CN105444949B - A kind of rotary inertia testboard based on torque sensor - Google Patents

Abstract

The invention discloses a moment of inertia test bench based on a torque sensor, which uses a torque motor to drive the workbench to rotate, collects the values of the torque sensor and the angular velocity sensor when the workbench is empty and loaded, and calculates the moment of inertia of a measured object. The moment of inertia test bench is composed of a worktable, a torsion bar transmission mechanism, a drive device, and an electric control system; the workbench is used for the installation and positioning of the measured object, and a special clamping mechanism is designed to be installed on the workbench. The torsion bar transmission mechanism is used to transmit torque, and at the same time, it can withstand the instantaneous torque when the torque motor is started, so as to ensure the stable torque output when the test starts. The torque sensor and angular velocity sensor are used in the torsion bar transmission mechanism, which is easy to disassemble; the torque sensor is connected to the transmission shaft, which has the characteristics of high measurement accuracy, quick disassembly and calibration. The moment of inertia is calculated by measuring the torque and angular velocity sensor data during the rotation of the worktable, and the measurement results are highly repeatable.

Description

A Moment of Inertia Test Bench Based on Torque Sensor

technical field

The invention relates to a moment of inertia test bench, in particular to a moment of inertia test bench based on a torque sensor, belonging to the field of moment of inertia measurement.

Background technique

As an important design parameter, the moment of inertia has an important influence on the motion stability, operability, maneuverability and consistency of combined motion of the equipment. With the close integration of machinery, automation technology and computer technology, and various measurement Sensors can achieve higher and higher precision requirements. How to measure the moment of inertia of objects more conveniently, quickly and accurately has become an urgent problem to be solved. Invention patent CN102692264A discloses a test bench and test method for mass, center of mass position and moment of inertia. The test platform consists of a positioning mechanism, a clamping mechanism, a workbench, a lifting mechanism, a power component, a housing, a control box, and an electric control device. The test bench uses the second differential of the encoder to obtain the angular acceleration of the system. The accuracy of the angular acceleration calculated by the second differential method is low, and the change of angular acceleration is not obvious. The test bench uses a motor to directly drive the table to swing. Since the starting torque of the motor is large when the motor is started, the output torque is unstable, which has a great influence on the measurement results of the torque sensor. The test bench is an integrated test bench for mass, center of mass and moment of inertia. Due to the different movement modes of the workbench, a special mechanism is designed to separate the measurement of the center of mass and moment of inertia, which is inconvenient to operate. When measuring the moment of inertia of the test bench, the torque sensor and the workbench The connection mechanism between them is complicated, and there is friction interference, which brings errors to the measurement of the moment of inertia.

Invention patent CN103542982A discloses a large-scale structural body moment of inertia measurement system. The system can measure the multi-directional moment of inertia of the object, and calculate the moment of inertia by driving the measured object torsional pendulum and measuring its damped oscillation frequency. Due to the change of the measurement direction, the assembly of the equipment drum assembly is required, which is inconvenient to operate. When the measured object has an asymmetric structure, there is an error in the measurement of the moment of inertia due to the asymmetric adjustment of the fastening screw.

Contents of the invention

In order to avoid the deficiencies of the prior art and overcome the deficiencies of the existing moment of inertia test benches such as low efficiency, low measurement accuracy and low repeatability, the present invention proposes a torque sensor-based rotary inertia test bench. The test bench adopts torque sensor and angular velocity sensor, and calculates the moment of inertia of the object under test by collecting data from multiple sets of torque sensors and angular velocity sensors when the workbench rotates. It has high precision, high degree of automation, short measurement time and easy operation.

The technical solution adopted by the present invention to solve its technical problems is: comprise workbench, torsion bar transmission mechanism, driving device, electric control system; Described workbench is a rectangular structure, and horizontal datum bar and vertical datum bar are fixed on the workbench, The angle between the horizontal reference bar and the longitudinal reference bar is 90 degrees, and the transition plate is located at the rotation center of the worktable;

The torsion bar transmission mechanism includes an angular velocity sensor, a thrust ball bearing cover, a thrust ball bearing, a thrust ball bearing seat, a torsion bar sleeve, a positioning pin, a torsion bar, an outer sleeve, a deep groove ball bearing, an isolation cylinder, an isolation circle Ring, torque sensor, coupling, one end of the thrust ball bearing cover is connected with the transition plate, the angular velocity sensor is located on the thrust ball bearing cover, the thrust ball bearing cover is connected with the torsion bar sleeve, the thrust ball bearing seat is fixed on the frame, and the thrust The ball bearing is installed in the thrust ball bearing seat, and the torsion bar sleeve is connected with the inner diameter of the thrust ball bearing. There is a pair of deep groove ball bearings between the inner, torsion bar sleeve and the outer sleeve. There is an isolation cylinder between the deep groove ball bearings. There is an isolation ring between the deep groove ball bearings and the top plate of the frame. The outer sleeve is fixed on the machine On the top plate in the frame, the torque sensor is connected with the torsion bar and the transmission shaft through a coupling;

The driving device includes a torque motor, a bearing seat, a bearing cover, an electromagnetic brake, an electromagnetic clutch, a transmission shaft, an angular contact ball bearing, and a supporting frame plate, the driving device is located in the frame, and the torque motor is fixed in the motor seat below the electromagnetic clutch , the output shaft of the torque motor is connected with the electromagnetic clutch, the electromagnetic brake is located under the support frame plate, the electromagnetic clutch is connected with the electromagnetic brake, the electromagnetic brake is fixed on the support frame plate and connected with the transmission shaft, the support frame plate is fixedly connected with the torque sensor mounting seat, and Diagonal contact ball bearings are installed on the transmission shaft through bearing housings and bearing caps;

The electronic control system includes a signal acquisition system and a control system. The signal acquisition system collects data information in real time from the torque sensor and the angular velocity sensor; the control system is used to control the test bench to perform actions, collect data from the sensor and process it, and obtain the rotation by the industrial computer. Inertia value.

The torsion bar, the transition plate, the electromagnetic clutch and the torque motor are coaxially installed.

Beneficial effect

The present invention proposes a moment of inertia test bench based on a torque sensor, which uses a torque motor to drive the workbench to rotate, and calculates the moment of inertia of the measured object by collecting the values of the torque sensor and the angular velocity sensor when the workbench is empty and loaded. The moment of inertia test bench is composed of a workbench, torsion bar transmission mechanism, drive device, and electric control system; the workbench is used for the installation and positioning of the measured object, and a special clamping mechanism is designed and installed on the workbench according to the size of the measured object . The torsion bar transmission mechanism is used to transmit torque, and at the same time, it can withstand the instantaneous torque when the torque motor is started, so as to ensure the stable torque output when the test starts. The torsion bar transmission mechanism is equipped with an angular velocity sensor to measure the transmission angular velocity. The torque sensor is connected with the transmission shaft, which has the characteristics of high measurement accuracy, convenient disassembly and calibration. The driving device is driven by a torque motor to ensure stable output torque of the motor. The driving device is equipped with an electromagnetic clutch to protect the test system.

The moment of inertia test bench based on the torque sensor of the present invention is used for measuring the moment of inertia of objects; it has a wide measurement range, a reference bar is installed on the workbench, fixtures can be designed according to the size of the object to be measured, and it is convenient to disassemble. The test bench has a high degree of automation, simple measurement principle, and easy operation. By measuring the values of the torque sensor and angular velocity sensor during the rotation of the workbench, the value of the moment of inertia is calculated, and the measurement results are highly repeatable. It adopts torque sensor and angular velocity sensor, which is easy to disassemble; the workbench has simple structure, quick assembly and disassembly, and is convenient for maintenance of the test bench.

Description of drawings

A moment of inertia test bench based on a torque sensor of the present invention will be further described in detail below in conjunction with the drawings and embodiments.

Fig. 1 is a schematic structural diagram of a moment of inertia test bench of the present invention.

Fig. 2 is a schematic diagram of the workbench of the present invention.

Fig. 3 is a structural schematic diagram of the workbench of the present invention.

Fig. 4 is a schematic diagram of the torsion bar transmission mechanism of the present invention.

Fig. 5 is a schematic diagram of the driving device of the present invention.

In the picture:

1. Workbench 2. Angular velocity sensor 3. Rack 4. Torque sensor 5. Torque motor 6. Horizontal reference bar 7. Longitudinal reference bar 8. Transition plate 9. Thrust ball bearing cover 10. Thrust ball bearing 11. Thrust ball bearing Seat 12. Torsion bar sleeve 13. Locating pin 14. Torsion bar 15. Isolation cylinder 16. Outer sleeve 17. Deep groove ball bearing 18. Isolation ring 19. Coupling 20. Support frame plate 21. Bearing seat 22. Bearing cover 23. Electromagnetic brake 24. Electromagnetic clutch 25. Transmission shaft 26. Angular contact ball bearing

specific implementation plan

This embodiment is a moment of inertia test bench based on a torque sensor.

Referring to Figures 1 to 5, the moment of inertia test bench based on the torque sensor in this embodiment is composed of a workbench, a torsion bar transmission mechanism, a driving device, and an electric control system; the workbench 1 is a rectangular structure, and the upper surface of the workbench 1 is fixedly installed There is a horizontal reference bar 6 and a vertical reference bar 7, the angle between the horizontal reference bar 6 and the longitudinal reference bar 7 is 90 degrees, and the transition plate 8 is installed at the center of rotation of the workbench 1. When testing the object, design a special fixture according to the size of the object to be measured, and place it on the horizontal reference bar 6 and the vertical reference bar 7 on the workbench 1 to position the workbench 1 surface and the fixture.

The torsion bar transmission mechanism includes an angular velocity sensor 2, a thrust ball bearing cover 9, a thrust ball bearing 10, a thrust ball bearing seat 11, a torsion bar sleeve 12, a positioning pin 13, a torsion bar 14, an outer sleeve 16, and a deep groove ball bearing 17 , isolation cylinder 15, isolation ring 18, torque sensor 4, shaft coupling 19, one end of the thrust ball bearing cover 9 is connected with the transition plate 8, the angular velocity sensor 2 is installed on the thrust ball bearing cover 9, and the angular velocity sensor 2 measures the direction axis It coincides with the axis of the torsion bar 14 to ensure the measurement accuracy of the angular velocity sensor 2 . The thrust ball bearing cover 9 is connected with the torsion bar sleeve 12, the thrust ball bearing seat 11 is fixedly installed on the frame 3, and the thrust ball bearing 10 is installed in the thrust ball bearing seat 11 for carrying the load in the vertical direction of the workbench 1. The torsion bar sleeve 12 is connected to the inner diameter of the thrust ball bearing 10, the torsion bar is installed in the torsion bar sleeve 12, and is fixedly connected with the torsion bar sleeve 12 through the positioning pin 13, the torsion bar sleeve 12 is installed in the outer sleeve 16, There is a pair of deep groove ball bearings 17 between the torsion bar sleeve 12 and the outer sleeve 16, and there is an isolation cylinder 15 between the two deep groove ball bearings 17, and an isolation ring between the deep groove ball bearings 17 and the top plate of the frame 3 18, the outer sleeve 16 is fixedly installed on the inner top plate of the frame 3 . Two measuring rods stretch out from the two ends of the torque sensor 4, one end of the torque sensor 4 is connected with the transmission shaft 25 through a shaft coupling 19, and the other end of the torque sensor 4 is connected with the torsion bar 14 through a coupling 19, so as to ensure that the measuring axis of the torque sensor 4 is in line with the shaft coupling 19. The central axes of the torsion bars 14 are coincident.

The section of the torsion bar 14 is circular, and one end has a pin hole, which is connected by a positioning pin 13, and the other end is connected by a spline. Torsional deformation occurs when the torsion bar 14 is applied with torque around the torsion bar axis, and the torsion bar 14 rotates around the axis when the applied torque increases. The maximum torque carried by the torsion deformation of the torsion bar 14 is between the starting torque of the torque motor 5 and the rated torque of the torque, which is used to overcome the problem of torque mutation when the torque motor 5 starts.

The driving device includes a torque motor 5, bearing housing 21, bearing cover 22, electromagnetic brake 23, electromagnetic clutch 24, transmission shaft 25, angular contact ball bearing 26, support frame plate 20, the driving device is located in the frame, and the torque motor 5 is fixed on In the motor seat below the electromagnetic clutch 24, the output shaft of the torque motor 5 is connected with the electromagnetic clutch 24, and the electromagnetic brake 23 is installed below the support frame plate 20, and the electromagnetic clutch 24 is connected with the electromagnetic brake 23, and the electromagnetic brake 23 is fixed on the support frame plate 20 Connected with the transmission shaft 25, the torque motor 5 generates damping to the transmission shaft 25 when it rotates. The supporting frame plate 20 is fixedly connected with the mounting base of the torque sensor 4 , and a pair of angular contact ball bearings 26 are installed on the transmission shaft 25 through the bearing housing 21 and the bearing cover 22 . Torsion bar 14, transition disc 8, electromagnetic clutch 24 and torque motor 5 are coaxially installed. The torque motor 5 outputs with a constant torque to ensure that the output torque is stable during the rotation of the workbench 1 .

The electronic control system includes a signal acquisition system and a control system. The signal acquisition system collects data information from the torque sensor and the angular velocity sensor in real time; the control system is used to control the execution of the test bench and process the data collected by the sensor; The ratio to the angular velocity differential is the moment of inertia, and the value of the moment of inertia is calculated by the industrial computer.

work process:

Step 1. Standard body calibration no-load test; start the torque motor 5, drive the transmission shaft 25 to rotate through the electromagnetic clutch 24, the transmission shaft 25 is connected to the torsion bar transmission mechanism, and the torsion bar transmission mechanism is connected to the workbench 1, thereby driving the workbench 1 Rotate and record multiple sets of torque sensor 4 and angular velocity sensor 2 data.

Step 2. Standard body calibration loading test; put the standard body on the surface of workbench 1, and the two sides of the standard body are close to the horizontal reference bar 6 and the longitudinal reference bar 7 on the workbench 1; the torque motor 5 is started to drive the workbench 1 with a constant torque Rotate and record multiple sets of torque sensor 4 and angular velocity sensor 2 data. The moment of inertia of the standard body is known and approximate to the value of the moment of inertia of the measured object.

Step 3. Calibration calculation of the standard body; the moment of inertia is defined as J=M/β, J is the moment of inertia of the object around the axis of rotation, and β is the angular acceleration, wherein the angular acceleration β can be obtained by differential angular velocity; the _standard body moment of inertia J is known , the system moment of inertia J ₀ when the standard body is no-load is calculated from the sensor data when the calibration is no-load, and the system moment of inertia J ₁ when the standard body is loaded is calculated from the sensor data when the standard body is loaded, and the moment of inertia of the standard body J _calibration = J ₁ -J ₀ , to solve the calibration coefficient K=J _standard /J _standard .

Step 4. No-load test of the measured object; design a special clamping mechanism according to the size of the measured object, place the clamping mechanism on the workbench 1, and stick to the horizontal reference bar 6 and the longitudinal reference bar 7; start the torque motor 5 to The constant torque drives the table 1 to rotate, and at this time, multiple sets of torque sensor 4 and angular velocity sensor 2 data are recorded.

Step 5. Loading test of the measured object; put the measured object into the clamping mechanism placed on the workbench 1, start the torque motor 5, drive the workbench 1 to rotate with a constant torque, and record multiple sets of torque sensors 4 and Angular velocity sensor 2 data.

Step 6. Calculate the moment of inertia of the measured object; calculate the system moment of inertia J ₀ when the measured object is unloaded from the sensor data when the measured object is unloaded, and calculate the system rotation when the measured object is loaded from the sensor data when the measured object is loaded Inertia J ₁ , calculate the object’s moment of inertia J=J ₁ -J ₀ ; get the measured object’s moment of inertia J _correction =K gJ after calibration coefficient correction.

Claims (2)

1. a kind of rotary inertia testboard based on torque sensor, including workbench, drive device, electric-control system, its feature It is:Also include torsion bar transmission mechanism；The workbench is rectangular configuration, and workbench is fixed on lateral fiducial bar and longitudinal direction Datum strip, angle is 90 degree between lateral fiducial bar and longitudinal datum strip, and transition disc is located at work table rotation center；It is described Torsion bar transmission mechanism includes angular-rate sensor, thrust ball bearing lid, thrust ball bearing, thrust ball bearing seat, torsion bar sleeve, fixed Position pin, torsion bar, outer sleeve, deep groove ball bearing, insulated cylinder, isolation annulus, torque sensor, shaft coupling, thrust ball bearing lid One end is connected with transition disc, and angular-rate sensor covers positioned at thrust ball bearing, thrust ball bearing lid and torsion bar sleeve connection, is pushed away Power ball bearing housing is fixed in frame, and thrust ball bearing is arranged in thrust ball bearing seat, in torsion bar sleeve and thrust ball bearing Footpath connects, and torsion bar is located in torsion bar sleeve, and is connected with torsion bar sleeve by alignment pin, and torsion bar sleeve is located in outer sleeve, turns round There are a pair of deep groove ball bearings between rod sleeve and outer sleeve, there is insulated cylinder, deep groove ball bearing and frame top between deep groove ball bearing There is isolation annulus between plate, outer sleeve is fixed on frame inside ceiling panel, and torque sensor passes through connection with torsion bar and power transmission shaft respectively Axle device connects；The drive device include torque motor, bearing block, bearing cap, electromagnetic brake, electromagnetic clutch, power transmission shaft, Angular contact ball bearing, support deckle board, drive device are located in frame, and torque motor is fixed on the motor cabinet below electromagnetic clutch Interior, torque motor output shaft is connected with electromagnetic clutch, and electromagnetic brake is below support deckle board, electromagnetic clutch and electromagnetism Brake is connected, and electromagnetic brake is fixed on support deckle board with being driven axis connection, support deckle board and torque sensor mounting seat It is connected, a pair of angular contact ball bearings are arranged on power transmission shaft by bearing block and bearing cap；The electric-control system is adopted including signal Collecting system and control system, signal acquiring system is to torque sensor and angular-rate sensor real-time data collection information；Control System is used to control testboard to perform action, to the processing of sensor gathered data, and rotary inertia number is calculated by industrial computer Value.

2. the rotary inertia testboard according to claim 1 based on torque sensor, it is characterised in that:Torsion bar, transition Disk, electromagnetic clutch and torque motor are co-axially mounted.