Six-dimensional force sensor calibration device and method

Abstract

The invention provides a six-dimensional force sensor calibration device. A six-dimensional force sensor comprises a sensor elastomer, and a force bearing hole is formed in the center of the sensor elastomer; and the six-dimensional force sensor calibration device comprises a rack, a rotating mechanism, a force bearing device, a first loading device, a second loading device, a third loading deviceand a control system. According to the six-dimensional force sensor calibration device, force / moment input and output of all dimensions are accurately measured by synchronously loading the two ends of the six-dimensional force sensor elastomer; the modes of fixing force sources and moving a to-be-calibrated sensor are adopted, and whole calibration can be completed only by the five force sourcesand once moving of a rotary platform; the rotary platform can rotate electrically and is limited automatically, the loading devices and a force bearing shaft can rotate synchronously, thus the difficulty of manual operation is lowered, personal errors are avoided, and calibration repeatability is good; and springs are adopted as force accumulation elements, the instable error of motor rotation isavoided, and synchronous calibration of the loading process and the unloading process is achieved.

Description

technical field [0001] The invention relates to the field of force sensor calibration, in particular to a six-dimensional force sensor calibration device and a calibration method thereof. Background technique [0002] As the most complete form of multi-dimensional force sensor, the six-dimensional force sensor can simultaneously detect three-dimensional force components (Fx, Fy, Fz) and three-dimensional torque components (Mx, My, Mz) of any coordinate system in space, and is widely used in aerospace, mechanical Manufacturing and assembly, medical engineering, automotive industry, sports and other fields. It is an important link in the development process of the sensor to calibrate the designed and processed sensor, determine the input-output relationship of each dimension, and then solve the calculation, which directly affects the measurement accuracy of the sensor. Due to the large number of dimensions of the six-dimensional force sensor and the great influence of inter-d...

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Problems solved by technology

Due to the large number of dimensions of the six-dimensional force sensor and the great influence of inter-dimensional coupling, it is difficult to use the calibration device and calibration method of the traditional single-dimensional force sensor for calibration

Chinese Patent Publication No. CN103604561A discloses a weight-loaded calibration device, which uses weights and a pulley block to perform calibration tests on sensors, which has the advantage of stable force values, but cannot be automatically calibrated, and the workload is large, and it is easy to introduce human error

Chinese Patent Publication No. CN103196629A discloses a device that uses a reducer and a high-precision single-dimensional force sensor for calibration. The displacement and angle of the movement are controlled by the grating, thereby realizing automatic calibration in all directions of the sensor, but it cannot realize the separate loading of the torque

Chinese Patent Publication No. CN103616128A discloses a calibration device that uses a combination of a servo motor and a spring as a loading unit, which can realize individual and combined calibration between multiple dimensions, but the number of loading units is huge, the operation is complicated, and it cannot be realized in all directions. Complete separation of forces and moments on

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