CN102279077A - Calibration device for double-force-source six-dimensional force sensor - Google Patents
Calibration device for double-force-source six-dimensional force sensor Download PDFInfo
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- CN102279077A CN102279077A CN2011102247819A CN201110224781A CN102279077A CN 102279077 A CN102279077 A CN 102279077A CN 2011102247819 A CN2011102247819 A CN 2011102247819A CN 201110224781 A CN201110224781 A CN 201110224781A CN 102279077 A CN102279077 A CN 102279077A
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Abstract
The invention discloses a calibration device for a double-force-source six-dimensional force sensor. The calibration device comprises a calibration working table, a first lifting mechanism, a second lifting mechanism, a loading device, a loading clamping mechanism and an L-shaped sensor base, wherein the first lifting mechanism comprises a first lifting block serving as an output end; the first lifting block is connected with one end of the loading device; the second lifting mechanism comprises a second lifting block serving as an output end; the second lifting block is connected with the other end of the loading device; two longitudinal force application rods are rigidly connected with the two lifting blocks respectively and apply vertical forces which are equal to each other and of which the directions are the same or opposite on two transverse loading square barrels respectively; the two vertical forces are converted into a combined force or a combined torque transmitted to the six-dimensional force sensor through the two transverse loading square barrels and the loading clamping mechanism; the six-dimensional force sensor is fixed on the L-shaped sensor base; and the L-shaped sensor base is arranged on the calibration working table.
Description
Technical field
The present invention relates to a kind of six-dimension force sensor calibration loading bench field, particularly a kind of pair of power source six-dimension force sensor calibration device.
Background technology
Six-dimension force sensor is that the force information that can detect space three-dimensional force information (Fx, Fy, Fz) and three-dimensional moment information (Mx, My, Mz) simultaneously obtains equipment.Be widely used in fields such as robot, building industry and Aero-Space.After the six-dimension force sensor Design and Machining is finished, be the input/output relation of definite six-dimension force sensor, and then carry out decoupling zero and find the solution various input-output characteristics, need carry out rating test.In occupation of important effect, the precision of caliberating device is directly restricting the six-dimension force sensor measuring accuracy to caliberating device in the sensor design process, the numerous cycle that designs and produces and cost that easily also directly affects six-dimension force sensor of caliberating device using method.
At present both at home and abroad the sensor calibration apparatus developed of multi-dimension force sensor research unit mainly be counterweight formula, planer-type (, the caliberating device of diesis posture, four jack types.Characteristics such as wherein the counterweight formula is demarcated and to be provided loaded with standard power with counterweight, can realize the independent demarcation of all directions one-dimensional power by pulley or lever principle, uses comparatively generally in the demarcation of medium and small range multi-dimension force sensor, and has the precision height, and is easy to operate.But be subjected to the influence of rating test personnel muscle power, the multidimensional demarcation power that can not be applied to the wide range multi-dimension force sensor loads.Chinese patent CN1727861A discloses a kind of planer-type parallel sensor caliberating device, Chinese patent CN1715856A discloses the electrodeless lifting type six dimension force sensor caliberating device of a kind of planer-type, can realize that all large scale, wide range multi-dimension force sensor multidimensional demarcation power load, but hand loading reductor of palpus and adjustment lifting pulley, automatic loading and dynamic load loading problem thereof can not be solved, and the independent loading of all directions one-dimensional power can not be realized.Chinese patent CN101226095A discloses a kind of four jack type six-dimension force sensor calibration devices, Chinese patent CN101776506A discloses a kind of diesis posture calibrating and loading bench of large multi-dimensional force transducer, because augmentor is hydraulic cylinder or lifting jack, volume is big, the range height, and adopt thick and heavy loading disc as force transmission element, all be only applicable to the quiet of large-scale and wide range (tonnage level) six-dimension force sensor, dynamic calibration loads, can not demarcate middle-size and small-size and medium and small range six-dimension force sensor, otherwise the systematic error that the load plate deadweight is introduced has a strong impact on stated accuracy and its processing is complicated with installation.The loading direction of an one-dimensional power/moment of every change just needs repeatedly to move heavy loading hydraulic cylinder or lifting jack, and test operation is very complicated, and rating test efficient is lower and bring onerous toil intensity for the rating test personnel.And Chinese patent CN101226095A can not realize the independent loading of all directions one-dimensional power.Chinese patent CN101464201B discloses a kind of caliberating device of six-dimension heavy force sensor, compact conformation, and rigidity and precision are higher, but can not solve automatic loading and dynamic load loading problem thereof equally, and can not realize the independent loading of all directions one-dimensional power.
Along with Robotics, spacecraft launching site, and the development of technology such as wind tunnel test just seem more and more important to the six-dimension force sensor Research on Dynamic Characteristic.Be the dynamic perfromance of research six-dimension force sensor, must carry out the dynamic calibration test, promptly utilize dynamic calibration apparatus to import known dynamic force to sensor to it.In addition, coupled problem between dimension occurs, sensor is carried out the loading of all directions one-dimensional power and demarcate the decoupling zero that more helps realizing six-dimension force sensor, and then improve the sensor measurement precision because six-dimension force sensor exists inevitably.Because must gather mass data, the rating test labor intensity is bigger, the caliberating device that can load automatically can be saved test operation personnel muscle power greatly, improves test efficiency, reduction sensor design and fabrication cycle.
Summary of the invention
The caliberating device that the purpose of this invention is to provide a kind of pair of power source six-dimension force sensor, comprise first elevating mechanism, second elevating mechanism, charger, loading clamping device and L shaped sensor base, first elevating mechanism comprises first elevator as output terminal, first elevator is connected with an end of charger, second elevating mechanism comprises second elevator as output terminal, second elevator is connected with the other end of charger
Charger comprises that first vertical force application rod, second vertical force application rod, first laterally load square tube and second and laterally load square tube, the upper end of described first vertical force application rod is connected with first elevator of first elevating mechanism as an end of charger, lower end at first vertical force application rod is connected with the first party borehole jack, the first party borehole jack is set in first and laterally loads on the square tube and first party borehole jack and first laterally loads to form between the square tube and laterally is slidingly connected, first laterally the loading square tube is connected with an end of loading clamping device; The upper end of second vertical force application rod is connected with second elevator of second elevating mechanism as the other end of charger, lower end at second vertical force application rod is connected with the second party borehole jack, the first party borehole jack is set in second and laterally loads on the square tube and first party borehole jack and second laterally forms between the loading square tube and laterally is slidingly connected, second laterally loads square tube is connected with the other end that loads clamping device
L shaped sensor base is located on the staking-out work platform, L shaped sensor base is made up of the orthogonal the first arm and second arm, on the first arm, be provided with first groove that is used to place six-dimension force sensor, on second arm, be provided with second groove that is used to place six-dimension force sensor.
With prior art relatively, advantage of the present invention is: 1) rotate by PC control motor, the size of standard one-dimensional force sensor measuring loading force can be carried out continuous dynamic and static demarcation to six-dimension force sensor, simple to operation, demarcate the big or small stepless adjustable of loading force and resolution is high; 2) be connected with the first party borehole jack in the lower end of first vertical force application rod, the first party borehole jack is set in first and laterally loads on the square tube and first party borehole jack and first laterally forms between the loading square tube and laterally is slidingly connected, first vertical force application rod can laterally load square tube to first and apply up or down vertical force, lower end at second vertical force application rod is connected with the second party borehole jack, the first party borehole jack is set in second and laterally loads on the square tube and first party borehole jack and second laterally forms between the loading square tube and laterally is slidingly connected, second vertical force application rod can laterally load square tube to second and apply up or down vertical force, when six-dimension force sensor is fixed on L type sensor base first groove, make first elevator, second elevator drives first vertical force application rod respectively, second vertical force application rod laterally loads square tube to first, second laterally loads square tube progressively applies up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the Z direction that progressively loads makes a concerted effort to pass to six-dimension force sensor by loading clamping device, finishes the demarcation of Z direction power; Making first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively laterally loads square tube, second to first and laterally loads square tube and progressively apply up or down equal and opposite in direction by zero beginning, the vertical force that direction is opposite, two vertical forces that progressively load are converted into the directions X moment (or Y yawning moment) that progressively loads and pass to six-dimension force sensor by loading clamping device, finish the demarcation of directions X moment (or Y yawning moment); Six-dimension force sensor is revolved and turn 90 degrees along demarcating axle, be fixed in once more on first groove of L type sensor base, make first elevator, second elevator drives first vertical force application rod respectively, second vertical force application rod laterally loads square tube to first, second laterally loads square tube progressively applies up or down equal and opposite in direction by zero beginning, the vertical force that direction is opposite, two vertical forces that progressively load are converted into the Y yawning moment (or directions X moment) that progressively loads and pass to six-dimension force sensor by loading clamping device, finish the demarcation of Y yawning moment (or directions X moment).When six-dimension force sensor is fixed on L type sensor base second groove, making first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively laterally loads square tube, second to first and laterally loads square tube and progressively apply up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the directions X (or Y direction) that progressively loads makes a concerted effort to pass to six-dimension force sensor by loading clamping device, finishes the demarcation of directions X power (or Y direction power); Six-dimension force sensor is revolved and turn 90 degrees along demarcating axle, be fixed in again on second groove of L type sensor base, if first elevator, second elevator drive respectively first vertical force application rod, second vertical force application rod to first laterally load square tube, second laterally the loading square tube progressively apply up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the Y direction (or directions X) that progressively loads makes a concerted effort to pass to six-dimension force sensor by loading clamping device, finishes the demarcation of Y direction power (or directions X power); Making first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively laterally loads square tube, second to first and laterally loads square tube and progressively apply up or down the opposite vertical force of equal-sized direction by zero beginning, two vertical forces that progressively load are converted into the Z yawning moment that progressively loads and pass to six-dimension force sensor by loading clamping device, finish the demarcation of Z yawning moment.Traditional six-dimension force sensor calibration device, the sensor installation site immobilizes, need four load(ing) points just can finish the independent loading of six direction power or moment, and adopt thick and heavy loading disc as force transmission element, the deadweight of loading disc is bigger, in the rating test, the error that the deadweight of loading disc is introduced is less for the demarcation influence of wide range (several tonnes) six-dimension force sensor, but demarcation for medium and small range (tens of ox level) six-dimension force sensor, the error effect that deadweight is introduced is very big, even can produce wrong calibration result, process of the test needs repeatedly to move heavy augmentor, as loading hydraulic cylinder, the rating test operating difficulties, test efficiency is lower, testing crew labour intensity is very big, and apparatus of the present invention, whole calibrating procedure only need once change the installation site of six-dimension force sensor on L shaped sensor base, be that six-dimension force sensor is installed in respectively on first groove and second groove of L shaped sensor base, the feasible independent demarcation that only just can finish six direction power or moment with two load(ing) points, promptly adopt first of hollow, second laterally loads square tube transmits loading force as force transmission element, amount of deflection is little and in light weight, reduced the error of introducing because of the distortion after stressed of the deadweight of force transmission element and force transmission element, improved stated accuracy, make apparatus of the present invention both be applicable to the demarcation of wide range six-dimension force sensor, also be applicable to the demarcation of medium and small range six-dimension force sensor, all in the calibration process, only need change six-dimension force sensor at the installation direction of L type sensor base and do not need repeatedly the power source (loading hydraulic cylinder etc.) that mobile volume is big and weight is big, just can demarcate six-dimension force sensor six direction one-dimensional power/moment, significantly reduced the labour intensity of testing crew, rating test efficient height; 3) six-dimension force sensor is installed on the rating test platform by L type sensor base, servomotor moves up and down according to two elevators of true altitude needs control of six-dimension force sensor, the displacement stroke of elevator is wide, (diameter and height 0.5m ~ 1m) six-dimension force sensor calibration also can be used for the small size (six-dimension force sensor calibration of diameter and height 5cm ~ 0.5m) to make apparatus of the present invention both can be used for large volume; 4) existing medium and small range six-dimension force sensor calibration device only can carry out mixing force/moment output rating test to six-dimension force sensor, and can not all directions one-dimensional power or moment be demarcated separately, therefore can only adopt based on the generalized inverse static decoupling algorithm of matrix and carry out decoupling zero, algorithm relates to numerous matrix operations, be easy to generate ill-condition matrix, influence the precision and the reliability of decoupling zero, apparatus of the present invention can realize the independent demarcation of all directions one-dimensional power or moment, test figure according to the independent demarcation of all directions one-dimensional power or moment, can accurately calculate each coupled relation between the dimension of power or moment input and output, employing is carried out decoupling zero based on the six-dimension force sensor calibration decoupling method of coupling error modeling, need not complicated matrix operation, algorithm is simple and reliable and the decoupling zero precision is higher; 5) the whole calibrating apparatus structure is simple, is easy to install, dismantles and safeguards.
Description of drawings
Fig. 1 is perspective view of the present invention (demarcating Z direction power and X, Y yawning moment).
Fig. 2 is perspective view of the present invention (demarcating X, Y direction power and Z yawning moment).
Fig. 3 is L type sensor base sketch among the present invention.
Fig. 4 is six-dimension force sensor sketch among the present invention.
Fig. 5 is for loading the first fixture block sketch of clamping device among the present invention.
Fig. 6 is for loading the second fixture block sketch of clamping device among the present invention.
Fig. 7 is for loading clamping device and six-dimension force sensor assembling synoptic diagram among the present invention.
Fig. 8 is elevating mechanism structural representation among the present invention.
Fig. 9 is for demarcating the worktable sketch among the present invention.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
With reference to Fig. 1,2, be perspective view of the present invention, caliberating device comprises staking-out work platform 11, first elevating mechanism, second elevating mechanism, charger, loading clamping device 14 and L shaped sensor base 12.
First elevating mechanism comprises that first elevator, 7, the first elevators 7 as output terminal are connected with an end of charger, and second elevating mechanism comprises that second elevator, 8, the second elevators 8 as output terminal are connected with the other end of charger.
Charger comprises first vertical force application rod 9, second vertical force application rod 10, first laterally loads square tube 15 and second laterally loads square tube 16, the upper end of first vertical force application rod 9 is connected with first elevator 7 of first elevating mechanism as an end of charger, lower end at first vertical force application rod 9 is connected with first party borehole jack 91, first party borehole jack 91 is set in first and laterally loads on the square tube 15 and first party borehole jack 91 and first laterally forms between the loading square tube 15 and laterally is slidingly connected, first vertical force application rod 9 can laterally load square tube 15 to first and apply up or down vertical force, and first laterally loads square tube 15 is connected with an end of loading clamping device 14; The upper end of second vertical force application rod 10 is connected with second elevator 8 of second elevating mechanism as the other end of charger, lower end at second vertical force application rod 10 is connected with second party borehole jack 101, first party borehole jack 101 is set in second and laterally loads on the square tube 16 and first party borehole jack 101 and second laterally forms between the loading square tube 16 and laterally is slidingly connected, second vertical force application rod 10 can laterally load square tube 16 to second and apply up or down vertical force, and second laterally loads square tube 16 is connected with the other end of loading clamping device 14.First laterally loads square tube 15 and second laterally is equipped with standard one-dimensional force transducer in loading square tube 16 upper ends, can measure first vertical force application rod 9, second vertical force application rod 10 and laterally load the size and Orientation that square tube 15, the second horizontal loading square tube 16 applies vertical force to first respectively, the precision of standard one-dimensional force transducer is 0.05%F.S. or 0.02% F.S., first laterally loads square tube 15 and second laterally is equipped with non-contact displacement transducer in loading square tube 16 lower ends, is used to measure the size of vertical force application rod or elevator perpendicular displacement.The charger material adopts high-quality medium carbon steel, structural alloy steel etc., increases its mechanical property by suitable Technology for Heating Processing.
L shaped sensor base 12 is installed on the staking-out work platform 11, with reference to Fig. 3, L shaped sensor base 12 is made up of the orthogonal the first arm 121 and second arm 122, the first arm 121 and second arm 122 are made of welded connection by seamless, machining guarantees its verticality, constant for guaranteeing stressed back verticality, muscle is installed on the medial surface that the first arm 121 and second arm 122 intersect, on the first arm 121, be provided with first groove 1211 that is used to place six-dimension force sensor 13, on second arm 122, be provided with second groove 1221 that is used to place six-dimension force sensor, be used for the convenient six-dimension force sensor 13 of installing, be equipped with the sensor level on first groove 1211 screw 1212 is installed, be equipped with sensor on second groove 1221 screw 1222 vertically is installed, six-dimension force sensor can be fixed on first groove 1211 or second groove 1221 according to the direction of demarcation power or moment respectively, four L type sensor base fixed orifices 1213 are equipped with at 121 4 jiaos of places of the first arm, be used for cooperating, L type sensor base 12 be fixed in horizontal steel plate 1101 upper surfaces of staking-out work platform 11 with L type sensor base mounting hole 1107.
With reference to Fig. 4, six-dimension force sensor 13 is by demarcating axle 1301, top cover 1302, sensor base 1303 compositions.With reference to Fig. 5,6,7, loading clamping device 14 is made up of first fixture block 140 and second fixture block 141 that are superimposed with each other together, on first fixture block 140, be provided with and be used for the first party connected in star 1401 that axle 1301 is demarcated in clamping, first demarcates axle connection screw 1402 in first party connected in star 1401, on second fixture block 141, be provided with and be used for the second party connected in star 1411 that axle 1301 is demarcated in clamping, second demarcates axle connection screw 1402 in second party connected in star 1411, tighten first and demarcate axle connection screw 1402, second demarcates axle connects screw 1402 place's nuts, and assurance clamps demarcates axle 1301 tops; The one end embedding first of loading clamping device 14 laterally loads square tube 15 and is connected by the bolt that runs through the first horizontal loading square tube 15 and loading clamping device 14 1 ends more than 2 or 2, the other end that loads clamping device 14 embeds second and laterally loads square tube 16 and is connected by second bolt that laterally loads square tube 16 and load clamping device 14 other ends that runs through more than 2 or 2, guarantees that first loads laterally that square tube 15, second laterally loads square tube 16 and loading clamping device 14 does not relatively move.
With reference to Fig. 8, first elevating mechanism and second elevating mechanism adopt spiral lift device, spiral lift device is made up of first square base, 1, first square column 3, the second square column 4, servomotor 17, speed reduction unit 18, first gear 19, second gear 20, the 3rd gear 21, the 4th gear 22, the 5th gear 23, ball-screw 24, ball nut 25, first guide rail 26 and second guide rail 27, the first square column 3 is loaded into an end of first square base, 1 upper surface, and the second square column 4 is loaded into the other end of first square base, 1 upper surface.The input end of the output shaft of servomotor 17 and speed reduction unit 18 is rigidly connected, reduce rotating speed and improve output torque simultaneously, speed reduction unit 18 output shafts and first gear, 19 centers are rigidly connected, one side of first gear 19 and 20 engagements of second gear, another is surveyed and 21 engagements of the 3rd gear, second gear 20 meshes with the 5th gear 23 simultaneously, the 3rd gear 21 meshes with the 4th gear 22 simultaneously, five pitch wheels are centered close on same the straight line, making servomotor drive the 4th gear 22, the five gears 23 rotates in the same way with speed.The 5th gear 23 center pits and ball-screw 24 lower ends are rigidly connected.The first square column 3 take the shape of the letter U with second square column 4 sections and inner structure identical, ball nut 25 and ball-screw 24 threaded engagement, the ball nut 25 and first elevator 7 are rigidly connected, be to increase steadiness, ball nut 25 ball-screw 24 both sides be slidingly connected for first guide rail 26 of its guiding and second guide rail 27.
With reference to Fig. 9, for demarcating worktable 11 sketches among the present invention, staking-out work platform 11 is by horizontal steel plate 1101, the first vertical card extender 1102, second vertical card extender 1103, the three vertical card extender 1104, the four vertical card extenders 1105, sensor cable hole 1106, L type sensor base mounting hole 1107 is formed.Sensor cable hole 1106 is used to place the output cable of six-dimension force sensor.The left surface two ends of horizontal steel plate 1101 respectively with the first vertical card extender 1102, the second vertical card extender 1103 is rigidly connected at right angles, the right flank two ends respectively with the 3rd vertical card extender 1104, the 4th vertical card extender 1105 is rigidly connected at right angles, machining adopts no seam welding, and guarantees its verticality.Staking-out work platform 11 is fixed between four box columns with being threaded of side of the first box column 3, the second box column 4, the 3rd box column 5, the 4th box column 6 respectively by first vertical card extender 1102, second vertical card extender the 1103, the 3rd vertical card extender 1104, the four vertical card extenders 1105.For guaranteeing that horizontal steel plate 1101 when stressed any deformation does not take place, horizontal steel plate 1101 lower surfaces are covered with reinforcement.There is L type sensor base mounting hole 1107 on horizontal steel plate 1101 surfaces, are used for being threaded with L type sensor base 12.
When six-dimension force sensor 13 is fixed on L type sensor base 12 first grooves 1211, making first elevator 7, second elevator 8 drive 10 pairs first of first vertical force application rod 9, second vertical force application rods respectively laterally loads square tubes 15, second and laterally loads square tubes 16 and progressively apply up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the Z direction that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 by loading clamping device 14, finishes the demarcation of Z direction power; Making first elevator 7, second elevator 8 drive 10 pairs first of first vertical force application rod 9, second vertical force application rods respectively laterally loads square tubes 15, second and laterally loads square tubes 16 and progressively apply up or down equal and opposite in direction by zero beginning, the vertical force that direction is opposite, two vertical forces that progressively load are converted into the directions X moment (or Y yawning moment) that progressively loads and pass to six-dimension force sensor 13 by loading clamping device 14, finish the demarcation of directions X moment (or Y yawning moment); Six-dimension force sensor 13 is revolved and turn 90 degrees along demarcating axle 1301, be fixed in once more on first groove 1212 of L type sensor base, make first elevator 7, second elevator 8 drives first vertical force application rod 9 respectively, 10 pairs first of second vertical force application rods laterally load square tube 15, second laterally loads square tube 16 progressively applies up or down equal and opposite in direction by zero beginning, the vertical force that direction is opposite, two vertical forces that progressively load are converted into the Y yawning moment (or directions X moment) that progressively loads and pass to six-dimension force sensor 13 by loading clamping device 14, finish the demarcation of Y yawning moment (or directions X moment).
When six-dimension force sensor 13 is fixed on L type sensor base second groove 1221, making first elevator 7, second elevator 8 drive 10 pairs first of first vertical force application rod 9, second vertical force application rods respectively laterally loads square tubes 15, second and laterally loads square tubes 16 and progressively apply up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the directions X (or Y direction) that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 by loading clamping device 14, finishes the demarcation of directions X power (or Y direction power); Six-dimension force sensor 13 is revolved and turn 90 degrees along demarcating axle 1301, be fixed in again on second groove 1221 of L type sensor base, if first elevator 7, second elevator 8 drives first vertical force application rod 9 respectively, 10 pairs first of second vertical force application rods laterally load square tube 15, second laterally loads square tube 16 progressively applies up or down the identical vertical force of equal-sized direction by zero beginning, two vertical power in the same way that progressively load are converted into the Y direction (or directions X) that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 by loading clamping device 14, finishes the demarcation of Y direction power (or directions X power); Making first elevator 7, second elevator 8 drive 10 pairs first of first vertical force application rod 9, second vertical force application rods respectively laterally loads square tubes 15, second and laterally loads square tubes 16 and progressively apply up or down the opposite vertical force of equal-sized direction by zero beginning, two vertical forces that progressively load are converted into the Z yawning moment that progressively loads and pass to six-dimension force sensor 13 by loading clamping device 14, finish the demarcation of Z yawning moment.
The whole calibrating process of the test is by two servomotors of PC control, and by the size and the positive negative direction of standard unidirectional force sensor measurement loading force, detected the position of anchor clamps by non-contact displacement transducer.And, can accurately demarcate 3 direction power and 3 yawning moments respectively by on first groove 1211 or second groove 1221 that six-dimension force sensor 13 are installed in L type sensor base 12 respectively.According to the test nominal data that all directions one-dimensional power loads, establish six-dimension force sensor 13 inputs and constitute linear stational system with output, from the essence of coupling between dimension, set up coupling model between the dimension of six-dimension force sensor 13.
The output voltage on every road is deducted that a part of pressure value that coupling is introduced between the perturbed force dimension earlier, promptly eliminates coupling error, again divided by
k Ii Ask power, the decoupling zero of then having finished between each dimension power is calculated.As the formula (1).
Formula (1) decoupling zero needs known coupled interference force vector, and in the actual decoupling zero process, known quantity is the electric signal of each road output, and the size of each dimension power input is unknown quantity, must replace coupled interference with output voltage values.The decoupling zero formula as the formula (2).
Whole undetermined constants in the formula (2) promptly
Can carry out the monobasic linear fit by the static demarcating test figure obtains.At last institute's survey voltage is brought in the formula (2) and then finished decoupling zero.
Claims (3)
1. the caliberating device of two power sources six-dimension force sensor, comprise: staking-out work platform (11), it is characterized in that, described caliberating device also comprises first elevating mechanism, second elevating mechanism, charger, load clamping device (14) and L shaped sensor base (12), first elevating mechanism comprises first elevator (7) as output terminal, first elevator (7) is connected with an end of charger, second elevating mechanism comprises second elevator (8) as output terminal, second elevator (8) is connected with the other end of charger
Described charger comprises first vertical force application rod (9), second vertical force application rod (10), first laterally loads square tube (15) and second laterally loads square tube (16), the upper end of described first vertical force application rod (9) is connected with first elevator (7) of first elevating mechanism as an end of charger, be connected with first party borehole jack (91) in the lower end of first vertical force application rod (9), first party borehole jack (91) is set in first and laterally loads that square tube (15) goes up and first party borehole jack (91) and first laterally loads to form between the square tube (15) and laterally is slidingly connected, first laterally loading square tube (15) is connected with an end of loading clamping device (14); Described second vertical force application rod, (10) upper end is as the other end of charger and second elevator of second elevating mechanism, (8) connect, at second vertical force application rod, (10) lower end is connected with the second party borehole jack, (101), the first party borehole jack, (101) be set in second and laterally load square tube, (16) last and first party borehole jack, (101) laterally load square tube with second, (16) form between and laterally be slidingly connected, second laterally loads square tube, (16) with the loading clamping device, (14) the other end connects
Described L shaped sensor base (12) is located on the staking-out work platform (11), L shaped sensor base (12) is made up of orthogonal the first arm (121) and second arm (122), on the first arm (121), be provided with first groove (1211) that is used to place six-dimension force sensor, on second arm (122), be provided with second groove (1221) that is used to place six-dimension force sensor.
2. the caliberating device of according to claim 1 pair of power source six-dimension force sensor, it is characterized in that, described loading clamping device (14) is made up of with second fixture block (141) first fixture block (140) that is superimposed with each other together, on first fixture block (140), be provided with the first party connected in star (1401) that is used for clamping transducer calibration axle, first demarcates axle connection screw (1402) in first party connected in star (1401), be provided with the second party connected in star (1411) that is used for clamping transducer calibration axle on second fixture block (141), second demarcates axle connection screw (1402) in second party connected in star (1411); An end that loads clamping device (14) embeds first and laterally loads square tube (15) and is connected by first bolt that laterally loads square tube (15) and load clamping device (14) one ends that runs through more than 2 or 2, the other end that loads clamping device (14) embed second laterally load square tube (16) and by more than 2 or 2 run through second laterally the bolt of loading square tube (16) and loading clamping device (14) other end be connected.
3. the caliberating device of according to claim 1 and 2 pair of power source six-dimension force sensor, it is characterized in that, first elevating mechanism and second elevating mechanism adopt spiral lift device, described jacking gear, comprise first square base (1), the first square column (3), the second square column (4), servomotor (17), speed reduction unit (18), first gear (19), second gear (20), the 3rd gear (21), the 4th gear (22), the 5th gear (23), ball-screw (24), ball nut (25), first guide rail (26) and second guide rail (27), the first square column (3) is loaded into an end of first square base (1) upper surface, the second square column (4) is loaded into the other end of first square base (1) upper surface, the input end of the output shaft of servomotor (17) and speed reduction unit (18) is rigidly connected, speed reduction unit (18) output shaft and first gear (19) center are rigidly connected, one side of first gear (19) and second gear (20) engagement, opposite side and the 3rd gear (21) engagement, second gear (20) meshes with the 5th gear (23) simultaneously, the 3rd gear (21) meshes with the 4th gear (22) simultaneously, five pitch wheels are centered close on same the straight line, the 5th gear (23) center pit and ball-screw (24) lower end are rigidly connected, the first square column (3) is identical with the inner structure of the second square column (4), ball nut (25) and ball-screw (24) threaded engagement, ball nut (25) is slidingly connected with first guide rail (26) and second guide rail (27), and ball nut (25) is rigidly connected with the output terminal of elevating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110224781 CN102279077B (en) | 2011-08-08 | 2011-08-08 | Calibration device for double-force-source six-dimensional force sensor |
Applications Claiming Priority (1)
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| CN103926038A (en) * | 2014-03-19 | 2014-07-16 | 哈尔滨工程大学 | Multi-dimensional force sensor calibration device with controllable poses |
| CN104406736A (en) * | 2014-11-14 | 2015-03-11 | 燕山大学 | Combined type small multi-dimensional force sensor calibrating loading device |
| CN105784271A (en) * | 2016-05-25 | 2016-07-20 | 上海交通大学 | Calibration device and method for three-component-force sensor |
| CN108731875A (en) * | 2018-06-11 | 2018-11-02 | 南京航空航天大学 | A kind of six-dimension force sensor calibration device and its scaling method |
| CN109682533A (en) * | 2019-01-08 | 2019-04-26 | 吉林大学 | Double mode six-dimensional force/torque sensor caliberating device and scaling method |
| CN110057495A (en) * | 2019-05-24 | 2019-07-26 | 广州市斯巴拓电子科技有限公司 | A kind of multi dimension transducer calibration machine |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
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| CN110057495A (en) * | 2019-05-24 | 2019-07-26 | 广州市斯巴拓电子科技有限公司 | A kind of multi dimension transducer calibration machine |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113358274B (en) * | 2021-06-10 | 2022-09-13 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
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