CN102279077B - 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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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 of simultaneously detection space three-dimensional force information (Fx, Fy, Fz) and three-dimensional moment information (Mx, My, Mz) obtains equipment.Be widely used in the fields such as robot, building industry and Aero-Space.After the six-dimension force sensor design machines, 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 to 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 be mainly weight type, planer-type (, the caliberating device of diesis posture, four jack types.Wherein weight type is demarcated and to be provided loaded with standard power with counterweight, can realize by pulley or lever principle the independent demarcation of all directions one-dimensional power, use in the demarcation of medium and small range multi-dimension force sensor comparatively general, and characteristics such as it is high to have precision, easy to operate.But be subjected to the impact 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 the hand Lug-Down machine 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 large, range is high, 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 mobile 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 equally automatic loading and dynamic load loading problem thereof, and can not realize the independent loading of all directions one-dimensional power.
Along with Robotics, spacecraft launching site, and the development of the 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 to it, namely utilize dynamic calibration apparatus to the known dynamic force of sensor input.In addition, coupled problem between dimension occurs because six-dimension force sensor inevitably exists, sensor is carried out the loading of all directions one-dimensional power and demarcate the decoupling zero that more is conducive to realize six-dimension force sensor, and then improve the sensor measurement precision.Owing to must gathering mass data, the rating test labor intensity is larger, and the caliberating device that can automatically load 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 the first elevating mechanism, the second elevating mechanism, charger, loading clamping device and L shaped sensor base, the first elevating mechanism comprises the first elevator as output terminal, the first elevator is connected with an end of charger, the second elevating mechanism comprises the second elevator as output terminal, the 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 the first elevator of the 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 square tube and first party borehole jack and first laterally loads to form between square tube and laterally is slidably 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 the second elevator of the 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 square tube and first party borehole jack and second laterally forms between the loading square tube and laterally is slidably 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 comprised of orthogonal the first arm and the second arm, be provided with on the first arm for the first groove of placing six-dimension force sensor, be provided with on the second arm for the second groove of placing six-dimension force sensor.
with prior art relatively, advantage of the present invention is: 1) control electric machine rotation by PC, 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 square tube and first party borehole jack and first laterally forms between the loading square tube and laterally is slidably 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 square tube and first party borehole jack and second laterally forms between the loading square tube and laterally is slidably 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 the first groove, make the first elevator, the second elevator drives respectively first vertical force application rod, 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 and make a concerted effort to pass to six-dimension force sensor by loading clamping device, complete the demarcation of Z direction power, making the first elevator, the second elevator drive respectively first vertical force application rod, second vertical force application rod 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 of opposite direction, two vertical forces that progressively load are converted into the directions X moment (or Y-direction moment) that progressively loads and pass to six-dimension force sensor by loading clamping device, complete the demarcation of directions X moment (or Y-direction moment), with six-dimension force sensor along demarcating the axle 90-degree rotation, again be fixed on the first groove of L-type sensor base, make the first elevator, the second elevator drives respectively first vertical force application rod, 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 of opposite direction, two vertical forces that progressively load are converted into the Y-direction moment (or directions X moment) that progressively loads and pass to six-dimension force sensor by loading clamping device, complete the demarcation of Y-direction moment (or directions X moment).When six-dimension force sensor is fixed on L-type sensor base the second groove, making the first elevator, the second elevator drive respectively first vertical force application rod, second vertical force application rod 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, completes the demarcation of directions X power (or Y-direction power); With six-dimension force sensor along demarcating the axle 90-degree rotation, be fixed in again on the second groove of L-type sensor base, if the first elevator, the second elevator drive respectively first vertical force application rod, second vertical force application rod and laterally load square tube, second to first and laterally load 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 Y-direction (or directions X) that progressively loads makes a concerted effort to pass to six-dimension force sensor by loading clamping device, completes the demarcation of Y-direction power (or directions X power); Making the first elevator, the second elevator drive respectively first vertical force application rod, second vertical force application rod laterally loads square tube, second to first and laterally loads square tube and progressively applied the vertical force of equal-sized opposite direction up or down 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, complete the demarcation of Z yawning moment.traditional six-dimension force sensor calibration device, the installation of sensors position immobilizes, need four load(ing) points just can complete 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 larger, in rating test, the error that the deadweight of loading disc is introduced is less for the demarcation impact of wide range (several tonnes) six-dimension force sensor, but the demarcation for medium and small range (tens of ox level) six-dimension force sensor, the error effect that deadweight is introduced is very large, even can produce wrong calibration result, process of the test needs repeatedly mobile heavy augmentor, as loading hydraulic cylinder, the rating test operating difficulties, test efficiency is lower, testing crew labour intensity is very large, and apparatus of the present invention, whole calibration process only need once change the installation site of six-dimension force sensor on L shaped sensor base, be that six-dimension force sensor is arranged on respectively on first groove and the second groove of L shaped sensor base, make the independent demarcation that only just can complete six direction power or moment with two load(ing) points, namely adopt first of hollow, second laterally loads square tube transmits loading force as force transmission element, amount of deflection is little and lightweight, reduced the error that the distortion after stressed is introduced because 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 calibration process, only need change six-dimension force sensor and not need repeatedly at the installation direction of L-type sensor base the power source (loading hydraulic cylinder etc.) that mobile volume is large and weight is large, just can demarcate six-dimension force sensor six direction one-dimensional power/moment, greatly reduced the labour intensity of testing crew, rating test efficient is high, 3) six-dimension force sensor is arranged on Calibrating experimental bench by the L-type sensor base, servomotor is controlled two elevators according to the true altitude needs of six-dimension force sensor and is moved up and down, 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 5cm highly ~ 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 demarcate separately all directions one-dimensional power or moment, therefore can only adopt the static decoupling algorithm based on Generalized Inverse Matrix to carry out decoupling zero, algorithm relates to numerous matrix operations, easily produce ill-condition matrix, affect 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 to 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) whole caliberating device is simple in structure, 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-direction 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 in the present invention.
Fig. 4 is six-dimension force sensor sketch in the present invention.
Fig. 5 loads the first fixture block sketch of clamping device in the present invention.
Fig. 6 loads the second fixture block sketch of clamping device in the present invention.
Fig. 7 loads clamping device and six-dimension force sensor assembling schematic diagram in the present invention.
Fig. 8 is elevating mechanism structural representation in the present invention.
Fig. 9 demarcates the worktable sketch in 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, the first elevating mechanism, the second elevating mechanism, charger, loading clamping device 14 and L shaped sensor base 12.
The first elevating mechanism comprises that the first elevator 7, the first elevators 7 as output terminal are connected with an end of charger, and the second elevating mechanism comprises that the 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 the first elevator 7 of the 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 square tube 15 and first party borehole jack 91 and first laterally forms between loading square tube 15 and laterally is slidably connected, first vertical force application rod 9 can laterally load square tube 15 to first and apply up or down vertical force, first laterally loads square tube 15 is connected with an end that loads clamping device 14, the upper end of second vertical force application rod 10 is connected with the second elevator 8 of the 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 square tube 16 and first party borehole jack 101 and second laterally forms between loading square tube 16 and laterally is slidably 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 power sensor in loading square tube 16 upper ends, can measure first vertical force application rod 9, second vertical force application rod 10 and respectively the first horizontal square tube 15, second that loads laterally be loaded the size and Orientation that square tube 16 applies vertical force, the precision of standard one-dimensional power sensor 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 for measuring 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 arranged on staking-out work platform 11, with reference to Fig. 3, L shaped sensor base 12 is comprised of orthogonal the first arm 121 and the second arm 122, the first arm 121 and the second arm 122 are formed by connecting by seamless welding, machining guarantees its verticality, constant for guaranteeing stressed rear verticality, muscle is installed on the medial surface that the first arm 121 and the second arm 122 intersect, be provided with on the first arm 121 for the first groove 1211 of placing six-dimension force sensor 13, be provided with on the second arm 122 for the second groove 1221 of placing six-dimension force sensor, be used for the convenient six-dimension force sensor 13 of installing, be equipped with the horizontal installation screw 1212 of sensor on the first groove 1211, be equipped with sensor at right angle setting screw 1222 on the second groove 1221, six-dimension force sensor can be fixed in respectively according to the direction of demarcation power or moment on the first groove 1211 or the second groove 1221, the first 121 4 jiaos, arm locates to be equipped with four L-type sensor base fixed orifices 1213, be used for coordinating with L-type sensor base mounting hole 1107, L-type sensor base 12 is fixed in horizontal steel plate 1101 upper surfaces of staking-out work platform 11.
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 comprised of the first fixture block 140 and the second fixture block 141 that are superimposed with each other together, be provided with the first party connected in star 1401 of demarcating axle 1301 for clamping on the first fixture block 140, first demarcates axle connecting screw hole 1402 in first party connected in star 1401, be provided with the second party connected in star 1411 of demarcating axle 1301 for clamping on the second fixture block 141, second demarcates axle connecting screw hole 1402 in second party connected in star 1411, tighten first and demarcate axle connecting screw hole 1402, second demarcates axle connecting screw hole 1402 place's nuts, assurance clamping demarcation axle 1301 tops, an end that loads clamping device 14 embeds first and laterally loads square tube 15 and connected with the bolt that is connected clamping device 14 1 ends by the first horizontal square tube 15 that loads that runs through more than 2 or 2, the other end that loads clamping device 14 embeds the second horizontal loading square tube 16 and is connected with the bolt that is connected clamping device 14 other ends by the second horizontal square tube 16 that loads that runs through more than 2 or 2, and the horizontal loading square tube 15 of assurance first, second laterally loads square tube 16 and loading clamping device 14 does not relatively move.
With reference to Fig. 8, the first elevating mechanism and the second elevating mechanism adopt spiral lift device, spiral lift device is comprised of the first square base 1, the first square column 3, the second square column 4, servomotor 17, speed reduction unit 18, the first gear 19, the second gear 20, the 3rd gear 21, the 4th gear 22, the 5th gear 23, ball-screw 24, ball nut 25, the first guide rail 26 and the second guide rail 27, the first square column 3 is loaded into an end of the first square base 1 upper surface, and the second square column 4 is loaded into the other end of the 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 simultaneously output torque, speed reduction unit 18 output shafts and the first gear 19 centers are rigidly connected, one side of the first gear 19 and the second gear 20 engagements, another is surveyed and the 3rd gear 21 engagements, the 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 the same straight line, make servomotor drive the 4th gear 22, the five synchronized rotating in same directions of gear 23.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 the second square column 4 sections and inner structure identical, ball nut 25 and ball-screw 24 threaded engagement, ball nut 25 and the first elevator 7 are rigidly connected, be to increase steadiness, ball nut 25 ball-screw 24 both sides be slidably connected for the first guide rail 26 of its guiding and the second guide rail 27.
With reference to Fig. 9, for demarcating worktable 11 sketches in the present invention, staking-out work platform 11 is by horizontal steel plate 1101, the first vertical card extender 1102, the second vertical card extender 1105 of the vertical card extender 1104, the four of vertical card extender 1103, the three, sensor cable hole 1106, L-type sensor base mounting hole 1107 forms.Sensor cable hole 1106 is used for placing 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 seamless 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 the first vertical card extender 1102, the second vertical card extender 1103, the 3rd vertical card extender 1105 of vertical card extender 1104, the four.For guaranteeing that any deformation does not occur when stressed horizontal steel plate 1101, 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 the first groove 1211, making the first elevator 7, the second elevator 8 drive respectively 10 pairs first of first vertical force application rods 9, second vertical force application rod laterally loads square tubes 15, second and laterally loads square tube 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, completes the demarcation of Z direction power, making the first elevator 7, the second elevator 8 drive respectively 10 pairs first of first vertical force application rods 9, second vertical force application rod laterally loads square tubes 15, second and laterally loads square tube 16 and progressively apply up or down equal and opposite in direction by zero beginning, the vertical force of opposite direction, two vertical forces that progressively load are converted into the directions X moment (or Y-direction moment) that progressively loads and pass to six-dimension force sensor 13 by loading clamping device 14, complete the demarcation of directions X moment (or Y-direction moment), with six-dimension force sensor 13 edge demarcation axle 1301 90-degree rotations, again be fixed on the first groove 1212 of L-type sensor base, make the first elevator 7, the second elevator 8 drives respectively first vertical force application rod 9, second 10 pairs first of 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 of opposite direction, two vertical forces that progressively load are converted into the Y-direction moment (or directions X moment) that progressively loads and pass to six-dimension force sensor 13 by loading clamping device 14, complete the demarcation of Y-direction moment (or directions X moment).
when six-dimension force sensor 13 is fixed on L-type sensor base the second groove 1221, making the first elevator 7, the second elevator 8 drive respectively 10 pairs first of first vertical force application rods 9, second vertical force application rod laterally loads square tubes 15, second and laterally loads square tube 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, completes the demarcation of directions X power (or Y-direction power), with six-dimension force sensor 13 edge demarcation axle 1301 90-degree rotations, be fixed in again on the second groove 1221 of L-type sensor base, if the first elevator 7, the second elevator 8 drives respectively first vertical force application rod 9, second 10 pairs first of 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 and make a concerted effort to pass to six-dimension force sensor 13 by loading clamping device 14, complete the demarcation of Y-direction power (or directions X power), making the first elevator 7, the second elevator 8 drive respectively 10 pairs first of first vertical force application rods 9, second vertical force application rod laterally loads square tubes 15, second and laterally loads square tube 16 and progressively applied the vertical force of equal-sized opposite direction up or down 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, complete the demarcation of Z yawning moment.
Whole rating test process is controlled two servomotors by PC, and by size and the positive negative direction of standard unidirectional force sensor measurement loading force, is detected the position of fixture by non-contact displacement transducer.And by on the first groove 1211 or the second groove 1221 that six-dimension force sensor 13 are arranged on respectively L-type sensor base 12, can carry out Accurate Calibration to 3 direction power and 3 yawning moments respectively.According to the Experimental Calibration data that all directions one-dimensional power loads, to establish six-dimension force sensor 13 inputs and consist of Linear Time-Invariant System with output, the essence of coupling between dimension is set up coupling model between the dimension of six-dimension force sensor 13.
The output voltage on every road is first deducted that a part of pressure value that between the perturbed force dimension, coupling is introduced, namely eliminate coupling error, then divided by
k ii Ask power, the decoupling zero of having completed between each dimension power is calculated.Shown in (1).
In formula
(1)
Formula (1) decoupling zero needs known coupled interference force vector, and in 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 is suc as formula shown in (2).
Whole undetermined constants in formula (2) namely
Can carry out the monobasic linear fit by the static demarcating test figure obtains.At last institute's survey voltage is brought in formula (2) and completed decoupling zero.
Claims (3)
1. the caliberating device of a two power sources six-dimension force sensor, comprise: staking-out work platform (11), it is characterized in that, described caliberating device also comprises the first elevating mechanism, the second elevating mechanism, charger, load clamping device (14) and L shaped sensor base (12), the first elevating mechanism comprises the first elevator (7) as output terminal, the first elevator (7) is connected with an end of charger, the second elevating mechanism comprises the second elevator (8) as output terminal, the 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 the 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 the upper and first party borehole jack (91) and first of square tube (15) and laterally form between loading square tube (15) and laterally be slidably connected, first laterally loads square tube (15) is connected with an end that loads clamping device (14), described second vertical force application rod, (10) upper end is as the other end of charger and the second elevator of the second elevating mechanism, (8) connect, at second vertical force application rod, (10) lower end is connected with the second party borehole jack, (101), the second party borehole jack, (101) be set in second and laterally load square tube, (16) upper and second party borehole jack, (101) laterally load square tube with second, (16) form between and laterally be slidably 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 staking-out work platform (11), L shaped sensor base (12) is comprised of orthogonal the first arm (121) and the second arm (122), be provided with on the first arm (121) for the first groove (1211) of placing six-dimension force sensor, be provided with on the second arm (122) for the second groove (1221) of placing 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 comprised of with the second fixture block (141) the first fixture block (140) that is superimposed with each other together, be provided with the first party connected in star (1401) for clamping transducer calibration axle on the first fixture block (140), first demarcates axle connecting screw hole (1402) in first party connected in star (1401), be provided with the second party connected in star (1411) for clamping transducer calibration axle on the second fixture block (141), second demarcates axle connecting screw hole (1402) in second party connected in star (1411), an end that loads clamping device (14) embeds first and laterally loads square tube (15) and connected by first bolt that laterally loads square tube (15) and is connected clamping device (14) one ends that runs through more than 2 or 2, and the other end that loads clamping device (14) embeds second and laterally loads square tube (16) and by the second horizontal loading square tube (16) and be connected the bolt connection of clamping device (14) other end that runs through more than 2 or 2.
3. the caliberating device of according to claim 1 and 2 pair of power source six-dimension force sensor, it is characterized in that, the first elevating mechanism and the second elevating mechanism adopt spiral lift device, described jacking gear, comprise the first square base (1), the first square column (3), the second square column (4), servomotor (17), speed reduction unit (18), the first gear (19), the second gear (20), the 3rd gear (21), the 4th gear (22), the 5th gear (23), ball-screw (24), ball nut (25), the first guide rail (26) and the second guide rail (27), the first square column (3) is loaded into an end of the first square base (1) upper surface, the second square column (4) is loaded into the other end of the 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 the first gear (19) center are rigidly connected, one side of the first gear (19) and the second gear (20) engagement, opposite side and the 3rd gear (21) engagement, the 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 the same 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 slidably connected with the first guide rail (26) and the second guide rail (27), ball nut (25) is rigidly connected with the output terminal of elevating mechanism.
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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 |
| CN104406736B (en) * | 2014-11-14 | 2016-08-24 | 燕山大学 | A kind of combined small multi-dimension force sensor demarcates charger |
| CN105784271B (en) * | 2016-05-25 | 2018-11-09 | 上海交通大学 | The caliberating device and scaling method of three component sensors |
| CN108731875B (en) * | 2018-06-11 | 2020-05-15 | 南京航空航天大学 | Six-dimensional force sensor calibration device and calibration method thereof |
| CN109682533B (en) * | 2019-01-08 | 2024-04-30 | 吉林大学 | Dual-mode six-dimensional force/torque sensor calibration device and calibration 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 |
| 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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| CN101226095A (en) * | 2008-01-30 | 2008-07-23 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device |
| CN101464201A (en) * | 2009-01-05 | 2009-06-24 | 大连理工大学 | Calibration apparatus for six-dimension heavy force sensor |
| CN101571441A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device with medium measurement range |
| CN101936797A (en) * | 2010-08-06 | 2011-01-05 | 重庆大学 | Calibration device and method of six-dimensional force sensor |
| CN202216801U (en) * | 2011-08-08 | 2012-05-09 | 东南大学 | Double-force-source calibration device for six-dimensional force sensor |
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| CN101226095A (en) * | 2008-01-30 | 2008-07-23 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device |
| CN101571441A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Six-dimension force sensor calibration device with medium measurement range |
| CN101464201A (en) * | 2009-01-05 | 2009-06-24 | 大连理工大学 | Calibration apparatus for six-dimension heavy force sensor |
| CN101936797A (en) * | 2010-08-06 | 2011-01-05 | 重庆大学 | Calibration device and method of six-dimensional force sensor |
| CN202216801U (en) * | 2011-08-08 | 2012-05-09 | 东南大学 | Double-force-source calibration device for six-dimensional force sensor |
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