CN106153254B - A kind of quality center of mass measurement in a closed series vehicle and measurement method - Google Patents

A kind of quality center of mass measurement in a closed series vehicle and measurement method Download PDF

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CN106153254B
CN106153254B CN201610537435.9A CN201610537435A CN106153254B CN 106153254 B CN106153254 B CN 106153254B CN 201610537435 A CN201610537435 A CN 201610537435A CN 106153254 B CN106153254 B CN 106153254B
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mass
measurement
center
measuring vehicle
measuring
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CN106153254A (en
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张晓琳
王梅宝
唐文彦
王军
宋广才
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Heilongjiang Industrial Technology Research Institute Asset Management Co ltd
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Harbin Institute of Technology Shenzhen
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/387—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for combinatorial weighing, i.e. selecting a combination of articles whose total weight or number is closest to a desired value
    • G01G19/393—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for combinatorial weighing, i.e. selecting a combination of articles whose total weight or number is closest to a desired value using two or more weighing units

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种质量质心组合测量车及测量方法，它涉及一种测量车及测量方法，具体涉及一种质量质心组合测量车及测量方法。本发明为了解决现有测量装置通用性较差的问题。本发明所述测量车包括上横梁、下横梁、滚转支撑组件、移动轮组件、四个称重传感器、四个升降机构和四个调平组件，上横梁、下横梁由上至下依次设置，所述滚转支撑组件安装在上横梁上表面的中部，所述移动轮组件安装在下横梁下表面的中部，上横梁左端的下表面通过两个升降机构与下横梁左端的上表面连接。本发明属于工程测量领域。

A mass centroid combined measuring vehicle and a measuring method relate to a measuring vehicle and a measuring method, in particular to a mass centroid combined measuring vehicle and a measuring method. The invention aims to solve the problem of poor versatility of existing measuring devices. The measuring vehicle of the present invention includes an upper beam, a lower beam, a rolling support assembly, a moving wheel assembly, four load cells, four lifting mechanisms and four leveling assemblies, and the upper beam and the lower beam are arranged sequentially from top to bottom , the rolling support assembly is installed in the middle of the upper surface of the upper crossbeam, the moving wheel assembly is installed in the middle of the lower surface of the lower crossbeam, the lower surface of the left end of the upper crossbeam is connected with the upper surface of the left end of the lower crossbeam through two lifting mechanisms. The invention belongs to the field of engineering measurement.

Description

A kind of quality center of mass measurement in a closed series vehicle and measurement method
Technical field
The present invention relates to a kind of measurement vehicle and measurement methods, and in particular to a kind of quality center of mass measurement in a closed series vehicle and measurement side Method belongs to engineering measurement field.
Background technique
Quality, mass center are one of most important mass property parameters of the products such as rocket, automobile, submarine.Such as the matter of rocket Amount, mass center provide theoretical foundation for the installation of below deck equipment, with work such as recanalization, to the delivery energy of accurate analysis aircraft Power, raising orbit injection accuracy, enhancing gesture stability etc. are of great significance, and measurement will directly affect the transmitting of delivery whether accurate Posture and skyborne flight path；The security performance of automobile is increasingly interested in people, wherein quality is with centroid position One of and maximum index of safety effects handling to automobile, automobile chassis factory and vehicle assembling factory are formed in new product Before, the measurement ... of quality, mass center will be carried out.
For the centroid measurement of the large sized objects such as rocket, automobile, submarine, existing measuring technique be mainly line-of-sight course or Four-point method.Both methods is to cooperate weighing sensor and mechanical frock using principle of moment balance, calculate product to be measured Centroid position.It for various sizes of test product, needs to separately design measurement tooling, develops different more sets measurement systems System, versatility be not high.Therefore, the present invention proposes a kind of general quality center of mass combination metering device for large size product.
Summary of the invention
The present invention is to solve the problems, such as that existing measuring device versatility is poor, and then propose a kind of quality center of mass measurement in a closed series Vehicle and measurement method.
The technical solution adopted by the present invention to solve the above problem is as follows: measurement vehicle of the present invention includes upper beam, lower cross Beam, rolling support component, mobile wheel assembly, four weighing sensors, four elevating mechanisms and four leveling components, upper beam, Lower beam is from top to bottom set gradually, and the rolling support component is mounted on the middle part of upper beam upper surface, the movable pulley group Part is mounted on the middle part of lower beam lower surface, and the lower surface of upper beam left end is upper by two elevating mechanisms and lower beam left end The lower surface of surface connection, upper beam right end is connect by two elevating mechanisms with the upper surface of lower beam right end, and lower beam is left The upper surface at end and the upper surface of right end are respectively provided with two weighing sensors respectively, under the lower surface and right end of lower beam left end Surface is respectively provided with two leveling components respectively.
Specific step is as follows for measurement method of the present invention:
Step 1: two measurement sides are placed in orbit, and the electric pushrod of two measurement vehicles is all packed up, makes to survey The quality of amount vehicle is entirely fallen on mobile wheel assembly, and two measurement vehicles is pushed to be moved to the Support Position of test product along track；
Step 2: on the belt for the rolling support component that lifting test product is placed on two measurement vehicles, each measurement vehicle Four electric pushrods stretch out until it is each measurement vehicle movable pulley de-orbit, the distance pair stretched out by each electric pushrod Entire measurement vehicle is leveled；
Step 3: the elevating mechanism driving upper beam decline of each measurement vehicle, makes the quality of test product fall in weighing and passes On sensor, host computer acquires the numerical value of weighing sensor, the quality of test product is waited until by calculating, and under this posture The two-dimentional center-of-mass coordinate of test product；
Step 4: the elevating mechanism of each measurement vehicle pushes upper beam to rise, test product is made to be detached from weighing sensor, rolling Turn support component driving test product and rotates 90 °；
Step 5: the elevating mechanism of each measurement vehicle drives upper beam decline, the weight of test product is made to fully fall in title It retransmits on sensor, host computer acquires the numerical value of weighing sensor acquisition, obtains test product under this posture by calculating Two-dimentional center-of-mass coordinate；
Step 6: the measurement result of step 3 and step 5 to be calculated to the three-dimensional mass center of test product.
The beneficial effects of the present invention are: high-precision, automation, versatility measurement may be implemented in the 1, present invention；Utilize two sets Then product is rotated a certain angle and carries out the survey of an above-mentioned steps again by independent quality center of mass measuring device measurement in a closed series Amount, so that it may obtain the centroid position of big test product；2, each section of the present invention is a set of independent measuring device, for ruler Very little lesser test product, a set of measuring device can realize measurement；3, the present invention can be using two sets of independent measurement dresses Setting can be with measurement in a closed series, and distance can be adjusted arbitrarily between two sets of measuring devices, therefore measures various sizes of tested production Product do not need to design more set quality center of mass measuring devices；4, the present invention more traditional line-of-sight course or four-point method measurement is compared, and is weighed Number of sensors increases, and the range of each weighing sensor can take smaller, and the absolute error introduced accordingly can reduce, Measurement accuracy can be improved.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention, and Fig. 2 is using two measurement vehicle measurement in a closed series test product quality matter The schematic diagram of the heart.
Specific embodiment
Specific embodiment 1: embodiment is described with reference to Fig. 1, a kind of quality center of mass combination survey described in present embodiment Amount vehicle includes upper beam 1, lower beam 2, rolling support component, mobile wheel assembly, four weighing sensors, 3, four elevating mechanisms 4 With four leveling components 5, upper beam 1, lower beam 2 are from top to bottom set gradually, and the rolling support component is mounted on upper beam 1 The middle part of upper surface, the mobile wheel assembly are mounted on the middle part of 2 lower surface of lower beam, and the lower surface of 1 left end of upper beam passes through Two elevating mechanisms 4 are connect with the upper surface of 2 left end of lower beam, the lower surface of 1 right end of upper beam by two elevating mechanisms 4 with The upper surface of 2 right end of lower beam connects, and the upper surface of 2 left end of lower beam and the upper surface of right end are respectively provided with two weighings respectively and pass Sensor 3, the lower surface of 2 left end of lower beam and the lower surface of right end are respectively provided with two leveling components 5 respectively.
Specific embodiment 2: embodiment is described with reference to Fig. 1, a kind of quality center of mass combination survey described in present embodiment The rolling support component for measuring vehicle includes intermediate roller 6, left wheel 7, right idler wheel 8 and belt 9, and intermediate roller 6 is mounted on upper beam 1 The middle part of upper surface, left wheel 7 and right idler wheel 8 are separately mounted to the two sides of intermediate roller 6, intermediate roller 6, left wheel 7, right rolling Wheel 8 is connected by belt 9.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: embodiment is described with reference to Fig. 1, a kind of quality center of mass combination survey described in present embodiment The each leveling component 5 for measuring vehicle includes that bracket 5-1, electric pushrod 5-2 and support footing 5-3, electric pushrod 5-2 are mounted on bracket On 5-1, support footing 5-3 is mounted on the end of the telescopic rod 5-4 of electric pushrod 5-2.Other compositions and connection relationship and specific Embodiment one is identical.
Specific embodiment 4: embodiment is described with reference to Fig. 1, a kind of quality center of mass combination survey described in present embodiment Measure vehicle, it is characterised in that: the mobile wheel assembly includes 10, two wheel shafts 11 of pedestal and four movable pulleys 12, two wheel shafts 11 The middle part of 2 lower surface of lower beam is mounted side by side on by pedestal 10, the both ends of each wheel shaft 11 are respectively provided with a movable pulley respectively 12.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 5: embodiment is described with reference to Fig. 1, a kind of quality center of mass combination survey described in present embodiment Measure vehicle, it is characterised in that: a kind of quality center of mass measurement in a closed series vehicle further includes two auxiliary support wheels 13,1 left end of upper beam Upper surface and the upper surface of right end be respectively provided with an auxiliary support wheel 13 respectively.Other compositions and connection relationship and specific implementation Mode one, two, three or four are identical.
Specific embodiment 6: illustrating present embodiment, a kind of quality center of mass described in present embodiment in conjunction with Fig. 1 and Fig. 2 Measurement method be achieved by the steps of:
Step 1: two measurement sides are placed in orbit, and the electric pushrod 5-2 of two measurement vehicles is all packed up, It entirely falls within the quality for measuring vehicle on mobile wheel assembly, two measurement vehicles is pushed to be moved to the support level of test product along track It sets；
Step 2: on the belt 9 for the rolling support component that lifting test product is placed on two measurement vehicles, each measurement vehicle Four electric pushrod 5-2 stretch out until it is each measurement vehicle movable pulley 12 de-orbit, pass through each electric pushrod 5-2 stretch out Distance entire measurement vehicle is leveled；
Step 3: the elevating mechanism 4 of each measurement vehicle drives upper beam 1 to decline, the quality of test product is made to fall in weighing On sensor 3, host computer acquires the numerical value of weighing sensor 3, the quality of test product is waited until by calculating, and in this appearance The two-dimentional center-of-mass coordinate of test product under state；
Step 4: the elevating mechanism 4 of each measurement vehicle pushes upper beam 1 to rise, test product is made to be detached from weighing sensor 3, rolling support component drives test product to rotate 90 °；
Step 5: the elevating mechanism 4 of each measurement vehicle drives upper beam 1 to decline, fully fall in the weight of test product On weighing sensor 3, host computer acquires the numerical value that weighing sensor 3 acquires, and obtains test product in this posture by calculating Under two-dimentional center-of-mass coordinate；
Step 6: the measurement result of step 3 and step 5 to be calculated to the three-dimensional mass center of test product.
The present invention generally uses two measurements to be applied in combination when measuring, as shown in Fig. 2, each measurement vehicle is One independent measuring system, the three-dimensional mass center of test product, needs test product to convert posture, therefore every level-one in order to obtain Need to install additional rolling of the rolling support ring to realize test product on test product.
High-precision, automation, versatility measurement may be implemented in present embodiment, is surveyed using two sets of independent measurement vehicle combinations Amount, then product is rotated a certain angle and repeats carry out one-shot measurement, so that it may obtain the centroid position of big test product.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified For the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention, according to the technical essence of the invention, Within the spirit and principles in the present invention, any simple modifications, equivalent substitutions and improvements to the above embodiments etc., still Belong within the protection scope of technical solution of the present invention.

Claims (5)

1.一种质量质心组合测量车，它包括上横梁(1)、下横梁(2)、滚转支撑组件、移动轮组件、四个称重传感器(3)、四个升降机构(4)和四个调平组件(5)，上横梁(1)、下横梁(2)由上至下依次设置，所述滚转支撑组件安装在上横梁(1)上表面的中部，所述移动轮组件安装在下横梁(2)下表面的中部，上横梁(1)左端的下表面通过两个升降机构(4)与下横梁(2)左端的上表面连接，上横梁(1)右端的下表面通过两个升降机构(4)与下横梁(2)右端的上表面连接，下横梁(2)左端的上表面和右端的上表面分别各设有两个称重传感器(3)，下横梁(2)左端的下表面和右端的下表面分别各设有两个调平组件(5)；其特征在于：所述滚转支撑组件包括中间滚轮(6)、左滚轮(7)、右滚轮(8)和皮带(9)，中间滚轮(6)安装在上横梁(1)上表面的中部，左滚轮(7)和右滚轮(8)分别安装在中间滚轮(6)的两侧，中间滚轮(6)、左滚轮(7)、右滚轮(8)通过皮带(9)连接。1. A mass center of mass combined measuring vehicle, which includes an upper beam (1), a lower beam (2), a rolling support assembly, a moving wheel assembly, four load cells (3), four lifting mechanisms (4) and Four leveling components (5), the upper beam (1) and the lower beam (2) are arranged sequentially from top to bottom, the rolling support assembly is installed in the middle of the upper surface of the upper beam (1), and the moving wheel assembly Installed in the middle of the lower surface of the lower beam (2), the lower surface of the left end of the upper beam (1) is connected to the upper surface of the left end of the lower beam (2) through two lifting mechanisms (4), and the lower surface of the right end of the upper beam (1) passes Two lifting mechanisms (4) are connected with the upper surface of the right end of the lower beam (2), and the upper surface of the left end of the lower beam (2) and the upper surface of the right end are respectively provided with two load cells (3), and the lower beam (2) ) The lower surface of the left end and the lower surface of the right end are respectively provided with two leveling assemblies (5); it is characterized in that: the rolling support assembly includes a middle roller (6), a left roller (7), a right roller (8 ) and belt (9), the middle roller (6) is installed in the middle part of the upper surface of the upper beam (1), the left roller (7) and the right roller (8) are respectively installed on both sides of the middle roller (6), and the middle roller ( 6), left roller (7), right roller (8) are connected by belt (9). 2.根据权利要求1所述一种质量质心组合测量车，其特征在于：每个调平组件(5)包括支架(5-1)、电动推杆(5-2)和支撑底脚(5-3)，电动推杆(5-2)安装在支架(5-1)上，支撑底脚(5-3)安装在电动推杆(5-2)的伸缩杆(5-4)的端部。2. A combined center of mass measuring vehicle according to claim 1, characterized in that: each leveling assembly (5) includes a bracket (5-1), an electric push rod (5-2) and a supporting foot (5 -3), the electric push rod (5-2) is installed on the support (5-1), and the support foot (5-3) is installed on the end of the telescopic rod (5-4) of the electric push rod (5-2). department. 3.根据权利要求1所述一种质量质心组合测量车，其特征在于：所述移动轮组件包括底座(10)、两个轮轴(11)和四个移动轮(12)，两个轮轴(11)通过底座(10)并排安装在下横梁(2)下表面的中部，每个轮轴(11)的两端分别各设有一个移动轮(12)。3. A kind of combined center of mass measuring vehicle according to claim 1, characterized in that: the moving wheel assembly comprises a base (10), two axles (11) and four moving wheels (12), two axles ( 11) Install side by side on the middle part of the lower surface of the lower beam (2) through the base (10), and a moving wheel (12) is respectively provided at the two ends of each axle (11). 4.根据权利要求1、2或3所述一种质量质心组合测量车，其特征在于：所述一种质量质心组合测量车还包括两个辅助支撑轮(13)，上横梁(1)左端的上表面和右端的上表面分别各设有一个辅助支撑轮(13)。4. A combined center of mass measuring vehicle according to claim 1, 2 or 3, characterized in that: said combined center of mass measuring vehicle also includes two auxiliary support wheels (13), the left end of the upper beam (1) The upper surface of the upper surface and the upper surface of the right end are respectively provided with an auxiliary supporting wheel (13). 5.一种利用权利要求1所述质量质心组合测量车进行质量质心的测量方法，其特征在于：所述一种质量质心的测量方法是通过如下步骤实现的：5. A method for measuring the center of mass utilizing the combined measuring vehicle for the center of mass of claim 1, characterized in that: the method for measuring the center of mass of the described a kind of center of mass is realized by the following steps: 步骤一、将两个测量侧放置在轨道上，并将两个测量车的电动推杆(5-2)全部收起，使测量车的质量完全落在移动轮组件上，推动两个测量车沿轨道移动到被测产品的支撑位置；Step 1. Place the two measurement sides on the track, and put away all the electric push rods (5-2) of the two measurement vehicles, so that the mass of the measurement vehicle falls completely on the moving wheel assembly, and push the two measurement vehicles Move along the track to the support position of the product under test; 步骤二、吊装被测产品放置在两个测量车的滚转支撑组件的皮带(9)上，每个测量车的四个电动推杆(5-2)伸出直至每个测量车的移动轮(12)脱离轨道，通过各个电动推杆(5-2)伸出的距离对整个测量车进行调平；Step 2: hoist the product under test and place it on the belts (9) of the rolling support assembly of the two measuring vehicles, and extend the four electric push rods (5-2) of each measuring vehicle until the moving wheels of each measuring vehicle (12) detach from the track, and level the entire measuring vehicle by the distance that each electric push rod (5-2) protrudes; 步骤三、每个测量车的升降机构(4)驱动上横梁(1)下降，使被测产品的质量落在称重传感器(3)上，上位机采集称重传感器(3)的数值，通过计算等到被测产品的质量，以及在这个姿态下被测产品的二维质心坐标；Step 3. The lifting mechanism (4) of each measuring vehicle drives the upper beam (1) to descend, so that the quality of the product under test falls on the load cell (3), and the host computer collects the value of the load cell (3), and passes Calculate the mass of the product to be tested, and the two-dimensional center of mass coordinates of the product to be tested in this posture; 步骤四、每个测量车的升降机构(4)推动上横梁(1)上升，使被测产品脱离称重传感器(3)，滚转支撑组件驱动被测产品转动90°；Step 4. The lifting mechanism (4) of each measuring vehicle pushes the upper beam (1) to rise, so that the product under test is separated from the load cell (3), and the rolling support assembly drives the product under test to rotate 90°; 步骤五、每个测量车的升降机构(4)带动上横梁(1)下降，使被测产品的重量全部落在称重传感器(3)上，上位机采集称重传感器(3)采集的数值，通过计算获得被测产品在这个姿态下的二维质心坐标；Step 5. The lifting mechanism (4) of each measuring vehicle drives the upper beam (1) down, so that the weight of the product under test falls on the load cell (3), and the upper computer collects the value collected by the load cell (3) , obtain the two-dimensional center-of-mass coordinates of the tested product in this posture through calculation; 步骤六、将步骤三和步骤五的测量结果算出被测产品的三维质心。Step 6: Calculate the three-dimensional centroid of the product under test from the measurement results of Step 3 and Step 5.
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