Calibration method and calibration device of multi-shaft force sensor

Abstract

The invention relates to a calibration method and calibration device of a multi-shaft force sensor. Decomposition of a force and torque is achieved by a loading plate, high-accuracy synergic loading of six component loads of the multi-shaft force sensor is finally achieved, and the calibration accuracy of the sensor is improved. All position gestures of the multi-shaft force sensor can be obtainedonly by seven laser displacement sensors, and the device is convenient and effective. A newly-installed multi-shaft force sensor can be rapidly adjusted to a designated reference each time when a newsensor is arranged, all installation positions of all arranged sensors can be enabled to be consistent, the calibration reference consistency is ensured, and the consistency of different batches of sensors is greatly improved. After the sensor is installed by employing the calibration method and the calibration device, the deformation of the sensor under effects of different loads can be monitored in real time during the calibration process, and the deformation is used as a technical parameter of the sensor and is provided for a user; and compared with a traditional means for estimation by afinite element theory, the parameter acquisition method has the advantages of more trueness and more accuracy.

Description

technical field [0001] The invention relates to a multi-axis force sensor calibration method and a calibration device, which are used to avoid calibration errors caused by different batches of sensors due to different installation states, and belong to the application field of force sensors. Background technique [0002] According to different application occasions, the structural forms of multi-axis force sensors vary greatly. For example, the wind tunnel balances used in wind tunnel tests are generally rod-type structures, and the general hub-type structures used in the field of industrial robots are mostly. However, no matter what kind of field the multi-axis force sensor is used in, it needs to be calibrated before it is manufactured and put into practical use, so as to obtain the corresponding relationship between the three force components and three torque components and the output signal. [0003] The core step of the calibration of the force sensor is to install the ...

AI Technical Summary

Problems solved by technology

Compared with the single-axis force sensor, the multi-axis force sensor requires much higher installation accuracy during the calibration process, especially the angular installation error around the axis, which will cause one of the load components to be loaded on the other component. Interference, which directly restricts the loading accuracy of the calibration, resulting in a decrease in the accuracy level of the multi-axis force sensor

[0004] At present, in order to suppress the above-mentioned installation errors at home and abroad, it is more common to establish a calibration coordinate system for each calibration, and adjust all the loading devices to be consistent with the coordinate system. This method has a huge workload and low efficiency. Inconsistent coordinate systems, often poor sensor alignment

At present, no high-precision and fast installation method has been seen, which has become a technical bottleneck restricting the batch precision calibration of multi-axis force sensors

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