CN114509206A - Calibration device and calibration method for strain S-deformation six-component sensor - Google Patents
Calibration device and calibration method for strain S-deformation six-component sensor Download PDFInfo
- Publication number
- CN114509206A CN114509206A CN202210131700.9A CN202210131700A CN114509206A CN 114509206 A CN114509206 A CN 114509206A CN 202210131700 A CN202210131700 A CN 202210131700A CN 114509206 A CN114509206 A CN 114509206A
- Authority
- CN
- China
- Prior art keywords
- loading
- flange
- sensor
- force
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a calibration device of a strain type S-deformation six-component sensor, which comprises a bracket, a switching flange, a loading flange and a loading rod, wherein the switching flange is arranged on the bracket; the adapter flange is fixedly arranged on the bracket and comprises two flange surfaces which are vertical to each other; the fixed surface of the strain type S-deformation six-component force sensor is connected with the surface A or the surface B of the adapter flange, and the model mounting surface is connected with the loading flange; a through hole E is reserved for the loading rod in the X direction of the loading flange, the axial direction of the through hole E is the same as the Z direction of the sensor, a through hole F is reserved for the loading rod in the Z direction of the loading flange, the axial direction of the through hole F is the same as the X direction or the Y direction of the sensor, a hanging ring hole is further arranged in the X direction of the loading flange, and the central line of the hanging ring hole is overlapped with the Fz stress central point in the third section of the sensor; the loading rod is provided with a graduated scale, one end of the loading rod is provided with a groove, and the groove is a zero point. The calibration device has simple structure, small volume and easy operation, and the calibration method can indirectly load pure force and pure couple and improve the calibration precision and repeatability of the six-component force sensor.
Description
Technical Field
The invention belongs to the technical field of sensor calibration, and particularly relates to a calibration device and a calibration method for a strain S-deformation six-component sensor.
Background
The strain type six-component sensor is the most widely and mature six-component sensor at present, and comprises three components and three moments, namely forces Fx, Fy and Fz along three coordinate directions and moments Mx, My and Mz around the three coordinates. The S-deformation (also called as parallel beam type) six-component force sensor structurally comprises three sections of parallel beams which are perpendicular to each other (as shown in figure 1), wherein the first section is responsible for measuring Fx and Mx, the second section is responsible for measuring Fy and My, and the third section is responsible for measuring Fz and Mz.
The sensor needs to be calibrated before use to determine its performance parameters and calibration coefficients. The six-component force sensor calculates the measurement force according to the calibration coefficient matrix by the calculation formula
Wherein Cij (i, j ═ 1,2,3,4,5,6) is a calibration coefficient. At present, a single-component sensor can achieve the precision of ten-thousandth, while a six-component sensor can only achieve the precision of a few percent. The main reasons for the difficulty in improving the accuracy of the six-component sensor are: (1) the single component force sensor only bears tension and compression, the acting force direction is single, the acting center of force is easy to find, and other interference force or moment can not exist during loading, namely the loaded pure force; however, when any force is applied to the six-component sensor, a plurality of forces or moments are always generated at the same time, and coupling interference between the component forces inevitably occurs, so that the coupling interference coefficient between the component forces needs to be calibrated in the calibration process, but the six-component sensor is not easy to load pure force or pure couple, so that the calibration of the interference coefficient between the component forces is inaccurate. (2) In order to solve the problem that a six-component force sensor loads a pure force or a pure couple in the calibration process, the direction and the position of the loading force are adjusted by arranging a plurality of groups of pulley blocks (as shown in fig. 2) in the traditional calibration method, so that the pure force and the pure couple are loaded.
However, the pulley block calibration mechanism has the following problems: (1) the pulley block calibration mechanism is large and complex to operate; (2) because the pulley rope has tension, extra tension of the rope can be introduced in the calibration process of the sensor, and the calibration precision is influenced; (3) because the contact has frictional force between pulley and the rope, and because the difference of rope pretightning force at every turn can lead to frictional force different, influence the precision and the repeatability of demarcation.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a calibration device and a calibration method of a strain S-deformation six-component sensor, wherein the calibration device is suspended, the calibration device is simple in structure, small in size and easy to operate, and the calibration method can indirectly realize the loading of pure force and pure couple and improve the calibration precision and repeatability of the six-component sensor.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a calibration device of a strain type S-deformation six-component sensor comprises a support, an adapter flange, a loading flange and a loading rod; the adapter flange is fixedly arranged on the bracket and comprises two flange surfaces which are vertical to each other and are respectively an A surface and a B surface; the fixed surface of the strain type S-deformation six-component sensor to be calibrated is connected with the surface A or the surface B of the adapter flange, and the model mounting surface of the transducer is connected with the loading flange; a through hole E is reserved for the loading rod in the X direction of the loading flange, the axial direction of the through hole E is the same as the Z direction of the sensor, a through hole F is reserved for the loading rod in the Z direction of the loading flange, the axial direction of the through hole F is the same as the X direction or the Y direction of the sensor, a hanging ring hole is further arranged in the X direction of the loading flange, and the central line of the hanging ring hole is superposed with the Fz stress central point in the third section of the sensor so as to conveniently load the tension through the hanging ring; the loading rod is provided with a graduated scale, one end of the loading rod is provided with a groove, the groove is a zero point, and the loading rod is inserted into the through hole E or the through hole F so as to conveniently load pure force and moment.
In the above scheme, the calibration device further comprises a loading hook and a weight, the loading hook and the weight are used for loading in the calibration process, the loading hook is hung at the groove of the loading rod, and the weight is hung on the loading hook.
Correspondingly, the invention also provides a calibration method of the strain S-deformation six-component sensor, which adopts the calibration device to calibrate pure force and pure couple: when pure forces in the X direction and the Y direction are calibrated, a sensor is connected with the surface A of the adapter flange, a loading rod is inserted into a preformed hole E of the loading flange, the zero point of the loading rod is aligned with the stress center of each component force by moving the loading rod, and then a load is applied to the zero point of the loading rod, so that the calibration of the pure forces Fx and Fy can be realized; when pure force in the Z direction is calibrated, the sensor is connected with the surface B of the adapter flange, the center line of a lifting ring hole of the loading flange is superposed with the force bearing center point of the Fz in the third section, and load is applied to the lifting ring, so that the calibration of the pure force Fz can be realized; when pure force couples My and Mx are calibrated, a sensor is connected with the surface A of the adapter flange, a loading rod is inserted into a preformed hole E of the loading flange, the zero point of the loading rod is separated from the action center of the moment by a rated moment arm by moving the loading rod, and then a load is applied to the zero point of the loading rod, so that the indirect calibration of the pure force couples can be realized; when the pure couple Mz is calibrated, the sensor is connected with the surface A of the adapter flange, the loading rod is inserted into the preformed hole F of the loading flange, the zero point of the loading rod is separated from the action center of the moment by a rated arm of force by moving the loading rod, and then the load is applied to the zero point of the loading rod, so that the indirect calibration of the pure couple can be realized.
In the method, the calibration method for the force coefficient and the interference coefficient in the X direction specifically comprises the following steps:
and step 13, equally loading weights on the loading hook for multiple times to obtain the output of the Fx and interference outputs generated on other five component forces, wherein the slope of the output of the Fx is the calibration coefficient C11 of the Fx, and the slopes of the interference outputs generated on the other five component forces are C12, C13, C14, C15 and C16.
In the method, the calibration method for the force coefficient and the interference coefficient in the My direction specifically comprises the following steps:
step 22, inserting a loading rod into a loading flange preformed hole E, enabling the distance between the groove part of the loading rod and the Fy stress central point in the second section of the sensor to be L1, enabling the rated load of My to be L1 divided by the rated load of Fx, and hanging a loading hook at the groove of the loading rod, so that two forces of the force Fx and the force of My are applied simultaneously;
and step 23, according to the loading working condition in the step 13, weights are loaded on the loading hook for multiple times in equal amount, so that the output of six component forces when the Fx and the My exist at the same time is obtained, the output when the pure force Fx is subtracted from the output, so that the output of the My when only the My exists (namely a pure couple) and the interference output of the My on other five component forces can be obtained, the slope of the output of the My is the calibration coefficient C55 of the My, and the slopes of the interference outputs generated on other five component forces are C51, C52, C53, C54 and C56.
In the method, the calibration of the Mz direction acting force coefficient and the interference coefficient is realized by loading the Fx direction force, and the method specifically comprises the following steps:
step 51, operating according to step 11;
step 52, inserting a loading rod into a loading flange preformed hole F, enabling the distance between the groove part of the loading rod and the Fz force-bearing central point in the third section of the sensor to be L2, and enabling the Mz rated load to be L2 divided by the Fx rated load, and then hanging a loading hook at the groove of the loading rod, so that two forces of the force Fx and the force of the Mz are applied at the same time;
and step 53, equally loading weights on the loading hook for multiple times according to the loading condition in the step 13 to obtain outputs of six component forces when Fx and Mz exist at the same time, subtracting the output when the pure force Fx from the output to obtain the output of Mz when only Mz exists (namely a pure couple) and interference outputs of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on the other five component forces are C61, C62, C63, C64 and C65.
In the method, the calibration method for the force coefficient and the interference coefficient in the Y direction specifically comprises the following steps:
and step 33, equally loading weights on the loading hook for multiple times to obtain the output of Fy and interference outputs generated on other five component forces, wherein the slope of the output of Fy is the calibration coefficient C22 of Fy, and the slopes of the interference outputs generated on other five component forces are C21, C23, C24, C25 and C26.
In the above method, the calibration of the force coefficient and the interference coefficient in the Mx direction by the calibration method specifically includes the following steps:
step 42, inserting a loading rod into a loading flange preformed hole E, enabling the distance between the groove part of the loading rod and the Fx stress central point in the first section of the sensor to be L3, and enabling the rated load of Mx to be L3 divided by the rated load of Fy, and hanging a loading hook at the groove of the loading rod, so that two forces of Fy and Mx are applied simultaneously;
and 43, equally loading weights on the loading hook for multiple times according to the loading condition in the step 33 to obtain outputs of six component forces when Fy and Mx exist at the same time, subtracting the output when the pure force Fy is loaded from the output to obtain the output of Mx when only Mx exists (namely a pure couple) and interference outputs of Mx to other five component forces, wherein the slope of the output of Mx is the calibration coefficient C44 of Mx, and the slopes of interference outputs generated on other five component forces are C41, C42, C43, C45 and C46.
In the method, the calibration of the Mz direction acting force coefficient and the interference coefficient is realized by loading Fy direction force, and the method specifically comprises the following steps:
step 51', operating according to step 31;
step 52 ', inserting a loading rod into a loading flange preformed hole F, enabling the distance between the groove part of the loading rod and the force-bearing central point of Fz in the third section of the sensor to be L2 ', enabling the rated load of Mz to be L2 ', and hanging a loading hook at the groove of the loading rod, so that two forces of Fy and Mz are applied simultaneously;
and 53', equally loading weights on the loading hook for multiple times according to the loading condition in the step 33 to obtain the output of six component forces when Fy and Mz exist at the same time, subtracting the output of pure force Fy from the output to obtain the output of Mz only with Mz (namely pure couple) and the interference output of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on other five component forces are C61, C62, C63, C64 and C65.
In the method, the calibration of the Z-direction acting force coefficient and the interference coefficient by the method specifically comprises the following steps:
step 61, mounting the surface A of the adapter flange on a circular table on a support, connecting the fixed end surface of the sensor with the surface B of the adapter flange, ensuring that the Z-axis direction of the sensor is vertical to the ground, the positive direction of the X-axis of the loading flange faces upwards, the X-axis direction of the loading flange is vertical to the ground, and connecting the loading flange with the mounting end surface of a sensor model;
step 62, the position of a lifting ring of the loading flange is superposed with the Fz stress central point in the third section, and a loading hook is hung at the lifting ring;
and step 63, equally loading weights on the loading hook for multiple times to obtain the output of the Fz and the interference outputs generated on the other five component forces, wherein the slope of the output of the Fz is the calibration coefficient C33 of the Fz, and the slopes of the interference outputs generated on the other five component forces are C31, C32, C34, C35 and C36.
The invention has the beneficial effects that:
the invention provides a calibration device and a corresponding calibration method aiming at the calibration of a strain S-deformation six-component sensor, and the calibration method can not only not introduce external interference force, but also indirectly realize the loading of pure force and pure couple, thereby improving the calibration precision and calibration repeatability of the six-component sensor. And the calibration device is suspended, and has the advantages of simple structure, small volume and easy operation.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic structural diagram of a strain type S-deformation six-component force sensor.
Fig. 2 is a prior art schematic diagram of a calibration device for a six-component force sensor.
Fig. 3 is a schematic view of the support structure of the suspension type calibration device of the invention.
Fig. 4 is a schematic structural view of an adapter flange of the suspension type calibration device.
Fig. 5 is a schematic structural view of a loading flange of the suspension type calibration device.
Fig. 6 is a schematic view of a loading rod structure of the suspension type calibration device.
Fig. 7 is a schematic view of a loading hook structure of the suspension type calibration device of the invention.
FIG. 8 is a schematic diagram of the process of calibrating Fx/My/Fy/Mx by the suspension type calibration device of the present invention.
FIG. 9 is a partial structural schematic diagram of the calibration Fx and My of FIG. 8.
Fig. 10 is a partial structure diagram of the calibration Fy and Mx of fig. 8.
Fig. 11 is a schematic diagram of the process of calibrating Mz by the suspension type calibration device of the present invention.
Fig. 12 is a partial structural schematic view of fig. 11.
Fig. 13 is a schematic diagram of the calibration process of Fz by the suspension type calibration device of the present invention.
In the figure: 1. a support; 11. a circular truncated cone; 12. a vertical plate; 13. a base; 14. a rib plate; 15. a support plate;
2. a transfer flange; 21. a lightening hole;
3. loading a flange; 31. a through hole E; 32. a through hole F; 33. a hoisting ring; 34. a suspension ring hole;
4. a loading rod; 41. a groove;
5. loading a hook;
200. six component force sensors.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 3 to 7, the calibration device for the strain-type S-deformation six-component sensor provided by the embodiment of the present invention is a suspension type calibration device, and includes a support 1, an adapter flange 2, a loading flange 3, a loading rod 4, a loading hook 5, and a weight.
Referring to fig. 3, the bracket 1 is L-shaped, and includes a circular truncated cone 11, a vertical plate 12 and a base 13, forming an L-shaped calibration cavity; the vertical plate 12 is herringbone and vertical to the ground; the circular table 11 is arranged at the top of the vertical plate 12, the circular table 11 is concave or hollow so as to reduce the gravity center of the calibration frame, and the surface of the circular table 11 is provided with holes according to the positions and the sizes of the sensor assembling holes; the base 13 is installed at the bottom of the vertical plate 12, the base 13 is a rectangle formed by welding channel steel, and the base 13 is welded with the vertical plate 12 and the supporting plate. The bracket 1 also comprises a rib plate 14 and a support plate 15; the rib plate 14 is positioned at the intersection of the circular truncated cone 11 and the vertical plate 12, and the rib plate 14 is welded with the circular truncated cone 11 and the vertical plate 12 so as to enhance the bending resistance of the bracket 1; the support plate 15 is located on the other side of the vertical plate 12, and the support plate 15 is welded with the vertical plate 12 to enhance the strength of the vertical plate 12.
Referring to fig. 4, the adaptor flange 2 is L-shaped, and includes two flange faces perpendicular to each other, namely, a face a and a face B, the face a of the loading flange 3 is perpendicular to the ground, and the face B of the loading flange 3 is perpendicular to the upper end of the face a; and punching holes on the two flange surfaces according to the position and the size of the sensor assembling hole respectively. The surface A of the adapter flange 2 is fixedly connected with the circular table 11 of the bracket 1, the fixing surface of the strain type S-deformation six-component force sensor 200 to be calibrated is connected with the surface A or the surface B of the adapter flange 2, and the model mounting surface is connected with the loading flange 3. Lightening holes 21 are formed in two flange surfaces of the adapter flange 2, so that the gravity center of the calibration frame is lowered.
Referring to fig. 5, holes are formed in the surface of the loading flange 3 according to the position and the size of a sensor assembling hole; a through hole E31 is reserved for the loading rod 4 in the direction 3X of the loading flange, and the axial direction of the through hole E31 is the same as the Z direction of the sensor; a through hole F32 is reserved for the loading rod 4 in the Z direction of the loading flange 3, the axial direction of the through hole F32 is the same as the X direction or the Y direction of the sensor, and the loading rod 4 is inserted into the through hole E31 or the through hole F32 so as to conveniently load pure force and moment; a lifting ring hole 34 is further formed in the loading flange 3X direction, the lifting ring hole 34 is located at the intersection of the diagonal lines of the assembly holes of the YZ plane of the loading flange 3, and the center line of the lifting ring hole 34 is overlapped with the Fz stress center point in the third section of the sensor; the lifting ring 33 is screwed to the loading flange 3 in order to facilitate the loading of the tensile force by means of the lifting ring 33.
Referring to fig. 6, the loading rod 4 is an auxiliary workpiece for loading pure force and moment, a scale is arranged on the loading rod 4, a groove 41 is arranged at one end of the loading rod 4, and the position of the groove 41 is a zero point. Because the sensor structure of the invention is composed of three sections aiming at the six-component sensor of S deformation, namely the force action centers of each component are different, the distance between the model installation surface and the force action center point of Fx in the first section of the sensor is recorded as Z1, and the distance between the model installation surface and the force action center point of Fy in the second section of the sensor is recorded as Z2 (shown in figure 1). After the loading rod 4 is arranged, the zero point of the loading rod 4 is aligned with the stress center of each component force by moving the loading rod, and then the pure force calibration can be realized; because the size of the sensor is a small amount relative to the arm of force of the full-scale moment, the full-scale calibration of the moment can be realized by increasing the arm of force through the loading rod 4.
As shown in fig. 7, the loading hook 5 and the weight are used for loading in the calibration process, the loading hook 5 is hung at the groove 41 of the loading rod 4, and the weight is hung on the loading hook 5.
The method for calibrating the pure force and the pure couple by adopting the calibration device of the strain type S-deformation six-component sensor provided by the invention comprises the following steps: when pure forces in the X direction and the Y direction are calibrated, a sensor is connected with the surface A of the adapter flange 2, the loading rod 4 is inserted into a preformed hole E of the loading flange 3, the zero point of the loading rod 4 is aligned with the stress center of each component force by moving the loading rod 4, and then a load is applied to the zero point of the loading rod 4, so that the calibration of the pure forces Fx and Fy can be realized; when pure force in the Z direction is calibrated, the sensor is connected with the surface B of the adapter flange 2, the central line of a lifting ring hole 34 of the loading flange 3 is superposed with the force bearing central point of Fz in the third section, and load is applied to a lifting ring 33, so that the calibration of the pure force Fz can be realized; when My and Mx are calibrated, a sensor is connected with the surface A of the adapter flange 2, the loading rod 4 is inserted into a preformed hole E of the loading flange 3, the zero point of the loading rod 4 is separated from the action center of the moment by a rated force arm by moving the loading rod 4, and then a load is applied to the zero point of the loading rod 4, so that the calibration of an indirect pure couple can be realized; when Mz is calibrated, a sensor is connected with the surface A of the adapter flange 2, the loading rod 4 is inserted into a preformed hole F of the loading flange 3, the zero point of the loading rod 4 is separated from the action center of the moment by a rated force arm by moving the loading rod 4, and then a load is applied to the zero point of the loading rod 4, so that the calibration of indirect pure couple can be realized.
Further, the calibration method is used for calibrating the force coefficient and the disturbance coefficient in the X direction (C1i, i is 1,2,3,4,5,6), see fig. 8-9, and specifically includes the following steps:
and step 13, equally loading weights on the loading hook 5 for multiple times to obtain the output of the Fx and the interference outputs generated on the other five component forces, wherein the slope of the output of the Fx is the calibration coefficient C11 of the Fx, and the slopes of the interference outputs generated on the other five component forces are C12, C13, C14, C15 and C16.
Further, the calibration method calibrates the force coefficient and the interference coefficient in the My direction (C5i, i is 1,2,3,4,5,6), referring to fig. 8 to 9, and specifically includes the following steps:
step 22, inserting the loading rod 4 into a preformed hole E of the loading flange 3, enabling the distance between the groove 41 part of the loading rod 4 and the Fy stress central point in the second section of the sensor to be L1 (the rated load of My divided by the rated load of Fx is L1), and hanging the loading hook 5 at the groove 41 part of the loading rod 4, so that two forces of the force Fx and the force of My are applied simultaneously;
and step 23, according to the loading working condition in the step 13, weights are loaded on the loading hook 5 for multiple times in equal amount, so that the output of six component forces when the Fx and the My exist at the same time is obtained, the output when the pure force Fx is subtracted from the output, so that the output of the My when only the My exists (namely a pure couple) and the interference output of the My on other five component forces can be obtained, the slope of the output of the My is the calibration coefficient C55 of the My, and the slopes of the interference outputs generated on other five component forces are C51, C52, C53, C54 and C56.
Further, the calibration method calibrates the force coefficient and the disturbance coefficient in the Y direction (C2i, i is 1,2,3,4,5,6), referring to fig. 8 and fig. 10, and specifically includes the following steps:
and step 33, equally loading weights on the loading hook 5 for multiple times to obtain the output of Fy and interference outputs generated on other five component forces, wherein the slope of the output of Fy is the calibration coefficient C22 of Fy, and the slopes of the interference outputs generated on other five component forces are C21, C23, C24, C25 and C26.
Further, the calibration method calibrates the force coefficient and the disturbance coefficient in the Mx direction (C4i, i is 1,2,3,4,5,6), referring to fig. 8 and fig. 10, and specifically includes the following steps:
step 42, inserting the loading rod 4 into a preformed hole E of the loading flange 3, enabling the distance between the groove 41 part of the loading rod 4 and the Fx stress central point in the first section of the sensor to be L3 (the rated load of Mx is divided by the rated load of Fy is L3), and hanging the loading hook 5 at the groove 41 part of the loading rod 4, so that two forces of Fy and Mx are applied simultaneously;
and 43, equally loading weights on the loading hook 5 for multiple times according to the loading condition in the step 33 to obtain outputs of six component forces when Fy and Mx exist at the same time, subtracting the output when the pure force Fy is loaded from the output to obtain the output of Mx only when Mx exists (namely a pure couple) and interference outputs of Mx to other five component forces, wherein the slope of the output of Mx is the calibration coefficient C44 of Mx, and the slopes of interference outputs generated on other five component forces are C41, C42, C43, C45 and C46.
Further optimization, the method calibrates the force coefficient and the disturbance coefficient in the Mz direction (C6i, i ═ 1,2,3,4,5,6), see fig. 11-12, and specifically includes the following steps:
step 51, operating according to step 11;
step 52, inserting the loading rod 4 into a preformed hole F of the loading flange 3, enabling the distance between the groove 41 part of the loading rod 4 and the Fz force bearing central point in the third section of the sensor to be L2 (the rated load of Mz is divided by the rated load of Fx is L2), and hanging the loading hook 5 at the groove 41 part of the loading rod 4, so that two forces of the force Fx and the force of Mz are applied simultaneously;
and 53, equally loading weights on the loading hook 5 for multiple times according to the loading condition in the step 13 to obtain the output of six component forces when Fx and Mz exist simultaneously, subtracting the output of the pure force Fx from the output to obtain the output of Mz only when Mz exists (namely a pure couple) and the interference output of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on other five component forces are C61, C62, C63, C64 and C65.
Further, according to another loading method for calibrating the force coefficient and the disturbance coefficient in the Mz direction (C6i, i is 1,2,3,4,5,6), as shown in fig. 11 to 12, the method specifically includes the following steps:
step 51', operating according to step 31;
step 52 ', inserting the loading rod 4 into the preformed hole F of the loading flange 3, so that the distance between the groove 41 part of the loading rod 4 and the force-bearing central point of Fz in the third section of the sensor is the length of L2 ' (Mz rated load divided by Fy rated load which is L2 '), and hanging the loading hook 5 at the groove 41 of the loading rod 4, thereby simultaneously applying two forces of Fy and Mz;
and 53', equally loading weights on the loading hook 5 for multiple times according to the loading condition in the step 33 to obtain the output of six component forces when Fy and Mz exist at the same time, subtracting the output of pure force Fy from the output to obtain the output of Mz only with Mz (namely pure couple) and the interference output of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on other five component forces are C61, C62, C63, C64 and C65.
Further optimization, the method calibrates the Z-direction force coefficient and the interference coefficient (C3i, i is 1,2,3,4,5,6), referring to fig. 13, and specifically includes the following steps:
step 61, installing the surface 2A of the adapter flange on the circular table 11 on the bracket 1, connecting the fixed end surface of the sensor with the surface 2B of the adapter flange, ensuring that the Z-axis direction of the sensor is vertical to the ground, the positive direction of the X-axis of the loading flange is upward, the 3X-axis direction of the loading flange is vertical to the ground, and connecting the loading flange 3 with the installation end surface of the sensor model;
62, the position of a lifting ring 33 of the loading flange 3 is superposed with the force bearing central point Fz of the third section, and a loading hook 5 is hung at the lifting ring 33;
and step 63, equally loading weights on the loading hook 5 for multiple times to obtain the output of the Fz and the interference outputs generated on the other five component forces, wherein the slope of the output of the Fz is the calibration coefficient C33 of the Fz, and the slopes of the interference outputs generated on the other five component forces are C31, C32, C34, C35 and C36.
And finally obtaining a calibration coefficient Cij (i is 1-6, and j is 1-6) of the six-component sensor calibrated by pure force and pure couple.
The calibration process is only one preferable scheme, and can be adjusted according to requirements.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The calibration device of the strain S-deformation six-component sensor is characterized by comprising a support, an adapter flange, a loading flange and a loading rod; the adapter flange is fixedly arranged on the bracket and comprises two flange surfaces which are vertical to each other and are respectively an A surface and a B surface; the fixed surface of the strain type S-deformation six-component sensor to be calibrated is connected with the surface A or the surface B of the adapter flange, and the model mounting surface of the transducer is connected with the loading flange; a through hole E is reserved for the loading rod in the X direction of the loading flange, the axial direction of the through hole E is the same as the Z direction of the sensor, a through hole F is reserved for the loading rod in the Z direction of the loading flange, the axial direction of the through hole F is the same as the X direction or the Y direction of the sensor, a hanging ring hole is further arranged in the X direction of the loading flange, and the central line of the hanging ring hole is superposed with the Fz stress central point in the third section of the sensor so as to conveniently load the tension through the hanging ring; the loading rod is provided with a graduated scale, one end of the loading rod is provided with a groove, the groove is a zero point, and the loading rod is inserted into the through hole E or the through hole F so as to conveniently load pure force and moment.
2. The calibration device of the strain S-deformation six-component sensor according to claim 1, further comprising a loading hook and a weight, wherein the loading hook and the weight are used for loading in the calibration process, the loading hook is hung at a groove of the loading rod, and the weight is hung on the loading hook.
3. A calibration method of a strain S-deformation six-component sensor is characterized in that the calibration device of claim 1 is adopted to calibrate pure force and pure couple: when pure forces in the X direction and the Y direction are calibrated, a sensor is connected with the surface A of the adapter flange, a loading rod is inserted into a preformed hole E of the loading flange, the zero point of the loading rod is aligned with the stress center of each component force by moving the loading rod, and then a load is applied to the zero point of the loading rod, so that the calibration of the pure forces Fx and Fy can be realized; when pure force in the Z direction is calibrated, the sensor is connected with the surface B of the adapter flange, the center line of a lifting ring hole of the loading flange is superposed with the force bearing center point of the Fz in the third section, and load is applied to the lifting ring, so that the calibration of the pure force Fz can be realized; when pure force couples My and Mx are calibrated, a sensor is connected with the surface A of the adapter flange, a loading rod is inserted into a preformed hole E of the loading flange, the zero point of the loading rod is separated from the action center of the moment by a rated force arm by moving the loading rod, and then a load is applied to the zero point of the loading rod, so that the indirect calibration of the pure force couples can be realized; when the pure couple Mz is calibrated, the sensor is connected with the surface A of the adapter flange, the loading rod is inserted into the preformed hole F of the loading flange, the zero point of the loading rod is separated from the action center of the moment by a rated arm of force by moving the loading rod, and then the load is applied to the zero point of the loading rod, so that the indirect calibration of the pure couple can be realized.
4. The method for calibrating the strain type S-deformation six-component sensor according to claim 3, wherein the method for calibrating the force coefficient and the disturbance coefficient acting in the X direction specifically comprises the following steps:
step 11, installing the surface A of the adapter flange on a circular table on a support, connecting the fixed end surface of the sensor with the surface A of the adapter flange, ensuring that the X-axis direction of the sensor is vertical to the ground, the positive direction of the Y-axis of the loading flange is upward, the Y-axis direction of the loading flange is vertical to the ground, and connecting the loading flange with the installation end surface of a sensor model;
step 12, inserting a loading rod into a loading flange preformed hole E, adjusting the loading rod to enable the length of a graduated scale to be equal to Z1, namely aligning the groove part of the loading rod with the Fx stress central point in the first section of the sensor, and hanging a loading hook at the groove part of the loading rod;
and step 13, equally loading weights on the loading hook for multiple times to obtain the output of the Fx and interference outputs generated on other five component forces, wherein the slope of the output of the Fx is the calibration coefficient C11 of the Fx, and the slopes of the interference outputs generated on the other five component forces are C12, C13, C14, C15 and C16.
5. The method for calibrating the strain type S-deformation six-component sensor according to claim 4, wherein the method for calibrating the force coefficient and the disturbance coefficient in the My direction specifically comprises the following steps:
step 21, operating according to step 11;
step 22, inserting a loading rod into a loading flange preformed hole E, enabling the distance between the groove part of the loading rod and the Fy stress central point in the second section of the sensor to be L1, enabling the rated load of My to be L1 divided by the rated load of Fx, and hanging a loading hook at the groove of the loading rod, so that two forces of the force Fx and the force of My are applied simultaneously;
and step 23, according to the loading working condition in the step 13, weights are loaded on the loading hook for multiple times in equal amount, so that the output of six component forces when the Fx and the My exist at the same time is obtained, the output when the pure force Fx is subtracted from the output, so that the output of the My when only the My exists (namely a pure couple) and the interference output of the My on other five component forces can be obtained, the slope of the output of the My is the calibration coefficient C55 of the My, and the slopes of the interference outputs generated on other five component forces are C51, C52, C53, C54 and C56.
6. The method for calibrating the strain type S-deformation six-component sensor according to claim 4, wherein the method is used for calibrating the Mz-direction acting force coefficient and the interference coefficient by loading the Fx-direction force, and specifically comprises the following steps:
step 51, operating according to step 11;
step 52, inserting the loading rod into the loading flange preformed hole F, enabling the distance between the groove part of the loading rod and the Fz force-bearing central point in the third section of the sensor to be L2, and enabling the rated load of Mz to be divided by the rated load of Fx to be L2, and then hanging a loading hook at the groove of the loading rod, so that two forces of Fx and Mz are simultaneously applied;
and step 53, equally loading weights on the loading hook for multiple times according to the loading condition in the step 13 to obtain outputs of six component forces when Fx and Mz exist at the same time, subtracting the output when the pure force Fx from the output to obtain the output of Mz when only Mz exists (namely a pure couple) and interference outputs of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on the other five component forces are C61, C62, C63, C64 and C65.
7. The method for calibrating the strain type S-deformation six-component sensor according to claim 3, wherein the method for calibrating the force coefficient and the disturbance coefficient acting in the Y direction specifically comprises the following steps:
step 31, mounting the surface A of the adapter flange on a circular table on a support, connecting the fixed end surface of the sensor with the surface A of the adapter flange, ensuring that the Y-axis direction of the sensor is vertical to the ground, the positive direction of the Y-axis of the loading flange is upward, the Y-axis direction of the loading flange is vertical to the ground, and connecting the loading flange with the mounting end surface of a sensor model;
step 32, inserting the loading rod into the loading flange preformed hole E, adjusting the loading rod to enable the length of the graduated scale to be equal to Z2, namely aligning the groove part of the loading rod with the Fy stress central point in the second section of the sensor, and hanging a loading hook at the groove part of the loading rod;
and step 33, equally loading weights on the loading hook for multiple times to obtain the output of Fy and interference outputs generated on other five component forces, wherein the slope of the output of Fy is the calibration coefficient C22 of Fy, and the slopes of the interference outputs generated on other five component forces are C21, C23, C24, C25 and C26.
8. The method for calibrating the strain type S-deformation six-component sensor according to claim 7, wherein the method for calibrating the force coefficient and the disturbance coefficient in the Mx direction specifically comprises the following steps:
step 41, operating according to step 31;
step 42, inserting a loading rod into a loading flange preformed hole E, enabling the distance between the groove part of the loading rod and the Fx stress central point in the first section of the sensor to be L3, and enabling the rated load of Mx to be L3 divided by the rated load of Fy, and hanging a loading hook at the groove of the loading rod, so that two forces of Fy and Mx are applied simultaneously;
and 43, equally loading weights on the loading hook for multiple times according to the loading condition in the step 33 to obtain outputs of six component forces when Fy and Mx exist at the same time, subtracting the output when the pure force Fy is loaded from the output to obtain the output of Mx when only Mx exists (namely a pure couple) and interference outputs of Mx to other five component forces, wherein the slope of the output of Mx is the calibration coefficient C44 of Mx, and the slopes of interference outputs generated on other five component forces are C41, C42, C43, C45 and C46.
9. The method for calibrating the strain type S-deformation six-component sensor according to claim 7, wherein the method is used for calibrating the Mz-direction acting force coefficient and the interference coefficient by loading Fy-direction force, and specifically comprises the following steps:
step 51', operating according to step 31;
step 52 ', inserting a loading rod into a loading flange preformed hole F, enabling the distance between the groove part of the loading rod and the force-bearing central point of Fz in the third section of the sensor to be L2 ', enabling the rated load of Mz to be L2 ', and hanging a loading hook at the groove of the loading rod, so that two forces of Fy and Mz are applied simultaneously;
and 53', equally loading weights on the loading hook for multiple times according to the loading condition in the step 33 to obtain the output of six component forces when Fy and Mz exist at the same time, subtracting the output of pure force Fy from the output to obtain the output of Mz only with Mz (namely pure couple) and the interference output of Mz to other five component forces, wherein the slope of the output of Mz is the calibration coefficient C66 of Mz, and the slopes of the interference outputs generated on other five component forces are C61, C62, C63, C64 and C65.
10. The method for calibrating the strain type S-deformation six-component sensor according to claim 3, wherein the method for calibrating the Z-direction acting force coefficient and the interference coefficient specifically comprises the following steps:
step 61, mounting the surface A of the adapter flange on a circular table on a support, connecting the fixed end surface of the sensor with the surface B of the adapter flange, ensuring that the Z-axis direction of the sensor is vertical to the ground, the positive direction of the X-axis of the loading flange faces upwards, the X-axis direction of the loading flange is vertical to the ground, and connecting the loading flange with the mounting end surface of a sensor model;
step 62, the position of a lifting ring of the loading flange is superposed with the Fz stress central point in the third section, and a loading hook is hung at the lifting ring;
and step 63, equally loading weights on the loading hook for multiple times to obtain the output of the Fz and the interference outputs generated on the other five component forces, wherein the slope of the output of the Fz is the calibration coefficient C33 of the Fz, and the slopes of the interference outputs generated on the other five component forces are C31, C32, C34, C35 and C36.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210131700.9A CN114509206B (en) | 2022-02-14 | 2022-02-14 | Calibration device and calibration method for strain S-deformation six-component sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210131700.9A CN114509206B (en) | 2022-02-14 | 2022-02-14 | Calibration device and calibration method for strain S-deformation six-component sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114509206A true CN114509206A (en) | 2022-05-17 |
| CN114509206B CN114509206B (en) | 2023-02-28 |
Family
ID=81552335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210131700.9A Active CN114509206B (en) | 2022-02-14 | 2022-02-14 | Calibration device and calibration method for strain S-deformation six-component sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114509206B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109670A (en) * | 2007-08-16 | 2008-01-23 | 浙江省计量科学研究院 | Three-dimensional force transducer calibration device |
| CN101464201A (en) * | 2009-01-05 | 2009-06-24 | 大连理工大学 | Calibration apparatus for six-dimension heavy force sensor |
| CN101571442A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Calibration method for six-dimension force sensor calibration device with medium measurement range |
| CN103528755A (en) * | 2013-10-31 | 2014-01-22 | 哈尔滨工业大学 | Calibration device for six-dimensional force sensor |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN108562396A (en) * | 2018-07-02 | 2018-09-21 | 北京航天试验技术研究所 | A kind of live calibration device suitable for piezoelectric type thrust vectoring frame |
| CN209689818U (en) * | 2019-03-14 | 2019-11-26 | 上海交通大学 | A kind of easy force sensor caliberating device |
| CN212844145U (en) * | 2020-09-29 | 2021-03-30 | 费波斯测量技术(常州)有限公司 | High-precision static torsion sensor calibration tool |
-
2022
- 2022-02-14 CN CN202210131700.9A patent/CN114509206B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109670A (en) * | 2007-08-16 | 2008-01-23 | 浙江省计量科学研究院 | Three-dimensional force transducer calibration device |
| CN101571442A (en) * | 2008-05-01 | 2009-11-04 | 中国科学院合肥物质科学研究院 | Calibration method for 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 |
| CN103528755A (en) * | 2013-10-31 | 2014-01-22 | 哈尔滨工业大学 | Calibration device for six-dimensional force sensor |
| CN103616128A (en) * | 2013-12-09 | 2014-03-05 | 中国航天空气动力技术研究院 | Six-dimension force sensor calibration device and loading unit thereof |
| CN108562396A (en) * | 2018-07-02 | 2018-09-21 | 北京航天试验技术研究所 | A kind of live calibration device suitable for piezoelectric type thrust vectoring frame |
| CN209689818U (en) * | 2019-03-14 | 2019-11-26 | 上海交通大学 | A kind of easy force sensor caliberating device |
| CN212844145U (en) * | 2020-09-29 | 2021-03-30 | 费波斯测量技术(常州)有限公司 | High-precision static torsion sensor calibration tool |
Non-Patent Citations (1)
| Title |
|---|
| 蔡大军等: "重载并联六维力传感器及静态标定", 《计量学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114509206B (en) | 2023-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101226094A (en) | Standardization method for six-dimension force sensor calibration device | |
| CN111238765A (en) | Semiconductor strain balance applied to pulse wind tunnel | |
| CN114509206B (en) | Calibration device and calibration method for strain S-deformation six-component sensor | |
| CN113063577B (en) | Spraying pipe rack with pretightening force and using method | |
| CN212621241U (en) | Motor vertical force system test structure of hanging seat type force measurement framework | |
| CN206056835U (en) | A kind of addressing strains arm with exoskeleton | |
| CN214333978U (en) | Height adjusting device of electronic truck scale | |
| CN112268681B (en) | Five-component strain balance testing device and method | |
| CN209764240U (en) | Weighing sensor and dynamic truck scale | |
| CN211347315U (en) | Semiconductor strain balance applied to pulse wind tunnel | |
| JP3616838B2 (en) | Bearing with load cell | |
| CN208721235U (en) | A kind of antioverloading self-shield aluminium sensor | |
| KR20000055483A (en) | A load cell for electronic scale | |
| CN112082681A (en) | Stress-free installation method for wind power main gearbox | |
| CN118150117B (en) | Test device and method suitable for measuring force of tiny load of thin gas wind tunnel | |
| CN110631813A (en) | Load calibration method in undercarriage dynamic load test | |
| CN217540407U (en) | Pipeline interface counter-force measurement system | |
| CN219455286U (en) | Small-size wagon balance of no welding | |
| CN213748319U (en) | Utensil is examined to fork truck counter weight | |
| CN218512004U (en) | Test equipment for repetition precision and maximum deviation value of robot quick-change device | |
| CN211927036U (en) | TC4 titanium alloy high-sensitivity parallel beam pressure weighing sensor | |
| CN216386100U (en) | Six-dimensional force sensor and calibration device | |
| CN220854079U (en) | Loading tool suspension mechanism of hub bearing rigidity testing machine | |
| CN217331333U (en) | Weighing device for signal acquisition board of shaft pin sensor | |
| JP2515743Y2 (en) | Load cell for hanging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |