CN105784266A - Docking mechanism test system six-component force on-line calibration method - Google Patents
Docking mechanism test system six-component force on-line calibration method Download PDFInfo
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- CN105784266A CN105784266A CN201610120489.5A CN201610120489A CN105784266A CN 105784266 A CN105784266 A CN 105784266A CN 201610120489 A CN201610120489 A CN 201610120489A CN 105784266 A CN105784266 A CN 105784266A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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Abstract
The invention provides a docking mechanism test system six-component force on-line calibration method. In a calibration process, a standard force sensor is connected in a back-to-back mode with a six-component force sensor of a docking mechanism test system to be tested; loading is performed manually, a transmission mechanism transmits a force to the standard force sensor, and the force is applied to the six-component force sensor; and the output of the standard force sensor is used as a standard value and is compared with six-component force measured values of the docking mechanism test system to be tested, and the measurement error of each component of six-component forces of the docking mechanism test system are obtained. According to the invention, the transmission mechanism and the standard force sensor which are adapted to the six-component force measuring range of the docking mechanism test system are selected, and the calibration of the whole measuring range of the six-component forces is realized; in addition, the special metering tools matched with the test system are designed for the installation of the transmission mechanism and the standard force sensor, and by selecting different metering tools and different installation positions, the calibration of each component of the six-component forces of the docking mechanism test system is realized.
Description
Technical field
The invention belongs to measurement and calibration technical field, multi-components force measuring system on-line calibration technology, particularly to a kind of docking mechanism pilot system six component force on-line calibration method.
Background technology
Space Docking Mechanism comprehensive test system six-component force sensor is used for measuring interaction force when docking mechanism analog element comes in contact and moment, and measurement result is sent to computer system, according to the relative motion of two spacecrafts in the spacecraft dynamics model real-time resolving docking operation set up, then simulated the motion conditions of docking operation by driving mechanisms control motion platform.Therefore, Space Docking Mechanism comprehensive test system six component force measurement data whether accurate, by the correctness of the simulation accuracy and docking mechanism result of the test that directly influence whole pilot system, and finally it is related to the success or failure of spacecraft space docking.For guaranteeing docking mechanism comprehensive test system testing experiment data accurately and reliably, it is necessary to regularly pilot system six component force is calibrated.
Owing to docking mechanism comprehensive test system structure is complicated, it is very high that six-component force sensor installs positioning accuracy request, system performance for guarantee test system immobilizes, sensor should not re-start dismounting easily after once mounting, therefore to reflect the accuracy that relay is measured by docking mechanism comprehensive test system multi-components better, pilot system six component force measurement must be taked on-line calibration, make six-component force sensor when calibration and the time of test has identical stress condition, the index that the characteristic index of six-component force sensor is used as measurement system is avoided to use, guarantee the verity of pilot system six component force measurement data.
Calibration to six component force measuring systems is exactly apply known proof force at each different Impact direction of six-component force sensor, obtains the technical performance index of sensor according to the output of six-component force sensor.Calibration to six component force measuring systems must make three-dimensional force coordinate basis (X, Y, Z) overlap with by school six-component force sensor coordinate basis, otherwise cause the not same error of benchmark, produce component effect, and cross-coupling effect (CrossTalk) aliasing of this error effects that should not have and six-component force sensor self and can not separating, just the error of indication of six component force measuring systems correctly cannot be judged.
Space Docking Mechanism comprehensive test system adopts Kistler company of Switzerland six-component force sensor, and it is made up of four three-way piezoelectric formula force transducers, shown in its structure, coordinate system and measuring principle below figure 1, Fig. 2.Under power F effect, it is output as:
Fx=Fx1+2+Fx3+4
Fy=Fy1+4+Fy2+3
Fz=Fz1+Fz2+Fz3+Fz4
Mx=b·(Fz1+ Fz2-Fz3-Fz4)
My=a (-Fz1+ Fz2+ Fz3-Fz4)
Mz=b (-Fx1+2+ Fx3+4)+a·(Fy1+4-Fy2+3)
At present domestic and international open source literature does not all look into the report seen the calibration of Space Docking Mechanism comprehensive test system multi-components force measuring system.The mode that existing technical scheme loads mainly by counterweight, the six-component force sensor of pilot system applies proof force, with the gravity of counterweight generation for standard force value, the size of each respective components power that comparative test system records, obtain the measurement error of pilot system six component force.Existing complete machine characteristic test-bed structural representation (locally) is as it is shown on figure 3, in Fig. 3, including docking mechanism ring flange 31 and six-dimension force sensor 32, calibration steps schematic diagram as shown in Figure 4, in Fig. 4, including docking mechanism ring flange 41, counterweight 42, base 43 and sensor 44, the moment of torsion on-line calibration method that existing pilot system six component force is measured is as it is shown in figure 5, in Fig. 5, including arm of force L, docking mechanism ring flange 51, counterweight 52, base 53 and sensor 55.
The deficiency that existing calibration steps exists mainly has:
1, measurement scope can not cover: because being subject to the restriction of counterweight volume and load mode, counterbalance mass can not be accomplished very big, the calibration range of the calibration steps that existing employing counterweight loads is usually no more than 1,000 Ns, and six component force of pilot system measure scope at FXDirection (is perpendicular to the front of sensor) for several ten thousand Ns, at FYAnd FzDirection also has several thousand Ns, and therefore the calibration range of existing calibration steps cannot meet the calibration requirements that pilot system six component force is measured.
2, measure parameter can not cover: by the impact of six-component force sensor installation site and mounting means, adopt the existing calibration steps that counterweight loads cannot realize the calibration measuring system all six component, such as, the six-component force sensor of buffer test platform is perpendicular to surface-mounted, and existing calibration steps cannot realize FX、FZCalibration, can not realize MZ、MYCalibration.
Summary of the invention
It is an object of the invention to provide a kind of docking mechanism pilot system six component force on-line calibration method, it is possible to accurately obtain the measurement error of the pilot system six each component of component force.
For solving the problems referred to above, the present invention provides a kind of docking mechanism pilot system six component force on-line calibration method, including:
Adopt back-to-back mode to install with by the six-component force sensor of school pilot system proof force sensor, drive mechanism and proof force sensor are installed by special measuring frock；
Proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism；
The output valve being output as standard force value and six-component force sensor with proof force sensor compares, it is thus achieved that by the measurement error of the school pilot system six each component of component force.
Further, in the above-mentioned methods, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
Single power source is adopted first to load standard force value along a reference axis pointwise in a certain way of six-component force sensor, record pilot system six component force measures the output value of each passage, until set the whole school of all calibration points complete after, change another one reference axis again to load, until all direction force or moment are all calibrated complete.
Further, in the above-mentioned methods, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
Worm and gear is adopted to coordinate helical screw to make transmission, screw mandrel front end installation proof force sensor, rotary worm, worm gear is driven to make screw mandrel translation stretch out, being applied on the six-component force sensor by school pilot system by proof force by proof force sensor pressure head, the value that the size of proof force is shown by high-acruracy survey instrument is as the criterion.
Further, in the above-mentioned methods, adopt back-to-back mode to install with by the six-component force sensor of school pilot system proof force sensor, drive mechanism and proof force sensor are installed by special measuring frock, including:
Worm and worm-wheel gearing and proof force sensor is selected according to being measured scope by six component force of school pilot system.
Further, in the above-mentioned methods, described special measuring frock, it is used for fixing and support proof force sensor, Worm and worm-wheel gearing, guarantee that proof force correctly loads along by each coordinate axes of six-component force sensor of school pilot system, overcome counteracting force simultaneously.
Further, in the above-mentioned methods, the force axis of described special measuring frock is consistent by the line of force with by the six-component force sensor of school pilot system, and described special measuring frock adopts the micro-adjusting mechanism described force axis of guarantee vertical with stress surface.
Further, in the above-mentioned methods, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
When force value is calibrated, proof force applies along the reference axis of six-component force sensor, when moment of torsion is calibrated, proof force effect axis is parallel to reference axis the spacing L of six-component force sensor, and namely during calibration force value, the installation site of Worm and worm-wheel gearing is L with installation site spacing when calibrating moment of torsion.
Further, in the above-mentioned methods, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
6 calibration points are chosen within the scope of by six component force component measurements of school pilot system, including zero point and maximum point, with rotary handle rotary worm, worm gear is driven to make screw mandrel translation stretch out, being applied on the six-component force sensor by school pilot system by power by proof force sensor pressure head, the size of proof force is shown by high-acruracy survey instrument, and reads pilot system six component force measured value, then carry out next calibration point to load and record data, until the calibration of all calibration points is complete.
Further, in the above-mentioned methods, it is output as standard force value with proof force sensor and is compared by the output valve of the six-component force sensor of school pilot system, it is thus achieved that the measurement error of the six each components of component force of pilot system, including:
The output valve of standard of comparison force transducer and the six component sensor by school pilot system, wherein, during torque calibration, standard torque is that proof force takes advantage of standard arm of force L, obtain the error of indication of this component, by same method, next component is calibrated, finally can obtain pilot system six component force and measure the error of indication along X-axis, Y-axis, the force value in three directions of Z axis and torque measurement around three directions of X, Y, Z axis.
Compared with prior art, deficiency for existing calibration program, the present invention devises a kind of field calibration power source, it is by proof force sensor, measure instrument, drive mechanism and special metering frock composition, when calibration, proof force sensor adopts back-to-back mode to install with by the six-component force sensor of school pilot system, manual loading, drive mechanism transfers force on proof force sensor and is applied on six-component force sensor, it is output as standard value with proof force sensor and is compared by six component force measured values of school pilot system, obtain the measurement error of each component.The present invention selects and measures, with by school pilot system six component force, drive mechanism and the proof force sensor that scope adapts, it is possible to achieve the calibration to the whole measurement scope of pilot system six component force；The special measuring frock that present invention design matches with pilot system is to install drive mechanism and proof force sensor, by selecting different metering frocks and different installation sites, it is achieved the calibration to pilot system six each component of component force.
The beneficial effect of present invention:
1. devise the Space Docking Mechanism comprehensive test system six component force field calibration standard force source being made up of proof force sensor, measurement instrument, drive mechanism, its proof force sensor measurement scope, Worm and worm-wheel gearing load configure according to the measurement scope of comprehensive test system six-component force sensor, solve the existing calibration program loaded with counterweight because the little problem that can not meet pilot system six component force actual alignment demand of measurement scope.
2. devise the metering frock matched with comprehensive test system different tests platform, the installation site of standard force source when having separately designed force value calibration in metering frock and during torque calibration, the calibration to the comprehensive test system six whole component of component measurement can be conveniently realized, solve the existing calibration program loaded with counterweight whole components can not be calibrated because load mode is limited thus problem that pilot system six component force actual alignment demand cannot be met.
3. the load mode adopting pointwise calibration avoids and is gradually reduced, because pilot system piezoelectric type six component sensor output charge elapses over time, the problem causing measurement error to superpose with the output shift of accumulation and to be difficult to the technical performance of true qualification test system six component measurement, improves the accuracy of calibration result.
Accompanying drawing explanation
Fig. 1 is existing Kistler company six-component force sensor measuring principle schematic diagram
Fig. 2 is that existing six-component force sensor measures coordinate system definition schematic diagram；
Fig. 3 is existing complete machine characteristic test-bed structural representation；
Fig. 4 is the force value on-line calibration method schematic diagram that existing pilot system six component force is measured；
Fig. 5 is the moment of torsion on-line calibration method schematic diagram that existing pilot system six component force is measured；
Fig. 6 is the standard force source block diagram of one embodiment of the invention；
Fig. 7 is the complete machine platform multi-components power calibration tool schematic diagram of one embodiment of the invention；
Fig. 8 is the buffer table six component force calibration schematic diagram of one embodiment of the invention；
Fig. 9 is the pointwise calibration load mode schematic diagram of one embodiment of the invention；
Figure 10 is the test platform structure schematic diagram of the docking mechanism pilot system of one embodiment of the invention；
Figure 11 is the on-line calibration theory diagram of one embodiment of the invention；
Standard point of force application when Figure 12 is the force value calibration of one embodiment of the invention；
Standard point of force application when Figure 13 is the torque calibration of one embodiment of the invention；
Figure 14 is the standard force source schematic diagram of one embodiment of the invention；
Figure 15 is the calibration flow chart of one embodiment of the invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Figure 6, the present invention provides a kind of docking mechanism pilot system six component force on-line calibration method, including:
Step S1, is adopted back-to-back mode to install with by the six-component force sensor of school pilot system proof force sensor, is installed drive mechanism and proof force sensor by special measuring frock；
Step S2, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism；
Step S3, is output as standard force value with proof force sensor and is compared by six component force measured values of school pilot system, it is thus achieved that the measurement error of each component.At this, Space Docking Mechanism comprehensive test system six component force on-line calibration is exactly under the premise not changing piezoelectric type six-component force sensor installment state, on piezoelectric type six-component force sensor, loaded power or the moment of linear independence with certain load mode by special standard force source, according to by the functional relationship between six component force measured values and proof force or the moment of school pilot system, calculate the technical performance index measured by school pilot system six component force.It is the test platform structure schematic diagram of docking mechanism pilot system as shown in Figure 10, Figure 10 includes six-dimension force sensor 101, actively spacecraft launching site mechanism 102, passive space vehicle docking mechanism 103,6-dof motion platform 104, power and moment 105, kinetics solving unit 106, buffer damping mechanism 107 and servo control unit 108, be on-line calibration theory diagram as shown in figure 11.
Preferably, step S2, proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
Adopt comparative method for measuring principle, in the way of the simple component separate calibrations of single power source, Space Docking Mechanism comprehensive test system six component force is carried out on-line calibration, namely single power source is adopted first to load standard force value along a reference axis pointwise in a certain way of six-component force sensor, record by the output value of school pilot system each passage of six-component force sensor, until set the whole school of all calibration points complete after, change another one reference axis again to load, until all direction force or moment are all calibrated complete, the data carrying out step S3 process, provide pilot system six component force calibration result.The standard force source of one embodiment of the invention as shown in figure 14, in Figure 14 without measure instrument.
Preferably, step S2, proof force is delivered on proof force sensor and is applied to by the pilot system six-component force sensor of school by drive mechanism, including:
Worm and gear is adopted to coordinate helical screw to make transmission, screw mandrel front end installation proof force sensor, with rotary handle rotary worm, worm gear is driven to make screw mandrel translation stretch out, being applied on six-component force sensor by proof force by proof force sensor pressure head, the value that the size of proof force is shown by high-acruracy survey instrument is as the criterion.Furthermore it is also possible to adopt servo electrical machinery system to drive worm screw to rotate.Detailed, as shown in Figure 6, scope and the error of indication, selection standard force transducer and measurement instrument and Worm and worm-wheel gearing assembly can be measured according to the pilot system six-component force sensor being calibrated.The measurement scope of the standard dynamometer of proof force sensor and measurement instrument composition can cover is measured scope by school pilot system six component force, and accuracy should be higher than by 4～5 times of school pilot system six component force accuracy of measurement；The load capacity of Worm and worm-wheel gearing should be higher than that pilot system six component force measures scope, and helical screw front end processing screw thread is to install proof force sensor.This standard force source adopts manual loading, carries out controlling in real time and fine setting to the accurate performance of loaded power；Stable drive, and adopt the unidirectional high-precision force sensor of strain-type, force value accuracy is high；Compact conformation, good rigidity, deform little；Gear ratio is big, it is possible to easily carry out the loading of power；The most important is to carry out self-locking, can rest on any one the force value point in range.
Preferably, step S1, adopt back-to-back mode to install with by the six-component force sensor of school pilot system proof force sensor, drive mechanism and proof force sensor are installed by special measuring frock, including:
Worm and worm-wheel gearing and proof force sensor is selected according to being measured scope by six component force of school pilot system.
Preferably, described special measuring frock, it is used for fixing and support proof force sensor, Worm and worm-wheel gearing, it is ensured that proof force correctly loads along by each coordinate axes of six-component force sensor of school pilot system, overcomes counteracting force simultaneously.Concrete, construction features according to different tests playscript with stage directions body and the actual installation state of each six-component force sensor, develop the matched demarcation frock with micro-adjusting mechanism, frock role one is fixing and supports proof force sensor, Worm and worm-wheel gearing, two are ensured that proof force correctly can load along each coordinate axes of six-component force sensor, thus realizing on-line calibration.Frock also to overcome counteracting force simultaneously, therefore to have enough intensity, rigidity and weight.Referring to Fig. 7 and Fig. 8, the installation site of standard force source when metering frock separately designed force value calibration and during torque calibration, it is possible to conveniently realize the calibration to the comprehensive test system six whole component of component measurement.Wherein, Fig. 7 includes longitudinal charger 71, longitudinally mounted device 72, horizontal charger 73, transversely mounted device 74, stress ball 75 and sensor of interest 76, Fig. 8 includes calibration force ball 81, longitudinal alignment charger 82, charger mounting tool 83, multi-dimension force sensor 84 and laterally calibration charger 85.
Preferably, the force axis of described special measuring frock is consistent by the line of force with by the six-component force sensor of school pilot system, and described special measuring frock adopts the micro-adjusting mechanism described force axis of guarantee vertical with stress surface.
Detailed, three-dimensional force coordinate basis (X, Y, Z) must be made to overlap with the coordinate basis of pilot system six-component force sensor coordinate basis and testing stand in pilot system six component force on-line calibration, benchmark is not same will produce component effect, and cross-coupling effect (CrossTalk) aliasing of this error effects that should not have and six-component force sensor self and can not separating, just pilot system six component force correctly cannot be calibrated.
It is very high that the key equipment six-component force sensor of proofread connection mechanism comprehensive test system installs positioning precision, it is believed that the coordinate system of the coordinate system of sensor and testing stand is to overlap, as long as therefore solving the COINCIDENCE PROBLEMS of force axis and six-component force sensor three-dimensional axis during calibration.
Construction features according to different tests playscript with stage directions body and the actual installation state of each six-component force sensor, develop the matched demarcation frock with micro-adjusting mechanism, frock role one is fixing and supports proof force sensor, Worm and worm-wheel gearing, two are to ensure that proof force correctly can load along each coordinate axes of six-component force sensor, thus realizing on-line calibration.Frock also to overcome counteracting force simultaneously, therefore to have enough intensity, rigidity and weight.
For guaranteeing that benchmark is same, frock should take following measures when developing: one is that reference for installation according to six-component force sensor carries out Fixture Design, ensures that force axis is subject to the line of force consistent with six-component force sensor by machining benchmark with machining accuracy；Two is guarantee frock rigidity in design, it is prevented that it is same that stress deformation affects benchmark；Three is adopt micro-adjusting mechanism guarantee force axis vertical with stress surface.
Preferably, step S1 selects supporting special measuring frock according to the testing stand that pilot system is different and is installed on testing stand, after being selected Worm and worm-wheel gearing and proof force sensor by the measurement scope of school testing stand six component force and be installed in metering frock, step S2, proof force is delivered on proof force sensor and is applied to by the testing stand six-component force sensor of school by drive mechanism, including:
As shown in figure 12, when force value is calibrated, proof force applies along the reference axis of six-component force sensor, as shown in figure 13, when moment of torsion is calibrated, proof force effect axis is parallel to reference axis the spacing L of six-component force sensor, and namely during calibration force value, the installation site of Worm and worm-wheel gearing is L with installation site spacing when calibrating moment of torsion.
Preferably, step S2, proof force is delivered on proof force sensor and is applied to by the testing stand six-component force sensor of school by drive mechanism, including:
During calibration, 6 calibration points are chosen within the scope of by school testing stand six component force component measurement, including zero point and maximum point, with rotary handle rotary worm, drive worm gear to make screw mandrel translation stretch out, power is applied on the six-component force sensor by school testing stand by proof force sensor pressure head, the size of proof force is shown by high-acruracy survey instrument, and read pilot system six component force measured value, then carry out next calibration point and load and record data, until the calibration of all calibration points is complete.At this, pilot system adopts piezoelectric type six-component force sensor to measure six component force when docking, there is charge leakage phenomenon in piezoelectric type six-component force sensor, can cause that measured value elapses in being gradually reduced trend over time, if adopting staged load mode, As time goes on, measurement error can be caused to superpose with the output shift of accumulation and be difficult to the technical performance of true qualification test system six component measurement.As it is shown in figure 9, the present invention adopts load mode that pointwise calibrates to improve the accuracy of calibration result.The load mode of pointwise calibration is exactly returned to zero point after having calibrated a calibration point arranged every time, and display instrument is zeroed out, and then carries out the calibration of next set-point.
Preferably, step S3, it is output as standard force value with proof force sensor and is compared by school testing stand six component force measured value, it is thus achieved that the measurement error of each component, including:
The output valve of standard of comparison force transducer and the six component sensor by school testing stand, wherein, during torque calibration, standard torque is that proof force takes advantage of standard arm of force L, obtain the error of indication of this component, by same method, next component is calibrated, finally can obtain pilot system six component measurement error of indication along X-axis, Y-axis, the force value in three directions of Z axis and torque measurement around three directions of X, Y, Z axis, complete the calibration to pilot system six component force.
Detailed, the on-line calibration flow process of one embodiment of the invention is as shown in figure 15.
In sum, deficiency for existing calibration program, the present invention devises a kind of field calibration power source, it is by proof force sensor, measure instrument, drive mechanism and special metering frock composition, when calibration, proof force sensor adopts back-to-back mode to install with by the six-component force sensor of school pilot system, manual loading, drive mechanism transfers force on proof force sensor and is applied on the six-component force sensor by school pilot system, it is output as standard value with proof force sensor and is compared by six component force measured values of school pilot system, obtain the measurement error of the pilot system six each component of component force.The present invention selects and measures, with pilot system six component force, drive mechanism and the proof force sensor that scope adapts, it is possible to achieve the calibration to the whole measurement scope of pilot system six component force；The special measuring frock that present invention design matches with pilot system is to install drive mechanism and proof force sensor, by selecting different metering frocks and different installation sites, it is achieved the calibration to pilot system six each component of component force.
The beneficial effect of present invention:
1. devise the Space Docking Mechanism comprehensive test system six component force field calibration standard force source being made up of proof force sensor, measurement instrument, drive mechanism, its proof force sensor measurement scope, Worm and worm-wheel gearing load configure according to the measurement scope of comprehensive test system six component force, solve the existing calibration program loaded with counterweight because the little problem that can not meet pilot system six component force actual alignment demand of measurement scope.
2. devise the metering frock matched with comprehensive test system different tests platform, the installation site of standard force source when having separately designed force value calibration in metering frock and during torque calibration, the calibration that comprehensive test system six component force is measured whole components can be conveniently realized, solve the existing calibration program loaded with counterweight whole components can not be calibrated because load mode is limited thus problem that pilot system six component force actual alignment demand cannot be met.
3. the load mode adopting pointwise calibration avoids and is gradually reduced, because pilot system piezoelectric type six component sensor output charge elapses over time, the problem causing measurement error to superpose with the output shift of accumulation and to be difficult to the technical performance of true qualification test system six component measurement, improves the accuracy of calibration result.
In this specification, each embodiment adopts the mode gone forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually referring to.
Professional further appreciates that, the unit of each example described in conjunction with the embodiments described herein and algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate the interchangeability of hardware and software, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel specifically can should be used for using different methods to realize described function to each, but this realization is it is not considered that beyond the scope of this invention.
Obviously, invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to include these change and modification.
Claims (9)
1. a docking mechanism pilot system six component force on-line calibration method, it is characterised in that including:
Adopt back-to-back mode to install proof force sensor and proofread connection mechanism pilot system six-component force sensor, drive mechanism and proof force sensor are installed by special measuring frock；
Proof force is delivered on proof force sensor and is applied on docking mechanism pilot system six-component force sensor by drive mechanism；
The output valve being output as standard force value and proofread connection mechanism pilot system six-component force sensor with proof force sensor compares, it is thus achieved that docking mechanism pilot system six component force measures the measurement error of each component.
2. docking mechanism pilot system six component force on-line calibration method as claimed in claim 1, it is characterised in that proof force is delivered on proof force sensor and is applied to by the pilot system six-component force sensor of school by drive mechanism, including:
Single power source is adopted first to load standard force value along by a reference axis pointwise in a certain way of the six-component force sensor of school pilot system, record pilot system is by the output value of school each passage of six-component force sensor, until set the whole school of all calibration points complete after, change another one reference axis again to load, until all direction force or moment are all calibrated complete.
3. docking mechanism pilot system six component force on-line calibration method as claimed in claim 2, it is characterised in that proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
Worm and gear is adopted to coordinate helical screw to make transmission, screw mandrel front end installation proof force sensor, rotary worm, worm gear is driven to make screw mandrel translation stretch out, being applied on the six-component force sensor by school pilot system by proof force by proof force sensor pressure head, the value that the size of proof force is shown by high-acruracy survey instrument is as the criterion.
4. docking mechanism pilot system six component force on-line calibration method as claimed in claim 3, it is characterized in that, back-to-back mode is adopted to install with by the six-component force sensor of school pilot system proof force sensor, drive mechanism and proof force sensor are installed by special measuring frock, including:
According to being selected Worm and worm-wheel gearing and proof force sensor by the measurement scope of school pilot system six component force.
5. docking mechanism pilot system six component force on-line calibration method as claimed in claim 4, it is characterized in that, described special measuring frock, for fixing and supporting proof force sensor, Worm and worm-wheel gearing, guarantee that proof force correctly loads along by each coordinate axes of six-component force sensor of school pilot system, overcome counteracting force simultaneously.
6. docking mechanism pilot system six component force on-line calibration method as claimed in claim 5, it is characterized in that, the force axis of described special measuring frock is consistent by the line of force with by the six-component force sensor of school pilot system, and described special measuring frock adopts the micro-adjusting mechanism described force axis of guarantee vertical with stress surface.
7. docking mechanism pilot system six component force on-line calibration method as claimed in claim 6, it is characterised in that proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
When force value is calibrated, proof force applies along the reference axis of six-component force sensor, when moment of torsion is calibrated, proof force effect axis is parallel to reference axis the spacing L of six-component force sensor, and namely during calibration force value, the installation site of Worm and worm-wheel gearing is L with installation site spacing when calibrating moment of torsion.
8. docking mechanism pilot system six component force on-line calibration method as claimed in claim 7, it is characterised in that proof force is delivered on proof force sensor and is applied on the six-component force sensor by school pilot system by drive mechanism, including:
6 calibration points are chosen within the scope of by six component force component measurements of school pilot system, including zero point and maximum point, with rotary handle rotary worm, worm gear is driven to make screw mandrel translation stretch out, being applied on the six-component force sensor by school pilot system by power by proof force sensor pressure head, the size of proof force is shown by high-acruracy survey instrument, and reads pilot system six component force measured value, then carry out next calibration point to load and record data, until the calibration of all calibration points is complete.
9. docking mechanism pilot system six component force on-line calibration method as claimed in claim 8, it is characterized in that, it is output as standard force value with proof force sensor and is compared by the output valve of the six-component force sensor of school pilot system, obtain the measurement error of the pilot system six each component of component force, including:
The output valve of standard of comparison force transducer and the six component sensor by school pilot system, wherein, during torque calibration, standard torque is that proof force takes advantage of standard arm of force L, obtain the error of indication of this component, by same method, next component is calibrated, finally can obtain pilot system six component force and measure the error of indication along X-axis, Y-axis, the force value in three directions of Z axis and torque measurement around three directions of X, Y, Z axis.
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