CN202216801U - Double-force-source calibration device for six-dimensional force sensor - Google Patents
Double-force-source calibration device for six-dimensional force sensor Download PDFInfo
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- CN202216801U CN202216801U CN2011202848093U CN201120284809U CN202216801U CN 202216801 U CN202216801 U CN 202216801U CN 2011202848093 U CN2011202848093 U CN 2011202848093U CN 201120284809 U CN201120284809 U CN 201120284809U CN 202216801 U CN202216801 U CN 202216801U
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Abstract
The utility model discloses a double-force-source calibration device for a six-dimensional force sensor. The double-force-source calibration device comprises a calibration workbench, a first elevating system, a second elevating system, a loading device, a loading clamping mechanism, and an L-shaped sensor pedestal. The first elevating system comprises a first elevating block as an output end, wherein the first elevating block is connected with one end of the loading device. The second elevating system comprises a second elevating block as an output end, wherein the second elevating system is connected with the other end of the loading device. Two vertical force application rods are respectively connected with the two elevating blocks in a rigid manner. The same vertical forces with the same direction or opposite directions are applied to two transverse loading square cylinders by the two vertical force application rods. The two vertical forces are converted into a resultant force or a resultant force moment through the two transverse loading square cylinders and the loading clamping mechanism. The resultant force or a resultant force moment is then transmitted to a six-dimensional force sensor. The six-dimensional force sensor is fixed on the L-shaped sensor pedestal. The L-shaped sensor pedestal is loaded on the calibration workbench.
Description
Technical field
The utility model relates to a kind of six-dimension force sensor calibration loading bench field, particularly a kind of pair of power source six-dimension force sensor calibration device.
Background technology
Six-dimension force sensor is that the force information that can detect space three-dimensional force information (Fx, Fy, Fz) and three-dimensional moment information (Mx, My, Mz) simultaneously obtains equipment.Be widely used in fields such as robot, building industry and Aero-Space.After the six-dimension force sensor Design and Machining is accomplished, be the input/output relation of definite six-dimension force sensor, and then carry out decoupling zero and find the solution various input-output characteristics, need carry out rating test.In occupation of important effect, the precision of caliberating device is directly restricting the six-dimension force sensor measuring accuracy to caliberating device in the sensor design process, the numerous cycle that designs and produces and cost that is prone to also directly affect six-dimension force sensor of caliberating device method of application.
At present both at home and abroad the sensor calibration apparatus developed of multi-dimension force sensor research unit mainly be counterweight formula, planer-type (, the caliberating device of diesis posture, four jack types.Characteristics such as wherein the counterweight formula is demarcated and with counterweight loaded with standard power to be provided, and can realize the independent demarcation of all directions one-dimensional power through pulley or lever principle, in the demarcation of medium and small range multi-dimension force sensor, uses comparatively generally, and has the precision height, and is easy to operate.But receive the influence of rating test personnel muscle power, the multidimensional demarcation power that can not be applied to the wide range multi-dimension force sensor loads.Chinese patent CN1727861A discloses a kind of planer-type parallel sensor caliberating device; Chinese patent CN1715856A discloses the electrodeless lifting type six dimension force sensor caliberating device of a kind of planer-type; Can realize that all large scale, wide range multi-dimension force sensor multidimensional demarcation power load; But hand loading reductor of palpus and adjustment lifting pulley can not solve automatic loading and dynamic load loading problem thereof, and can not realize the independent loading of all directions one-dimensional power.Chinese patent CN101226095A discloses a kind of four jack type six-dimension force sensor calibration devices; Chinese patent CN101776506A discloses a kind of diesis posture calibrating and loading bench of large multi-dimensional force transducer; Because augmentor is hydraulic cylinder or lifting jack, volume is big, range is high, and adopts thick and heavy loading disc as force transmission element; Quiet, the dynamic calibration that all are only applicable to large-scale and wide range (tonnage level) six-dimension force sensor load; Can not demarcate middle-size and small-size and medium and small range six-dimension force sensor, otherwise the systematic error that the load plate deadweight is introduced has a strong impact on stated accuracy and its processing is complicated with installation.The loading direction of an one-dimensional power/moment of every change just needs repeatedly to move heavy loading hydraulic cylinder or lifting jack, and test operation is very complicated, and rating test efficient is lower and bring onerous toil intensity for the rating test personnel.And Chinese patent CN101226095A can not realize the independent loading of all directions one-dimensional power.Chinese patent CN101464201B discloses a kind of caliberating device of six-dimension heavy force sensor, compact conformation, and rigidity and precision are higher, but can not solve automatic loading and dynamic load loading problem thereof equally, and can not realize the independent loading of all directions one-dimensional power.
Along with Robotics, spacecraft launching site reaches technological development such as wind tunnel test, and the six-dimension force sensor Research on Dynamic Characteristic is just seemed more and more important.Be the dynamic perfromance of research six-dimension force sensor, must carry out the dynamic calibration test, promptly utilize dynamic calibration apparatus to import known dynamic force to sensor to it.In addition, coupled problem between dimension occurs, sensor is carried out the loading of all directions one-dimensional power and demarcate the decoupling zero that more helps realizing six-dimension force sensor, and then improve the sensor measurement precision because six-dimension force sensor exists inevitably.Because must gather mass data, the rating test labor intensity is bigger, the caliberating device that can load automatically can be saved test operation personnel muscle power greatly, improves test efficiency, reduction Sensor Design and fabrication cycle.
The utility model content
The purpose of the utility model provides the caliberating device of a kind of pair of power source six-dimension force sensor; Comprise first elevating mechanism, second elevating mechanism, charger, loading clamping device and L shaped sensor base; First elevating mechanism comprises first elevator as output terminal, and first elevator is connected with an end of charger, and second elevating mechanism comprises second elevator as output terminal; Second elevator is connected with the other end of charger
Charger comprises first vertical force application rod, second vertical force application rod, the first horizontal loading side tube and the second horizontal loading side tube; The upper end of said first vertical force application rod is connected with first elevator of first elevating mechanism as an end of charger; Lower end at first vertical force application rod is connected with the first party borehole jack; The first party borehole jack be set in that first horizontal loading side tube is gone up and first party borehole jack and the first horizontal side of loadinging tin between form and laterally be slidingly connected, the first horizontal loading side tin is connected with an end of loading clamping device; The upper end of second vertical force application rod is connected with second elevator of second elevating mechanism as the other end of charger; Lower end at second vertical force application rod is connected with the second party borehole jack; The first party borehole jack be set in that second horizontal loading side tube is gone up and first party borehole jack and the second horizontal loading side tin between form and laterally be slidingly connected; The second horizontal loading side tube is connected with the other end that loads clamping device
L shaped sensor base is located on the staking-out work platform; L shaped sensor base is made up of the orthogonal the first arm and second arm; On the first arm, be provided with first groove that is used to place six-dimension force sensor, on second arm, be provided with second groove that is used to place six-dimension force sensor.
With prior art relatively; The utility model has the advantages that: 1) rotate through PC control motor; The size of standard one-dimensional force sensor measuring loading force; Can carry out continuous dynamic and static demarcation to six-dimension force sensor, simple to operation, demarcate the big or small stepless adjustable of loading force and resolution is high; 2) be connected with the first party borehole jack in the lower end of first vertical force application rod; The first party borehole jack be set in that first horizontal loading side tube is gone up and first party borehole jack and the first horizontal loading side tin between form and laterally be slidingly connected; First vertical force application rod can apply vertical force up or down to the first horizontal loading side tube; Lower end at second vertical force application rod is connected with the second party borehole jack; The first party borehole jack be set in that second horizontal loading side tube is gone up and first party borehole jack and the second horizontal loading side tin between form and laterally be slidingly connected; Second vertical force application rod can apply vertical force up or down to the second horizontal loading side tube; When six-dimension force sensor is fixed on L type sensor base first groove; Make first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively the first horizontal loading side tube, second horizontal the loadings side tube are progressively applied the identical vertical force of equal-sized direction up or down by zero beginning, two vertical power in the same way that progressively load are converted into the Z direction that progressively loads and pass to six-dimension force sensor through the loading clamping device with joint efforts, the demarcation of completion Z direction power; Make first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively the first horizontal loading side tube, the second horizontal side of loadinging tin are progressively applied equal and opposite in direction up or down by zero beginning; Vertical force in the opposite direction; Two vertical forces that progressively load are converted into the directions X moment (or Y yawning moment) that progressively loads and pass to six-dimension force sensor through loading clamping device, accomplish the demarcation of directions X moment (or Y yawning moment); Six-dimension force sensor is revolved and turn 90 degrees along demarcating axle; Be fixed in once more on first groove of L type sensor base; Make first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively the first horizontal loading side tube, the second horizontal side of loadinging tin are progressively applied equal and opposite in direction up or down by zero beginning; Vertical force in the opposite direction; Two vertical forces that progressively load are converted into the Y yawning moment (or directions X moment) that progressively loads and pass to six-dimension force sensor through loading clamping device, accomplish the demarcation of Y yawning moment (or directions X moment).When six-dimension force sensor is fixed on L type sensor base second groove; Make first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively the first horizontal loading side tube, the second horizontal side of loadinging tin are progressively applied the identical vertical force of equal-sized direction up or down by zero beginning; Two vertical power in the same way that progressively load are converted into the directions X (or Y direction) that progressively loads makes a concerted effort to pass to six-dimension force sensor through loading clamping device, accomplishes the demarcation of directions X power (or Y direction power); Six-dimension force sensor is revolved and turn 90 degrees along demarcating axle; Be fixed in again on second groove of L type sensor base; If first elevator, second elevator drive first vertical force application rod respectively, second vertical force application rod progressively applies the identical vertical force of equal-sized direction up or down to the first horizontal loading side tube, the second horizontal loading side tube by zero beginning; Two vertical power in the same way that progressively load are converted into the Y direction (or directions X) that progressively loads makes a concerted effort to pass to six-dimension force sensor through loading clamping device, accomplishes the demarcation of Y direction power (or directions X power); Make first elevator, second elevator drive first vertical force application rod, second vertical force application rod respectively the first horizontal loading side tube, the second horizontal side of loadinging tin are progressively applied vertical force equal-sized in the opposite direction up or down by zero beginning; Two vertical forces that progressively load are converted into the Z yawning moment that progressively loads and pass to six-dimension force sensor through loading clamping device, accomplish the demarcation of Z yawning moment.Traditional six-dimension force sensor calibration device, the sensor installation site immobilizes, and needs four load(ing) points just can accomplish the independent loading of six direction power or moment; And adopt thick and heavy loading disc as force transmission element, the deadweight of loading disc is bigger, in the rating test; The error that the deadweight of loading disc is introduced is less for the demarcation of wide range (several tonnes) six-dimension force sensor influence, but for the demarcation of medium and small range (tens of ox level) six-dimension force sensor, the error effect that deadweight is introduced is very big; Even can produce wrong calibration result, process of the test needs repeatedly to move heavy augmentor, like loading hydraulic cylinder; The rating test operating difficulties, test efficiency is lower, and testing crew labour intensity is very big; And the utility model device, whole calibrating procedure only need once change the installation site of six-dimension force sensor on L shaped sensor base, and promptly six-dimension force sensor is installed in respectively on first groove and second groove of L shaped sensor base; The feasible independent demarcation that only just can accomplish six direction power or moment with two load(ing) points; Laterally loadings side is tin as force transmission element transmission loading force for first, second that promptly adopts hollow, and amount of deflection is little and in light weight, has reduced the error of introducing because of the distortion after stressed of the deadweight of force transmission element and force transmission element; Improved stated accuracy; Make the utility model device both be applicable to the demarcation of wide range six-dimension force sensor, also be applicable to the demarcation of medium and small range six-dimension force sensor, all in the calibration process; Only need change six-dimension force sensor and not need repeatedly to move the power source (loading hydraulic cylinder etc.) that volume is big and weight is big at the installation direction of L type sensor base; Just can demarcate six-dimension force sensor six direction one-dimensional power/moment, significantly reduce the labour intensity of testing crew, rating test efficient is high; 3) six-dimension force sensor is installed on the rating test platform through L type sensor base; Servomotor moves up and down according to two elevators of true altitude needs control of six-dimension force sensor; The displacement stroke of elevator is wide; (diameter and height 0.5m ~ 1m) six-dimension force sensor calibration also can be used for the small size (six-dimension force sensor calibration of diameter and height 5cm ~ 0.5m) to make the utility model device both can be used for big volume; 4) existing medium and small range six-dimension force sensor calibration device only can carry out mixing force/moment output rating test to six-dimension force sensor; And can not all directions one-dimensional power or moment be demarcated separately, therefore can only adopt and carry out decoupling zero based on the generalized inverse static decoupling algorithm of matrix, algorithm relates to numerous matrix operations; Be easy to generate ill-condition matrix; Influence the precision and the reliability of decoupling zero, the utility model device can be realized the independent demarcation of all directions one-dimensional power or moment, according to the test figure of the independent demarcation of all directions one-dimensional power or moment; Can accurately calculate each coupled relation between the dimension of power or moment input and output; Employing is carried out decoupling zero based on the six-dimension force sensor calibration decoupling method of coupling error modeling, need not complicated matrix operation, and algorithm is simple and reliable and the decoupling zero precision is higher; 5) the whole calibrating apparatus structure is simple, is easy to install, dismantles and safeguards.
Description of drawings
Fig. 1 is the perspective view (demarcating Z direction power and X, Y yawning moment) of the utility model.
Fig. 2 is the perspective view (demarcating X, Y direction power and Z yawning moment) of the utility model.
Fig. 3 is a L type sensor base sketch in the utility model.
Fig. 4 is a six-dimension force sensor sketch in the utility model.
Fig. 5 is the first fixture block sketch that loads clamping device in the utility model.
Fig. 6 is the second fixture block sketch that loads clamping device in the utility model.
Fig. 7 loads clamping device and six-dimension force sensor assembling synoptic diagram in the utility model.
Fig. 8 is an elevating mechanism structural representation in the utility model.
Fig. 9 demarcates the worktable sketch in the utility model.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further described.
With reference to Fig. 1,2, be the perspective view of the utility model, caliberating device comprises staking-out work platform 11, first elevating mechanism, second elevating mechanism, charger, loading clamping device 14 and L shaped sensor base 12.
First elevating mechanism comprises that first elevator, 7, the first elevators 7 as output terminal are connected with an end of charger, and second elevating mechanism comprises that second elevator, 8, the second elevators 8 as output terminal are connected with the other end of charger.
Charger comprises first vertical force application rod 9, second vertical force application rod 10, the first horizontal loading side tube 15 and second horizontal loading side tube 16; The upper end of first vertical force application rod 9 is connected with first elevator 7 of first elevating mechanism as an end of charger; Lower end at first vertical force application rod 9 is connected with first party borehole jack 91; First party borehole jack 91 be set on the first horizontal loading side tube 15 and first party borehole jack 91 and the first horizontal loading side tins 15 between form and laterally be slidingly connected; The vertical force that first vertical force application rod 9 can apply up or down first horizontal loading side tube 15, the first horizontal side of loadinging tins 15 is connected with an end of loading clamping device 14; The upper end of second vertical force application rod 10 is connected with second elevator 8 of second elevating mechanism as the other end of charger; Lower end at second vertical force application rod 10 is connected with second party borehole jack 101; First party borehole jack 101 be set on the second horizontal loading side tube 16 and first party borehole jack 101 and the second horizontal loading side tins 16 between form and laterally be slidingly connected; The vertical force that second vertical force application rod 10 can apply up or down second horizontal loading side tube 16, the second horizontal side of loadinging tins 16 is connected with the other end of loading clamping device 14.Tube 16 upper ends, the first horizontal loading side tube, the 15 and second horizontal loading side are equipped with standard one-dimensional force transducer; Can measure first vertical force application rod 9, second vertical force application rod 10 applies vertical force respectively to the first horizontal loading side tube, 15, the second horizontal loading side tube 16 size and Orientation; The precision of standard one-dimensional force transducer is 0.05%F.S. or 0.02% F.S.; Tube 16 lower ends, the first horizontal loading side tube, the 15 and second horizontal loading side are equipped with non-contact displacement transducer, are used to measure the size of vertical force application rod or elevator perpendicular displacement.The charger material adopts high-quality medium carbon steel, structural alloy steel etc., increases its mechanical property through suitable Technology for Heating Processing.
L shaped sensor base 12 is installed on the staking-out work platform 11; With reference to Fig. 3, L shaped sensor base 12 is made up of the orthogonal the first arm 121 and second arm 122, and the first arm 121 and second arm 122 are made of welded connection through seamless; Machining guarantees its verticality; Constant for guaranteeing stressed back verticality, muscle is installed on the first arm 121 and the crossing medial surface of second arm 122, on the first arm 121, be provided with first groove 1211 that is used to place six-dimension force sensor 13; On second arm 122, be provided with second groove 1221 that is used to place six-dimension force sensor; Be used for being equipped with on sensor level installation screw 1212, the second grooves 1221 on convenient installation six-dimension force sensor 13, the first grooves 1211 and be equipped with transducer vertical installation screw 1222; Six-dimension force sensor can be fixed on first groove 1211 or second groove 1221 according to the direction of demarcation power or moment respectively; Four L type sensor base fixed orifices 1213 are equipped with at 121 4 jiaos of places of the first arm, are used for cooperating with L type sensor base mounting hole 1107, L type sensor base 12 are fixed in horizontal steel plate 1101 upper surfaces of staking-out work platform 11.
With reference to Fig. 4, six-dimension force sensor 13 is by demarcating axle 1301, top cover 1302, sensor base 1303 compositions.With reference to Fig. 5,6,7; Loading clamping device 14 is made up of first fixture block 140 and second fixture block 141 that are superimposed with each other together; On first fixture block 140, be provided with and be used for the first party connected in star 1401 that axle 1301 is demarcated in clamping; First demarcates axle connection screw 1402 in first party connected in star 1401, on second fixture block 141, is provided with to be used for the second party connected in star 1411 that axle 1301 is demarcated in clamping, and second demarcates axle connection screw 1402 in second party connected in star 1411; Tighten the first demarcation axle and connect screw 1402, the second demarcation axle connection screw, 1402 place's nuts, guarantee to clamp demarcation axle 1301 tops; One end of loading clamping device 14 embeds the first horizontal loading side tube 15 and is connected by the bolt that runs through the first horizontal loading side tube 15 and loading clamping device 14 1 ends more than 2 or 2; The other end of loading clamping device 14 embeds the second horizontal loading side tube 16 and is connected by the bolt that runs through the second horizontal loading side tube 16 and loading clamping device 14 other ends more than 2 or 2, and the assurance first horizontal loading side tube 15, the second horizontal loading side tube 16 does not relatively move with loading clamping device 14.
With reference to Fig. 8; First elevating mechanism and second elevating mechanism adopt spiral lift device; Spiral lift device is made up of the square column of the square column of first square base 1, first 3, second 4, servomotor 17, speed reduction unit 18, first gear 19, second gear 20, the 3rd gear 21, the 4th gear 22, the 5th gear 23, ball-screw 24, ball nut 25, first guide rail 26 and second guide rail 27; The first square column 3 is loaded into an end of first square base, 1 upper surface, and the second square column 4 is loaded into the other end of first square base, 1 upper surface.The input end of the output shaft of servomotor 17 and speed reduction unit 18 is rigidly connected; Reduce rotating speed and improve output torque simultaneously, speed reduction unit 18 output shafts and first gear, 19 centers are rigidly connected, a side of first gear 19 and 20 engagements of second gear; Another is surveyed and 21 engagements of the 3rd gear; Second gear 20 meshes with the 5th gear 23 simultaneously, 21 whiles of the 3rd gear and 22 engagements of the 4th gear, and five pitch wheels are centered close on same the straight line; Making servomotor drive the 4th gear 22, the five gears 23 rotates with speed in the same way.The 5th gear 23 center pits and ball-screw 24 lower ends are rigidly connected.The first square column 3 take the shape of the letter U with second square column 4 sections and inner structure identical; Ball nut 25 and ball-screw 24 threaded engagement; The ball nut 25 and first elevator 7 are rigidly connected; Be to increase steadiness, ball nut 25 ball-screw 24 both sides be slidingly connected for first guide rail 26 of its guiding and second guide rail 27.
With reference to Fig. 9, for demarcating worktable 11 sketches in the utility model, staking-out work platform 11 is by horizontal steel plate 1101; The first vertical card extender 1102; Second vertical card extender 1103, the three vertical card extender 1104, the four vertical card extenders 1105; Sensor cable hole 1106, L type sensor base mounting hole 1107 is formed.Sensor cable hole 1106 is used to place the output cable of six-dimension force sensor.The left surface two ends of horizontal steel plate 1101 respectively with the first vertical card extender 1102; The second vertical card extender 1103 is rigidly connected at right angles; The right flank two ends respectively with the 3rd vertical card extender 1104; The 4th vertical card extender 1105 is rigidly connected at right angles, and machining adopts no seam welding, and guarantees its verticality.Staking-out work platform 11 is fixed between four box columns with being threaded of side of the first box column 3, the second box column 4, the 3rd box column 5, the 4th box column 6 respectively through first vertical card extender 1102, second vertical card extender the 1103, the 3rd vertical card extender 1104, the four vertical card extenders 1105.For guaranteeing that horizontal steel plate 1101 when stressed any deformation does not take place, horizontal steel plate 1101 lower surfaces are covered with reinforcement.There is L type sensor base mounting hole 1107 on horizontal steel plate 1101 surfaces, are used for being threaded with L type sensor base 12.
When six-dimension force sensor 13 is fixed on L type sensor base 12 first grooves 1211; Make first elevator 7, second elevator 8 drive tube 15, the second horizontal side of loadinging, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply the identical vertical force of equal-sized direction up or down by zero beginning; Two vertical power in the same way that progressively load are converted into the Z direction that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 through loading clamping device 14, accomplishes the demarcation of Z direction power; Make first elevator 7, second elevator 8 drive tube 15, the second horizontal side of loadinging, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply equal and opposite in direction up or down by zero beginning; Vertical force in the opposite direction; Two vertical forces that progressively load are converted into the directions X moment (or Y yawning moment) that progressively loads and pass to six-dimension force sensor 13 through loading clamping device 14, accomplish the demarcation of directions X moment (or Y yawning moment); Six-dimension force sensor 13 is revolved and turn 90 degrees along demarcating axle 1301; Be fixed in once more on first groove 1212 of L type sensor base; Make first elevator 7, second elevator 8 drive tube 15, the second horizontal side of loadinging, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply equal and opposite in direction up or down by zero beginning; Vertical force in the opposite direction; Two vertical forces that progressively load are converted into the Y yawning moment (or directions X moment) that progressively loads and pass to six-dimension force sensor 13 through loading clamping device 14, accomplish the demarcation of Y yawning moment (or directions X moment).
When six-dimension force sensor 13 is fixed on L type sensor base second groove 1221; Make first elevator 7, second elevator 8 drive tube 15, the second horizontal side of loadinging, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply the identical vertical force of equal-sized direction up or down by zero beginning; Two vertical power in the same way that progressively load are converted into the directions X (or Y direction) that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 through loading clamping device 14, accomplishes the demarcation of directions X power (or Y direction power); Six-dimension force sensor 13 is revolved and turn 90 degrees along demarcating axle 1301; Be fixed in again on second groove 1221 of L type sensor base; If first elevator 7, second elevator 8 drive 15, second a horizontal loading side, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply the identical vertical force of equal-sized direction up or down by zero beginning; Two vertical power in the same way that progressively load are converted into the Y direction (or directions X) that progressively loads makes a concerted effort to pass to six-dimension force sensor 13 through loading clamping device 14, accomplishes the demarcation of Y direction power (or directions X power); Make first elevator 7, second elevator 8 drive tube 15, the second horizontal side of loadinging, 10 pairs first horizontal loading sides of first vertical force application rod 9, second vertical force application rod tins 16 respectively and progressively apply vertical force equal-sized in the opposite direction up or down by zero beginning; Two vertical forces that progressively load are converted into the Z yawning moment that progressively loads and pass to six-dimension force sensor 13 through loading clamping device 14, accomplish the demarcation of Z yawning moment.
The whole calibrating process of the test is by two servomotors of PC control, and by the size and positive negative direction of standard unidirectional force sensor measurement loading force, detected the position of anchor clamps by non-contact displacement transducer.And, can accurately demarcate 3 direction power and 3 yawning moments respectively through on first groove 1211 or second groove 1221 that six-dimension force sensor 13 are installed in L type sensor base 12 respectively.According to the test nominal data that all directions one-dimensional power loads, establish six-dimension force sensor 13 inputs and constitute linear stational system with output, from the essence of coupling between dimension, set up coupling model between the dimension of six-dimension force sensor 13.
The output voltage on every road is deducted that a part of pressure value that coupling is introduced between the perturbed force dimension earlier, promptly eliminates coupling error, again divided by
k Ii Ask power, the decoupling zero of then having accomplished between each dimension power is calculated.Shown in (1).
formula
(1)
Formula (1) decoupling zero needs known coupled interference force vector, and in the actual decoupling zero process, known quantity is the electric signal of each road output, and the size of each dimension power input is unknown quantity, must replace coupled interference with output voltage values.The decoupling zero formula is suc as formula shown in (2).
Whole undetermined constants in the formula (2) i.e.
can carry out the acquisition of monobasic linear fit by the static demarcating test figure.At last institute's survey voltage is brought in the formula (2) and then accomplished decoupling zero.
Claims (3)
1. the caliberating device of two power sources six-dimension force sensor; Comprise: staking-out work platform (11); It is characterized in that said caliberating device also comprises first elevating mechanism, second elevating mechanism, charger, loading clamping device (14) and L shaped sensor base (12), first elevating mechanism comprises first elevator (7) as output terminal; First elevator (7) is connected with an end of charger; Second elevating mechanism comprises second elevator (8) as output terminal, and second elevator (8) is connected with the other end of charger
Described charger comprises first vertical force application rod (9), second vertical force application rod (10), first horizontal loading side's tube (15) and second horizontal loading side's tube (16); The upper end of said first vertical force application rod (9) is connected with first elevator (7) of first elevating mechanism as an end of charger; Be connected with first party borehole jack (91) in the lower end of first vertical force application rod (9); First party borehole jack (91) be set in that first horizontal loading side tube (15) is gone up and first party borehole jack (91) and the first horizontal side of loadinging tin (15) between form and laterally be slidingly connected, the first horizontal loading side tin (15) is connected with an end of loading clamping device (14); Said second vertical force application rod; (10) upper end is as the other end of charger and second elevator of second elevating mechanism; (8) connect; At second vertical force application rod; (10) lower end is connected with the second party borehole jack; (101); The first party borehole jack; (101) be set in the second horizontal loading side tube; (16) last and first party borehole jack; (101) with the second horizontal loading side tube; (16) form between and laterally be slidingly connected; The second horizontal loading side tube; (16) with the loading clamping device; (14) the other end connects
Said L shaped sensor base (12) is located on the staking-out work platform (11); L shaped sensor base (12) is made up of orthogonal the first arm (121) and second arm (122); On the first arm (121), be provided with first groove (1211) that is used to place six-dimension force sensor, on second arm (122), be provided with second groove (1221) that is used to place six-dimension force sensor.
2. the caliberating device of according to claim 1 pair of power source six-dimension force sensor; It is characterized in that; Described loading clamping device (14) is made up of with second fixture block (141) first fixture block (140) that is superimposed with each other together; On first fixture block (140), be provided with the first party connected in star (1401) that is used for clamping transducer calibration axle; First demarcates axle connection screw (1402) in first party connected in star (1401), on second fixture block (141), is provided with the second party connected in star (1411) that is used for clamping transducer calibration axle, and the second demarcation axle connects screw (1402) in second party connected in star (1411); One end of loading clamping device (14) embeds first horizontal loading side's tube (15) and is connected by the bolt that runs through first horizontal loading side's tube (15) and loading clamping device (14) one ends more than 2 or 2, and the other end of loading clamping device (14) embeds second horizontal loading side's tube (16) and is connected by the bolt that runs through the second horizontal loading side's tube (16) and loading clamping device (14) other end more than 2 or 2.
3. the caliberating device of according to claim 1 and 2 pair of power source six-dimension force sensor; It is characterized in that; First elevating mechanism and second elevating mechanism adopt spiral lift device; Said jacking gear; Comprise first square base (1), the first square column (3), the second square column (4), servomotor (17), speed reduction unit (18), first gear (19), second gear (20), the 3rd gear (21), the 4th gear (22), the 5th gear (23), ball-screw (24), ball nut (25), first guide rail (26) and second guide rail (27), the first square column (3) is loaded into an end of first square base (1) upper surface, and the second square column (4) is loaded into the other end of first square base (1) upper surface; The input end of the output shaft of servomotor (17) and speed reduction unit (18) is rigidly connected; Speed reduction unit (18) output shaft and first gear (19) center are rigidly connected, a side of first gear (19) and second gear (20) engagement, opposite side and the 3rd gear (21) engagement; Second gear (20) meshes with the 5th gear (23) simultaneously; The 3rd gear (21) meshes with the 4th gear (22) simultaneously, and five pitch wheels are centered close on same the straight line, and the 5th gear (23) center pit and ball-screw (24) lower end are rigidly connected; The first square column (3) is identical with the inner structure of the second square column (4); Ball nut (25) and ball-screw (24) threaded engagement, ball nut (25) is slidingly connected with first guide rail (26) and second guide rail (27), and ball nut (25) is rigidly connected with the output terminal of elevating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202848093U CN202216801U (en) | 2011-08-08 | 2011-08-08 | Double-force-source calibration device for six-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202848093U CN202216801U (en) | 2011-08-08 | 2011-08-08 | Double-force-source calibration device for six-dimensional force sensor |
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| Publication Number | Publication Date |
|---|---|
| CN202216801U true CN202216801U (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202848093U Withdrawn - After Issue CN202216801U (en) | 2011-08-08 | 2011-08-08 | Double-force-source calibration device for six-dimensional force sensor |
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| CN (1) | CN202216801U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279077A (en) * | 2011-08-08 | 2011-12-14 | 东南大学 | Calibration device for double-force-source six-dimensional force sensor |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN107643143A (en) * | 2017-09-26 | 2018-01-30 | 华南理工大学 | A kind of planer-type force feedback equipment power output measuring table and power output compensation method |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
-
2011
- 2011-08-08 CN CN2011202848093U patent/CN202216801U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279077A (en) * | 2011-08-08 | 2011-12-14 | 东南大学 | Calibration device for double-force-source six-dimensional force sensor |
| CN102279077B (en) * | 2011-08-08 | 2013-06-05 | 东南大学 | Calibration device for double-force-source six-dimensional force sensor |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN107643143A (en) * | 2017-09-26 | 2018-01-30 | 华南理工大学 | A kind of planer-type force feedback equipment power output measuring table and power output compensation method |
| CN113358274A (en) * | 2021-06-10 | 2021-09-07 | 广西大学 | Double-force-source six-dimensional force sensor static calibration device and calibration method |
| CN113820066A (en) * | 2021-09-22 | 2021-12-21 | 山东建筑大学 | Six-dimensional miniature force/torque sensor static calibration device |
| CN113820066B (en) * | 2021-09-22 | 2024-05-24 | 山东建筑大学 | Six-dimensional miniature force/moment sensor static calibration device |
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