CN101226095A - Six-dimension force sensor calibration device - Google Patents
Six-dimension force sensor calibration device Download PDFInfo
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- CN101226095A CN101226095A CNA2008100205129A CN200810020512A CN101226095A CN 101226095 A CN101226095 A CN 101226095A CN A2008100205129 A CNA2008100205129 A CN A2008100205129A CN 200810020512 A CN200810020512 A CN 200810020512A CN 101226095 A CN101226095 A CN 101226095A
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Abstract
The invention relates to a six-axis force sensor calibration device, which comprises a sensor fixed bearing, a transfer board, a six-axis force sensor, a load board, a standard one-dimensional force sensor, a jacket fixed bearing and a base in mutual mechanical connection. The load board and the six-axis force sensor are connected with the transfer board mutually, and are arranged at the sensor fixed bearing; the sensor fixed bearing is positioned at a first bearing installation guide rail. The jack is provided with the standard one-dimensional force sensor in the front; a load cap is arranged at the front of the standard one-dimensional force sensor; a first jack, a second jack and a third jack are arranged at a first jack installation guide rail, a second jack installation guide rail and a third jack installation jack guide rail respectively; a fourth jack is positioned at the jack fixed bearing; the jack fixed bearing is arranged at a second bearing installation guide rail of the base. The six-axis force sensor calibration device has the advantages of simple structure, convenient operation and high calibration precision, thereby the six-axis force sensor calibration device is suitable for the calibration and testing of wide-range and large-size six-axis force sensor.
Description
Technical field the present invention relates to automatic field, particularly is applicable to wide range, large-sized six-dimension force sensor calibration device in the sensor field.
The background technology six-dimension force sensor can detect three-dimensional all one's effort information simultaneously, be three-dimensional force information (Fx, Fy, Fz) and three-dimensional moment information (Mx, My, Mz), be mainly used in power and power/position control occasion, as sextuple force information detection in profile tracking, accurate assembling, two hands coordination, the pilot system etc., especially in fields such as aviation robot, space station butt joint emulation, the tests of rocket engine thrust, the wide range six-dimension force sensor has been brought into play important role.
The measuring accuracy of sensor is one of most important performance index of evaluation sensor, and its error comprises stochastic error and systematic error.For six-dimension force sensor, its stochastic error mainly is to be caused by factors such as internal signal treatment circuit, quantization error, external interference; Systematic error then mainly is that the stated accuracy by calibration system is determined, six-dimension force sensor is because the complicacy of itself physical construction, and there is error in sensor in processing technology links such as making, paste foil gauge, there is the problem that intercouples between each IO channel of sensor, need by demarcating the coupled relation of definite all directions input and output, calculate its coupled matrix, and the influence by being coupled and bringing between each dimension of decoupling compensation.Therefore the research of the design of sensor calibration apparatus and scaling method is most important, the measuring accuracy when its stated accuracy will directly influence its use.
The demarcation of six-dimension force sensor is exactly by six-dimension force sensor being applied in the space coordinates independently power/moment, or a plurality of power/moments of linear independence, and the output of reading six-dimension force sensor timing signal under various states calculates the decoupling zero matrix.According to practical application request, the demarcation of six-dimension force sensor is divided into static demarcating and dynamic calibration, and static demarcating is mainly used in the static performance index of detecting sensor, as static sensitivity, non-linear, return difference, repeatability etc.; Dynamic calibration is mainly used in the dynamic perfromance of detecting sensor, as dynamic sensitivity, frequency response and natural frequency etc.
At present the load mode that adopted of six-dimension force sensor static demarcating mainly contains two kinds of dynamometry ring type and counterweight formulas.Wherein the dynamometry ring type loads and adopts the push rod mode, reads the loading force value by proving ring, and this loading allows bigger loading force, but reading accuracy is lower, and high-precision proving ring then costs an arm and a leg.It is to adopt the grade counterweight that loaded with standard power is provided that the counterweight formula is demarcated, and directly uses the grade counterweight as benchmark, and power value precision is higher, in, in a small amount use in the demarcation of journey six-dimension force sensor commonplace, but be not suitable for the demarcation of wide range six-dimension force sensor.
Caliberating device for the wide range six-dimension force sensor, because bulk is big, guarantee enough stated accuracies, except the difficulty that has aspects such as material processed, machining precision assurance, how to realize that the independent loads to each dimension power/moment components also is a stubborn problem.
The transducer calibration proving installation that multiple structure is arranged in the prior art, the patent No. is that CN1715856's " stepless lifting type six dimension force sensor caliberating device " and the patent No. is CN100337105C " device for calibrating parallel force transducer in six dimensions " etc., look into by retrieval newly, wherein the patent No. is that the patent of CN100337105C is immediate patented technology.It specifically discloses a kind of device for calibrating parallel force transducer in six dimensions, comprise planer-type support frame, loading reductor, standard unidirectional force sensor, loading coordinate cross, caliberating device stationary platform, loading transfer rope and pulley blocks that the length frame is formed, caliberating device adopts the large speed ratio reductor to come imposed load, adopts planer type structure to make support frame.
Caliberating device of the prior art exists weak point, one, caliberating device changes the direction of imposed load by the angle between adjustment loading transfer rope and the surface level, when big or rope is longer at volume, the angle of adjusting between loading transfer rope and the surface level is difficult to guarantee enough precision, thereby make the load that applies have bigger deflection error, will directly influence stated accuracy; Its two, adopt pulley to come imposed load in the caliberating device, and pulley has friction force, this friction force can cause bigger loading error, thereby influences stated accuracy; Its three, what in the caliberating device six-dimension force sensor is applied is composite force/moment, can't realize the independent loads to each dimension power/moment components.
Summary of the invention the objective of the invention is: avoid the weak point of six-dimension force sensor calibration proving installation in the above-mentioned prior art, provide a kind of simple in structure, easy to operate, stated accuracy is high, be applicable to wide range, the caliberating device of large scale six-dimension force sensor.
Technical scheme of the present invention is: six-dimension force sensor calibration device, comprise sensor hold-down support, card extender, six-dimension force sensor, load plate, standard one-dimensional force transducer and the base of mutual mechanical connection, particularly:
The six-dimension force sensor left side is installed on the card extender by one group of card extender sensor mounting hole, card extender is installed on the sensor hold-down support by one group of card extender mounting hole, six-dimension force sensor the right is rigidly connected with load plate by one group of sensor mounting hole and one group of load plate sensor mounting hole, is equipped with four groups of side loaded holes, upper and lower, left and right, one group of positive load plate sensor mounting hole and one group of positive loading hole on the load plate;
The below of load plate is equipped with three lifting jack, be respectively first lifting jack, second lifting jack and the 3rd lifting jack, the top of first lifting jack, second lifting jack and the 3rd lifting jack is rigidly connected with standard one-dimensional force transducer respectively, the front of standard one-dimensional force transducer is equipped with the loading cap, and first lifting jack, second lifting jack and the 3rd lifting jack are installed on the base;
Be equipped with three groups of parallel lifting jack mounting guide rails on the base, be respectively the first lifting jack mounting guide rail, the second lifting jack mounting guide rail and the 3rd lifting jack mounting guide rail, every group of lifting jack mounting guide rail formed by two parallel guide rails, wherein first lifting jack is installed on the first lifting jack mounting guide rail, second lifting jack is installed on the second lifting jack mounting guide rail, and the 3rd lifting jack is installed on the 3rd lifting jack mounting guide rail;
Also be equipped with two groups of parallel bearing mounting guide rails on the base, be respectively the first bearing mounting guide rail and the second bearing mounting guide rail, every group of bearing mounting guide rail is made up of two parallel guide rails, fixedly briquetting and hex bolts are installed on the first bearing mounting guide rail of base the sensor hold-down support by bearing, distance between two closed slides of the first bearing mounting guide rail is by the thickness decision of sensor hold-down support, the lifting jack hold-down support by bearing fixedly briquetting and hex bolts be installed on the second bearing mounting guide rail of base, the distance between two closed slides of the second bearing mounting guide rail is by the thickness decision of lifting jack hold-down support;
The opposite of first lifting jack, second lifting jack, the 3rd lifting jack top is the 4th lifting jack, the 4th lifting jack left side and standard one-dimensional force transducer, loading cap are rigidly connected, the right is installed on the lifting jack hold-down support by the lifting jack mounting hole, and the lifting jack register pin on the lifting jack hold-down support positions the 4th lifting jack;
Side loaded hole on the load plate of first lifting jack, second lifting jack, the 3rd jack pair top applies power/moment, and the front on the load plate in the 4th jack pair the place ahead loads the hole and applies power/moment, reaches the purpose that six-dimension force sensor is demarcated.
As a further improvement of existing technologies, be equipped with four groups of side loaded holes, upper and lower, left and right on the load plate, there are three holes in the side loaded hole for every group, one group of positive hole that loads places on the front of load plate, five holes are arranged, side loaded hole and positive loading hole are hemispheric, or the loading position on plane, and side loaded hole and the positive hole that loads will guarantee the positional precision in enough holes and the verticality in hole in machining;
It is hemispheric loading cap, the material that loads cap is an aluminium alloy, or steel, or copper, standard one-dimensional force transducer is that precision is that the one-dimensional of 0.05%F.S or 0.02%F.S or 0.01%F.S draws/pressure transducer, the range of standard one-dimensional force transducer is 1 ton, or 5 tons, or 10 tons, or 16 tons, or 20 tons;
First lifting jack, second lifting jack, the 3rd lifting jack and the 4th lifting jack are manual lifting jack, or hydraulic jack, or electronic lifting jack, its range is 5 tons, or 10 tons, or 16 tons, or 20 tons, first lifting jack, second lifting jack, the 3rd lifting jack need guarantee the verticality with base when Machine Design, processing and installation, the 4th lifting jack need guarantee the verticality with the lifting jack hold-down support when Machine Design, processing and installation;
First group of lifting jack fixed orifice on the lifting jack hold-down support, second group of lifting jack fixed orifice, the 3rd group of lifting jack fixed orifice, the 4th group of lifting jack fixed orifice and the 5th group of lifting jack fixed orifice will guarantee the enough positional precisions and the verticality in hole in machining, the center of first group of lifting jack fixed orifice, second group of lifting jack fixed orifice, the 3rd group of lifting jack fixed orifice, the 4th group of lifting jack fixed orifice and the 5th group of lifting jack fixed orifice corresponds respectively to five positive holes that load on the load plate;
Between the first bearing mounting guide rail on the base and the second bearing mounting guide rail is parallel, the first lifting jack mounting guide rail, between the second lifting jack mounting guide rail and the 3rd lifting jack mounting guide rail is parallel to each other, the first bearing mounting guide rail and the second bearing mounting guide rail and the first lifting jack mounting guide rail, between the second lifting jack mounting guide rail and the 3rd lifting jack mounting guide rail is homeotropic alignment, the first bearing mounting guide rail and the second bearing mounting guide rail and the first lifting jack mounting guide rail, the second lifting jack mounting guide rail and the 3rd lifting jack mounting guide rail will guarantee enough depth of parallelisms and verticality in Machine Design and processing, the sensor hold-down support is in Machine Design, will guarantee enough and verticality with base in processing and the installation, the lifting jack hold-down support is in Machine Design, to guarantee enough and verticality with base in processing and the installation;
Sensor mounting hole on card extender mounting hole on the card extender and card extender sensor mounting hole, the six-dimension force sensor and the load plate sensor mounting hole on the load plate will guarantee the positional precision in enough holes and the verticality in hole in machining;
Distance between two closed slides of the first lifting jack mounting guide rail is by distance decision between the mounting hole of first lifting jack, distance between two closed slides of the second lifting jack mounting guide rail is by distance decision between the mounting hole of second lifting jack, distance between two closed slides of the 3rd lifting jack mounting guide rail is by distance decision between the mounting hole of the 3rd lifting jack, and lifting jack can slide along guide rail on the lifting jack mounting guide rail;
Utilize the standard one-dimensional force transducer and first lifting jack, second lifting jack, the 3rd lifting jack, the 4th jack pair respectively six-dimension force sensor load, realize the independent loads of each power/moment components by the change of loading position, when afterburning, load cap and contact, by the size of standard one-dimensional force sensor measuring actual loaded power with side loaded hole or positive loading hole rigidity on the load plate.
With respect to prior art CN100337105C, the invention has the beneficial effects as follows:
One utilizes standard one-dimensional force transducer and jack pair wide range six-dimension force sensor to load demarcation among the present invention, not only simple and convenient, control easily, and accurate transmission that can realizable force, the power that applies/moment numerical value is obtained by the proof force sensor measurement, and ratio of precision is higher;
Its two, position that Machine Design and the machining precision by control caliberating device each spare and accessory parts among the present invention guarantees power/moment loading point that timing signal applies and the direction that applies power, the power/zmp position and the direction ratio that apply like this are more accurate;
Its three, six-dimension force sensor calibration device of the present invention can carry out independent loads and compound loading to each dimension power/moment components, loading procedure is simple, and is easy and simple to handle, it is convenient, fast to calculate the decoupling zero matrix;
Its four, power has three elements: the position of application point, direction and size, the present invention guarantees the accuracy of each dimension power/moment components of applying by the control to these three elements, thereby has guaranteed stated accuracy, the measuring accuracy when improving six-dimension force sensor and using.
The present invention is described in further detail below in conjunction with accompanying drawing for description of drawings.
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a vertical view of the present invention.
Fig. 3 is the left view of lifting jack hold-down support among the present invention.
Fig. 4 is the connection diagram of card extender, six-dimension force sensor and load plate among the present invention.
Fig. 5 is the front elevation and the vertical view of load plate among the present invention.
Fig. 6 is the sectional view of lifting jack among the present invention.
Fig. 7 is the vertical view of base among the present invention.
Embodiment
Fig. 1 is a perspective view of the present invention.Wherein: the 1st, the sensor hold-down support; The 2nd, card extender; The 3rd, six-dimension force sensor; The 4th, load plate; The 5th, load cap; The 6th, standard one-dimensional force transducer; The 7th, lifting jack; The 8th, the lifting jack hold-down support; The 9th, base; The 10th, the lifting jack register pin; The 11st, bearing is briquetting fixedly; The 12nd, the sensor mounting hole; The 13rd, lifting jack is briquetting fixedly; The 14th, hex bolts; The 15th, the side loaded hole; The 16th, load plate sensor mounting hole; The 17th, the positive hole that loads; The 18th, the card extender mounting hole; The 19th, card extender sensor mounting hole; Q1 is first lifting jack; Q2 is second lifting jack; Q3 is the 3rd lifting jack; Q4 is the 4th lifting jack; Z1 is the first bearing guide rail; Z2 is the second bearing guide rail; G1 is the first lifting jack mounting guide rail; G2 is the second lifting jack mounting guide rail; G3 is the 3rd lifting jack mounting guide rail; K1 is first group of lifting jack fixed orifice; K2 is second group of lifting jack fixed orifice; K3 is the 3rd a group of lifting jack fixed orifice; K4 is the 4th a group of lifting jack fixed orifice; K5 is the 5th a group of lifting jack fixed orifice.
Six-dimension force sensor 3 left sides are installed on the card extender 2 by one group of card extender sensor mounting hole 19, card extender 2 is installed on the sensor hold-down support 1 by one group of card extender mounting hole 18, six-dimension force sensor 3 the right are rigidly connected with load plate 4 by one group of sensor mounting hole 12 and one group of load plate sensor mounting hole 16, are equipped with four groups of side loaded holes, upper and lower, left and right 15, one group of positive load plate sensor mounting hole 16 and one group of positive hole 17 that loads on the load plate 4.
The below of load plate 4 is equipped with three lifting jack, be respectively the first lifting jack Q1, the second lifting jack Q2 and the 3rd lifting jack Q3, the top of the first lifting jack Q1, the second lifting jack Q2 and the 3rd lifting jack Q3 is rigidly connected with standard one-dimensional force transducer 6 respectively, the front of standard one-dimensional force transducer 6 is equipped with loading cap 5, the first lifting jack Q1, the second lifting jack Q2 and the 3rd lifting jack Q3 is installed on the lifting jack mounting guide rail of base 9.
The opposite of the first lifting jack Q1, the second lifting jack Q2, the 3rd lifting jack Q3 top is the 4th lifting jack Q4, the 4th lifting jack Q4 left side and standard one-dimensional force transducer 6, loading cap 5 are rigidly connected, the right is installed on the lifting jack hold-down support 8 by lifting jack mounting hole 7, and 10 couples the 4th lifting jack Q4 of the lifting jack register pin on the lifting jack hold-down support 8 position;
Be equipped with three groups of parallel lifting jack mounting guide rails on the base 9, be respectively the first lifting jack mounting guide rail G1, the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3, every group of lifting jack mounting guide rail formed by two parallel guide rails, wherein the first lifting jack Q1 is installed on the first lifting jack mounting guide rail G1, the second lifting jack Q2 is installed on the second lifting jack mounting guide rail G2, and the 3rd lifting jack Q3 is installed on the 3rd lifting jack mounting guide rail G3.
Utilize the standard one-dimensional force transducer 6 and the first lifting jack Q1, the second lifting jack Q2, the 3rd lifting jack Q3, the 4th lifting jack Q4 that six-dimension force sensor 3 is respectively loaded, realize the independent loads of each power/moment components by the change of loading position.When afterburning, the loading cap 5 of standard one-dimensional force transducer 6 fronts contacts with side loaded hole 15 or positive hole 17 rigidity that load on the load plate 4, by the size of standard one-dimensional force transducer 6 measurement actual loaded power.
Fig. 2 is a vertical view of the present invention.Be equipped with two groups of parallel bearing mounting guide rails on the base 9, be respectively the first bearing mounting guide rail Z1 and the second bearing mounting guide rail Z2, every group of bearing mounting guide rail is made up of two parallel guide rails, fixedly briquetting 11 and hex bolts 14 are installed on the first bearing mounting guide rail Z1 of base 9 sensor hold-down support 1 by bearing, distance between two closed slides of the first bearing mounting guide rail Z1 is by the thickness decision of sensor hold-down support 1, lifting jack hold-down support 8 by bearing fixedly briquetting 11 and hex bolts 14 be installed on the second bearing mounting guide rail Z2 of base 9, the distance between two closed slides of the second bearing mounting guide rail Z2 is by the thickness decision of lifting jack hold-down support 8.
Also be equipped with three groups of parallel lifting jack mounting guide rails on the base 9, be respectively the first lifting jack mounting guide rail G1, the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3, every group of lifting jack mounting guide rail formed by two parallel guide rails, wherein the first lifting jack Q1 is installed on the first lifting jack mounting guide rail G1, the second lifting jack Q2 is installed on the second lifting jack mounting guide rail G2, and the 3rd lifting jack Q3 is installed on the 3rd lifting jack mounting guide rail G3.
Fig. 3 is the left view of lifting jack hold-down support among the present invention.Be equipped with five groups of lifting jack fixed orifices on the lifting jack hold-down support 8, be respectively first group of lifting jack fixed orifice K1, second group of lifting jack fixed orifice K2, the 3rd group of lifting jack fixed orifice K3, the 4th group of lifting jack fixed orifice K4 and the 5th group of lifting jack fixed orifice K5, six-dimension force sensor 3 is in calibration process, according to the definition of demarcating coordinate system, if the Y-axis positive dirction of six-dimension force sensor 3 vertically upward, when the 4th lifting jack Q4 was installed in the 5th group of lifting jack fixed orifice K5, that six-dimension force sensor 3 is applied was power-Fz; When the 4th lifting jack Q4 was installed in first group of lifting jack fixed orifice K1, that six-dimension force sensor 3 is applied was power-Fz and moment-Mx; When the 4th lifting jack Q4 was installed in second group of lifting jack fixed orifice K2, that six-dimension force sensor 3 is applied was power-Fz and moment+My; When the 4th lifting jack Q4 was installed in the 3rd group of lifting jack fixed orifice K3, that six-dimension force sensor 3 is applied was power-Fz and moment+Mx; When the 4th lifting jack Q4 was installed in the 4th group of lifting jack fixed orifice K4, that six-dimension force sensor 3 is applied was power-Fz and moment-My.
Fig. 4 is the connection diagram of card extender, six-dimension force sensor and load plate among the present invention.Earlier six-dimension force sensor 3 is installed on the card extender 2 by one group of card extender sensor mounting hole 19, again card extender 2 is installed on the sensor hold-down support 1 by one group of card extender mounting hole 18, at last load plate 4 is installed on the six-dimension force sensor 3 by one group of load plate sensor mounting hole 16 and one group of sensor mounting hole 12.Be equipped with four groups of side loaded holes 15, one group of load plate sensor mounting hole 16 and one group of positive hole 17 that loads on the load plate 4.Sensor mounting hole 12 on card extender mounting hole 18 on the card extender 2, card extender sensor mounting hole 19, the six-dimension force sensor 3, load plate sensor mounting hole 16 and side loaded hole 15, the positive hole 17 that loads need to guarantee the positional precision in enough holes and the verticality in hole in Machine Design and processing.
Fig. 5 is the front elevation and the vertical view of load plate among the present invention.Coordinate system among Fig. 5 is the demarcation coordinate system of six-dimension force sensor 3, defines according to the right-handed helix rule.Be equipped with four groups of side loaded holes 15, upper and lower, left and right on the load plate 4, there are three holes in the side loaded hole for 15 every groups, one group of positive hole 17 that loads places on the front of load plate 4, there are five holes in one group of positive hole 17 that loads, side loaded hole 15 and the positive hole 17 that loads are hemispheric, or the loading position on plane, side loaded hole 15 and the positive hole 17 that loads will guarantee the positional precision in enough holes and the verticality in hole in machining.The center of the first lifting jack Q1, the second lifting jack Q2 and the 3rd lifting jack Q3 faces three holes in side loaded hole 15.The center of first group of lifting jack fixed orifice K1 on the lifting jack hold-down support 8, second group of lifting jack fixed orifice K2, the 3rd group of lifting jack fixed orifice K3, the 4th group of lifting jack fixed orifice K4 and the 5th group of lifting jack fixed orifice K5 corresponds respectively to five positive holes 17 that load on the load plate 4.
Fig. 6 is the sectional view of lifting jack among the present invention.Four lifting jack are arranged among the present invention, be respectively the first lifting jack Q1, the second lifting jack Q2, the 3rd lifting jack Q3 and the 4th lifting jack Q4, the front of lifting jack and standard one-dimensional force transducer 6 are rigidly connected, the front of standard one-dimensional force transducer 6 is equipped with and loads cap 5, is equipped with lifting jack mounting hole 7 on the lifting jack.
It is hemispheric loading cap 5, and the material that loads cap 5 is an aluminium alloy, or steel, or copper.Standard one-dimensional force transducer 6 is that precision is that the one-dimensional of 0.05%F.S or 0.02%F.S or 0.01%F.S draws/pressure transducer, and the range of standard one-dimensional force transducer 6 is 1 ton, or 5 tons, or 10 tons, or 16 tons, or 20 tons.
Lifting jack is manual lifting jack, or hydraulic jack, or electronic lifting jack, and its range is 5 tons, or 10 tons, or 16 tons, or 20 tons.The first lifting jack Q1, the second lifting jack Q2 and the 3rd lifting jack Q3 need guarantee in design, processing with when installing and the verticality of base 9, and the 4th lifting jack Q4 need guarantee the verticality with lifting jack hold-down support 8 in design, processing with when installing.
Fig. 7 is the vertical view of base among the present invention.Be equipped with two groups of parallel bearing mounting guide rails on the base 9, be respectively the first bearing mounting guide rail Z1 and the second bearing mounting guide rail Z2, every group of bearing mounting guide rail is made up of two parallel guide rails, distance between two closed slides of the first bearing mounting guide rail Z1 is by the thickness decision of sensor hold-down support 1, and the distance between two closed slides of the second bearing mounting guide rail Z2 is by the thickness decision of lifting jack hold-down support 8.
Also be equipped with three groups of parallel lifting jack mounting guide rails on the base 9, be respectively the first lifting jack mounting guide rail G1, the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3, every group of lifting jack mounting guide rail formed by two parallel guide rails.Distance between two closed slides of the first lifting jack mounting guide rail G1 is by the distance decision between the first lifting jack Q1 mounting hole, distance between two closed slides of the second lifting jack mounting guide rail G2 is by the distance decision between the second lifting jack Q2 mounting hole, distance between two closed slides of the 3rd lifting jack mounting guide rail G3 is by the distance decision between the 3rd lifting jack Q3 mounting hole, and lifting jack can slide along guide rail on the lifting jack mounting guide rail.
Between the first bearing mounting guide rail Z1 on the base 9 and the second bearing mounting guide rail Z2 is parallel, the first lifting jack mounting guide rail G1, between the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3 is parallel to each other, the first bearing mounting guide rail Z1 and the second bearing mounting guide rail Z2 and the first lifting jack mounting guide rail G1, between the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3 is homeotropic alignment, the first bearing mounting guide rail Z1 and the second bearing mounting guide rail Z2 and the first lifting jack mounting guide rail G1, the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3 will guarantee enough depth of parallelisms and verticality in Machine Design and processing, sensor hold-down support 1 is in Machine Design, will guarantee enough verticality with base 9 in processing and the installation, lifting jack hold-down support 8 is in Machine Design, to guarantee enough verticality with base 9 in processing and the installation.
Embodiment:
At first, the base among the present invention 9 is placed on the flat ground surface, utilizes level meter that the surface level of base 9 is calibrated, guarantee that base 9 is in horizontality.
Then, to load cap 5 is installed on the standard one-dimensional force transducer 6, standard one-dimensional force transducer 6 is installed on the lifting jack, and fixedly briquetting 13 and hex bolts 14 are installed in respectively on the first lifting jack mounting guide rail G1, the second lifting jack mounting guide rail G2 and the 3rd lifting jack mounting guide rail G3 on the base 9 by lifting jack mounting hole 7, lifting jack with the first lifting jack Q1, the second lifting jack Q2, the 3rd lifting jack Q3.
Secondly, six-dimension force sensor 3 is installed on the card extender 2 by card extender sensor 19 mounting holes, load plate 4 is installed on the six-dimension force sensor 3 by load plate sensor mounting hole 16 and sensor mounting hole 12, card extender 2 is installed on the sensor hold-down support 1 by card extender mounting hole 18.Fixedly briquetting 11 and hex bolts 14 are installed in sensor hold-down support 1 on the first bearing mounting guide rail Z1 of base 9 by bearing.
Once more, with being installed, the 4th lifting jack Q4 that loads cap 5 and standard one-dimensional force transducer 6 is installed on first group of lifting jack fixed orifice K1 of lifting jack hold-down support 8 by lifting jack mounting hole 7.Fixedly briquetting 11 and hex bolts 14 are installed on the second bearing mounting guide rail Z2 of base 9 by bearing lifting jack hold-down support 8.
At last, each spare and accessory parts in the testing fixture guarantee that each spare and accessory parts installation is accurate, firm, and six-dimension force sensor calibration device installs, and just can demarcate six-dimension force sensor.
In the installation process of six-dimension force sensor calibration device, need to guarantee the verticality of sensor hold-down support 1 and base 9, the verticality of lifting jack hold-down support 8 and base 9, the verticality of the first lifting jack Q1, the second lifting jack Q2, the 3rd lifting jack Q3 and base 9, the verticality of the 4th lifting jack Q4 and lifting jack hold-down support 8 also needs to guarantee the depth of parallelism between card extender 2, six-dimension force sensor 3 and load plate 4 and the sensor hold-down support 1.The precision of six-dimension force sensor calibration device by Machine Design, processing and installation guarantee the position of timing signal loading force application point and direction accurately, the accurate transmission of realizable force improves stated accuracy.
Claims (8)
1. six-dimension force sensor calibration device comprises interconnective sensor hold-down support (1), card extender (2), six-dimension force sensor (3), load plate (4), standard one-dimensional force transducer (6) and base (9), it is characterized in that:
Described six-dimension force sensor (3) left side is installed on the card extender (2) by one group of card extender sensor mounting hole (19), described card extender (2) is installed on the sensor hold-down support (1) by one group of card extender mounting hole (18), described six-dimension force sensor (3) the right is rigidly connected with described load plate (4) by one group of sensor mounting hole (12) and one group of load plate sensor mounting hole (16), and described load plate is equipped with on (4), down, a left side, right four groups of side loaded holes (15), one group of positive load plate sensor mounting hole (16) and one group of positive hole (17) that loads;
The below of described load plate (4) is equipped with three lifting jack, be respectively first lifting jack (Q1), second lifting jack (Q2) and the 3rd lifting jack (Q3), the top of described first lifting jack (Q1), second lifting jack (Q2) and the 3rd lifting jack (Q3) is rigidly connected with described standard one-dimensional force transducer (6) respectively, the front of described standard one-dimensional force transducer (6) is equipped with and loads cap (5), and described first lifting jack (Q1), second lifting jack (Q2) and the 3rd lifting jack (Q3) are installed on the described base (9);
Be equipped with three groups of parallel lifting jack mounting guide rails on the described base (9), be respectively the first lifting jack mounting guide rail (G1), the second lifting jack mounting guide rail (G2) and the 3rd lifting jack mounting guide rail (G3), every group of lifting jack mounting guide rail formed by two parallel guide rails, wherein first lifting jack (Q1) is installed on the first lifting jack mounting guide rail (G1), second lifting jack (Q2) is installed on the second lifting jack mounting guide rail (G2), the 3rd lifting jack (Q3) is installed on the 3rd lifting jack mounting guide rail (G3), and each lifting jack can slide along guide rail on lifting jack mounting guide rail separately;
Also be equipped with two groups of parallel bearing mounting guide rails on the described base (9), be respectively the first bearing mounting guide rail (Z1) and the second bearing mounting guide rail (Z2), every group of bearing mounting guide rail is made up of two parallel guide rails, fixedly briquetting (11) and hex bolts (14) are installed on the first bearing mounting guide rail (Z1) of base (9) described sensor hold-down support (1) by bearing, distance between two closed slides of the described first bearing mounting guide rail (Z1) is by the thickness decision of sensor hold-down support (1), described lifting jack hold-down support (8) by bearing fixedly briquetting (11) and hex bolts (14) be installed on the second bearing mounting guide rail (Z2) of base (9), the distance between two closed slides of the described second bearing mounting guide rail (Z2) is by the thickness decision of lifting jack hold-down support (8);
The opposite of described first lifting jack (Q1), second lifting jack (Q2), the 3rd lifting jack (Q3) top is the 4th lifting jack (Q4), described the 4th lifting jack (Q4) left side and standard one-dimensional force transducer (6), loading cap (5) are rigidly connected, the right is installed on the lifting jack hold-down support (8) by lifting jack mounting hole (7), and the lifting jack register pin (10) on the described lifting jack hold-down support (8) positions the 4th lifting jack (Q4);
Described first lifting jack (Q1), second lifting jack (Q2), the 3rd lifting jack (Q3) apply power/moment to the side loaded hole (15) on the load plate (4) of top, described the 4th lifting jack (Q4) loads hole (17) to the front on the load plate (4) in the place ahead and applies power/moment, reaches the purpose that six-dimension force sensor (3) is demarcated and tested.
2. six-dimension force sensor calibration device according to claim 1, it is characterized in that: said load plate is equipped with on (4), down, a left side, right four groups of side loaded holes (15), there are three holes in said side loaded hole (15) for every group, said one group of positive hole (17) that loads places on the front of load plate (4), there are five holes in said one group of positive hole (17) that loads, said side loaded hole (15) and the positive hole (17) that loads are hemispheric, or the loading position on plane, said side loaded hole (15) and the positive hole (17) that loads will guarantee the positional precision in enough holes and the verticality in hole in machining.
3. six-dimension force sensor calibration device according to claim 1, it is characterized in that: said loading cap (5) is hemispheric, the material of said loading cap (5) is an aluminium alloy, or steel, or copper, said standard one-dimensional force transducer (6) is that precision is that the one-dimensional of 0.05%F.S or 0.02%F.S or 0.01%F.S draws/pressure transducer, the range of said standard one-dimensional force transducer (6) is 1 ton, or 5 tons, or 10 tons, or 16 tons, or 20 tons.
4. six-dimension force sensor calibration device according to claim 1, it is characterized in that: said first lifting jack (Q1), second lifting jack (Q2), the 3rd lifting jack (Q3) and the 4th lifting jack (Q4) are manual lifting jack, or hydraulic jack, or electronic lifting jack, said first lifting jack (Q1), second lifting jack (Q2), the range of the 3rd lifting jack (Q3) and the 4th lifting jack (Q4) is 5 tons, or 10 tons, or 16 tons, or 20 tons, said first lifting jack (Q1), second lifting jack (Q2), the 3rd lifting jack (Q3) is in Machine Design, need guarantee and the verticality of base (9) when processing and installation that said the 4th lifting jack (Q4) is in Machine Design, need guarantee verticality when processing and installation with lifting jack hold-down support (8).
5. six-dimension force sensor calibration device according to claim 1, it is characterized in that: be equipped with five groups of lifting jack fixed orifices on the said lifting jack hold-down support (8), said first group of lifting jack fixed orifice (K1), second group of lifting jack fixed orifice (K2), the 3rd group of lifting jack fixed orifice (K3), the 4th group of lifting jack fixed orifice (K4) and the 5th group of lifting jack fixed orifice (K5) will guarantee the enough positional precisions and the verticality in hole in machining, said first group of lifting jack fixed orifice (K1), second group of lifting jack fixed orifice (K2), the 3rd group of lifting jack fixed orifice (K3), the center of the 4th group of lifting jack fixed orifice (K4) and the 5th group of lifting jack fixed orifice (K5) corresponds respectively to five positive holes (17) that load on the said load plate (4).
6. six-dimension force sensor calibration device according to claim 1, it is characterized in that: between the first bearing mounting guide rail (Z1) on the said base (9) and the second bearing mounting guide rail (Z2) is parallel, the said first lifting jack mounting guide rail (G1), between the second lifting jack mounting guide rail (G2) and the 3rd lifting jack mounting guide rail (G3) is parallel to each other, the said first bearing mounting guide rail (Z1) and the second bearing mounting guide rail (Z2) and the first lifting jack mounting guide rail (G1), between the second lifting jack mounting guide rail (G2) and the 3rd lifting jack mounting guide rail (G3) is homeotropic alignment, the said first bearing mounting guide rail (Z1) and the second bearing mounting guide rail (Z2) and the first lifting jack mounting guide rail (G1), the second lifting jack mounting guide rail (G2) and the 3rd lifting jack mounting guide rail (G3) will guarantee enough depth of parallelisms and verticality in Machine Design and processing, said sensor hold-down support (1) is in Machine Design, will guarantee enough and verticality with base (9) in processing and the installation, said lifting jack hold-down support (8) is in Machine Design, to guarantee enough and verticality with base (9) in processing and the installation.
7. six-dimension force sensor calibration device according to claim 1 is characterized in that: sensor mounting hole (12) on card extender mounting hole (18) on the said card extender (2) and card extender sensor mounting hole (19), the six-dimension force sensor (3) and the load plate sensor mounting hole (16) on the load plate (4) will guarantee the positional precision in enough holes and the verticality in hole in machining.
8. six-dimension force sensor calibration device according to claim 1, it is characterized in that: the distance between two closed slides of the said first lifting jack mounting guide rail (G1) is by the distance decision between first lifting jack (Q1) mounting hole, distance between two closed slides of the said second lifting jack mounting guide rail (G2) is by the distance decision between second lifting jack (Q2) mounting hole, and the distance between two closed slides of said the 3rd lifting jack mounting guide rail (G3) is by the distance decision between the 3rd lifting jack (Q3) mounting hole.
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| CNB2008100205129A CN100529703C (en) | 2008-01-30 | 2008-01-30 | Six-dimension force sensor calibration device |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100205129A CN100529703C (en) | 2008-01-30 | 2008-01-30 | Six-dimension force sensor calibration device |
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| CN100529703C CN100529703C (en) | 2009-08-19 |
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