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.

Six-dimensional sensor calibration device

The invention discloses a calibration device and method of a six-axis force/torque sensor. The calibration device comprises a calibration workbench, a rotating workbench, a force value loading device, a torque loading device, a calibration switching device and the like. The rotating workbench mounted on the calibration workbench achieves precise angle rotating of the six-axis force/torque sensor, a side pulley support fixed on a stand column can move vertically along with the different height of the sensor, and therefore a steel wire rope is kept in a horizontal state. The calibration device and method of the six-axis force/torque sensor have the advantages of being simple in operation, good in universality, capable of meeting the calibration requirement of the six-axis force/torque sensor in different measuring range, and capable of achieving torque calibration of the senor with a middle measuring range through the way of changing a calibration force arm.

Calibration device and method of six-axis force/torque sensor

The invention provides a multi-dimensional force sensor calibration device with controllable poses. The multi-dimensional force sensor calibration device comprises a fixing platform, drive mechanisms, connecting rod mechanisms and a moving platform. The upper ends of the drive mechanisms and the lower ends of the connecting rod mechanisms are connected to form drive connecting rod mechanisms. The upper ends of the six drive connecting rod mechanisms are hinged to the moving platform through universal hinges, and the lower ends of the six drive connecting rod mechanisms are hinged to a fixed platform to form a six-freedom-degree parallel mechanism. The six drive connecting rod mechanisms are divided into three groups. Every two adjacent drive connecting rod mechanisms form one group and are arranged in the mode shaped like a Chinese character 'ba'. The poses of a calibration platform can be controlled and changed, and the calibration device has the function of calibrating a sensor dynamically and statically, and is complete in function, convenient to operate, high in calibration precision and capable of being well applied to practical engineering.

Multi-dimensional force sensor calibration device with controllable poses

The invention provides a six-dimension force sensor calibration device and a loading unit thereof. The loading unit comprises a servo motor, a transmission mechanism, a standard force sensor, a pull rod and a spring, wherein the servo motor is used for outputting rotational motion through an output shaft of the servo motor according to a control instruction, the input end of the transmission mechanism is connected with the output shaft of the servo motor, the transmission mechanism is used for converting the rotational motion output by the servo motor into the rectilinear motion, the standard force sensor is arranged at the output end of the transmission mechanism and used for detecting the load of the servo motor, the first end of the pull rod is connected with the standard force sensor, the second end of the pull rod extends into a sleeve and extends in the length direction of the sleeve, the spring is located in the sleeve and arranged on the pull rod in a sleeved mode, the first end of the spring is limited into the first end of the sleeve, and the second end of the pull rod and the second end of the spring are connected. The calibration device can calibrate each component of a six-dimension force sensor accurately, and accurately calculate the coupling relationship along dimensionalities of the six-dimension force sensor through combined load.

Six-dimension force sensor calibration device and loading unit thereof

The invention relates to a calibration device, in particular to a calibration device for a six-dimensional force sensor, and aims to solve the problems of complex structure, tedious procedures, large size, difficulty in assembling and debugging, and unachievable independent loading of a single-dimensional force in all directions of an existing calibration device. A working platform of the calibration device for the six-dimensional force sensor is fixedly installed on the upper surface of a main body framework, a first upright post and a second upright post are parallelly arranged side by side on the upper surface of the working platform, a beam support component, the first upright post and the second upright post form a door-shaped framework, five pulleys are installed on the beam support component at equal intervals in a linear shape in the length direction of the beam support component, a sensor fixing flange is installed at the middle part of the upper surface of the working platform, the sensor is installed on the sensor fixing flange, a loading disc is installed on the sensor, and two bending moment loading systems are symmetrically arranged along the sensor fixing flange. The calibration device for the six-dimensional force sensor is used for a calibration experiment for the six-dimensional force sensor.

Calibration device for six-dimensional force sensor

A calibration device of parallel 6D force transducer consists of gantry support frame formed by long and short frames , load speed reducer , transducer of standard single direction force , load coordinate cross , fixing platform of calibration device , charge transmitting rope and pulley block . It features that speed reducer in large speed ratio is applied by calibration device for exerting charge and gantry structure is used as support frame.

Wang Xuanyin Yin

Papers

Device for calibrating parallel force transducer in six dimensions