CN210513529U - Loading device for precision calibration of multi-axis force sensor - Google Patents
Loading device for precision calibration of multi-axis force sensor Download PDFInfo
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- CN210513529U CN210513529U CN201921225719.XU CN201921225719U CN210513529U CN 210513529 U CN210513529 U CN 210513529U CN 201921225719 U CN201921225719 U CN 201921225719U CN 210513529 U CN210513529 U CN 210513529U
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Abstract
The utility model relates to a loading device for precision calibration of a multi-axis force sensor, which comprises a plate-type loading head in a rectangular shape; the plate-type loading head is attached to the upper mounting surface of the multi-axis force sensor; setting a horizontal loading point at the center of one edge; two symmetrical horizontal loading points are arranged on the opposite side of the edge; the centers of two adjacent sides of the side are provided with horizontal loading points, and four angular points are respectively provided with vertical downward loading points; a vertical loading point is arranged at the center of the upper surface; the horizontal load points are used to apply outward forces in the horizontal direction, the vertically downward load points are used to apply vertically downward forces, and the vertically upward load points are used to apply vertically upward forces. The plate-type loading head is used for realizing the decomposition of force and moment, finally realizing the high-precision cooperative loading of six-component load of the multi-axis force sensor, and improving the calibration precision of the sensor. Only the relative position of the pulley needs to be adjusted, the installation and the disassembly can be quickly realized, and the service capability of the calibration table is widened.
Description
Technical Field
The utility model relates to a loading device of multiaxis force sensor precision calibration for the high accuracy of multicomponent load is loaded simultaneously when realizing multiaxis force sensor calibration, belongs to force sensor application.
Background
The calibration of the multi-axis force sensor comprises the core steps of mounting the sensor on a calibration table and applying various loads according to a certain loading method. The high-precision calibration result is the premise of high-precision grade of the sensor, and the high-precision loading method of the sensor during calibration is an important guarantee for high-precision calibration of the sensor.
At present, in the multi-axis force sensor applied in the field of domestic and foreign industrial automation, in the calibration process, the traditional loading method adopts single-component loading, namely, after the sensor is installed and fixed, a certain direction is loaded firstly, then the installation direction of the sensor is changed, and loading in other directions is continued. The loading method has the advantages that the requirement on calibration equipment is low, and the whole loading system is simple; the defects are that the loading direction needs to be changed at any time in the calibration process, the whole loading step is complicated, and the calibration precision can be greatly reduced due to installation errors. In addition, the true working environment of the sensor cannot be simulated due to the single-component loading, and the true degree of the calibration result is low.
Aiming at the defects of the traditional single-component loading, the multi-component loading can be realized by developing a multi-axis force loading device. However, most of the loading devices developed at present have too high specificity, are loaded only aiming at certain specific ranges, have too high attachment relation with the calibration table, and are troublesome to detach and replace once being mounted on the calibration table, so that the application range of the calibration table is greatly limited.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a fast multi-component load loading device to the loading ability current situation of current multiaxis force sensor calibration, the device can install fast in the calibration bench, realizes multiaxis force sensor's high accuracy loading to when other calibration demands appear in the calibration bench, this loading device can realize dismantling fast, improves the service ability of current calibration bench.
The above object of the present invention is achieved by the following technical solutions:
the loading device for precisely calibrating the multi-axis force sensor comprises a plate type loading head in a rectangular shape; the plate-type loading head is attached to the upper mounting surface of the multi-axis force sensor;
setting a horizontal loading point at the center of one edge;
two symmetrical horizontal loading points are arranged on the opposite side of the edge;
the centers of two adjacent sides of the side are provided with horizontal loading points, and four angular points are respectively provided with vertical downward loading points;
a vertical loading point is arranged at the center of the upper surface; the horizontal load points are used to apply outward forces in the horizontal direction, the vertically downward load points are used to apply vertically downward forces, and the vertically upward load points are used to apply vertically upward forces.
Preferably, the symmetrical horizontal loading points and the four vertically downward loading points realize loading of the moment in the corresponding direction by applying unbalanced force.
Preferably, all horizontal loading points are located on the same horizontal plane, and the origin of the calibrated coordinate system of the multi-axis force sensor is located on the plane where the horizontal loading points are located.
Preferably, the plate-type loading head comprises an upper connection plate, a multi-axis force sensor mounting hole is formed in the middle of the plate-type loading head, the upper connection plate fixes the multi-axis force sensor to the plate-type loading head through the mounting hole, and the load of the plate-type loading head is transferred to the multi-axis force sensor.
Preferably, the horizontal loading point converts the loading direction into vertical downward direction through a pulley, and the weight is used for realizing loading.
Preferably, the loading direction of the loading point which is vertically upward is converted into vertical downward through the pulley, and the weight is used for realizing loading.
Preferably, the loading is realized by the dead weight of the weight at the loading point which is vertically downward.
Preferably, the device also comprises a cross beam and two upright posts, wherein the two upright posts symmetrically support the cross beam; the lower mounting surface of the multi-axis force sensor is fixed to the cross beam through a lower connection plate.
Preferably, the connecting holes of the cross beam and the two stand columns are waist-shaped holes, the waist-shaped holes corresponding to the two stand columns are mutually vertical, the adjustment of the horizontal posture of the multi-axis force sensor is realized, and the load loaded on the multi-axis force sensor is parallel to the corresponding axis of the calibration coordinate system of the multi-axis force sensor.
Preferably, each loading point is in a tip, socket or knife edge configuration for load transfer.
Compared with the prior art, the utility model beneficial effect be:
(1) the utility model provides a loading device of multiaxis force sensor calibration through setting up waist shape hole, realizes the adjustment of multiaxis force sensor horizontal attitude, can install fast and adjust when the calibration of first time, the work load of installation and adjustment during the sensor calibration that significantly reduces.
(2) The utility model discloses a decomposition of power and moment is realized to board-like loading head, finally realizes the high accuracy loading in coordination of the six weight loads of multiaxis force sensor, improves the precision of sensor calibration.
(3) The utility model discloses the dependency to auxiliary instrument is low, only needs the relative position of adjustment pulley, but the service ability of calibration stand has been widened in installation, dismantlement of rapidization.
(4) The utility model discloses a commonality is better, only need to change about the multiaxis force transducer of unidimensional or interface keysets can realize the calibration.
Drawings
Fig. 1 is a schematic perspective view of the multi-axis force sensor precision calibration loading device of the present invention;
FIG. 2 is a schematic view of the connection between the middle plate loading head and the peripheral pulleys of the utility model;
FIG. 3 is a top view of a multi-axis force sensor precision calibration loading device;
fig. 4 is a cross-sectional view a-a of fig. 3.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific embodiments:
the utility model discloses mainly to the problem that multiaxis force transducer calibration accuracy is low, efficient, provide a loading device of multicomponent load, can realize quick installation and high accuracy loading when the sensor calibration to dismantle fast when the calibration stand has other calibration demands, thereby improve the service ability of calibration stand. The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
A loading device for calibrating a multi-axis force sensor comprises a plate type loading head 3, a stand column 1 and a cross beam 2, and is shown in an attached drawing 1.
In this embodiment: with reference to fig. 1 to 4, the multi-axis force sensor 7 is connected to the loading device via an upper connection plate 8 and a lower connection plate 9. The upper connecting plate 8 is connected with the plate type loading head 3, the plate type loading head 3 is connected with the surrounding weight plates 6 through steel wires 4, the pulleys 5 are used for realizing load reversing, and finally the load loaded on the weight plates 6 is transmitted to the multi-axis force sensor 7; the lower connecting plate 9 is connected with the cross beam 2, the cross beam 2 is arranged on the two upright posts 1, and the upright posts 1 are fixedly arranged on the reference plane of the calibration table through bolts.
Preferably, two columns 1 are installed side by side, and support the two ends of the beam 2, and the columns 1 and the beam 2 together serve as a support device for sensor calibration.
Preferably, all the connecting parts are connected through bolt compression, and all the connecting parts are provided with pins for positioning except the connection of the cross beam 2 and the upright post 1. Screw holes in the cross beam 2 and the upright post 1 are both long holes and are used for fine adjustment of the posture of the multi-axis force sensor 7 during first installation.
When the sensor is calibrated for the first time, the position of the supporting device needs to be adjusted, so that the coordinate system of the multi-axis force sensor 7 is parallel to the reference coordinate system of the calibration table, and the installation position of the peripheral pulley 5 is adjusted to be matched with the coordinate system. When the multiaxial force sensor 7 of the same design is calibrated again, all devices do not need to be readjusted.
When multi-axis force sensor 7 with other interface sizes is replaced, the interface sizes of upper connecting plate 8 and lower connecting plate 9 can be replaced correspondingly, and other devices do not need to be changed. If the calibration center position of the multi-axis force sensor 7 needs to move along the longitudinal direction, the calibration center position can be realized by adjusting the thickness of the upper connection plate 8.
In this embodiment, with reference to fig. 2 to 4, the plate-type loading head 3 is integrally of a plate-type structure, and loading points in different directions are arranged on the loading head. Wherein, the vertical downward loading points are 4, and are respectively 301, 302, 303 and 304; the vertical upward loading point is an independent hook head 305, and the hook head 305 is installed on the upper transfer plate 8; the number of load points horizontally distributed along the X-axis is 2, 306, 307, respectively, and the number of load points horizontally arranged along the Y-axis is 3, 308, 309, 310, respectively. Preferably, each loading point in the horizontal direction can be directly connected with the steel wire 4 for load transmission; the vertical loading point can transmit load through structural forms such as a tip, a top socket, a knife edge and the like.
In this example, with reference to fig. 4, the calibration center of the multi-axis force sensor 7 is located at the center of the upper end face of the sensor, which is in accordance with the usage habit of most multi-axis force sensors. Each of the horizontal loading points 306, 307, 308, 309 and 310 of the plate type loading head 3 is located in the plane of the upper end face, wherein the extension lines of 306, 307 and 308 pass through the calibration center, and 309 and 310 are symmetrically distributed about the calibration center; the extension line of the longitudinal loading point 305 passes through the calibration center, and 301, 302, 303 and 304 are symmetrically distributed about the calibration center.
The working principle is as follows:
the plate type loading head 3 is a core component of the whole set of loading device, the plate type loading head is provided with 10 loading points, and loading of 6-component load can be realized through different combinations of the 10 loading points.
1)4 vertically downward load points 301, 302, 303, 304 are used to achieve loading of-Z, ± Mx, ± My. Wherein 301, 302, 303 and 304 apply a load in the-Z direction in common; when the sum of the loads of 301 and 302 and the sum of the loads of 303 and 304 have a difference, a load of ± My moment can be applied; when the sum of the loads of 301 and 303 and the sum of the loads of 302 and 304 have a difference, a load of ± Mx moment can be applied;
2) the hook head is used as a vertical upward loading point and is used for realizing the loading in the + Z direction;
3) load points 306 and 307 arranged horizontally along the X axis are used for realizing loading in the +/-X direction;
4)3 load points 308, 309, and 310, arranged horizontally along the Y-axis, are used to achieve loading of + -Y, + -Mz. 308 is used for loading a load in the + Y direction; 309 and 310 are used for loading a load in the-Y direction; when 309 and 310 have a difference in load, loading of the ± Mz moment can be achieved.
To sum up the utility model provides a loading device during multiaxis force sensor calibration can install fast and dismantle in the calibration bench, realizes the high accuracy loading in coordination of the six components of multiaxis force sensor, improves multiaxis force sensor's calibration accuracy and calibration efficiency.
The above description is only for the best embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention.
The details of the present invention not described in detail in the specification are well known to those skilled in the art.
Claims (10)
1. A loading device for precision calibration of a multi-axis force sensor is characterized by comprising a plate type loading head in a rectangular shape; the plate-type loading head is attached to the upper mounting surface of the multi-axis force sensor;
setting a horizontal loading point at the center of one edge;
two symmetrical horizontal loading points are arranged on the opposite side of the edge;
the centers of two adjacent sides of the side are provided with horizontal loading points, and four angular points are respectively provided with vertical downward loading points;
a vertical loading point is arranged at the center of the upper surface; the horizontal load points are used to apply outward forces in the horizontal direction, the vertically downward load points are used to apply vertically downward forces, and the vertically upward load points are used to apply vertically upward forces.
2. The loading device for the precision calibration of multi-axis force sensors as claimed in claim 1, wherein the symmetrical horizontal loading points and the four vertical downward loading points achieve loading of moments in corresponding directions by applying unbalanced forces.
3. The loading device for the precision calibration of a multi-axis force sensor as recited in claim 2, wherein all horizontal loading points are located on the same horizontal plane, and an origin of the calibration coordinate system of the multi-axis force sensor is located on a plane where the horizontal loading points are located.
4. The loading device for precisely calibrating the multi-axis force sensor according to one of claims 1 to 3, wherein the plate loading head comprises an upper connection plate, a multi-axis force sensor mounting hole is formed in the middle of the plate loading head, the upper connection plate fixes the multi-axis force sensor to the plate loading head through the mounting hole, and the upper connection plate transmits the load of the plate loading head to the multi-axis force sensor.
5. The loading device for the precision calibration of the multi-axis force sensor as claimed in one of claims 1 to 3, wherein the horizontal loading point converts the loading direction to be vertical downward through a pulley, and the loading is realized by the self weight of the weight.
6. The loading device for the precision calibration of the multi-axis force sensor as claimed in one of claims 1 to 3, wherein the loading point which is vertically upward converts the loading direction into vertically downward through a pulley, and the loading is realized by the self weight of the weight.
7. The loading device for the precision calibration of the multi-axis force sensor as claimed in one of claims 1 to 3, wherein the loading is realized by the self weight of the weight at the loading point which is vertically downward.
8. The loading device for the precision calibration of the multi-axis force sensor according to one of claims 1 to 3, further comprising a cross beam and two columns, wherein the two columns symmetrically support the cross beam; the lower mounting surface of the multi-axis force sensor is fixed to the cross beam through a lower connection plate.
9. The loading device for the precision calibration of the multi-axis force sensor according to one of claims 1 to 3, wherein the connecting holes of the cross beam and the two columns are kidney-shaped holes, and the kidney-shaped holes corresponding to the two columns are perpendicular to each other, so that the horizontal attitude of the multi-axis force sensor can be adjusted, and the load loaded on the multi-axis force sensor is parallel to the corresponding axis of the calibration coordinate system of the multi-axis force sensor.
10. The loading unit for precision calibration of multiaxial force sensors of claims 1 to 3 where each loading point is load transmitting in a tip, dimple configuration, or knife edge configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921225719.XU CN210513529U (en) | 2019-07-31 | 2019-07-31 | Loading device for precision calibration of multi-axis force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921225719.XU CN210513529U (en) | 2019-07-31 | 2019-07-31 | Loading device for precision calibration of multi-axis force sensor |
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| CN210513529U true CN210513529U (en) | 2020-05-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114486064A (en) * | 2022-01-26 | 2022-05-13 | 浙江省计量科学研究院 | Comparison type multi-component force sensor calibration device and calibration method thereof |
| CN115165205A (en) * | 2021-04-06 | 2022-10-11 | 苏州艾利特机器人有限公司 | Calibration method and calibration system of multi-dimensional force sensor |
-
2019
- 2019-07-31 CN CN201921225719.XU patent/CN210513529U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115165205A (en) * | 2021-04-06 | 2022-10-11 | 苏州艾利特机器人有限公司 | Calibration method and calibration system of multi-dimensional force sensor |
| CN114486064A (en) * | 2022-01-26 | 2022-05-13 | 浙江省计量科学研究院 | Comparison type multi-component force sensor calibration device and calibration method thereof |
| CN114486064B (en) * | 2022-01-26 | 2024-01-02 | 浙江省计量科学研究院 | Comparison type multicomponent force sensor calibration device and calibration method thereof |
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