CN104344933A - Missile mass center measuring system of three-dimensional measuring and weighing combined application - Google Patents
Missile mass center measuring system of three-dimensional measuring and weighing combined application Download PDFInfo
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- CN104344933A CN104344933A CN201310332403.1A CN201310332403A CN104344933A CN 104344933 A CN104344933 A CN 104344933A CN 201310332403 A CN201310332403 A CN 201310332403A CN 104344933 A CN104344933 A CN 104344933A
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Abstract
Disclosed is a missile mass center measuring system of three-dimensional measuring and weighing combined application. The system is composed of a three-dimensional measuring system, weighing support seats, a support, a rotation auxiliary device, an interface unit, a calculating unit, an external device and position marking devices. The weighing support seats are installed at corresponding positions of a workbench of the three-dimensional measuring system, the weighing center coordinate position of each weighing support seat can be measured through the three-dimensional measuring system, the support is installed on the weighing support seat, when the mass center of a missile is measured, the tested missile is arranged on the support, the position marking devices are in mechanical connection with the tested missile, and the mass center of the tested missile is obtained through a gravity center line cross transformation measuring method.
Description
Technical field
The present invention relates to guided missile centroid measurement technical field.
Background technology
In prior art, guided missile centroid measurement completes by means of only fixing Weighing apparatus and missile attitude variation device, does not have three-dimensional measurement Combination application means.
Prior art Problems existing is: use prior art, when carrying out guided missile centroid measurement, measuring accuracy is poor, measures difficulty to large scale guided missile.
Summary of the invention
The present invention provides the guided missile centroid measurement system of a kind of three-dimensional measurement and weighing Combination application for guided missile centroid measurement, can solve prior art guided missile mass center measurement precision poor, large scale guided missile is measured to the problem of difficulty.
For achieving the above object, the technical solution used in the present invention is: the guided missile centroid measurement system of a kind of three-dimensional measurement and weighing Combination application, by three-dimension measuring system, weighing supporting seat, the support be mechanically connected with described weighing supporting seat, with described three-dimension measuring system, the interface unit of described weighing supporting seat electrical connection, the computing unit be electrically connected with described interface unit, the external unit be electrically connected with described interface unit, it also comprises auxiliary device for rotation, position indicator, described weighing supporting seat is arranged on described three-dimension measuring system workbench relevant position, the weighing centre coordinate position of described weighing supporting seat obtains by described three-dimension measuring system measurement, tested guided missile is placed on described support, described position indicator and tested guided missile are mechanically connected, tested guided missile barycenter is measured by center of gravity line crossbar transistion measuring method, described center of gravity line crossbar transistion measuring method is the weighing centre coordinate position of weighing supporting seat described in being measured by described three-dimension measuring system, tested guided missile is measured by described three-dimension measuring system, position indicator initial position co-ordinates data, calculate initial position tested guided missile coordinate M0, initial position tested guided missile weighing data are measured by described weighing supporting seat, initial position tested guided missile center of gravity line L0 is calculated according to the weighing centre coordinate position of described weighing supporting seat and initial position tested guided missile weighing data, convert tested missile position, by position coordinate data after described three-dimension measuring system measuring position labelling apparatus conversion, transformation matrix of coordinates N is calculated according to position coordinate data after position indicator initial position co-ordinates data and conversion, tested guided missile conversion rear position weighing data are measured by described weighing supporting seat, weighing centre coordinate position according to described weighing supporting seat calculates the rear position tested guided missile center of gravity line L1 of conversion with the rear position of conversion tested guided missile weighing data, according to L0, L1, N calculates tested guided missile barycenter m (xm, ym, zm).
Accompanying drawing explanation
Accompanying drawing 1 is theory diagram of the present invention:
Wherein: 01, three-dimension measuring system; 02, weighing supporting seat; 03, support; 04, auxiliary device for rotation; 05, interface unit; 06, computing unit; 07, external unit; 08, position indicator.
Accompanying drawing 2 is center of gravity line crossbar transistion measuring method tested guided missile initial position schematic diagram:
Wherein: 1, q1; 2, q2; 3, q3; 4, q4; 5, q1 (x1, y1,0); 6, q2 (x2, y2,0); 7, q3 (x3, y3,0); 8, q4 (x4, y4,0); 9, S0; 10, S1; 11, S2; 12, M0; 13, L0; 14, tested guided missile; 15, tested guided missile barycenter m (xm, ym, zm).
Accompanying drawing 3 is position view after the tested guided missile conversion of center of gravity line crossbar transistion measuring method:
Wherein: 16, L1; 17, L0 '.
Embodiment
See accompanying drawing 1, 2, 3, the guided missile centroid measurement system of a kind of three-dimensional measurement and weighing Combination application, by three coordinate measuring machine, the weighing supporting seat be mechanically connected with three coordinate measuring machine, the support be mechanically connected with weighing supporting seat, with three coordinate measuring machine, the interface unit of weighing supporting seat electrical connection, the computing unit be electrically connected with interface unit, the external unit be electrically connected with interface unit, it also comprises auxiliary device for rotation, position indicator, weighing supporting seat is configured to cylindrical Weighing apparatus and lifting jack mechanical connecting structure, 2 weighing supporting seats are one group, V-type support is installed in upper end, position indicator is made up of standard ball and V-type seat, be connected with tested guided missile by bandage.When carrying out guided missile centroid measurement, according to tested guided missile size, 2 groups or many pack supports are arranged on three coordinate measuring machine workbench relevant position, tested guided missile is placed on support, auxiliary device for rotation and tested guided missile are mechanically connected, 3 standard ball position indicators S0, S1, S2 are arranged on relevant position on tested guided missile, measure tested guided missile barycenter by center of gravity line crossbar transistion measuring method.
Guided missile barycenter center of gravity line crossbar transistion measuring method operation steps:
The first step: by the weighing center of each weighing supporting seat of three coordinate measuring engine measurement (setting 4 weighing supporting seats is: q1, q2, q3, q4) in XY planimetric coordinates position, obtain: q1 (x1, y1,0), q2 (x2, y2,0), q3 (x3, y3,0), q4 (x4, y4,0);
Second step: by the tested guided missile of three coordinate measuring engine measurement, sets up initial position tested guided missile coordinate M0; By three coordinate measuring engine measurement 3 standard ball S0, S1, S2, initially put 3 standard ball sphere centre coordinate: S0 (xs00, ys00, zs00), S1 (xs10, ys10, zs10), S2 (xs20, ys20, zs20); Weighing data q1m0, q2m0, q3m0, q4m0 of tested guided missile initial position is obtained by weighing supporting seat q1, q2, q3, q4 measurement, according to the weighing center of weighing supporting seat q1, q2, q3, q4 at XY planimetric coordinates position q1 (x1, y1,0), q2 (x2, y2,0), q3 (x3, y3,0), q4 (x4, y4,0) and weighing data q1m0, q2m0, q3m0, q4m0, calculate initial position tested guided missile center of gravity line L0;
3rd step: operation auxiliary device for rotation converts tested missile position, by three coordinate measuring engine measurement 3 standard ball S0, S1, S2, obtain converting 3, rear position standard ball sphere centre coordinate: S0 (xs01, ys01, zs01), S1 (xs11, ys11, zs11), S2 (xs21, ys21, zs21); Weighing data q1m1, q2m1, q3m1, q4m1 of the rear position of tested guided missile conversion is obtained by weighing supporting seat q1, q2, q3, q4 measurement, according to the weighing center of weighing supporting seat q1, q2, q3, q4 at XY planimetric coordinates position q1 (x1, y1,0), q2 (x2, y2,0), q3 (x3, y3,0), q4 (x4, y4,0) and weighing data q1m1, q2m1, q3m1, q4m1, calculate conversion after position tested guided missile center of gravity line L1;
4th step: according to tested guided missile initial position 3 standard ball sphere centre coordinate S0 (xs00, ys00, zs00), S1 (xs10, ys10, zs10), S2 (xs20, ys20, zs20) and conversion after position sphere centre coordinate S0 (xs01, ys01, zs01), S1 (xs11, ys11, zs11), S2 (xs21, ys21, zs21), utilize 3 Fitting Coordinate System transform methods to obtain transformation matrix N;
5th step: calculate tested guided missile barycenter m (xm, ym, zm) according to L0, L1, N:
Calculate initial position tested guided missile center of gravity line L0 conversion rear position L0 ', L0 '=L0 × N; Calculating L1, L0 ' crossing central point m ' (xm ', ym ', zm '); Tested guided missile barycenter m (xm, ym, zm)=m ' (xm ', ym ', zm ') × N
-1, N-1 is the inverse matrix of N.
Claims (1)
1. the guided missile centroid measurement system of a three-dimensional measurement and weighing Combination application, by three-dimension measuring system (1), weighing supporting seat (2), the support (3) be mechanically connected with described weighing supporting seat (2), with described three-dimension measuring system (1), the interface unit (4) that described weighing supporting seat (2) is electrically connected, the computing unit (5) be electrically connected with described interface unit (4), the external unit (6) be electrically connected with described interface unit (4), it also comprises auxiliary device for rotation (7), position indicator (8), it is characterized in that: described weighing supporting seat (2) is arranged on described three-dimension measuring system (1) workbench relevant position, the weighing centre coordinate position of described weighing supporting seat (2) is measured by described three-dimension measuring system (1) and is obtained, tested guided missile is placed on described support (3), described position indicator (8) and tested guided missile are mechanically connected, tested guided missile barycenter is measured by center of gravity line crossbar transistion measuring method, described center of gravity line crossbar transistion measuring method is the weighing centre coordinate position of weighing supporting seat (2) described in being measured by described three-dimension measuring system (1), tested guided missile is measured by described three-dimension measuring system (1), position indicator initial position co-ordinates data, calculate initial position tested guided missile coordinate M0, initial position tested guided missile weighing data are measured by described weighing supporting seat (2), initial position tested guided missile center of gravity line L0 is calculated according to the weighing centre coordinate position of described weighing supporting seat (2) and initial position tested guided missile weighing data, convert tested missile position, by position coordinate data after described three-dimension measuring system (1) measuring position labelling apparatus conversion, transformation matrix of coordinates N is calculated according to position coordinate data after position indicator initial position co-ordinates data and conversion, tested guided missile conversion rear position weighing data are measured by described weighing supporting seat (2), weighing centre coordinate position according to described weighing supporting seat (2) calculates the rear position tested guided missile center of gravity line L1 of conversion with the rear position of conversion tested guided missile weighing data, according to L0, L1, N calculates tested guided missile barycenter m (xm, ym, zm).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486454A (en) * | 2015-12-21 | 2016-04-13 | 北京航天时代激光导航技术有限责任公司 | Laser inertial measurement unit product mass center measurement method |
| CN106855383A (en) * | 2015-12-09 | 2017-06-16 | 中国科学院沈阳自动化研究所 | A kind of ammunition static parameter self-operated measuring unit |
| CN108204849A (en) * | 2016-12-16 | 2018-06-26 | 中国航天科工飞航技术研究院 | A kind of wheeled landing small drone determines center of gravity method with weighing |
| CN114427932A (en) * | 2022-04-07 | 2022-05-03 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
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| CN202471199U (en) * | 2012-02-20 | 2012-10-03 | 哈尔滨建成集团有限公司 | System for detecting quality, center of mass and centroidal deviation of circular column |
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| US3037376A (en) * | 1959-10-29 | 1962-06-05 | Daniel J Grant | Method of locating the center of gravity of a missile section |
| CN201497612U (en) * | 2009-08-22 | 2010-06-02 | 襄樊达安汽车检测中心 | Mass center position measuring device for power assembly of vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106855383A (en) * | 2015-12-09 | 2017-06-16 | 中国科学院沈阳自动化研究所 | A kind of ammunition static parameter self-operated measuring unit |
| CN106855383B (en) * | 2015-12-09 | 2018-04-17 | 中国科学院沈阳自动化研究所 | A kind of ammunition static parameter self-operated measuring unit |
| CN105486454A (en) * | 2015-12-21 | 2016-04-13 | 北京航天时代激光导航技术有限责任公司 | Laser inertial measurement unit product mass center measurement method |
| CN105486454B (en) * | 2015-12-21 | 2018-09-18 | 北京航天时代激光导航技术有限责任公司 | A kind of laser is used to the measurement method of set product barycenter |
| CN108204849A (en) * | 2016-12-16 | 2018-06-26 | 中国航天科工飞航技术研究院 | A kind of wheeled landing small drone determines center of gravity method with weighing |
| CN114427932A (en) * | 2022-04-07 | 2022-05-03 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
| CN114427932B (en) * | 2022-04-07 | 2022-06-17 | 中国汽车技术研究中心有限公司 | Centroid measuring method and centroid measuring instrument for collision dummy |
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Address after: 102605 Beijing City, Daxing District Qingdao Jiayuan No. 23 building 3 Unit No. 401 or Qingdao Jiayuan property Feng Li received Applicant after: Feng Li Address before: 102600 Beijing Jinyuan Industrial Development Zone Daxing District Road No. 10 Applicant before: Feng Li |
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Application publication date: 20150211 |