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Six-dimensional sensor calibration device

A six-dimensional force sensor and calibration device technology, applied in the direction of measuring devices, instruments, force/torque/work measurement instrument calibration/testing, etc. , to achieve the effect of convenient operation, accurate positioning and simple loading process

Inactive Publication Date: 2013-07-10
DALIAN JIAOTONG UNIVERSITY
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AI Technical Summary

Problems solved by technology

Chinese Patent Publication No. CN102749168A discloses a combined calibration device for a weight-type non-coupling six-dimensional force sensor, using weights as a force source, utilizing the principle of leverage and a pulley block to achieve a force-increasing effect, and realizing the individual calibration of a single-dimensional force in each direction , is widely used in the calibration of small and medium range multi-dimensional force sensors, and has the characteristics of high precision and easy operation, but it cannot perform automatic loading and dynamic load loading calibration
Chinese Patent Publication No. CN1715856A discloses a pulley-type stepless lifting six-dimensional force sensor calibration device, which can realize generalized loading and calibration of multi-dimensional force sensors, but cannot realize separate loading of each dimension force / moment component, and the transmission rope and The angle between the horizontal planes is difficult to ensure sufficient accuracy, which affects the calibration accuracy
Chinese Patent Publication No. CN101226095A discloses a four-jack type six-dimensional force sensor calibration device. Since the loading device is a hydraulic cylinder or a jack, it has large volume, high range, high quality, and low calibration accuracy. It is only suitable for large and large-tonnage vehicles. The calibration of the six-dimensional force sensor cannot calibrate the six-dimensional force sensor of small and medium-sized or medium and small ranges, and the test operation is very complicated, and the efficiency of the calibration test is low
Chinese Patent Publication No. CN202216801U discloses a dual force source six-dimensional force sensor calibration device, which can perform continuous dynamic and static calibration on the six-dimensional force sensor, and is easy to operate, but the dual force source is prone to asynchronous errors, thereby affecting the calibration accuracy
[0004] To sum up, the existing six-dimensional force sensor calibration devices generally have the problems of low calibration force and torque accuracy, complicated operation and no automatic control.

Method used

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings. Such as Figure 1-9 As shown, a six-dimensional force sensor calibration device includes a frame, a loading mechanism, a positioning mechanism and an electrical control system, and the frame is composed of a base 1 and a portal rigid frame 2;

[0027] The loading mechanism includes a servo motor A26, a reducer 25, a gear A42, a gear B43, a gear C44, a gear D45, a gear E46, two ball screws 3, two ball screw nuts 27, a movable beam 4, a standard single The power sensor 5 and the loading head 6, the output shaft of the servo motor A26 is rigidly connected with the input shaft of the reducer 25, the output shaft of the reducer 25 is rigidly connected with the center of the gear A42, one side of the gear A42 meshes with the gear B43, and the gear The other side of A42 meshes with gear C44, gear B43 meshes with gear E46 at the same time, and gear C44 meshes with gear D45 at t...

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Abstract

The invention discloses a six-dimensional sensor calibration device which comprises a machine frame, a load mechanism, a positioning mechanism and an electrical control system. The electrical control system comprises a human-computer interface, an industrial personal computer, a multi-axis controller, a servo controller A, a servo controller B, a servo controller C, a servo controller D and a servo controller E, wherein the human-computer interface and the industrial personal computer serve as an upper computer used for monitoring displacement, angle and force signals. A closed loop force feedback control system is adopted, accurate and automatic loading of calibration force is achieved, and a six-dimensional sensor can be continuously loaded. A grating ruler is installed on a high-precision cross sliding table mechanism to form full closed-loop displacement control, the displacement in the X (Y) direction is precisely positioned, and turning and rotating angles of the six-dimensional sensor can be precisely positioned through a circular grating, and therefore the precise positioning of straight line displacement and a rotating angle of the six-dimensional sensor is achieved. According to the six-dimensional sensor calibration device, loading of any six-dimensional force / torque within a measuring range can be achieved, the loading process is simple and operation is convenient.

Description

technical field [0001] The invention relates to the field of sensors and measurement and control thereof, in particular to a six-dimensional force sensor calibration device. Background technique [0002] The six-dimensional force sensor can simultaneously detect full force information in three-dimensional space, that is, three-dimensional force information (F x , F y , F z ) and three-dimensional moment information (M x , M y , M z ). The six-dimensional force sensor has a wide range of applications in aerospace, robotics and other fields, such as force monitoring of flywheel transmission system, lunar rover landing test, low-impact docking of aircraft, precision instrument assembly, robot hands coordination control, etc. my country's high-precision six-dimensional force sensor mainly relies on imports. Therefore, it is of great strategic significance to develop a six-dimensional force sensor with independent intellectual property rights. The calibration device plays ...

Claims

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Application Information

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IPC IPC(8): G01L25/00
Inventor 林盛王春周士钧
Owner DALIAN JIAOTONG UNIVERSITY
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