CN211013365U - A six-dimensional force sensor test platform - Google Patents

Abstract

The utility model provides a six-dimensional force sensor testing platform, which relates to the field of sensor testing. The six-dimensional force sensor test platform includes: a workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision two-way force sensor, a first power mechanism for applying horizontal force, and a second high-precision two-way force sensor. and a second power mechanism for applying vertical force. The force or moment generated by the power mechanism is transmitted to the six-dimensional force sensor through the six-dimensional force loading mechanism for calibration, accuracy testing and dynamic performance testing. The six-dimensional force sensor test platform of the utility model can accurately load the forces and moments in all directions of the six-dimensional force sensor in turn, and can also realize the precise loading of nine groups of compound forces and moments, and the six-dimensional force loading mechanism can be adapted to the rotary type. The design can resist to a certain extent the errors caused by the deformation caused by the force loading in the cross direction.

Description

A six-dimensional force sensor test platform

technical field

The utility model relates to the field of sensor testing, in particular to a six-dimensional force sensor testing platform.

Background technique

The application scope of industrial robots with force feedback function is expanding year by year, and they are used more and more in the scenarios of grinding, polishing, assembly and handling. A six-dimensional force sensor is connected in series between the robot end flange and the fixture, which can directly and effectively monitor and analyze the force of the workpiece. The six-dimensional force sensor can measure the forces in three orthogonal directions (Fx, Fy, Fz) and the corresponding three-dimensional force. Each moment (Mx, My, Mz) is accurately measured, and it is used as a closed-loop feedback in the processing system to provide information support for the optimization of parameters such as path and robot attitude. Therefore, the accurate test and calibration of the six-dimensional force sensor is the premise and guarantee for the efficient and accurate work of the entire processing system.

my country started a little late in the field of force sensors, and a large proportion of force sensors that are being applied or researched are still imported products. At present, there is no complete measurement standard and measurement method for force sensors in China. Due to the influence of working environment, assembly accuracy, sensor power supply and other errors, the relationship between the output value of the force sensor and the real value may be different. Testing its linearity, anti-cross-interference ability and dynamic response ability is to verify the performance of the force sensor. An important method, the test of the force sensor is used to determine the difference between the output value of the force sensor and the real value and correct it. In the design and processing and actual scene applications, accurate testing technology plays an important role.

In the invention with the application number CN201910561744.3, a device such as a parallel manipulator is used to calibrate the sensor, which is expensive. In the invention with application number CN201811198678.X, the combination of pulley and weight is used to load force and torque, but the dynamic performance test of the sensor cannot be performed.

Utility model content

In view of the problems of the background technology, the purpose of the present invention is to provide a test platform capable of accurately calibrating the performance parameters of the six-dimensional force sensor.

In order to achieve the above requirements, the present utility model provides a testing mechanism for a six-dimensional force sensor under unidirectional and cross force loading, and the specific technical scheme is as follows.

A six-dimensional force sensor test platform, comprising: a workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision two-way force sensor, a first power mechanism for applying horizontal force, and a second high-precision two-way force a sensor and a second power mechanism for applying a vertical force;

The sensor fixing mechanism is installed on the workbench and is used for loading the six-dimensional force sensor to be tested;

The six-dimensional force loading mechanism includes a horizontally placed connecting plate, a first expansion block, a second expansion block, a first force bearing column, a second force bearing column, a first force bearing seat and a second force bearing seat; the The connecting plate is fixedly connected above the six-dimensional force sensor to be tested, and includes four protruding blocks that protrude horizontally in four directions, and the four protruding blocks correspond to the six-dimensional force sensor to be tested directly below. Four directions of x+, x-, y+, y-; the first expansion block can be fixedly connected to any one of the protruding blocks; the second expansion block is fixedly connected above the connection plate, corresponding to the directly below The z-axis of the six-dimensional force sensor to be tested; the end of the first expansion block away from the connecting plate is provided with a vertical perforation and a first horizontal perforation; the second expansion block is provided just above the z-axis. There is a second horizontal through hole; the first force-bearing column is connected in series on the vertical through-hole; the second force-bearing column is connected in series on the first horizontal through hole or the second horizontal through hole; the The first force-receiving seat is sleeved on the first force-receiving column, and the first force-receiving seat can rotate around the axis where the first force-receiving column is located; the second force-receiving seat is sleeved on the On the second force-bearing column, the second force-bearing seat can rotate around the axis of the second force-bearing column;

One side of the first high-precision bidirectional force sensor is fixedly connected with the side of the first force-bearing seat away from the first force-bearing column, and the other side is fixedly connected with the force-applying end of the first power mechanism;

One side of the second high-precision bidirectional force sensor is fixedly connected with the side of the second force-bearing seat away from the second force-bearing column, and the other side is fixedly connected with the force-applying end of the second power mechanism;

Both the first power mechanism and the second power mechanism are mounted on the workbench.

Preferably, the force-applying end of the first power mechanism, the first high-precision bidirectional force sensor and the first force-receiving base are fixedly connected by bolts; the force-applying end of the second power mechanism, the second high-precision bidirectional force sensor The force sensor and the second force bearing seat are fixedly connected by bolts.

Preferably, the end of the first expansion block is expanded into two parallel plates, and the vertical through holes are provided on the parallel plates; the first force-bearing column is a bolt, which can fit through the vertical through holes, and fixed on the first expansion block by a nut; a section of the first force-bearing column located in the parallel plate is a first smooth cylinder; the first force-bearing seat is fit and sleeved on the first smooth column on the cylinder;

The secondary end of the first expansion block is provided with a first cavity with upper and lower openings, and the first horizontal through hole is provided on the side wall of the first cavity; the second expansion block is provided just above the z-axis. There is a second cavity with upper and lower openings, and the second horizontal perforation is provided on the side wall of the second cavity; the second force-bearing column is a bolt, which can fit through the first horizontal perforation and pass through The nut is fixed on the first expansion block, or can fit through the second horizontal through hole and be fixed on the second expansion block through the nut; the second force bearing column is located in the first cavity and the second expansion block. A section in the second cavity is a second smooth cylinder; the second force bearing seat is fitted and sleeved on the second smooth cylinder.

Preferably, the workbench comprises upper and lower table surfaces, the sensor fixing mechanism and the six-dimensional force loading mechanism are installed on the lower layer; the first power mechanism is installed on the lower layer, and the second power mechanism is installed on the lower layer The upper layer; the sensor fixing mechanism and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

Preferably, the position of the first power mechanism is fixed on the lower table, and the force application direction is fixed; the lower table is provided with a first station and a second station, the first station and the second station are The center connecting line is perpendicular to the force-applying direction of the first power mechanism; the sensor fixing mechanism is fixedly installed in the first station or the second station, and is in the first station or the second station. The second station can be fixed by rotating one direction every 90°, so that the four directions of x+, x-, y+, and y- of the six-dimensional force sensor to be tested face the orientation of the first power mechanism respectively;

When the sensor fixing mechanism is installed in the first working position, the force applying end of the first power mechanism can be connected to the six-dimensional force loading mechanism through the first high-precision bidirectional force sensor and face the second working position. one end of the bit;

When the sensor fixing mechanism is installed in the second working position, the force applying end of the first power mechanism can be connected to the six-dimensional force loading mechanism through the first high-precision bidirectional force sensor to face the first power one end of the institution;

The second power mechanism is movable and connected above the first expansion block or above the second expansion block.

Preferably, the first power mechanism includes a first servo motor, a first coupling, a first bearing seat, a first gear, a first rack and a first rack fixing bracket; the first servo motor and all The first bearing seats are installed on the lower layer of the worktable; one end of the first coupling is connected to the first servo motor, and the other end passes through the first bearing seat and is connected to the first gear; The first gear and the first rack are engaged for transmission, and the first rack is fixedly connected to the side of the first high-precision bidirectional force sensor away from the first force-receiving seat; the first gear The rack is arranged on the first rack fixing bracket; the first rack fixing bracket limits the first rack to move in the horizontal direction.

Preferably, the second power mechanism includes a second servo motor, a second coupling, a second bearing seat, a second gear, a second rack and a second rack fixing bracket; the second servo motor and all The second bearing seats are installed on the upper layer of the worktable; one end of the second coupling is connected to the second servo motor, and the other end passes through the second bearing seat and is connected to the second gear; The second gear and the second rack are engaged for transmission, and the second rack is fixedly connected to the side of the second high-precision bidirectional force sensor away from the second force-bearing seat; the second gear The rack is arranged on the second rack fixing bracket; the second rack fixing bracket defines the second rack to move in the vertical direction.

Preferably, the first rack and the first rack fixing bracket are connected by sliding rails or linear bearings.

Preferably, the second rack and the second rack fixing bracket are connected by a sliding rail or a linear bearing.

The beneficial effects of the present utility model are as follows: the six-dimensional force sensor test platform of the present utility model is provided with a power mechanism, a high-precision two-way force sensor, a force bearing seat, a force bearing column, an expansion block and a connecting plate connected in sequence, and the connecting plate is fixed. On the six-dimensional force sensor to be tested, the power mechanism, the high-precision two-way force sensor and the force-bearing seat are fixedly connected, and the force-bearing seat can rotate around the axis of the force-bearing column, so that the three orthogonal directions are tested. When the force (Fx, Fy, Fz), the corresponding three moments (Mx, My, Mz) and the intersection of the force and the moment, the force seat, the force column and the expansion block can always form surface contact, no Because of the torque change caused by the deformation of the device when the force is loaded, the magnitude and direction of the force loaded on the high-precision two-way force sensor and the six-dimensional force sensor are guaranteed to be consistent, and the high-precision two-way force sensor is used to benchmark the sixth The force data and dynamic response performance of the dimensional force sensor can accurately calibrate the output value linearity, anti-cross-interference ability and dynamic response ability of the six-dimensional force sensor.

Description of drawings

Fig. 1 is the six-dimensional force sensor test platform of the utility model and a kind of overall structure schematic diagram of the loaded six-dimensional force sensor to be tested;

Fig. 2 is the structural representation of the workbench of the present utility model;

3 is a schematic structural diagram of the sensor fixing mechanism of the present invention and the loaded six-dimensional force sensor to be tested;

4 is a schematic diagram of the connection structure of the second rack and the second rack bracket of the present invention;

5 is a schematic structural diagram of a cross-connection method of the six-dimensional force loading mechanism of the present invention;

6 is a schematic structural diagram of another cross-connection method of the six-dimensional force loading mechanism of the present invention;

7 is a schematic structural diagram of the six-dimensional force sensor test platform provided in Embodiments 1 and 2 of the present utility model and the loaded six-dimensional force sensor to be tested;

8 is a schematic structural diagram of a six-dimensional force sensor test platform and a loaded six-dimensional force sensor to be tested provided in Embodiment 3 of the present invention;

9 is a schematic structural diagram of the six-dimensional force sensor test platform provided by Embodiments 4 and 5 of the present utility model and the loaded six-dimensional force sensor to be tested;

10 is a schematic structural diagram of a six-dimensional force sensor test platform and a loaded six-dimensional force sensor to be tested provided in Embodiment 6 of the present invention;

11 is a schematic structural diagram of a six-dimensional force sensor test platform and a loaded six-dimensional force sensor to be tested provided in Embodiment 7 of the present invention.

In the figure: 1, workbench; 1-1, the lower layer of the workbench; 1-2, the upper layer of the workbench; 2-1, the first gear; 2-2, the second gear; 3-1, the first rack; 3 -2, the second rack; 4-1, the first rack fixing bracket; 4-2, the second rack fixing bracket; 5-1, the first high-precision two-way force sensor; 5-2, the second high-precision two-way force sensor Force sensor; 6-1, the first force bearing seat; 6-2, the second force bearing seat; 7, the sensor fixing mechanism; 8, the six-dimensional force sensor; 9, the connecting plate; 10-1, the first expansion block; 10-2, the second expansion block; 11-1, the first force column; 11-2, the second force column; 12, the support rod; 13-1, the first servo motor; 13-2, the second servo Motor; 14-1, the first coupling; 14-2, the second coupling; 15-1, the first bearing seat; 15-2, the second bearing seat.

Detailed ways

In order to illustrate the technical solutions of the present invention more clearly, the following briefly introduces the accompanying drawings used in the implementation manner. Obviously, the accompanying drawings in the following description are only some implementations of the present utility model. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

The overall structure of the present utility model is briefly described below.

As shown in FIG. 1 , it is a schematic structural diagram of a six-dimensional force sensor test platform and important components provided by the present invention. The six-dimensional force sensor test platform of the present invention includes: a workbench 1, a sensor fixing mechanism 7, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor 5-1, a first power mechanism for applying horizontal force, A second high-precision bidirectional force sensor 5-2 and a second power mechanism for applying vertical force.

The sensor fixing mechanism 7 is installed on the lower layer 1-1 of the workbench for loading the six-dimensional force sensor 8 to be tested.

Please refer to FIG. 5 and FIG. 6 together, the six-dimensional force loading mechanism includes a horizontally placed connecting plate 9, a first expansion block 10-1, a second expansion block 10-2, a first force bearing column 11-1, The second force bearing column 11-2, the first force bearing seat 6-1 and the second force bearing seat 6-2; the connecting plate 9 is fixedly connected above the six-dimensional force sensor 8 to be tested, including horizontal four Four protruding blocks protruding in each direction, and the four protruding blocks correspond to the four directions of x+, x-, y+, and y- of the six-dimensional force sensor to be tested directly below (as shown in Figure 3) The first expansion block 10-1 can be fixedly connected to any one of the protruding blocks; the second expansion block 10-2 is fixedly connected to the top of the connection plate 9, corresponding to the six to be tested directly below. The z-axis of the force sensor 8; the end of the first expansion block 10-1 away from the connecting plate 9 is provided with a vertical perforation and a first horizontal perforation; the second expansion block 10-2 is in the positive direction of the z-axis. The upper part is provided with a second horizontal through hole; the first force bearing column 11-1 is connected in series on the vertical through hole (as shown in Figures 5 and 6); the second force bearing column 11-2 is connected in series on the on the first horizontal perforation (as shown in FIG. 5 ) or the second horizontal perforation (as in FIG. 6 ); the first force bearing seat 6-1 is sleeved on the first force bearing column 11-1, The first force bearing seat 6-1 can rotate around the axis of the first force bearing column 11-1; the second force bearing seat 6-2 is sleeved on the second force bearing column 11- 2, the second force bearing seat 6-2 can rotate around the axis of the second force bearing column 11-2.

Both the first power mechanism and the second power mechanism are installed on the workbench 1 .

The force-applying end of the first power mechanism, the first high-precision bidirectional force sensor 5-1 and the first force-receiving seat 6-1 are sequentially fixedly connected by bolts; the force-applying end of the second power mechanism, the The two high-precision bidirectional force sensors 5-2 are fixedly connected to the second force-receiving base 6-2 in sequence through bolts.

As shown in Figures 5 and 6, further, the end of the first expansion block 10-1 is expanded into two parallel plates, and the vertical through holes are provided on the parallel plates; the first force bearing column 11- 1 is a bolt, which can fit through the vertical hole and be fixed on the first expansion block 10-1 by a nut; the section of the first force-bearing column 11-1 located in the parallel plate is the first A smooth cylinder; the first force bearing seat 6-1 is fitted and sleeved on the first smooth cylinder; the secondary end of the first expansion block 10-1 is provided with a first cavity with upper and lower openings, the The first horizontal perforation is provided on the side wall of the first cavity; the second expansion block 10-2 is provided with a second cavity with upper and lower openings directly above the z-axis, and the second horizontal perforation is provided in the on the side wall of the second cavity; the second force-bearing column 11-2 is a bolt, which can fit through the first horizontal hole and be fixed on the first expansion block 10-1 by a nut (such as 5), or can fit through the second horizontal hole and be fixed on the second expansion block 10-2 by a nut (as shown in FIG. 6); the second force bearing column 11-2 A section located in the first cavity and the second cavity is a second smooth cylinder; the second force bearing seat 6-2 is fitted and sleeved on the second smooth cylinder.

Further, the workbench 1 includes upper and lower table surfaces, the sensor fixing mechanism 7 and the six-dimensional force loading mechanism are installed on the lower layer; the first power mechanism is installed on the lower layer, and the second power mechanism Installed on the upper layer; the sensor fixing mechanism 7 and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

Please refer to FIG. 2 and FIG. 3 together. Further, the position of the first power mechanism is fixed on the lower table, and the force application direction is fixed; the lower table is provided with a first station and a second station, the first The center line between the station and the second station is perpendicular to the force-applying direction of the first power mechanism; the sensor fixing mechanism 7 is fixedly installed in the first station or the second station, and On the first station or the second station, it can be fixed by rotating one direction every 90°, so that the four directions of x+, x-, y+, y- of the six-dimensional force sensor 8 to be tested face respectively. The location of the first power mechanism:

(1) When the sensor fixing mechanism 7 is installed in the first station, the force-applying end of the first power mechanism can be connected to the six-dimensional force loading through the first high-precision bidirectional force sensor 5-1 one end of the mechanism facing the second station;

(2) When the sensor fixing mechanism is installed in the second station, the force applying end of the first power mechanism can be connected to the six-dimensional force loading mechanism through the first high-precision bidirectional force sensor 5-1 toward one end of the first power mechanism;

(3) The second power mechanism can move and be connected above the first expanding block 10-1 or above the second expanding block 10-2.

As shown in FIG. 1 , further, the first power mechanism includes a first servo motor 13-1, a first coupling 14-1, a first bearing seat 15-1, a first gear 2-1, a first The rack 3-1 and the first rack fixing bracket 4-1; the first servo motor 13-1 and the first bearing seat 15-1 are installed on the lower layer 1-1 of the workbench; One end of the shaft 14-1 is connected to the first servo motor 13-1, and the other end passes through the first bearing seat 15-1 and is connected to the first gear 2-1; the first gear 2- 1 and the first rack 3-1 for meshing transmission, and the first rack 3-1 is fixedly connected to the first high-precision bidirectional force sensor 5-1 away from the first force bearing seat 6-1. on one side; the first rack 3-1 is arranged on the first rack fixing bracket 4-1, and is connected by a slide rail or a linear bearing; the first rack fixing bracket 4-1 defines the The first rack 3-1 moves in the horizontal direction.

As shown in FIG. 1 and FIG. 4 , further, the second power mechanism includes a second servo motor 13-2, a second coupling 14-2, a second bearing seat 15-2, and a second gear 2-2 , the second rack 3-2 and the second rack fixing bracket 4-2; the second servo motor 13-2 and the second bearing seat 15-2 are installed on the upper layer 1-2 of the workbench; the One end of the second coupling 14-2 is connected to the second servo motor 13-2, and the other end passes through the second bearing seat 15-2 and is connected to the second gear 2-2; the second The gear 2-2 meshes with the second rack 3-2 for transmission, and the second rack 3-2 is fixedly connected to the second high-precision bidirectional force sensor 5-2 away from the second force-receiving seat 6 -2 on one side; the second rack 3-2 is arranged on the second rack fixing bracket 4-2, and is connected by a slide rail or a linear bearing; the second rack fixing bracket 4-2 The second rack 3-2 is restricted to move in the vertical direction.

The above components are selected and installed according to the test requirements.

Further, the lower layer 1-1 of the worktable and the upper layer 1-2 of the worktable are fixed to each other by four support rods 12.

Definition When the x+, x-, y+ and y- directions of the six-dimensional force sensor are facing the direction of the motor 1, they are respectively recorded as the x+ direction, the x- direction, the y+ direction and the y- direction.

The relative position of the connecting plate 9 and the six-dimensional force sensor 8 is fixed. The first expanding block 10-1 and the second expanding block 10-2 select different combinations according to different force loading schemes, and are fixed to the connecting plate 9 by bolts. The relative position of the receiving column and the expansion block is fixed, and there may be a small amount of rotational offset with the loading of the force. There may be a rotational offset between the force receiving seat and the force receiving column, and the force arm is almost unchanged, which reduces the damage caused by the force deformation of the device. error.

The specific embodiments of the present utility model are described below in conjunction with the accompanying drawings.

Example 1

As shown in Figure 7, load force in the Fx direction: install the sensor fixing mechanism 7 to the second station of the lower layer 1-1 of the workbench, install the first power mechanism to the lower layer 1-1 of the workbench, and place the test in the x+ direction. The six-dimensional force sensor 8 is connected with the sensor fixing mechanism 7 and the connection plate 9, the first expansion block 10-1 is installed in the x+ direction of the connection plate, and the first receiving column 11-1 passes through the vertical hole of the first expansion block 10-1 . The first power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal. After amplification and filtering, it is collected and sent through the data acquisition card, and saved to the computer. At the same time, the first high-precision two-way force sensor 5-1 is recorded. Collect real-time pressure, analyze and compare force data and sensor dynamic response performance. Adjust the six-dimensional force sensor 8 to be tested to the x-direction, install the first expansion block 10-1 in the x-direction of the connection plate 9, and repeat the above steps.

Example 2

As shown in Figure 7, load force in the Fy direction: install the sensor fixing mechanism 7 to the second station of the lower layer 1-1 of the worktable, install the first power mechanism to the lower layer 1-1 of the worktable, and install the to-be-tested in the y+ direction The six-dimensional force sensor 8 is connected to the sensor fixing mechanism 7 and the connection plate 9, the first expansion block 10-1 is installed in the y+ direction of the connection plate, and the first receiving column 11-1 passes through the vertical hole of the first expansion block 10-1 . The first power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal. After amplification and filtering, it is collected and sent through the data acquisition card, and saved to the computer. At the same time, the first high-precision two-way force sensor 5-1 is recorded. Collect real-time pressure, analyze and compare force data and sensor dynamic response performance. Adjust the six-dimensional force sensor 8 to be tested to the y-direction, install the first expansion block 10-1 in the y-direction of the connection plate 9, and repeat the above steps.

Example 3

As shown in Figure 8, load force in the Fz direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the worktable, install the second power mechanism to the upper layer 1-2 of the worktable, and install the to-be-tested in any direction. The six-dimensional force sensor 8 is connected with the sensor fixing mechanism 7 and the connecting plate 9, the second expanding block 10-2 is installed in the middle of the connecting plate 9, and the second receiving column 11-2 is installed on the second level of the second expanding block 10-2. perforation. The second power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal, which is amplified and filtered, collected and sent through the data acquisition card, and saved to the computer, and the second high-precision two-way force sensor 5-2 is recorded at the same time. Collect real-time pressure, analyze and compare force data and sensor dynamic response performance.

Example 4

As shown in Figure 9, load the moment in the Mx direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the worktable, install the second power mechanism to the upper layer 1-2 of the worktable, and install the to-be-tested in the y+ direction The six-dimensional force sensor 8 is connected to the sensor fixing mechanism 7 and the connection plate 9, the first expansion block 10-1 is installed in the y+ direction of the connection plate, and the second receiving column 11-2 is installed at the first level of the first expansion block 10-1. perforation. The second power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal, which is amplified and filtered, collected and sent through the data acquisition card, and saved to the computer, and the second high-precision two-way force sensor 5-2 is recorded at the same time. Collect real-time pressure, analyze and compare the torque data and the dynamic response performance of the sensor. Adjust the six-dimensional force sensor to be tested to the y-direction, install the first expansion block 10-1 in the y-direction of the connection plate 9, and repeat the above steps.

Example 5

As shown in Figure 9, load torque in the direction of My: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the worktable, install the second power mechanism to the upper layer 1-2 of the worktable, and install the to-be-tested in the x+ direction The six-dimensional force sensor 8 is connected to the sensor fixing mechanism 7 and the connection plate 9, the first expansion block 10-1 is installed in the x+ direction of the connection plate, and the second receiving column 11-2 is installed at the first level of the first expansion block 10-1. perforation. The second power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal, which is amplified and filtered, collected and sent through the data acquisition card, and saved to the computer, and the second high-precision two-way force sensor 5-2 is recorded at the same time. Collect real-time pressure, analyze and compare the torque data and the dynamic response performance of the sensor. Adjust the six-dimensional force sensor to be tested to the x-direction, install the first expansion block 10-1 in the x-direction of the connection plate 9, and repeat the above steps.

Example 6

As shown in Figure 10, load torque in the Mz direction: install the sensor fixing mechanism 7 to the first station of the lower layer 1-1 of the workbench, install the first power mechanism to the lower layer 1-1 of the workbench, and install the to-be-tested in the x+ direction The six-dimensional force sensor 8 is connected to the sensor fixing mechanism 7 and the connection plate 9, the first expansion block 10-1 is installed in the y+ direction of the connection plate, and the first receiving column 11-1 is installed in the vertical through hole of the first expansion block 10-1 . The first power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal. After amplification and filtering, it is collected and sent through the data acquisition card, and saved to the computer. At the same time, the first high-precision two-way force sensor 5-1 is recorded. Collect real-time pressure, analyze and compare the torque data and the dynamic response performance of the sensor. Adjust the six-dimensional force sensor 8 to be tested to the y+, x- and y- directions, respectively, install the first expansion block 10-1 on the connection plate 9 relative to the workbench 1, and repeat the above steps.

Example 7

As shown in Figure 11, apply cross force in the Fx and Fz directions: install the sensor fixing mechanism 7 to the second station of the lower layer 1-1 of the worktable, install the first power mechanism to the lower layer 1-1 of the worktable, install the second The power mechanism is connected to the upper layer 1-2 of the workbench, and the six-dimensional force sensor 8 to be tested is connected with the sensor fixing mechanism 7 and the connection plate 9 in the x+ direction, and the second expansion block 10-2 is installed in the middle of the connection plate 9. The upright post 11-2 is perforated at the second level of the second expansion block 10-2. The first expansion block 10-1 is installed in the x+ direction of the connecting plate, and the first receiving column 11-1 is installed in the vertical through hole of the first expansion block 10-1. The second power mechanism is driven to output a constant torque, and the six-dimensional force sensor 8 is subjected to force to generate a voltage signal. After amplification and filtering, it is collected and sent through the data acquisition card, and saved to the computer. At the same time, the first high-precision two-way force sensor 5-1 is recorded. The real-time pressure collected by the second high-precision two-way force sensor 5-2 is used to analyze and compare the force data and the dynamic response performance of the sensor. Adjust the six-dimensional force sensor to be tested to the x-direction, install the first expansion block 10-1 in the x-direction of the connection plate, and repeat the above steps.

Of course, the present invention also has other implementations, such as: Fx, Mx; Fx, My; Fy, Fz and other eight groups of cross force modes, the above list is only a part of the embodiments of the present invention, not used for The scope of implementation of the present utility model is limited, and all equivalent changes and modifications made according to the content of the patent scope of this application include but are not limited to the equivalent deformation combination of the force-bearing seat and the receiving column, and the connection method of the rack and the slide rail of the fixed bracket. . The holes used for fixing on the workbench are multi-row round holes or strips, etc., which should all belong to the technical scope of the utility model.

Claims (9)

1. A six-dimensional force sensor test platform, comprising: the device comprises a workbench, a sensor fixing mechanism, a six-dimensional force loading mechanism, a first high-precision bidirectional force sensor, a first power mechanism for applying horizontal acting force, a second high-precision bidirectional force sensor and a second power mechanism for applying vertical acting force;

the sensor fixing mechanism is arranged on the workbench and used for loading a six-dimensional force sensor to be tested;

the six-dimensional force loading mechanism comprises a connecting disc, a first expanding block, a second expanding block, a first stress column, a second stress column, a first stress seat and a second stress seat which are horizontally arranged; the connecting disc is fixedly connected above the six-dimensional force sensor to be tested and comprises four protruding blocks which horizontally protrude towards four directions, and the four protruding blocks respectively correspond to the four directions of x +, x-, y + and y-of the six-dimensional force sensor to be tested right below the connecting disc; the first expansion block can be fixedly connected to any one of the protruding blocks; the second expansion block is fixedly connected above the connecting disc and corresponds to the z axis of the six-dimensional force sensor to be tested right below the connecting disc; one end of the first expansion block, which is far away from the connecting disc, is provided with a vertical through hole and a first horizontal through hole at intervals; a second horizontal through hole is formed in the position, right above the z axis, of the second expansion block; the first stress column is connected in series with the vertical through hole; the second stress column is connected in series with the first horizontal perforation or the second horizontal perforation; the first stress base is sleeved on the first stress column and can rotate around the axis of the first stress column; the second stressed seat is sleeved on the second stressed column and can rotate around the axis of the second stressed column;

one surface of the first high-precision bidirectional force sensor is fixedly connected with one surface of the first stress base, which is far away from the first stress column, and the other surface of the first high-precision bidirectional force sensor is fixedly connected with a force application end of the first power mechanism;

one surface of the second high-precision bidirectional force sensor is fixedly connected with one surface of the second stress base, which is far away from the second stress column, and the other surface of the second high-precision bidirectional force sensor is fixedly connected with a force application end of the second power mechanism;

the first power mechanism and the second power mechanism are both arranged on the workbench.

2. The six-dimensional force sensor test platform of claim 1, wherein: the force application end of the first power mechanism, the first high-precision bidirectional force sensor and the first stressed seat are fixedly connected through bolts; and the force application end of the second power mechanism, the second high-precision bidirectional force sensor and the second stressed seat are fixedly connected through bolts.

3. The six-dimensional force sensor test platform of claim 1, wherein: the tail end of the first expanding block is expanded into two parallel plates, and the vertical through holes are formed in the parallel plates; the first stress column is a bolt, can fit through the vertical through hole and is fixed on the first expansion block through a nut; the section of the first stress column, which is positioned in the parallel plates, is a first smooth cylinder; the first stress base is matched and sleeved on the first smooth cylinder;

the secondary tail end of the first expansion block is provided with a first cavity with an upper opening and a lower opening, and the first horizontal through hole is formed in the side wall of the first cavity; the second expansion block is provided with a second cavity with an upper opening and a lower opening right above the z axis, and the second horizontal through hole is formed in the side wall of the second cavity; the second stress column is a bolt and can be matched with and penetrate through the first horizontal through hole and fixed on the first expanding block through a nut, or can be matched with and penetrate through the second horizontal through hole and fixed on the second expanding block through a nut; one sections of the second stress column, which are positioned in the first cavity and the second cavity, are second smooth cylinders; the second stress base is matched and sleeved on the second smooth cylinder.

4. The six-dimensional force sensor test platform of claim 1, wherein: the workbench comprises an upper layer of table surface and a lower layer of table surface, and the sensor fixing mechanism and the six-dimensional force loading mechanism are arranged on the lower layer; the first power mechanism is arranged on the lower layer, and the second power mechanism is arranged on the upper layer; the sensor fixing mechanism and the six-dimensional force loading mechanism can move relative to the first power mechanism and the second power mechanism.

5. The six-dimensional force sensor test platform of claim 4, wherein: the first power mechanism is fixed at the position of the lower table top, and the force application direction is fixed; the lower layer table top is provided with a first station and a second station, and the central connecting line of the first station and the second station is vertical to the force application direction of the first power mechanism; the sensor fixing mechanism is fixedly arranged on the first station or the second station and can rotate in one direction every 90 degrees to be fixed on the first station or the second station, so that the x +, x-, y + and y-directions of the six-dimensional force sensor to be tested respectively face the position of the first power mechanism;

when the sensor fixing mechanism is arranged at the first station, the force application end of the first power mechanism can be connected to one end, facing the second station, of the six-dimensional force loading mechanism through the first high-precision bidirectional force sensor;

when the sensor fixing mechanism is arranged at the second station, the force application end of the first power mechanism can be connected to one end, facing the first power mechanism, of the six-dimensional force loading mechanism through the first high-precision bidirectional force sensor;

the second power mechanism can move and be connected to the upper portion of the first expansion block or the upper portion of the second expansion block.

6. The six-dimensional force sensor test platform of claim 4, wherein: the first power mechanism comprises a first servo motor, a first coupler, a first bearing seat, a first gear, a first rack and a first rack fixing support; the first servo motor and the first bearing seat are both arranged on the lower layer of the workbench; one end of the first coupler is connected to the first servo motor, and the other end of the first coupler penetrates through the first bearing seat and is connected with the first gear; the first gear is in meshing transmission with the first rack, and the first rack is fixedly connected to one surface, far away from the first stressed seat, of the first high-precision bidirectional force sensor; the first rack is arranged on the first rack fixing bracket; the first rack fixing bracket limits the first rack to move in the horizontal direction.

7. The six-dimensional force sensor test platform of claim 4, wherein: the second power mechanism comprises a second servo motor, a second coupler, a second bearing seat, a second gear, a second rack and a second rack fixing support; the second servo motor and the second bearing seat are both arranged on the upper layer of the workbench; one end of the second coupling is connected to the second servo motor, and the other end of the second coupling penetrates through the second bearing seat and is connected with the second gear; the second gear is in meshing transmission with the second rack, and the second rack is fixedly connected to one surface, far away from the second stressed seat, of the second high-precision bidirectional force sensor; the second rack is arranged on the second rack fixing bracket; the second rack fixing bracket limits the second rack to move in the vertical direction.

8. The six-dimensional force sensor test platform of claim 6, wherein: the first rack and the first rack fixing support are connected through a sliding rail or a linear bearing.

9. The six-dimensional force sensor test platform of claim 7, wherein: the second rack is connected with the second rack fixing support through a sliding rail or a linear bearing.

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