CN101464201B - Calibration apparatus for six-dimension heavy force sensor - Google Patents

Calibration apparatus for six-dimension heavy force sensor Download PDF

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Publication number
CN101464201B
CN101464201B CN2009100100278A CN200910010027A CN101464201B CN 101464201 B CN101464201 B CN 101464201B CN 2009100100278 A CN2009100100278 A CN 2009100100278A CN 200910010027 A CN200910010027 A CN 200910010027A CN 101464201 B CN101464201 B CN 101464201B
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calibration
sensor
nut
columns
energetically
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CN101464201A (en
Inventor
张军
彭志龙
李映君
钱敏
贾振元
李寒光
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Dalian University of Technology
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Dalian University of Technology
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Abstract

The invention provides a calibration device of a six-dimensional heavy force sensor, and belongs to the field of sensors as well as the measurement and the control thereof. By adopting a single force source, the calibration device is capable of calibrating the six-dimensional force of a force sensor. The calibration device comprises a base, a calibration workbench, an upright post, a lifting nut, a handle, a large force value loading mechanism adopting a worm wheel and a worm for transmission, an upper support tablet, a lead screw, a nut, a sleeve, a standard uni-directional force sensor, a ranging rod, a bolt, a connection block, an L-shaped plate, a sensor to be calibrated, a working shaft, a positioning pin, a base plate, a T-shaped bolt and a signal wire; and a mechanism to be calibrated consists of the ranging rod, the bolt, the connection block, the L-shaped plate, the sensor to be calibrated, the working shaft, the positioning pin and the base plate. The device is capable of loading the six-dimensional heavy force sensor and carrying out systematic calibration. The device has the characteristics of compact structure, simplicity, high rigidity and high precision, and can achieve precise calibration of the six-dimensional heavy force sensor.

Description

The caliberating device of six-dimension heavy force sensor
Technical field
The invention belongs to sensor and measurement and control area thereof, the caliberating device of the six-dimension heavy force sensor of particularly huge over-loading operation equipment.
Background technology
At present, domestic and international caliberating device to sensor mainly is the caliberating device of counterweight formula, planer-type.The load mode of counterweight formula can be realized the independent demarcation of each power, but because the deadweight of counterweight restriction even adopt the lever principle lengthening arm of force, can't realize demarcating being worth range energetically, and its structure is not compact yet, loading accuracy is not high.The planer-type caliberating device also can carry out composite calibration to the sextuple power of sensor, have good operability, compact conformation, rigidity is good, but its difficult realization is demarcated the large scale sensor, and its power value upper limit can not finely satisfy the job requirement that is worth sensor in the huge heavy duty equipment energetically.Huge over-loading operation equipment has characteristics such as big inertia, multiple degrees of freedom, change rigidity, its sensor that uses also must have and is worth range energetically, large scale, characteristics such as rigidity is good, caliberating device must carry out static demarcating to six-dimension heavy force sensor in the huge over-loading operation equipment, so above-mentioned traditional caliberating device can not satisfy the calibration request of six-dimension heavy force sensor.
Summary of the invention
The technical problem to be solved in the present invention is the shortcoming that overcomes said apparatus, designs a kind of technological performance, and reliable operation is easy to install and maintenance, and compact conformation can be realized its special calibrating device that six-dimension heavy force sensor is demarcated.
The technical solution used in the present invention is: a kind of caliberating device of six-dimension heavy force sensor, adopt single power source to realize the caliberating device that the sextuple power of force transducer is demarcated, caliberating device comprises pedestal 1, staking-out work platform 2, four columns 3, four following lifting nuts 4, lifting nut 4 on four ', handle 5, adopt the load maintainer of value energetically 6 of worm and gear transmission, upper support flat board 7, bolt 8, leading screw 9, nut 10, sleeve 11, standard unidirectional force sensor 12, mark post 13, first screw 14, contiguous block 15, L template 16, by calibration sensor 17, working shaft 18, register pin 19, base plate 20, second screw 21, T type bolt 22 and signal wire 23; Wherein: staking-out work platform 2 is fixedly connected on the pedestal 1; Staking-out work platform 2 upper surfaces have equidistant T type groove, on the fixedly connected staking-out work platform 2 of four columns 3, there is screw thread the upper part of four columns 3, four following lifting nuts 4 are installed in respectively on four columns 3, upper support flat board 7 is enclosed within on four columns 3 and is pressed on four following lifting nuts 4, in addition go up lifting nuts 4 ' also be installed in respectively on four columns 3 for four, be pressed on the upper support flat board 7, by regulating eight oscilaltion nuts 4 respectively, 4 ' upper support flat board 7 is locked on four columns 3, oscilaltion nut 4,4 ' be specialized nut, its side is evenly distributed with four apertures; Being worth load maintainer 6 energetically is installed on the upper support flat board 7, long groove a, the long groove a ' in back and center slotted hole b before having on the upper support flat board 7, before the edge of long groove a and the long groove a ' in back all indicate before scale c with after scale c ', be worth load maintainer 6 energetically and also indicate scale d with long groove contact jaw, worm-wheel shaft one end that is worth load maintainer 6 energetically is processed with screw thread, as leading screw 9, leading screw 9 drives nut 10 and moves up and down, and standard unidirectional force sensor 12 connects by screw thread and nut 10;
By calibrating device by mark post 13, first screw 14, contiguous block 15, L template 16, formed by calibration sensor 17, working shaft 18, register pin 19 and base plate 20, L template 16 is installed on the staking-out work platform 2 by T type bolt 22, base plate 20 is fixed on the L template 16, working shaft 18 is connected by register pin 19 with base plate 20, contiguous block 15 is installed in the upper surface of working shaft 18 by second screw 21, contiguous block 15 upper ends are square structure, in the mark post 13 square hole is arranged, be placed in contiguous block 15 upper ends, be installed on the working shaft 18 by calibration sensor 17.
The remarkable result that the present invention has is: it provides a kind of calibrating device that the six-dimension heavy force of force transducer is demarcated.Because what adopt is the turbine and worm mechanism that can realize big speed ratio, compare with the caliberating device of traditional counterweight formula, can realize the loading demarcation that is worth energetically; Be worth load maintainer energetically and can be realized moving of a direction and both direction by calibrating device respectively, provided convenience by calibration element for what demarcate complex appearance; Employing standard unidirectional force sensor, the real accurate output that enough realizes institute's loading force value, this demarcation to exact instrument has very important significance; This apparatus structure compactness, simple, have high rigidity, the high precision characteristics both can be used for small value force and had demarcated, and also can be used for being worth energetically demarcation, can demarcate parallel sensor simultaneously, also can demarcate the tandem sensor.
Description of drawings
Fig. 1 is the principle schematic of structure of the present invention; Wherein: 1-pedestal among the figure, 2-staking-out work platform, the 3-column, the 4-lifting nut, 4 '-lifting nut, 5-handle, 6-are worth load maintainer energetically, 7-upper support flat board, 8-bolt, 9-leading screw, 10-nut, 11-sleeve, 12-standard unidirectional force sensor.
Fig. 2 is the enlarged drawing of A part among Fig. 1; Wherein: 9-leading screw among the figure, 10-nut, 11-sleeve, 12-standard unidirectional force sensor.
Fig. 3 is the upper support lithograph; Long groove before the 7-upper support flat board among the figure, a-, the long groove in a '-back, scale before the b-center slotted hole, c-, c '-back scale.
Fig. 4 is a whole schematic perspective view of demarcating radial force and moment of torsion; Fig. 5 is loaded synoptic diagram by the axial force of calibrating device and moment of flexure; Fig. 6 is loaded synoptic diagram by the radial force of calibrating device and moment of torsion; Wherein: 13-mark post, 14-first screw, 15-contiguous block, 16-L template, 17-be by calibration sensor, 18-working shaft, 19-register pin, 20-base plate, 21-second screw, 22-T type bolt, 23-signal wire, d-scale.Fig. 7 is by the electrical signal collection synoptic diagram of calibrating device; Wherein: I-is by calibration sensor, II-charge amplifier, III-data collecting card, IV-computing machine.
Embodiment
Describe concrete enforcement of the present invention in detail with technical scheme in conjunction with the accompanying drawings:
1) be worth energetically load maintainer with by the installation of calibrating device
Upper support flat board 7 is installed on four columns 3, and with it with eight oscilaltion nuts 4,4 ' fix, be worth load maintainer 6 energetically and be placed in the upper surface of upper support flat board 7, be worth load maintainer 6 output terminals energetically and pass the center slotted hole b of upper support flat board 7, the output terminal that is worth load maintainer 7 energetically can left and right sides translation in the slotted hole b of center, adjust the position, the left and right sides that is worth load maintainer 6 energetically by the scale c that is worth scale d on the load maintainer 6 and upper support flat board 7 energetically, make the center of the axis of the standard unidirectional force sensor 12 that the output terminal that is worth load maintainer 6 energetically connects over against staking-out work platform 2; To be placed on the staking-out work platform 2 by calibrating device,, adjust, make by the center of the axis of calibration sensor over against staking-out work platform 2 by calibrating device position on staking-out work platform 2 by measuring the distance between L type block edge and staking-out work platform 2 edges; Utilize the upper-lower position of auxiliary eight upper and lower lifting nut 4, the 4 ' adjusting upper support flat boards 7 of hydraulic jack, the upper surface distance that makes the loading end of standard unidirectional force sensor 12 and mark post 13 is in being worth effective loading stroke of load maintainer 6 energetically, again with eight upper and lower lifting nuts 4,4 ' up and down lockings.
2) prestrain
After installing, shake the handle 5 that is worth energetically on the load maintainer 6 and load, loading force is F 1, make to be worth load maintainer 6 energetically and to drive standard unidirectional force sensors 12 and load, to by the precompressed of calibrating device elder generation once, wait for after several minutes again to being loaded demarcation by calibrating device the internal clearance that elimination may exist.
3) demarcate
The major function of caliberating device of the present invention is to realize the six-dimension heavy force that is installed in huge heavy duty equipment axle upper sensor (three direction on power and three moments) is demarcated, accurately determine the sextuple static properties of sensor, and on the nominal data basis, separate decoupling and demarcate coupled matrix.
Earlier to by the Z of calibration sensor 17 to demarcating separately, as accompanying drawing 5.Shake the handle 5 that is worth load maintainer 6 energetically and carry out loading force F 1, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F zSee accompanying drawing 7, introduced charge amplifier II by signal wire 23,, finally on Computer I V, demonstrate value of electrical signals, write down the electric signal output valve of all directions again through data collecting card III by the output electric signal of calibration sensor 17.
Again to being carried out composite calibration to power and X to moment of flexure, as accompanying drawing 5 by the Z of calibration sensor 17.To shake the handle 5 that is worth load maintainer 6 energetically and carry out loading force F by calibrating device along perpendicular to fixing behind the T type groove direction translation certain distance 2, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F zAnd M x, write down the electric signal output valve of all directions that show on the Computer I V.
Then to being carried out composite calibration to power and Y to moment of flexure, as accompanying drawing 5 by the Z of calibration sensor 17.After will being rotated 90 degree along (or contrary) hour hands by calibrating device by the axis of calibration sensor 17, aim at by the center of calibration sensor 17 with standard unidirectional force sensor 12, shake the handle 5 that is worth load maintainer 6 energetically and load F 2, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F zAnd M y, write down the electric signal output valve of all directions that show on the Computer I V.
To being carried out composite calibration to power and Y to moment of torsion, as accompanying drawing 6 by the X of calibration sensor 17.To be carried out 90 degree upsets by two vertical dull and stereotyped directions of L template 16 by calibrating device, make by the axis of calibration sensor 17 and become vertical, and the position of adjustment L template 16, the loading end that makes standard unidirectional force sensor 12 is over against mark post 13 side this moment, mobile upper support flat board 7 is to the appropriate location, make distance between the side of the loading end of standard unidirectional force sensor 12 and mark post 13 in being worth the effective travel scope of load maintainer 6 energetically, locking upper support flat board 7 shakes the handle 5 that is worth load maintainer 6 energetically and carries out loading force F 3, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F xAnd M y, write down the electric signal output valve of all directions that show on the Computer I V.
To being carried out composite calibration to moment of flexure and Z to moment of torsion to power, Y, as accompanying drawing 6 by the X of calibration sensor 17.To shake the handle 5 that is worth load maintainer 6 energetically and carry out loading force F by calibrating device along perpendicular to fixing behind the T type groove direction translation certain distance 4, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F x, M yAnd M z, write down the electric signal output valve of all directions that show on the Computer I V.
At last, to being carried out composite calibration to moment of flexure and Z to moment of torsion to power, X, as accompanying drawing 6 by the Y of calibration sensor 17.Remove fixing between base plate 20 and the L type piece 16,, shake the handle 5 that is worth load maintainer 6 energetically and carry out loading force F around being fixed by the axis rotary bottom plate 20 of calibration sensor 17 and part 90 degree backs mounted thereto 4, the loading force value loads four times to full scale from zero, and act on by the load on the calibration sensor 17 this moment is F y, M xAnd M z, write down the electric signal output valve of all directions that show on the Computer I V.
The all directions power value that loads by finding the solution, moment values and by the output of the electric signal of calibration sensor 17 all directions, the coupled relation matrix A between setting up input and exporting, thus the relational expression that obtains between the input and output is: U=AF+B, wherein; U=[u 1, u 2, u 3, u 4, u 5, u 6] T, U is by the electric signal output valve of all directions of calibration sensor, unit is volt (V), F=[F x, F y, F z, M x, M y, M z] TF is an input matrix, unit is ox (N), B is a drift error, unit is volt (V), and the degree of accuracy of coupled relation matrix A directly affects by every static properties of calibration sensor 17, by experimental calibration repeatedly, improve the accuracy of A value, finish being demarcated by the static properties of calibration sensor 17.
Six-dimension heavy force sensor caliberating device of the present invention, can demarcate power value range is 0~250kN, and can demarcate the moment range is 0~96kNm, and the size sensor scope of being demarcated is 50mm * 50mm * 50mm~650mm * 650mm * 800mm.

Claims (1)

1. the caliberating device of a six-dimension heavy force sensor, it is characterized in that, adopt single power source to realize the caliberating device that the sextuple power of force transducer is demarcated, caliberating device comprises pedestal (1), staking-out work platform (2), four columns (3), four following lifting nuts (4), go up lifting nut (4 ') for four, handle (5), adopt the load maintainer of value energetically (6) of worm and gear transmission, upper support flat board (7), bolt (8), leading screw (9), nut (10), sleeve (11), standard unidirectional force sensor (12), mark post (13), first screw (14), contiguous block (15), L template (16), by calibration sensor (17), working shaft (18), register pin (19), base plate (20), second screw (21), T type bolt (22) and signal wire (23); Wherein: staking-out work platform (2) is fixedly connected on the pedestal (1); Staking-out work platform (2) upper surface has equidistant T type groove, four columns (3) are fixedly connected on the staking-out work platform (2), there is screw thread the upper part of four columns (3), four following lifting nuts (4) are installed in respectively on four columns (3), upper support flat board (7) is enclosed within four columns (3) and goes up and be pressed on four following lifting nuts (4), four last lifting nuts (4 ') also are installed in respectively on four columns (3) in addition, be pressed on the upper support flat board (7), by regulating respectively on eight, following lifting nut (4,4 ') upper support flat board (7) is locked on four columns (3), on, following lifting nut (4,4 ') be specialized nut, its side is evenly distributed with four apertures; Being worth load maintainer (6) energetically is installed on the upper support flat board (7), long groove (a) before having on the upper support flat board (7), back long groove (a ') and center slotted hole (b), the edge of preceding long groove (a) and the long groove in back (a ') indicates preceding scale (c) and back scale (c ') respectively, be worth load maintainer (6) energetically and also indicate scale (d) with long groove contact jaw, worm-wheel shaft one end that is worth load maintainer (6) energetically is processed with screw thread as leading screw (9), leading screw (9) drives nut (10) and moves up and down, and standard unidirectional force sensor (12) connects by screw thread and nut (10);
By calibrating device by mark post (13), first screw (14), contiguous block (15), L template (16), by calibration sensor (17), working shaft (18), register pin (19) and base plate (20) are formed, L template (16) is installed on the staking-out work platform (2) by T type bolt (22), base plate (20) is fixed on the L shaped plate (16), working shaft (18) is connected by register pin (19) with base plate (20), contiguous block (15) is installed in the upper surface of working shaft (18) by second screw (21), contiguous block (15) upper end is a square structure, mark post has square hole in (13), be placed in contiguous block (15) upper end, be installed on the working shaft (18) by calibration sensor (17) interference.
CN2009100100278A 2009-01-05 2009-01-05 Calibration apparatus for six-dimension heavy force sensor Active CN101464201B (en)

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