cushioning, reducing the impact and vibration of the trolley movement on the sensor, while the anti-slip texture increases the coefficient of friction, preventing the wheel 6 from slipping on the guide rail 5. The synergistic effect of these two materials directly improves the reliability and repeatability of the calibration process, especially in continuous multi-point calibration, avoiding positioning deviations caused by wheel 6 slippage. Simultaneously, the wear resistance of the rubber extends the service life of the device and reduces maintenance costs.

[0039] Furthermore, the cross-section of the guide rail 5 is arc-shaped, and its radius matches the radius of the wheel 6 of the four-wheeled vehicle 3 to ensure that the vehicle wheel rolls smoothly within the guide rail 5.

[0040] The guide rail 5 of this utility model has a circular arc cross section and its radius matches that of the wheel 6, ensuring that the trolley can maintain a horizontal state at any calibration point, thereby improving the accuracy of calibration data at different positions, and eliminating the need for an additional leveling mechanism, further simplifying the operation process.

[0041] Furthermore, the load platform 1 is fixedly connected to the mounting hole 12 of the multidimensional box force sensor 2 by bolts, and the contact surface between the load platform 1 and the multidimensional box force sensor 2 is provided with vibration damping pads.

[0042] Furthermore, such as Figure 4 and Figure 5 As shown, the load platform 1 is equipped with a first connector 10, such as... Figure 9 and Figure 10 As shown, mounting holes 12 are provided on both sides of the multidimensional box force sensor 2. The load platform 1 and the multidimensional box force sensor 2 can be connected and fixed by bolts, the first connector 10 and the mounting holes 12. The vibration damping pad is located between the first connector 10 and the multidimensional box force sensor 2.

[0043] In one implementation, the first connector 10 is integrated with the load platform 1.

[0044] The bolted connection of this invention provides rigid fixation and detachability, facilitating device assembly and sensor replacement; the vibration damping pads absorb micro-vibrations at the platform and sensor interface, preventing external mechanical interference from being transmitted to the sensor. This improves the stability of the calibration signal, especially reducing noise interference in high-precision calibration scenarios, making the measurement results closer to the theoretical values.

[0045] Furthermore, the ground fixing platform 4 includes a base plate 7 and anchor bolts, wherein the anchor bolts pass through the base plate 7 through fixing holes 8 and are anchored to the ground.

[0046] like Figure 8 As shown, the substrate 7 is rectangular, and there are 4 fixing holes 8 located near the four apex corners of the rectangular substrate 7.

[0047] like Figure 8 As shown, a second connector 11 is provided on the base plate 7 of the ground-fixed platform 4. Figure 9 and Figure 10 As shown, mounting holes 12 are provided on both sides of the multidimensional box force sensor 2. The multidimensional box force sensor 2 on the ground fixed platform 4 can be connected and fixed by bolts, second connector 11 and mounting holes 12. Vibration damping pads can also be set between the second connector 11 and the multidimensional box force sensor 2.

[0048] In one implementation, the base plate 7 of the ground fixed platform 4 is integrated with the second connector 11.

[0049] Furthermore, such as Figure 6 As shown, the four-wheeled vehicle 3 is provided with a weight positioning groove 9 on its body. The weight positioning groove 9 is used to limit the positional deviation of the standard weight during the movement process.

[0050] In one implementation, the depth of the weight positioning groove 9 is half the thickness of the four-wheeled vehicle 3.

[0051] This invention physically limits the freedom of movement of the weights, preventing them from shifting when the four-wheeled vehicle accelerates, decelerates, or turns. This ensures that the point of force application for the calibration load remains constant, avoids torque calculation errors caused by changes in the position of the weights, and significantly improves calibration accuracy under complex working conditions.

[0052] Furthermore, the surface of the guide rail 5 is hardened, and the wheels 6 of the four-wheeled vehicle 3 are connected to the lower surface of the vehicle body of the four-wheeled vehicle 3 through bearings.

[0053] This utility model discloses a calibration device for a multi-dimensional box-type force sensor 2. A four-wheeled trolley 3 equipped with calibration weights moves on a platform. The guide rail 5 design on the load platform 1 simplifies the structure and optimizes operation, eliminating the need for complex pulleys or additional stabilizing mechanisms, significantly reducing manufacturing costs. By placing the standard weights in the positioning grooves on the upper part of the trolley, the weight position is reliably restricted, preventing deviation. Combined with the base plate 7 and anchor bolts on the ground-fixed platform 4, the entire device is anchored to the ground, ensuring the calibration process closely matches actual working conditions and simulating the real working environment. The trolley can move along the guide rail 5 to any preset point for rapid multi-point off-center load calibration, greatly simplifying the calibration process, reducing operation time and human error, and avoiding the complexity and high cost of existing technologies.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] It will be readily understood by those skilled in the art that this utility model includes any combination of the utility model content and specific embodiments described in the foregoing specification, as well as the various parts shown in the accompanying drawings. Due to space limitations and for the sake of brevity, not all of these combinations have been described in detail. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0056] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and alterations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-dimensional box-type force sensor calibration device, characterized by, The device includes a load platform and a multidimensional box-type force sensor. The load platform is fixedly installed on one side of the multidimensional box-type force sensor to be calibrated. The load platform is equipped with a guide rail and a four-wheeled trolley that can move along the guide rail. The upper part of the four-wheeled trolley is equipped with a standard weight. The other side of the multidimensional box-type force sensor is connected to a ground fixing platform, which is used to fix the entire device to the ground.

2. The multi-dimensional box-type force sensor calibration device of claim 1, wherein, The four-wheeled vehicle includes a body and four wheels mounted on the bottom of the body. There is a preset height difference between two oppositely arranged wheels in one group and two oppositely arranged wheels in another group. This height difference is adapted to the depth of the guide rail so that the four-wheeled vehicle can move smoothly along the guide rail.

3. The multi-dimensional box-type force sensor calibration device of claim 2, wherein, The wheels of the four-wheeled vehicle are made of wear-resistant rubber material, and the surface of the wheels is provided with anti-slip texture.

4. The multi-dimensional box-type force sensor calibration device of claim 2, wherein, The guide rail has an arc-shaped cross-section, and its radius matches the wheel radius of the four-wheeled vehicle to ensure that the vehicle rolls smoothly within the guide rail.

5. The multidimensional box-type force sensor calibration device as described in claim 1, characterized in that, The load platform is fixedly connected to the mounting holes of the multidimensional box force sensor by bolts, and the contact surface between the load platform and the multidimensional box force sensor is provided with vibration damping pads.

6. The multidimensional box-type force sensor calibration device as described in claim 1, characterized in that, The ground-fixed platform includes a base plate and anchor bolts, wherein the anchor bolts pass through the base plate through fixing holes and are anchored to the ground.

7. The multidimensional box-type force sensor calibration device as described in claim 1, characterized in that, The four-wheeled vehicle is equipped with a weight positioning groove, which is used to limit the positional deviation of the standard weight during movement.

8. The multidimensional box-type force sensor calibration device as described in any one of claims 1-7, characterized in that, The surface of the guide rail is hardened, and the wheels of the four-wheeled vehicle are connected to the lower surface of the vehicle body via bearings.

9. The multi-dimensional box-type force sensor calibration device of claim 1, wherein, The guide rail is either a circular guide rail or an elliptical guide rail.

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