CN105157896B - Variable range thrust measuring device suitable for micro propeller - Google Patents
Variable range thrust measuring device suitable for micro propeller Download PDFInfo
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- CN105157896B CN105157896B CN201510300303.XA CN201510300303A CN105157896B CN 105157896 B CN105157896 B CN 105157896B CN 201510300303 A CN201510300303 A CN 201510300303A CN 105157896 B CN105157896 B CN 105157896B
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Abstract
The invention discloses a variable-range thrust measuring device suitable for a micro-miniature propeller, which comprises a working bottom plate, a fixed vertical beam, a movable vertical beam, a pivot sleeve assembly, a knife edge frame, a movable cross beam, a displacement measuring device, a voice coil calibration device and a damping device. The working bottom plate is leveled through four bolts; the fixed vertical beam is arranged on the working bottom plate and is provided with an overload protection bolt. The pivot sleeve assembly consists of four pivot sleeves and two pivots, and two ends of each pivot are respectively installed by one pivot sleeve in a locking mode. The whole measuring device is provided with five sets of pivot sleeve assemblies with consistent external mechanical interfaces, so that the thrust measuring ranges are 0-100 mu N, 0-500 mu N, 0-1 mN, 0-50 mN and 0-100 mN respectively, and the purpose of variable-range high-precision thrust measurement is achieved. The beam displacement measurement is realized by adopting a displacement sensor, the system calibration is realized by adopting a voice coil and a permanent magnet, and the passive damping of the beam motion is realized by adopting a copper sheet and the permanent magnet. The whole set of equipment can work completely in a vacuum simulation environment.
Description
Technical Field
The invention belongs to the technical field of force measurement, and relates to a thrust measuring device suitable for a micro propeller.
Background
Today, the miniature propeller thrust measurement suitable for attitude and orbit control of the small satellite is always an important exploration direction in the vigorous development of the small satellite technology. The high-precision measurement of the thrust plays an important role in the design, verification and application of the propeller. However, the thrust output of micro-miniature thrusters (such as cold air thrusters, laser ablation thrusters, etc.) is small, typically below the order of hundreds of milli-newtons, even up to hundreds of micro-newtons or tens of micro-newtons, which presents a great challenge to micro-thrust measurements: (1) the thrust-weight ratio of the propeller is very small. The measured thrust is very small relative to the weight of the propulsion device and its associated equipment. Sometimes the weight of the propulsion device even exceeds 10kg (. apprxeq.100N) and the measured force is less than 1 mN. If the measurement error is 1%, the absolute value of the thrust measurement error is only 0.01mN, and the ratio to the weight is 10-7The design of the measuring system is subject to high demands. (2) The influencing factors are numerous. For small thrusts, many may be in the usual caseNeglectable factors are enough to be submerged, and for example, the footsteps or the breath of a person may affect the measurement result, so that high requirements are imposed on the measurement environment and the method. (3) And (4) measuring in a vacuum environment. In order to simulate the real working environment of the micro-thruster, various operations and measurements need to be completed in the vacuum chamber, and the vacuum chamber is subjected to impact of high temperature and low temperature, so that high requirements are put on the data transmission and measurement method and the structure of a measurement system.
The technical problem that the technical personnel in the field pay attention to is that what kind of measuring method is adopted, how to design the structure, how to eliminate the influence of various factors and how to implement the thrust measurement, so that the purposes of high precision, easy operation and strong universality are achieved.
Disclosure of Invention
The invention aims to design a variable-range thrust measuring device suitable for a micro propeller, which adopts a horizontal torsion executing mechanism to eliminate the influence of gravity, adopts a whole machine mounting mode to eliminate the influence of a pipeline, adopts a wireless remote control mode and a remote-controllable key component design mode to realize the measurement operation in a vacuum environment, and adopts a pivot suite with consistent external interfaces to realize the universality of the thrust measurement of the micro propeller.
The specific technical scheme of the invention is as follows: the variable range thrust measuring device comprises a working bottom plate, a fixed vertical beam, a movable vertical beam, a pivot sleeve assembly, a knife edge frame, a movable cross beam, a displacement measuring device, a voice coil calibration device and a damping device.
The movable cross beam is a key execution component of the whole measuring device, is connected with the movable vertical beam bolt together, and rotates in a horizontal plane without friction. The propeller is installed at one end of the movable cross beam, the supply system and the remote control system of the propeller are installed at the other end of the movable cross beam, the moment borne by the cross beam in the vertical direction is balanced by the balancing weight, the thrust of the propeller is separated from the gravity of the propeller and related devices, and the influence of a pipeline on the thrust measurement is completely eliminated in the mode that the propeller is mounted on the whole machine.
The angle of rotation of the movable cross beam in the horizontal plane is measured by a displacement sensor, the displacement sensor is used for non-contact measurement, and a special vacuum adapter is arranged, so that the movable cross beam can be used in a vacuum environment. The calibration device adopts voice coil loudspeaker voice coil and permanent magnet, and the permanent magnet is installed on movable cross beam, and the voice coil loudspeaker voice coil adopts unique kayser support and permanent magnet coaxial arrangement, and when the voice coil loudspeaker voice coil expert specific electric current, produce certain electromagnetic force between voice coil loudspeaker voice coil and the electro-magnet, this calibration device is contactless design, can remote control, is fit for vacuum environment and uses. The damping device adopts a magnetic damping mode, mainly comprises an L-shaped copper sheet and a permanent magnet with opposite magnetic poles, and is also suitable for being used in a vacuum environment. In the whole working process, the control of the propeller is realized in a wireless remote control mode, the displacement measurement, the calibration and the damping can be remotely controlled, and the whole device can completely work in a vacuum simulation environment.
In order to have stronger universality on a micro thruster, the whole measuring device is provided with five sets of pivot sleeve assemblies with consistent external interfaces, so that the thrust measuring ranges are respectively 0-100 mu N, 0-500 mu N, 0-1 mN, 0-50 mN and 0-100 mN, and the purpose of variable-range high-precision thrust measurement is achieved. The invention has the advantages that:
1. the precision is higher. The horizontal torsion pendulum structure is adopted to completely eliminate the influence of gravity, and the complete machine mounting mode of the propeller is adopted to completely avoid the connection of the propeller and an external pipeline, thereby greatly improving the measurement precision.
2. The structure is flexible. The crossbeam adopts square tubular porous structure, and the installation and the position adjustment of devices such as the propeller of being convenient for, voice coil loudspeaker voice coil and displacement sensor adopt the translation platform as the mounting base, and the position adjustment and the device protection of being convenient for adopt the pivot external member that the external interface is unanimous, the change of the thrust range of being convenient for.
3. The control is convenient. The thruster can be remotely and wirelessly controlled, key components can be remotely and wiredly controlled, and system control and data transmission are convenient, so that the whole set of device can work in the real working environment of the tiny thruster.
4. The universality is strong. The pivot kit is adopted to realize thrust measurement of five gears below 100mN, and continuous thrust and pulse average thrust measurement of thrusters with different magnitudes and different types are met.
Drawings
FIG. 1 is an external structural view of a thrust measuring device;
FIG. 2 is a view of a fixed vertical beam;
FIG. 3A is a view showing the assembly structure of the pivot assembly;
FIG. 3B is a side view of the pivot assembly;
FIG. 4 is a view of the knife holder structure;
FIG. 5 is a view of a movable cross member;
FIG. 6 is a view showing the construction of the displacement measuring device;
FIG. 7 is a schematic view of a voice coil calibration apparatus;
fig. 8 is a structural view of the damper device.
In the figure: 1-a working bottom plate; 2-fixing the vertical beam; 3-moving the vertical beam; 4-pivot kit combination; 5-a knife edge frame; 6-a movable cross beam; 7-a displacement measuring device; 8-voice coil calibration device; 9-a damping device; 201. 202-overload protection bolt; 401. 402, 403, 404-pivot sleeve; 405. 406-a pivot; 501-a knife bearing; 601-knife edge; 701-a displacement sensor; 702-a sensor holder; 703-a manual translation stage; 801-a voice coil; 802-a voice coil former; 803-manual translation stage; 804-permanent magnet; 805-permanent magnet mounts; 901-L shaped copper sheet; 902-opposite magnetic pole permanent magnet combination; 903-permanent magnet iron frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the thrust measuring device includes a working bottom plate (1), a fixed vertical beam (2), a movable vertical beam (3), a pivot kit assembly (4), a knife edge frame (5), a movable cross beam (6), a displacement measuring device (7), a voice coil calibration device (8) and a damping device (9); the working bottom plate (1) is leveled through four bolts; the fixed vertical beam (2) is installed on the working bottom plate (1) and is provided with overload protection bolts (201, 202), as shown in figure 2.
Referring to fig. 3A and 3B, the pivot sleeve assembly (4) comprises four pivot sleeves (401, 402, 403, 404) and two pivot shafts (405, 406), the diameter of the circular groove of each pivot sleeve is the same as that of the pivot shaft, two ends of each pivot shaft are respectively installed by one pivot sleeve in a locking manner, and each two pivot sleeves (401, 403, 402 and 404) are respectively installed on the movable vertical beam (3) and the fixed vertical beam (2).
Referring to fig. 4, the knife edge frame (5) is installed on the movable vertical beam (3) and is provided with a knife bearing (501).
Referring to fig. 5, the movable cross beam (6) is a square tube structure, the four sides of the movable cross beam are provided with M6 threaded holes for facilitating the installation of devices, the bottom of the movable cross beam is provided with a knife edge (601), the knife edge (601) is arranged on a knife bearing (501), the movable cross beam (6) is balanced after the propeller and a supply and remote control device thereof are installed, and the movable cross beam is bolted with the movable vertical beam (3) and the knife edge frame (5) after the balance is finished.
Referring to fig. 6, the displacement measuring device (7) is composed of a displacement sensor (701), a sensor bracket (702) and a manual translation stage (703), the displacement sensor (701) is mounted on the sensor bracket (702) in a locking manner, the sensor bracket (702) is mounted on the manual translation stage (703), and the manual translation stage (703) is mounted on the work base plate (1).
Referring to fig. 7, the voice coil calibration device (8) is composed of a voice coil (801), a voice coil support (802), a manual translation stage (803), a permanent magnet (804) and a permanent magnet mounting rack (805), wherein the voice coil (801) is mounted on the voice coil support (802) in a locking manner, the voice coil support (802) is mounted on the manual translation stage (803), the manual translation stage (803) is mounted on the work bottom plate (1), the permanent magnet (804) is mounted on the permanent magnet mounting rack (805) in a locking manner, and the permanent magnet mounting rack (805) is mounted on the movable cross beam (6).
Referring to fig. 8, the damping device (9) is composed of an L-shaped copper sheet (901), opposite magnetic pole permanent magnet combinations (902) and a permanent magnet frame (903), the L-shaped copper sheet (901) is mounted on the movable cross beam (6), the opposite magnetic pole permanent magnet combinations (902) are respectively adhered to the inner sides of the permanent magnet frame (903), and the permanent magnet frame (903) is mounted on the working base plate (1).
In order to completely eliminate the influence of the propeller pipeline and the propeller line on the measurement, the supply system and the control system of the propeller are highly integrated, and the propeller is controlled in a remote control mode. The propeller is installed at one end of the movable cross beam (6) provided with the damping device (9), the supply system and the remote control system of the propeller are installed at the other end of the movable cross beam, the moment borne by the cross beam in the vertical direction is balanced by utilizing the balancing weight, the propeller is controlled in a wireless remote control mode, and the influence of a pipeline on thrust measurement is completely eliminated in a mode of mounting the propeller on the whole machine.
In order to protect the precision device to the maximum extent during the use process, the following measures are taken: the distance between the displacement sensor (701) and the movable cross beam (6) can be adjusted by the manual translation table (703), so that the displacement sensor (701) is protected from being damaged, and the mechanical zero position of the displacement sensor (701) is adjusted; the distance between the voice coil (801) and the permanent magnet (804) can be adjusted by the manual translation table (803), so that the voice coil (801) and the permanent magnet (804) are protected from being damaged, and the working distance between the voice coil (801) and the permanent magnet (804) is adjusted; when the measuring device is in a non-working state, the movable cross beam (6) is blocked by the overload protection bolts (201 and 202), so that the movable cross beam (6) is prevented from freely swinging.
In order to have stronger universality on a micro thruster, the whole measuring device is provided with five sets of pivot sleeve assemblies with consistent external interfaces, so that the thrust measuring ranges are respectively 0-100 mu N, 0-500 mu N, 0-1 mN, 0-50 mN and 0-100 mN, and the purpose of variable-range high-precision thrust measurement is achieved. The pivot adopted is a shelf product of Riverhawk company, and the models are 5006-800, 5005-600, 5012-800, 5010-600 and 5012-600 respectively.
When the measuring device works in different ranges, the movable cross beam (6) can directly measure the linear displacement of the movable cross beam (6) under the thrust action of the propeller, and the rotating angle adopts a small-angle approximation principle. The displacement sensor adopted is an eddy current type displacement sensor eddyNCDT3300 of MICRO-EPSILON company, the sensor has no movable part and is a non-contact measurement, the model number of the probe ES1 is 50nm in resolution, and the measuring range is 1 mm.
Before the thrust measurement is performed, calibration is required. The voice coil (801) and the permanent magnet (804) are used as a calibration main body device, the permanent magnet (804) is installed on a permanent magnet installation rack (805) in a clamping and locking mode, the permanent magnet installation rack (805) is installed on the movable cross beam (6), and the central axes of the voice coil (801) and the permanent magnet (804) are overlapped. When currents with different magnitudes are introduced into the voice coil (801), a repulsive force is generated between the voice coil (801) and the permanent magnet (804), the repulsive force is evaluated through the high-precision electronic balance, the repulsive force is used for calibrating the thrust measuring device, the calibration process is convenient and fast, the remote control can be realized, and the vacuum environment can be worked.
The invention works in a vacuum simulation environment, and the working process is as follows: firstly, a propeller is arranged at one end of a movable beam (6) provided with a damping device (9), a supply system, a remote control system and a balancing weight of the propeller are arranged at the other end of the movable beam, the balancing weight is added and removed, the distance from the balancing weight to a rotating shaft is adjusted to balance the movable beam, and the movable beam (6) is bolted on a movable vertical beam (3) and a tool opening frame (5) after the balancing is finished. Then, the relative distance between the displacement sensor (701) and the movable beam (6) and the relative distance between the voice coil (801) and the permanent magnet (804) are adjusted. Then, after the preparation work is ready, the vacuum simulation system is subjected to vacuum treatment, and after the vacuum simulation environment is determined, the voice coil calibration device (8) is used for calibrating the measuring device. And finally, starting the propeller to measure the thrust.
The complete set of apparatus of the present invention can be operated completely in a vacuum simulated environment. The invention has the advantages of ingenious design, compact structure, convenient assembly and disassembly and strong universality, and is suitable for the high-precision thrust measurement of the micro-propeller with the mass below 30 kilograms and the thrust below 100 milli-newtons.
This application is not intended to be limited to the details shown in the description and the claims, which follow, and any modifications and variations known in the art are intended to be included within the scope of this application.
Claims (5)
1. A variable range thrust measuring device suitable for a microminiature propeller is characterized in that: the device comprises a working bottom plate (1), a fixed vertical beam (2), a movable vertical beam (3), a pivot sleeve assembly (4), a knife edge frame (5), a movable cross beam (6), a displacement measuring device (7), a voice coil calibration device (8) and a damping device (9); the working bottom plate (1) is leveled through four bolts; the fixed vertical beam (2) is arranged on the working bottom plate (1) and is provided with overload protection bolts (201, 202); the pivot sleeve assembly (4) consists of four pivot sleeves (401, 402, 403 and 404) and two pivots (405 and 406), two ends of each pivot are respectively installed by one pivot sleeve in a clamping manner, every two pivot sleeves (401, 403, 402 and 404) are respectively installed on the fixed vertical beam (2) and the movable vertical beam (3), and the whole measuring device is provided with five sets of pivot sleeve assembly assemblies with consistent external interfaces, so that thrust measuring ranges are respectively 0-100 mu N, 0-500 mu N, 0-1 mN, 0-50 mN and 0-100 mN, and the purpose of variable-stroke high-precision thrust measurement is achieved; the knife edge frame (5) is arranged on the movable vertical beam (3) and is provided with a knife bearing (501); the movable cross beam (6) is of a square tube structure, M6 threaded holes are formed in four sides of the movable cross beam, devices are convenient to mount, a knife edge (601) is arranged at the bottom of the movable cross beam, the knife edge (601) is arranged on a knife bearing (501), the movable cross beam (6) is balanced after a propeller, a propeller supply device and a remote control device are mounted, and the movable cross beam is bolted with the movable vertical beam (3) and the knife edge frame (5) after the balance is finished; the displacement measuring device (7) consists of a displacement sensor (701), a sensor support (702) and a manual translation table (703), wherein the displacement sensor (701) is arranged on the sensor support (702) in a locking mode, the sensor support (702) is arranged on the manual translation table (703), and the manual translation table (703) is arranged on the working bottom plate (1); the voice coil calibration device (8) is composed of a voice coil (801), a voice coil support (802), a manual translation table (803), a permanent magnet (804) and a permanent magnet mounting rack (805), wherein the voice coil (801) is mounted on the voice coil support (802) in a clamping and locking manner, the voice coil support (802) is mounted on the manual translation table (803), the manual translation table (803) is mounted on the working bottom plate (1), the permanent magnet (804) is mounted on the permanent magnet mounting rack (805) in a clamping and locking manner, and the permanent magnet mounting rack (805) is mounted on the movable cross beam (6); the damping device (9) is composed of L-shaped copper sheets (901), opposite magnetic pole permanent magnet combinations (902) and a permanent magnet frame (903), the L-shaped copper sheets (901) are installed on the movable cross beam (6), the opposite magnetic pole permanent magnet combinations (902) are respectively stuck on the inner sides of the permanent magnet frame (903), and the permanent magnet frame (903) is installed on the working bottom plate (1).
2. The variable stroke thrust measuring device for a micro-miniature propeller as set forth in claim 1, wherein: the propeller is installed at one end of the movable cross beam (6) provided with the damping device (9), the supply system and the remote control system of the propeller are installed at the other end of the movable cross beam, the moment borne by the cross beam in the vertical direction is balanced by utilizing the balancing weight, the propeller is controlled in a wireless remote control mode, and the influence of a pipeline on thrust measurement is completely eliminated in a mode of mounting the propeller on the whole machine.
3. The variable stroke thrust measuring device for a micro-miniature propeller as set forth in claim 1, wherein: the distance between the displacement sensor (701) and the movable cross beam (6) can be adjusted by the manual translation table (703), so that the displacement sensor (701) is protected from being damaged, and the mechanical zero position of the displacement sensor (701) is adjusted conveniently.
4. The variable stroke thrust measuring device for a micro-miniature propeller as set forth in claim 1, wherein: the distance between the voice coil (801) and the permanent magnet (804) can be adjusted by the manual translation table (803), so that the voice coil (801) and the permanent magnet (804) are protected from being damaged, and the working distance between the voice coil (801) and the permanent magnet (804) is adjusted.
5. The variable stroke thrust measuring device for a micro-miniature propeller as set forth in claim 1, wherein: when the measuring device is in a non-working state, the movable cross beam (6) is blocked by the overload protection bolts (201 and 202), so that the movable cross beam (6) is prevented from freely swinging.
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| CN201510300303.XA CN105157896B (en) | 2015-06-03 | 2015-06-03 | Variable range thrust measuring device suitable for micro propeller |
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| CN201510300303.XA CN105157896B (en) | 2015-06-03 | 2015-06-03 | Variable range thrust measuring device suitable for micro propeller |
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| CN105157896B true CN105157896B (en) | 2020-03-06 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784232B (en) * | 2016-03-24 | 2019-05-03 | 北京航空航天大学 | A kind of device for measuring micro-thrust with damping system |
| CN106197345B (en) * | 2016-09-27 | 2017-09-22 | 中国矿业大学 | A kind of horizontal single shaft electro-hydraulic shaker table displacement measuring device of use double-range sensor |
| CN109764989B (en) * | 2018-11-02 | 2021-09-03 | 北京航空航天大学 | Thrust frame capable of self-locking and calibrating |
| CN109724771B (en) * | 2018-12-17 | 2020-07-14 | 中国空气动力研究与发展中心低速空气动力研究所 | Simple pendulum type balance for measuring underwater vehicle resistance |
| CN109870261B (en) * | 2019-03-01 | 2020-11-03 | 西北工业大学 | Low-resistance magnetic suspension platform for measuring thrust of micro propeller |
| CN110631798B (en) * | 2019-11-01 | 2021-07-02 | 北京星航机电装备有限公司 | Flexible universal overload product for impact test |
| CN110672247B (en) * | 2019-11-13 | 2021-08-20 | 西安近代化学研究所 | Swinging plate type micro-thrust measuring device |
| CN112050988B (en) * | 2020-05-29 | 2022-04-19 | 北京机械设备研究所 | Thrust measurement device and method |
| CN112611495B (en) * | 2020-11-16 | 2021-11-23 | 清华大学 | Device and method for simultaneously measuring thrust and eccentric thrust of main shaft of thruster |
| CN113340499B (en) * | 2021-05-21 | 2022-06-24 | 中国人民解放军战略支援部队航天工程大学 | Micro-thrust measuring device based on cam corner measurement |
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