CN116659743A - Six-dimensional force measuring table calibration device and calibration method based on movable electric cylinder - Google Patents
Six-dimensional force measuring table calibration device and calibration method based on movable electric cylinder Download PDFInfo
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- CN116659743A CN116659743A CN202310059603.8A CN202310059603A CN116659743A CN 116659743 A CN116659743 A CN 116659743A CN 202310059603 A CN202310059603 A CN 202310059603A CN 116659743 A CN116659743 A CN 116659743A
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- 238000003825 pressing Methods 0.000 claims abstract description 42
- 238000005259 measurement Methods 0.000 claims abstract description 22
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
Six-dimensional dynamometry platform calibration device based on movable electric cylinder includes: the device comprises a frame, a force measuring assembly and a calibration assembly, wherein the force measuring assembly comprises a first force measuring sensor device and a second force measuring sensor device which are matched with each other and act on the calibration assembly; the calibration assembly comprises: the device comprises a calibration table and a stress frame arranged on the calibration table, wherein the calibration table is arranged on a table top. The calibration assembly is fixedly limited on the frame based on a six-dimensional force measuring table calibration method of the movable electric cylinder; driving a lifting cylinder to enable the combined guide rail and the stressed frame to be at the same calibration height and enable the pressing block and the pressing groove to be on the same horizontal plane; the first force measuring sensor device and the second force measuring sensor device are driven to be matched with each other to achieve calibration of the six-dimensional force measuring table. According to the application, the force measurement calibration is realized by one-time clamping, the calibration efficiency is improved, errors caused by disassembly and manual weight operation are reduced, and meanwhile, the accuracy of the calibration result is improved by utilizing the linear relation between input and output of the high-precision sensor.
Description
Technical Field
The application relates to the technical field of calibration of six-dimensional force sensors, in particular to a six-dimensional force measuring table calibration device based on a movable electric cylinder and a calibration method using the calibration device.
Background
The global manufacturing industry is moving to the digital and intelligent age, and intelligent manufacturing is becoming a major issue for the development of manufacturing industry in many countries. The six-dimensional force sensor (six-dimensional force measuring table) can simultaneously measure three-dimensional force and three-dimensional moment information in space, has wide application in various fields of national defense science and technology, automobile electronics, machining and the like, and is a foundation and core for developing intelligent manufacturing.
After the six-dimensional force measuring table is processed, the sensor needs to be calibrated, and the relation between the input and the output of the sensor is determined. However, in the existing calibration device, a six-dimensional force measuring table is fixed on the calibration table, weights are hooked on the force measuring points, and then the weights are added upwards. The more data points are calibrated, the more accurate the result is due to the need to fit the relationship between the input and output of the sensor. Therefore, the calibration is completed by manually carrying the weights for multiple times, the operation is complex, the calibration time is prolonged, the overall working efficiency is low, the input-output relation error obtained by manually operating the carrying weights is large, and the linear force relation cannot be provided.
Disclosure of Invention
In order to overcome the defects in the prior art, the application provides the six-dimensional force measuring table calibration device based on the movable electric cylinder, disassembly-free six-dimensional force calibration of a calibration assembly can be realized through the arrangement of the combined guide rail and the cross guide rail, the error of a calibration result is reduced, the calibration is performed through controlling a high-precision sensor, the labor cost and the manual operation are reduced, and the accuracy of the calibration result is improved; in addition, the calibration device of the application fixes the six-dimensional force-measuring table once and can realize the disassembly-free calibration of the six-dimensional force-measuring table through the position adjustment of the tension and compression sensor on the combined guide rail and the cross guide rail, and the structure of the calibration device is easy to operate, has the characteristic of easy implementation and is beneficial to controlling the manufacturing cost. Correspondingly, the application also provides a six-dimensional force measuring table calibration method based on the movable electric cylinder, and the provided calibration force and the signals of the sensors are in a linear relation by controlling the tension sensor and the pressure sensor, so that the error of the calibration result is small, and the working efficiency is high.
For the calibration device, the technical scheme of the application is as follows:
six-dimensional dynamometry platform calibration device based on movable electric cylinder includes: the device comprises a frame, a force measuring assembly arranged at the upper part of the frame, and a calibration assembly arranged on a table top in the middle of the frame; the table top divides the stand into an upper stand and a lower stand, and a force measuring calibration area is formed between the table top and the upper stand; the inner side of the upper frame is provided with a combined guide rail capable of sliding up and down, the combined guide rail is adjusted to move up and down on the upper frame through a lifting air cylinder arranged on the frame, and the top of the upper frame is fixedly provided with a cross guide rail; the force measuring assembly comprises a first force measuring sensor device and a second force measuring sensor device which are matched with each other and act on the calibration assembly, the first force measuring sensor device is slidably arranged on the combined guide rail, the second force measuring sensor device is slidably arranged on the cross guide rail, and the first force measuring sensor device and the second force measuring sensor device are independently driven to work through an electric cylinder; the calibration assembly includes: the device comprises a calibration table and a stress frame arranged on the calibration table, wherein the calibration table is arranged on the table top.
Compared with the prior art, the scheme of the application has the beneficial effects that: the first force measuring sensor device and the second force measuring sensor device can be controlled by a computer to be matched with each other, so that the operation of a traditional manual fixed weight is abandoned, and the system error caused by manual operation is effectively reduced; the movable electric cylinder respectively controls the sliding of the first force measuring sensor device on the combined guide rail and the second force measuring sensor device to realize the adjustment of the calibration of the x-axis force and the y-axis force, and controls the sliding of the second force measuring sensor device on the cross guide rail and the adjustment of the calibration of the z-axis force by combining the first force measuring sensor device, so that the calibration assembly is only required to be clamped and fixed once, repeated disassembly and adjustment are not required, the calibration work of the six-dimensional force measuring table can be realized, the six-dimensional force measuring table is fixed, the calibration is realized by the adjustment of the force measuring assembly, only the force measuring sensor device needs to be moved in the process, the system error is small, and meanwhile, the error caused in the installation and disassembly processes is effectively reduced; the electric cylinder is used for applying continuous and adjustable linear force, so that the accuracy of fitting linear relation between input and output is improved, and the calibration efficiency is effectively improved; in addition, the structural design of the device has the characteristic of easy implementation, and is beneficial to reducing the manufacturing cost of the calibration device.
As optimization, the upper frame and the lower frame are integrally formed, or the lower frame is detachably arranged on the upper frame; the inner side of the upper rack is provided with a side sliding rail for sliding the combined guide rail, the top of the upper rack is provided with a top sliding rail for sliding the cross guide rail, one end of the combined guide rail is arranged on the side sliding rail in a sliding manner through a clamping sliding block, the other end of the combined guide rail is connected with the lifting cylinder to support the combined guide rail, and two symmetrical ends of the cross guide rail are arranged on the top sliding rail in a sliding manner through the top sliding block.
In the technical scheme of the application, the upper frame and the lower frame play a role in supporting the whole structure, the occupation of the whole space is effectively reduced by combining the arrangement of the table top, and meanwhile, the cross guide rail and the combined guide rail are arranged on the frame, so that the stability of the force measurement standard is improved; in addition, the top sliding rail is used for sliding and adjusting the cross guide rail, and the matching of the side sliding rail and the lifting cylinder can be adjusted when the force of the calibration assembly with different height sizes is measured and calibrated, so that the accuracy of the calibration result is higher.
As optimization, the combined guide rail comprises two sections of straight rails which are vertically arranged and an arc-shaped rail which connects the two sections of straight rails; the outer end of one section of straight rail is fixedly arranged in the clamping sliding block of the upper rack, and the outer end of the other section of straight rail is fixedly provided with a limiting block.
According to the technical scheme, the combined guide rail comprises the straight rail and the arc rail, the straight rails on the two sides of the combined guide rail are vertical angles, the first force measuring sensor device can slide from the x-axis direction to the y-axis direction on the combined guide rail, 90-degree conversion of the direction can be achieved without disassembling the calibration assembly in the side force calibration process, the calibration process is convenient, and the user operation and the use are simple.
As an optimization, the first force measuring sensor device comprises a horizontal tension sensor and a horizontal pressure sensor for detecting horizontal direction data of the six-dimensional force measuring table; the second force measuring sensor device comprises a vertical tension sensor and a vertical pressure sensor for detecting six-dimensional force sensing vertical direction data.
In the technical scheme of the application, the tension sensor and the pressure sensor are both high-precision sensors, the accuracy of the force measurement calibration result is improved, the tension and compression work is realized by the electric cylinder, the linearity of the calibration process is high, the calibration data points are dense, the accuracy of the calibration result can be improved, the electric cylinder can realize the linear adjustment of different forces, and compared with the traditional manual fixed weights, the efficiency is higher.
As optimization, the calibration platform comprises a force measuring platform and a limiting platform, wherein the force measuring platform is limited on the limiting platform, the force bearing frame is fixedly arranged on the force measuring platform, two or more limiting pieces are fixedly arranged on two sides of the upper end of the limiting platform, two or more clamps corresponding to the limiting pieces are arranged on the other two sides of the limiting platform, and act on two sides of the force measuring platform and enable the force measuring platform to be limited and abutted against the limiting pieces; and a pressing clamp used for pressing and limiting the limiting platform to the force measuring platform is further arranged between the limiting platform and the force measuring platform.
According to the technical scheme, the force measuring platform and the limiting platform are used for limiting and fixing the force measuring frame, the force measuring platform and the limiting platform are kept at fixed positions in the whole calibrating process, the calibration is carried out through the angle adjustment of the force measuring assembly, calibration result errors caused by shaking or displacement or rotation adjustment in the force measuring calibration process are avoided, the corresponding matching of the clamp and the limiting piece realizes the limiting and fixing of the force measuring platform in the x-axis plane and the y-axis plane on the limiting platform, the limiting and fixing in the z-axis plane are realized through the pressing down of the clamp, the loading and unloading of the force measuring frame and the force measuring platform are facilitated, and the integral limiting and fixing effect is good.
As optimization, the outer side of the stress frame extends outwards in a cross shape and is respectively provided with two pull grooves and two pressing grooves, the pull grooves and the pressing grooves are symmetrically arranged on two sides of the stress frame, and the pull grooves and the pressing grooves are matched with the force measuring assembly in measurement; and a hanging ring is arranged on the upper end surface of the middle part of the stress frame.
In the technical scheme of the application, the first force measuring sensor device and the second force measuring sensor device act on the stress frame through the arrangement of the pull groove and the press groove, and the symmetrically arranged structure can lead the stress on two sides of the stress piece to be uniform and reduce calibration errors; the setting of rings is used for the power of z axle direction to mark, and occupation space is few, holistic simple structure.
As optimization, one end of the horizontal tension sensor is provided with a draw hook and is matched with a draw groove of the stress frame during measurement, and one end of the horizontal pressure sensor is provided with a pressing block which is matched with a pressing groove of the stress frame during measurement; the structure of the second force sensing device is the same as the structure of the first force sensing device.
In the technical scheme of the application, the drag hook is matched with the pull groove to realize the pulling force action on the stressed frame, the pressing block is matched with the press groove to realize the pressure action on the stressed frame, and the force measurement calibration is realized through the movement adjustment of the pull sensor and the pressure sensor on the combined guide rail and the cross guide rail respectively, so that the whole structure is reasonable in arrangement.
The application also provides a six-dimensional force measuring table calibration method based on the movable electric cylinder, which is realized by adopting the six-dimensional force measuring table calibration device based on the movable electric cylinder, and specifically comprises the following steps:
the calibration assembly is fixedly and limitedly arranged on the frame, so that the stress frame is positioned at the central axis of the cross guide rail; driving a lifting cylinder to enable the combined guide rail and the stressed frame to be at the same calibration height and enable the pressing block and the pressing groove to be on the same horizontal plane; the vertical tension sensor is driven to act on the hanging ring of the stress frame to realize six-dimensional force measuring table F z Is calibrated; the horizontal tension sensor is driven to move on the combined guide rail and act on a pull groove on one side of the stress frame, so that the six-dimensional force measuring table F is realized x Is calibrated; the horizontal tension sensor is driven to move on the combined guide rail and act on a pull groove on the other vertical side of the stress frame, so that the six-dimensional force measuring table F is realized y Is calibrated; the horizontal tension sensor and the horizontal pressure sensor are moved on the combined guide rail to enable the two to simultaneously and mutually and reversely act on the stress frame, so that the six-dimensional force measuring table M is realized z Is calibrated; the vertical tension sensor and the vertical pressure sensor are moved in the y direction of the cross guide rail to enable the vertical tension sensor and the vertical pressure sensor to act on the stress frame simultaneously and reversely, so that the six-dimensional force measuring table M is realized x Is calibrated; moving the vertical tension sensor and the vertical pressure sensor in the x direction of the cross guide rail to make twoSimultaneously and mutually reversely act on the stress frame to realize the six-dimensional force measuring table M y Is calibrated; wherein F is z 、F y 、F x 、M x 、M y 、M z The method comprises the following steps of: a z-axis force, a y-axis force, an x-axis moment, a y-axis moment, a z-axis moment.
Compared with the prior art, the calibration method of the six-dimensional force measuring table based on the movable electric cylinder has the advantages that in the calibration process of the six-dimensional force measuring table, the provided calibration force and the signals of the tension sensor and the pressure sensor form a linear relation, the electric cylinder can be directly controlled to work through signal input to provide the required calibration force, the manual repeated weight carrying is not needed, the labor cost is reduced, and the calibration efficiency is improved; and the force measuring calibration in different directions is realized through the movement adjustment of the tension sensor and the pressure sensor on the combined guide rail and the cross guide rail, a calibration component is not required to be disassembled, and the accuracy of the calibration structure is high by combining the linear force provided by the electric cylinder.
As optimization, calibrate F z When the vertical tension sensor is moved to the center of the cross guide rail, the drag hook at one end of the vertical tension sensor is moved to hook the hanging ring, and the force F is input z The electric cylinder is controlled to apply force in the Z direction through signals fed back by the vertical tension sensor to finish F z Is calibrated; calibration F y When the horizontal tension sensor is moved on the combined guide rail to be vertical to the x-axis direction of the stress frame, the drag hook at one end of the horizontal tension sensor is hooked on the pull groove in the y-axis direction of the stress frame, and the force F is input y And controlling the electric cylinder to apply force in the y direction by a signal fed back by a horizontal tension sensor to finish F y Is calibrated; calibration F x When the horizontal tension sensor is moved on the combined guide rail to be vertical to the y-axis direction of the stress frame, the drag hook at one end of the horizontal tension sensor is hooked on the pull groove in the x-axis direction of the stress frame, and the force F is input x The electric cylinder is controlled to apply force in the x direction through a signal fed back by a horizontal tension sensor to finish F x Is defined by the calibration of (a).
In the technical scheme of the application, for F x 、F y Only need to be assembled in the calibration process of (2)The combined guide rail is used for moving the horizontal tension sensor and pressing the stress frame to achieve force calibration, two ends of the combined guide rail are straight rails and are perpendicular to each other, force calibration in the z-axis direction of the stress frame is achieved through cooperation of the hanging ring and the vertical tension sensor, the calibration method is simple in steps, a specific force calibration sequence in the x-axis y-axis z-axis direction is not needed, and user operation is facilitated.
As an optimization, calibrate M z When the device is used, the vertical tension sensor and the vertical pressure sensor are respectively moved to the pull groove and the pressure groove in the X-axis direction or the Y-axis direction of the stress frame on the cross guide rail, and simultaneously, the drag hook of the vertical tension sensor applies force in the z-axis direction on the pull groove and the pressing block of the vertical pressure sensor presses the pressure groove to apply force in the z-axis direction downwards, so that M is completed z Is calibrated; calibration M y When the horizontal tension sensor and the horizontal pressure sensor are respectively moved to the pull groove and the pressure groove in the X-axis direction of the stress frame on the combined guide rail, simultaneously, the drag hook of the horizontal tension sensor applies the tension in the Y-axis direction on the pull groove, and the pressing block of the horizontal pressure sensor is pressed to the pressure groove to apply the pressure in the Y-axis direction opposite to the tension direction, thus completing M y Is calibrated; calibration M x When the horizontal tension sensor and the horizontal pressure sensor are respectively moved to the pull groove and the pressure groove in the y-axis direction of the stress frame on the combined guide rail, simultaneously, the drag hook of the horizontal tension sensor applies tension in the x-axis direction on the pull groove, and the pressing block of the horizontal pressure sensor is pressed into the pressure groove to apply pressure in the x-axis direction opposite to the tension direction, thus completing M x Is defined by the calibration of (a).
According to the technical scheme, the pull groove is matched with the drag hook, the pressure groove is matched with the pressing block, the direction of the pull force of the pull groove acted by the pull sensor is opposite to the direction of the pressure groove acted by the pressure sensor, so that the moment calibration of the stress frame in different directions is realized, the calibration process is convenient, and the calibration result error is small.
Drawings
FIG. 1 is a perspective view of the present application;
FIG. 2 is a side view of the present application;
FIG. 3 is a top view of the present application;
FIG. 4 is a top view of the application with the upper housing removed;
FIG. 5 is a perspective view of the lower housing and calibration assembly of the present application;
FIG. 6 is an enlarged view of the application at A;
fig. 7 is a perspective view of the upper housing and force measuring assembly of the present application.
The marks in the drawings are: 1-rack, 101-table top, 102-upper rack, 103-lower rack; 2-force measuring assembly, 201-first force measuring sensor device, 211-horizontal tension sensor, 221-horizontal pressure sensor, 202-second force measuring sensor device, 212-vertical tension sensor, 222-vertical pressure sensor; 3-calibration components, 301-calibration platforms, 311-force measuring platforms, 321-limiting platforms, 302-stress frames, 312-pull grooves and 322-press grooves; 4-combined guide rail, 401-straight rail, 402-arc rail; 5-cross guide rails; 6-lifting cylinder; 701-side slide rail, 702-top slide rail; 8-clamping a sliding block, wherein the sliding block 801 is a limiting groove; 9-top slider; 10-limiting blocks; 11-limiting parts; 12-clamping; 13-pressing down the clamp; 14-hanging rings; 1501-a drag hook, 1502-a pressing block; 16-supporting frame.
Detailed Description
The application is further illustrated by the following figures and examples, which are not intended to be limiting.
Examples
Referring to fig. 1 to 7, a calibration device for a six-dimensional force measuring table based on a movable electric cylinder includes: the device comprises a frame 1, a force measuring assembly 2 arranged at the upper part of the frame 1, and a calibration assembly 3 arranged on a table top 101 in the middle of the frame 1; the table top 101 divides the machine frame 1 into an upper machine frame 102 and a lower machine frame 103, and a force measuring calibration area is formed between the table top 101 and the upper machine frame 102; the inner side of the upper frame 102 is provided with a combined guide rail 4 which can slide up and down, the combined guide rail 4 realizes the up-and-down movement adjustment on the upper frame 102 through a lifting air cylinder 6 arranged on the frame 1, and the top of the upper frame 102 is fixedly provided with a cross guide rail 5; the force measuring assembly 2 comprises a first force measuring sensor device 201 and a second force measuring sensor device 202 which are matched with each other and act on the calibration assembly 3, the first force measuring sensor device 201 is slidably arranged on the combined guide rail 4, the second force measuring sensor device 202 is slidably arranged on the cross guide rail 5, and the two force measuring sensor devices are independently driven to work through an electric cylinder; the calibration assembly 3 comprises: the calibration table 301 and the stress frame 302 arranged on the calibration table 301, wherein the calibration table 301 is arranged on the table top 101.
Thus, the lower housing 103 is detachably placed on the upper housing 102, and the first force sensor device 201 includes a horizontal tension sensor 211 and a horizontal pressure sensor 221 for detecting data of the horizontal direction of the six-dimensional force table; the second force sensing device 202 includes a vertical tension sensor 212 and a vertical pressure sensor 222 for detecting six-dimensional force sensing vertical direction data.
In this embodiment, a side sliding rail 701 for sliding the combined rail 4 is provided on the inner side of the upper frame 102, a top sliding rail 702 for sliding the cross rail 5 is provided on the top of the upper frame 102, one end of the combined rail 4 is slidably provided on the side sliding rail 701 through a clamping slider 8, the other end is connected with the lifting cylinder 6 to support the combined rail 4, and two symmetrical ends of the cross rail 5 are slidably provided on the top sliding rail 702 through a top slider 9.
Therefore, the upper frame 102 and the lower frame 103 play a role in supporting the whole structure, the whole space occupation is effectively reduced by combining the arrangement of the table top 101, and meanwhile, the cross guide rail 5 and the combined guide rail 4 are arranged on the frame 1, so that the stability of the force measurement calibration is improved; in addition, the top slide rail 702 is used for sliding and adjusting the cross guide rail 5, and the matching of the side slide rail 701 and the lifting cylinder 6 can be adjusted when the force of the calibration components with different height sizes is measured and calibrated, so that the accuracy of the calibration result is higher.
In this embodiment, the combined guide rail 4 includes two sections of straight rails 401 arranged in a vertical shape, and an arc-shaped rail 402 connecting the two sections of straight rails 401; the outer end of one section of straight rail 401 is fixedly arranged in the clamping slide block 8 of the upper frame 102, and the outer end of the other section of straight rail 401 is fixedly provided with a limiting block 10.
Therefore, the straight rails 401 are fixedly connected with two ends of the arc rail 402 through screws, the two sections of straight rails 401 are marked with a central scale position 0, the two sections of straight rails are respectively extended from the central scale positions to two sides and marked with a hook scale position A1 and a hook scale position A2 and a press block scale position B1 and a press block scale position B2, the central position of the straight guide rail 5 is the central scale position 0, the central scale position 0 is extended to four directions and marked with A3, a B3, a C1 and a D1, the central scale position 0 corresponds to the central position of the stress frame 302, and the force measuring assembly is manually pushed to the corresponding scale positions to calibrate the six-dimensional force measuring table (the position of the force measuring assembly can be determined by arranging a displacement sensor on the force measuring assembly); the lifting cylinder 6 is fixedly connected with the lower end of the straight rail 401 through the supporting frame 16 and plays a supporting role on the combined guide rail 4, a C-shaped limiting groove 801 is formed in the clamping sliding block 8, one end of the combined guide rail 4 is arranged in the limiting groove 801, and the limiting block 10 is driven to vertically adjust and slide on the side sliding rail 701 through the cooperation of the limiting groove 801 and the combined guide rail 4.
In this embodiment, the calibration stand 301 includes a force measuring platform 311 and a limiting platform 321, the force measuring platform 311 is limited on the limiting platform 321, the force frame 302 is fixedly arranged on the force measuring platform 311, two or more limiting members 11 are fixedly arranged on two sides of the upper end of the limiting platform 321, two or more clamps 12 corresponding to the limiting members 11 are arranged on the other two sides of the limiting platform 321, and the clamps 12 act on two sides of the force measuring platform 311 and enable the force measuring platform 311 to be limited and abutted against the limiting members 11; a pressing clamp 13 for pressing and limiting the limiting platform 321 on the force measuring platform 311 is further arranged between the limiting platform 321 and the force measuring platform 311.
From this, force measurement platform 311 and spacing platform 321 all are used for spacing fixed atress frame 302, avoid it to lead to the fact calibration result error because rocking or displacement in the force measurement calibration process, and the spacing of the spacing platform in the x-axis of spacing platform 321 and the spacing of y-axis plane is fixed in the corresponding cooperation realization of anchor clamps 12 and locating part 11, realizes spacing fixed in the z-axis plane through pushing down anchor clamps 13, and the loading and unloading of atress frame 302 and force measurement platform 311 and holistic spacing fixed effect of being convenient for is good.
In this embodiment, the outer side of the force-bearing frame 302 extends outwards in a cross shape and forms two pull grooves 312 and two press grooves 322 respectively, the pull grooves 312 and the press grooves 322 are symmetrically arranged at two sides of the force-bearing frame 302, and the pull grooves 312 and the press grooves 322 are matched with the force-measuring assembly 2 in measurement; the upper end surface of the middle part of the stress frame 302 is provided with a hanging ring 14.
Thus, one end of the horizontal tension sensor 211 is provided with a draw hook 1501 which is matched with the draw groove 312 of the shown stress frame 302 during measurement, and one end of the horizontal pressure sensor 221 is provided with a pressing block 1502 which is matched with the pressing groove 322 of the shown stress frame 302 during measurement; the structure of the second force sensing device 202 is identical to the structure of the first force sensing device 201.
According to the embodiment, the first force measuring sensor device and the second force measuring sensor device are controlled by the computer to be matched with each other, so that the operation of a traditional manual fixed weight is abandoned, and the system error caused by manual operation is effectively reduced; the movable electric cylinder respectively controls the sliding of the first force measuring sensor device on the combined guide rail and the second force measuring sensor device to realize the adjustment of the calibration of the x-axis force and the y-axis force, and controls the sliding of the second force measuring sensor device on the cross guide rail and the adjustment of the calibration of the z-axis force by combining the first force measuring sensor device, so that the calibration work of the six-dimensional force measuring table can be realized only by carrying out one-time clamping and fixing on the calibration component without repeated disassembly and adjustment on the calibration component, the six-dimensional force measuring table is fixed in the process, and the calibration is carried out by the position adjustment of the force measuring component; and continuous and adjustable linear force is applied by the electric cylinder, so that the accuracy of fitting linear relation between input and output is improved, and the calibration efficiency is effectively improved.
Examples
Referring to fig. 1 to 7, the calibration method of the six-dimensional force measuring table based on the movable electric cylinder is realized by adopting a calibration device of the six-dimensional force measuring table based on the movable electric cylinder, and specifically comprises the following steps: the calibration assembly 3 is fixedly and limitedly arranged on the frame 1, so that the stress frame 302 is positioned at the central axis position of the cross guide rail 5; driving the lifting cylinder 6 to enable the combined guide rail 6 and the stress frame 302 to be at the same nominal height and enable the pressing block 1502 and the pressing groove 322 to be on the same horizontal plane; the vertical tension sensor 212 is driven to act on the hanging ring 14 of the stress frame 302 to realize six-dimensional force measuring table F z Is calibrated; the horizontal tension sensor 211 is driven to move on the combined guide rail 4 and act on a pull groove 312 on one side of the stress frame 302, so that the six-dimensional force measuring table F is realized x Is calibrated; the horizontal tension sensor 211 is driven to move on the combined guide rail 4 and act on a pull groove 312 on the other vertical side of the stress frame 302, so that the six-dimensional force measuring table F is realized y Is calibrated; moving horizontal pulls on combined rails 4The force sensor 211 and the horizontal pressure sensor 221 are simultaneously and mutually oppositely acted on the stress frame 302 to realize the six-dimensional force measuring platform M z Is calibrated; moving the vertical tension sensor 212 and the vertical pressure sensor 222 in the y direction of the cross guide rail 5 to enable the two to act on the stress frame 302 simultaneously and reversely to each other, so as to realize six-dimensional force measuring platform M x Is calibrated; moving the vertical tension sensor 212 and the vertical pressure sensor 222 in the x direction of the cross guide rail 5 to enable the two to act on the stress frame 302 simultaneously and reversely to each other, so as to realize six-dimensional force measuring platform M y Is calibrated; wherein F is z 、F y 、F x 、M x 、M y 、M z The method comprises the following steps of: a z-axis force, a y-axis force, an x-axis moment, a y-axis moment, a z-axis moment.
Thus, when the z-axis force, the y-axis force, the x-axis force, the y-axis force, and the z-axis force are calibrated, the calibration order is not limited, and the different forces are all measured independently.
In this embodiment, mark F z When the vertical tension sensor 212 is moved to the center of the cross guide rail 4, the drag hook at one end of the vertical tension sensor 212 is hooked on the hanging ring 14, and the force F is input z The electric cylinder is controlled to apply force in the Z direction through signals fed back by the vertical tension sensor 212 to finish F z Is calibrated; calibration F y In the process, the horizontal tension sensor 211 is moved on the combined guide rail 4 to be vertical to the x-axis direction of the stress frame 302, and the draw hook at one end of the horizontal tension sensor 211 is hooked on the pull groove 312 in the y-axis direction of the stress frame 302 to input the force F y The electric cylinder is controlled to apply force in the y direction through signals fed back by the horizontal tension sensor 211 to finish F y Is calibrated; calibration F x In the process, the horizontal tension sensor 211 is moved on the combined guide rail 4 to be vertical to the y-axis direction of the stress frame 302, and the draw hook at one end of the horizontal tension sensor 211 is hooked on the pull groove 312 in the x-axis direction of the stress frame 302 to input the force F x The electric cylinder is controlled to apply force in the x direction through signals fed back by the horizontal tension sensor 211 to finish F x Is defined by the calibration of (a).
Thus, for F x 、F y In the calibration process of the force sensor, force calibration can be realized by only moving the horizontal tension sensor on the combined guide rail 4 and pressing the force-bearing frame, the two ends of the combined guide rail 4 are straight rails 401 and are mutually perpendicular, the force calibration in the z-axis direction of the force-bearing frame is realized by utilizing the cooperation of the hanging ring 14 and the vertical tension sensor 222, the calibration method is simple in steps, a specific force calibration sequence in the z-axis direction of the x-axis and the y-axis is not needed, and the user operation is facilitated.
In this embodiment, the M is calibrated z In the process, the vertical tension sensor 212 and the vertical pressure sensor 222 are respectively moved to the pull groove 312 and the pressure groove 322 in the x-axis direction or the y-axis direction of the stress frame 301 on the cross guide rail 5, and simultaneously the drag hook of the vertical tension sensor 212 applies a force in the z-axis direction on the pull groove 312 and the pressing block of the vertical pressure sensor 222 is pressed into the pressure groove 322 to apply a force in the z-axis direction to finish M z Is calibrated; calibration M y In the process, the horizontal tension sensor 211 and the horizontal pressure sensor 221 are respectively moved to the pull groove 312 and the press groove 322 along the x axis direction of the stress frame 301 on the combined guide rail 4, and simultaneously the drag hook of the horizontal tension sensor 211 applies the tension along the y axis direction on the pull groove 312 and the pressing block of the horizontal pressure sensor 221 is pressed into the press groove 322 to apply the pressure along the y axis direction opposite to the tension direction, thus completing M y Is calibrated; calibration M x In the process, the horizontal tension sensor 211 and the horizontal pressure sensor 221 are respectively moved to the pull groove 312 and the press groove 322 on the y-axis direction of the stress frame 301 on the combined guide rail 4, and simultaneously the drag hook of the horizontal tension sensor 211 applies tension on the pull groove 312 in the x-axis direction and the pressing block of the horizontal pressure sensor 221 presses into the press groove 322 to apply pressure in the x-axis direction opposite to the tension direction, thereby completing M x Is defined by the calibration of (a).
In the calibration process of the six-dimensional force measuring table, the provided calibration force and the signals of the tension sensor and the pressure sensor are in a linear relation, the electric cylinder can be directly controlled to work through signal input to provide the required calibration force, the manual repeated weight carrying is not needed, the labor cost is reduced, and the calibration efficiency is improved; and the force measuring calibration in different directions is realized through the movement adjustment of the tension sensor and the pressure sensor on the combined guide rail and the cross guide rail, a calibration component is not required to be disassembled, and the accuracy of the calibration structure is high by combining the linear force provided by the electric cylinder.
The above general description of the application and the description of specific embodiments thereof in relation to the present application should not be construed as limiting the scope of the application. Those skilled in the art can add, subtract or combine the features disclosed in the foregoing general description and/or the detailed description (including examples) to form other technical solutions within the scope of the application without departing from the disclosure of the application.
Claims (10)
1. The six-dimensional force measuring table calibration device based on the movable electric cylinder is characterized in that,
comprising the following steps: the device comprises a frame (1), a force measuring assembly (2) arranged at the upper part of the frame (1) and a calibration assembly (3) arranged on a table top (101) at the middle part of the frame (1);
the table top (101) divides the stand (1) into an upper stand (102) and a lower stand (103), and a force measuring calibration area is formed between the table top (101) and the upper stand (102); a combined guide rail (4) capable of sliding up and down is arranged on the inner side of the upper frame (102), the combined guide rail (4) is adjusted to move up and down on the upper frame (102) through a lifting cylinder (6) arranged on the frame (1), and a cross guide rail (5) is fixedly arranged at the top of the upper frame (102);
the force measuring assembly (2) comprises a first force measuring sensor device (201) and a second force measuring sensor device (202) which are mutually matched and act on the calibration assembly (3), the first force measuring sensor device (201) is slidably arranged on the combined guide rail (4), and the second force measuring sensor device (202) is slidably arranged on the cross guide rail (5), and the two force measuring sensor devices are independently driven to work through an electric cylinder;
the calibration assembly (3) comprises: the device comprises a calibration table (301) and a stress frame (302) arranged on the calibration table (301), wherein the calibration table (301) is arranged on the table top (101).
2. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 1, wherein: the upper frame (102) and the lower frame (103) are integrally formed, or the lower frame (103) is detachably arranged on the upper frame (102); the inside of going up frame (102) is offered and is used for combination guide rail (4) gliding sideslip rail (701), be used for being seted up at the top of going up frame (102) top slide rail (702) of cross guide rail (5) gliding, the one end of combination guide rail (4) is passed through centre gripping slider (8) and is slided and locate on sideslip rail (701), its other end with lift cylinder (6) are connected and are realized to the support of combination guide rail (4), the both ends of cross guide rail (5) symmetry are slided through top slider (9) and are located on top slide rail (702).
3. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 1, wherein: the combined guide rail (4) comprises two sections of straight rails (401) which are vertically arranged, and an arc-shaped rail (402) which is connected with the two sections of straight rails (401); the outer end of one section of straight rail (401) is fixedly arranged in the clamping sliding block (8) of the upper rack (102), and the outer end of the other section of straight rail (401) is fixedly provided with a limiting block (10).
4. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 1, wherein: the first force measuring sensor device (201) comprises a horizontal tension sensor (211) and a horizontal pressure sensor (221) for detecting horizontal direction data of the six-dimensional force measuring table; the second force sensing device (202) comprises a vertical tension sensor (212) and a vertical pressure sensor (222) for detecting six-dimensional force sensing vertical direction data.
5. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 1, wherein: the calibration platform (301) comprises a force measurement platform (311) and a limiting platform (321), the force measurement platform (311) is limited on the limiting platform (321), the force bearing frame (302) is fixedly arranged on the force measurement platform (311), two or more limiting pieces (11) are fixedly arranged on two sides of the upper end of the limiting platform (321), two or more clamps (12) corresponding to the limiting pieces (11) are arranged on the other two sides of the limiting platform, and the clamps (12) act on two sides of the force measurement platform (311) and enable the force measurement platform (311) to be limited and abutted against the limiting pieces (11); and a pressing clamp (13) used for pressing and limiting the limiting platform (321) on the force measuring platform (311) is further arranged between the limiting platform (321) and the force measuring platform (311).
6. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 1, wherein: the outer side of the stress frame (302) extends outwards in a cross shape and is respectively provided with two pull grooves (312) and two pressing grooves (322), the pull grooves (312) and the pressing grooves (322) are symmetrically arranged on two sides of the stress frame (302), and the pull grooves (312) and the pressing grooves (322) are matched with the force measuring assembly (2) in measurement; and a hanging ring (14) is arranged on the upper end surface of the middle part of the stress frame (302).
7. The six-dimensional force-measuring bench calibration device based on movable electric cylinders according to claim 4, wherein: one end of the horizontal tension sensor (211) is provided with a draw hook (1501) and is matched with a draw groove (312) of the stress frame (302) during measurement, and one end of the horizontal pressure sensor (221) is provided with a pressing block (1502) and is matched with a pressing groove (322) of the stress frame (302) during measurement; the structure of the second force sensing device (202) is identical to the structure of the first force sensing device (201).
8. The calibration method of the six-dimensional force-measuring table based on the movable electric cylinder adopts the calibration device of the six-dimensional force-measuring table based on the movable electric cylinder according to any one of claims 1 to 7, and is characterized in that the calibration method is specifically as follows:
the calibration assembly (3) is fixedly and limitedly arranged on the frame (1), so that the stress frame (302) is positioned at the central axis position of the cross guide rail (5); driving a lifting cylinder (6) to enable the combined guide rail (6) and the stress frame (302) to be at the same calibration height and enable the pressing block (1502) and the pressing groove (322) to be on the same horizontal plane;
driving vertical tension sensorThe device (212) acts on the hanging ring (14) of the stress frame (302) to realize six-dimensional force measuring table F z Is calibrated; the horizontal tension sensor (211) is driven to move on the combined guide rail (4) and act on a pull groove (312) on one side of the stress frame (302) to realize six-dimensional force measuring table F x Is calibrated; the horizontal tension sensor (211) is driven to move on the combined guide rail (4) and act on a pull groove (312) of the other vertical side of the stress frame (302), thereby realizing six-dimensional force measuring table F y Is calibrated;
the horizontal tension sensor (211) and the horizontal pressure sensor (221) are moved on the combined guide rail (4) to simultaneously and mutually reversely act on the stress frame (302) so as to realize six-dimensional force measuring platform M z Is calibrated; the vertical tension sensor (212) and the vertical pressure sensor (222) are moved in the y direction of the cross guide rail (5) to enable the two to simultaneously and mutually reversely act on the stress frame (302), so that the six-dimensional force measuring table M is realized x Is calibrated; the vertical tension sensor (212) and the vertical pressure sensor (222) are moved in the x direction of the cross guide rail (5) to enable the two to simultaneously and mutually reversely act on the stress frame (302), so that the six-dimensional force measuring table M is realized y Is calibrated;
wherein F is z 、F y 、F x 、M x 、M y 、M z The method comprises the following steps of: a z-axis force, a y-axis force, an x-axis moment, a y-axis moment, a z-axis moment.
9. The six-dimensional force-measuring bench calibration method based on movable electric cylinders according to claim 8, characterized in that:
calibration F z When the vertical tension sensor (212) is moved to the center position of the cross guide rail (4), the drag hook at one end of the vertical tension sensor (212) is hooked on the hanging ring (14), and the force F is input z The electric cylinder is controlled to apply force in the Z direction through signals fed back by the vertical tension sensor (212) to finish F z Is calibrated;
calibration F y When the horizontal tension sensor (211) is moved on the combined guide rail (4) to be vertical to the x-axis direction of the stress frame (302), and the drag hook at one end of the horizontal tension sensor (211) is used for drag hookTo hold the pull groove (312) in the y-axis direction of the force-bearing frame (302), input force F y The electric cylinder is controlled to apply force in the y direction by a signal fed back by a horizontal tension sensor (211) to finish F y Is calibrated;
calibration F x When the horizontal tension sensor (211) is moved on the combined guide rail (4) to be vertical to the y-axis direction of the stress frame (302), and the drag hook at one end of the horizontal tension sensor (211) is hooked on the pull groove (312) in the x-axis direction of the stress frame (302), so as to input the force F x The force in the x direction is controlled by a signal fed back by a horizontal tension sensor (211) to finish F x Is defined by the calibration of (a).
10. The six-dimensional force-measuring bench calibration method based on movable electric cylinders according to claim 8, characterized in that:
calibration M z During the process, the vertical tension sensor (212) and the vertical pressure sensor (222) are respectively moved to the positions of the pull groove (312) and the press groove (322) in the x-axis direction or the y-axis direction of the stress frame (301) on the cross guide rail (5), and simultaneously, the drag hook of the vertical tension sensor (212) applies force in the z-axis direction on the pull groove (312) and the pressing block of the vertical pressure sensor (222) presses to the press groove (322) to apply force in the z-axis direction to finish M z Is calibrated;
calibration M y In the process, a horizontal tension sensor (211) and a horizontal pressure sensor (221) are respectively moved to a pull groove (312) and a press groove (322) in the x-axis direction of the stress frame (301) on the combined guide rail (4), and simultaneously, a drag hook of the horizontal tension sensor (211) applies a tension in the y-axis direction on the pull groove (312) and a pressing block of the horizontal pressure sensor (221) presses to the press groove (322) to apply a pressure in the y-axis direction opposite to the tension direction, so that M is completed y Is calibrated;
calibration M x In the process, the horizontal tension sensor (211) and the horizontal pressure sensor (221) are respectively moved to the positions of a pull groove (312) and a press groove (322) in the y-axis direction of the stress frame (301) on the combined guide rail (4), and simultaneously, the drag hook of the horizontal tension sensor (211) applies the tensile force in the x-axis direction on the pull groove (312) and the pressing block of the horizontal pressure sensor (221) presses the press groove (322) to apply the x-axis direction opposite to the tensile force directionPressure, finish M x Is defined by the calibration of (a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310059603.8A CN116659743A (en) | 2023-01-19 | 2023-01-19 | Six-dimensional force measuring table calibration device and calibration method based on movable electric cylinder |
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| CN202310059603.8A CN116659743A (en) | 2023-01-19 | 2023-01-19 | Six-dimensional force measuring table calibration device and calibration method based on movable electric cylinder |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117870955A (en) * | 2024-03-12 | 2024-04-12 | 中国科学院长春光学精密机械与物理研究所 | Six-dimensional force calibration device and method based on voice coil motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117870955A (en) * | 2024-03-12 | 2024-04-12 | 中国科学院长春光学精密机械与物理研究所 | Six-dimensional force calibration device and method based on voice coil motor |
| CN117870955B (en) * | 2024-03-12 | 2024-05-07 | 中国科学院长春光学精密机械与物理研究所 | Six-dimensional force calibration device and method based on voice coil motor |
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