CN106289619A - A kind of high precision high rigidity six-dimensional force measuring table - Google Patents
A kind of high precision high rigidity six-dimensional force measuring table Download PDFInfo
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- CN106289619A CN106289619A CN201610818988.1A CN201610818988A CN106289619A CN 106289619 A CN106289619 A CN 106289619A CN 201610818988 A CN201610818988 A CN 201610818988A CN 106289619 A CN106289619 A CN 106289619A
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- 238000009434 installation Methods 0.000 claims description 19
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- 239000010959 steel Substances 0.000 claims description 4
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 abstract description 19
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
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Abstract
The present invention relates to a kind of high precision high rigidity six-dimensional force measuring table, solve existing measurement system and can not meet the technical problem that rigidity and the measurement use of sensor independent assortment are required by microvibration measurement.A kind of high precision high rigidity six-dimensional force measuring table that the present invention provides, reasonable Arrangement by the Common piezoelectricity force transducer of multiple diverse locations, realize space by software to decouple in real time, so that the micro-disturbance signal of six-freedom degree can utilize existing one-way piezoelectric force transducer to measure in real time, overcome and lack high accuracy three-dimensional sensor and measure the problem postponed so that real-time accuracy is greatly improved.This measuring table is internal compact, does not has movable part, and rigidity is relatively big, measures frequency range wider.The measuring table of the present invention, by platform structure optimization, devises up to 20 sensor mounting interfaces, can determine most suitable testing scheme by different measurement environment, improve adaptability and the certainty of measurement of measuring table.
Description
Technical field
The present invention relates to a kind of measuring table, be specifically related to a kind of high precision high rigidity six-dimensional force measuring table, can be used for
Tiny perturbation load vibration signal on six-freedom degree in spacecraft inside is carried out kinetic measurement.
Background technology
Current spacecraft is all with substantial amounts of optical element, and pointing accuracy and degree of stability are all proposed the highest by they
Requirement.It addition, in modern spacecraft attitude control system, reaction wheel, single frame moment gyro and solar wing drive mechanism
Etc. being the critical elements in its control system, they are while providing necessary control power, and some also can be caused harmful to shake
Dynamic (for the sake of simplicity, below above-mentioned three germlines being completely referred to as disturbing source).These disturbances mainly, bearing uneven by flywheel is disturbed
Dynamic, motor disturbance, motor drive error etc. to cause, and wherein flywheel imbalance is the main reason causing flywheel to vibrate, this
A little perturbed forces and disturbing moment can reduce the performance indications of elaboration instrument in space, therefore measure and analyze spacecraft and effectively carry
The dynamic characteristic of lotus disturbance, improves the attitude control accuracy of spacecraft for analyzing and eliminating disturbance and strengthens spacecraft
Safe design has very important engineering significance.
Owing to the disturbance of spacecraft disturbing source is the least, indivedual payload such as momenttum wheel can only produce in direction, three, space
The faint disturbance of more than tens milli-newton of milli-newton, wants in the ground experiment room with relatively strong jamming pattern noise
Measure this type of disturbance the most difficult, and the required precision of its respective sensor is the highest.Yet there are no both at home and abroad at present and may be used for
Measuring the measurement system of microvibration, existing measurement system can not meet high rigidity and the use of sensor independent assortment measurement
Requirement.
Summary of the invention
The invention solves the problems that existing measurement system can not meet microvibration and measure rigidity and the survey of sensor independent assortment
The technical problem using requirement of amount, it is provided that a kind of high precision high rigidity six-dimensional force measuring table.
In order to solve above-mentioned technical problem, technical scheme is specific as follows:
A kind of high precision high rigidity six-dimensional force measuring table, including: base plate, base, loading disk, housing, installs along Z-direction
Piezoelectric force transducer, the piezoelectric force transducer installed along X and Y-direction, data acquisition and processing system；
The described piezoelectric force transducer along Z-direction installation, between base upper surface and loading disk lower surface, passes through bolt
Compress and pretightning force is provided, measure vibration force and X, the oscillatory torque of Y-direction of Z-direction；The described piezoelectric forces sensing installed along Z-direction
Device is arranged on the convex position that loading disk lower surface is reserved in the way of line is symmetrical, and its number is at least 4, is at most 8；
The described piezoelectric force transducer installed along X and Y-direction is bolted on housing and loading disk side, and it is installed
Direction and Z axis are spatial vertical relation, and bolt is tightened in the side of loading disk simultaneously, to measure X, the vibration force of Y-direction and Z side
To oscillatory torque；The described piezoelectric force transducer installed along X and Y-direction is arranged on loading disk lateral grooves in the way of angle is symmetrical
Position, its number is at least 4, is at most 12；
Described housing is fixed by screws in the lower surface of base plate；Described base is bolted on base plate；
When microvibration source produces vibration, the piezoelectric force transducer along Z-direction installation, the piezoelectric forces along X and Y-direction installation pass
Sensor produces voltage signal output, is connected with data acquisition and processing system by signal transmssion line, by high impedance input signal
It is transformed to Low ESR output, and the ultra-weak electronic signal of amplifying piezo-electric element, eventually through the analyzing and processing to the signal of telecommunication, is converted into
Three microvibration force signals and three microvibration torque signals, and then analyze the vibration characteristics in microvibration source.
In technique scheme, the described piezoelectric force transducer installed along Z-direction, the piezoelectric forces installed along X and Y-direction pass
Sensor is made up of, with data acquisition and processing system piezoelectric force transducer insulation crust and two panels piezoelectric force transducer piezoelectric ceramics
Constitute differential circuitry, improve Signal-to-Noise.
In technique scheme, described base plate and base are steel plate structure.
In technique scheme, the shape of cross section of described loading disk is square.
In technique scheme, the described number along the piezoelectric force transducer of Z-direction installation is 4, is separately mounted to bear
On the convex position that four angles of load plate lower surface are reserved.
In technique scheme, the material of described loading disk is steel alloy.
In technique scheme, data acquisition and processing system is made up of data acquisition device and computer, data acquisition
The voltage signal that piezoelectric force transducer is obtained by case is converted into digital signal, and is input in computer by data wire, calculates
Digital signal is analyzed and computing by machine, finally gives the signal of microvibration power.
The present invention compared with prior art has the advantage that
(1) a kind of high precision high rigidity six-dimensional force measuring table that the present invention provides, common by multiple diverse locations
The reasonable Arrangement of piezoelectric force transducer, realizes space by software and decouples in real time, so that the micro-disturbance letter of six-freedom degree
Number existing one-way piezoelectric force transducer can be utilized to measure in real time, overcome and lack high accuracy three-dimensional sensor and measurement is prolonged
Slow problem so that real-time accuracy is greatly improved.This measuring table is internal compact, does not has movable part, and rigidity is relatively big, surveys
Amount frequency range is wider.
(2) measuring table of the present invention is by platform structure optimization, devises up to 20 sensor mounting interfaces, can
To determine most suitable testing scheme by different measurement environment, improve adaptability and the certainty of measurement of measuring table.
(3) measuring table of the present invention is by the pretightning force of reasonable adjusting bolt, it is achieved that the amplification of signal also can be entered
Row has the accurate measurement under the conditions of the actual motion in bigger quality disturbance source, improves the reliability of measurement.
(4) fundamental frequency of the measuring table of the present invention can reach more than 800Hz, improves the effective of this measuring table measurement
Scope, can meet the high stiffness measurement requirement of some disturbing source.
(5) measuring table of the present invention is by designing the optimization of structure, loading disk, sensor and base, base plate and outer
Frame Planar Mechanisms the most each other connects, and is effectively improved structure fundamental frequency.
Accompanying drawing explanation
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
The structural representation of the high precision high rigidity six-dimensional force measuring table that Fig. 1 provides for the present invention；
The internal structure schematic diagram of the high precision high rigidity six-dimensional force measuring table that Fig. 2 provides for the present invention；
The profile of the high precision high rigidity six-dimensional force measuring table that Fig. 3 provides for the present invention；
The partial schematic diagram of the high precision high rigidity six-dimensional force measuring table that Fig. 4 provides for the present invention；
The single order fundamental frequency displacement cloud atlas of the high precision high rigidity six-dimensional force measuring table that Fig. 5 provides for the present invention；
Measure, under the single pulse excitation of the high precision high rigidity six-dimensional force measuring table that Fig. 6 provides for the present invention, the letter obtained
Number with the comparison diagram of actual value.
Reference in figure is expressed as:
Piezoelectric force transducer, 6-that 1-base plate, 2-base, 3-loading disk, 4-housing, 5-install along Z-direction pacify along X and Y-direction
The piezoelectric force transducer of dress, 7-data acquisition and processing system.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in detail.
Seeing Fig. 1-4, the high precision high rigidity six-dimensional force measuring table that the present invention provides, including: base plate 1, base 2, negative
Load plate 3, housing 4, the piezoelectric force transducer 5 installed along Z-direction, piezoelectric force transducer 6, data acquisition and the place installed along X and Y-direction
Reason system 7；The described piezoelectric force transducer 5 along Z-direction installation, between base 2 upper surface and loading disk 3 lower surface, passes through spiral shell
Bolt compresses provides pretightning force, measures vibration force and X, the oscillatory torque of Y-direction of Z-direction；The described piezoelectric forces installed along Z-direction passes
Sensor 5 is arranged on the convex position that loading disk 3 lower surface is reserved in the way of line is symmetrical, and its number is at least 4, is at most
8；The described piezoelectric force transducer 6 installed along X and Y-direction is bolted on housing 4 and loading disk 3 side, and it is installed
Direction and Z axis are spatial vertical relation, and to ensure that it can measure oscillatory torque about the z axis, bolt is tightened in loading disk 3 simultaneously
Side, to measure X, the vibration force of Y-direction and the oscillatory torque of Z-direction；The described piezoelectric force transducer 6 installed along X and Y-direction with
The mode of angle symmetry is arranged on loading disk 3 lateral grooves position, and its number is at least 4, is at most 12；Described housing 4 leads to
Cross screw and be fixed on the lower surface of base plate 1；Described base 2 is bolted on base plate 1；
When microvibration source produces vibration, along the piezoelectric force transducer 5 of Z-direction installation, along X and the piezoelectric forces of Y-direction installation
Sensor 6 produces voltage signal output, is connected with data acquisition and processing system 7 by signal transmssion line, is inputted by high impedance
Signal is transformed to Low ESR output, and the ultra-weak electronic signal of amplifying piezo-electric element, eventually through the analyzing and processing to the signal of telecommunication, turns
Turn to three microvibration force signals and three microvibration torque signals, can accurately analyze microvibration based on this
The vibration characteristics in source.
The described piezoelectric force transducer 5 installed along Z-direction, the piezoelectric force transducer 6 installed along X and Y-direction are passed by piezoelectric forces
Sensor insulation crust and two panels piezoelectric force transducer piezoelectric ceramics composition, constitute difference channel with data acquisition and processing system 7
System, improves Signal-to-Noise.
The described piezoelectric force transducer 5 along Z-direction installation can be installed at multiple diverse locations, at most can install 8, and
Can independent assortment installation site and quantity；The piezoelectric force transducer 6 installed along X and Y-direction can be installed at multiple diverse locations, at most
12 can be installed, and can independent assortment installation site and quantity, with the use demand arranging in pairs or groups different.Described installs along Z-direction
Piezoelectric force transducer 5, the fixing bolt of piezoelectric force transducer 6 installed along X and Y-direction must be logical in the range of intensity allows
Cross the torque spanner moment such as in a symmetrical manner to tighten, to improve the certainty of measurement of piezoelectric force transducer.
Described piezoelectric force transducer 5, the piezoelectric force transducer 6 installed along X and Y-direction and the data acquisition installed along Z-direction
And processing system 7, by the design of negative feedback amplifier circuit, it is Low ESR output the high impedance Input transformation of piezoelectric,
It is exaggerated the ultra-weak electronic signal of piezoelectric element, overcomes the shortcomings such as piezoelectric force transducer LF-response characteristic difference and drift.
Embodiment 1
Base plate 1 and base 2 are steel plate mechanism, and the shape of cross section of loading disk 3 is square, and material is steel alloy, vibration
Source is arranged on the upper surface of loading disk 3, and loading disk 3 upper surface is uniformly distributed 16 screwed holes.The piezoelectric forces sensing installed along Z-direction
Device 5 is distributed on the convex position that four angles of loading disk 3 lower surface are reserved, and position can be measured environment according to reality and freely select
Selecting and determine, can measure vibration force and X, the oscillatory torque of Y-direction of Z-direction, its number is 4.The pressure installed along X and Y-direction
Power sensor 6 is distributed in the surrounding groove location of loading disk 3 side, and environment unrestricted choice can be measured according to reality in position
Determining, can measure X, the vibration force of Y-direction and the oscillatory torque of Z-direction, its number is 4.
Base plate 1 and base 2 are bolted, and base 2 top is square steel design, in order to pass through spiral shell with loading disk 3
Tether and connect；Base plate 1 is in order to be connected with ground, and piezoelectric force transducer 5 installation site installed along Z-direction is distributed in base 2 and load
The reserved convex position of dish 3, piezoelectric force transducer 6 installation site installed along X and Y-direction is distributed in loading disk 3 lateral grooves position
Put.Total to ensure that its rigidity meets dynamic test requirement.
Described high precision high rigidity six-dimensional force measuring table is arranged on ground, microvibration source test specimen is arranged on negative
On load plate 3, the inspection piezoelectric force transducer 5 along Z-direction installation, the signal along X and the piezoelectric force transducer 6 of Y-direction installation are the most just
Often, microvibration source is run afterwards so that it is produce vibration, so that along the piezoelectric force transducer 5 of Z-direction installation, along X and Y-direction peace
Dress piezoelectric force transducer 6 produce voltage signal, this voltage signal by data acquisition and processing system 7 be converted into three small
Vibration force signal and three microvibration torque signals, the vibration that can accurately analyze microvibration source based on this is special
Property.
Data acquisition and processing system 7 is made up of data acquisition device and computer, and data acquisition device is by piezoelectric force transducer
The voltage signal obtained is converted into digital signal, and is input in computer by data wire, and digital signal is carried out by computer
Analyze and computing, finally give the signal of microvibration power.
The single order fundamental frequency displacement cloud atlas of the high precision high rigidity six-dimensional force measuring table that Fig. 5 provides for the present invention, this figure is
Under single pulse excitation, system acquisition arrives and to obtain transmission function, by Fig. 5 it will be seen that under single pulse excitation, each piezoelectric force transducer
Response signal be typical broadband signal, illustrate that the measurement of measuring table of the present invention is effective.Fig. 6 provides for the present invention
The comparison diagram of signal and the actual value obtained is measured, it will be seen that be under the single pulse excitation of high precision high rigidity six-dimensional force measuring table
The voltage signal of in Fig. 5 eight piezoelectric force transducers is converted to three force signals and three torque signals essences compared with actual value
Spend higher.
Obviously, above-described embodiment is only for clearly demonstrating example, and not restriction to embodiment.Right
For those of ordinary skill in the field, can also make on the basis of the above description other multi-form change or
Variation.Here without also cannot all of embodiment be given exhaustive.And the obvious change thus extended out or
Change among still in the protection domain of the invention.
Claims (7)
1. a high precision high rigidity six-dimensional force measuring table, it is characterised in that including: base plate (1), base (2), loading disk
(3), housing (4), the piezoelectric force transducer (5) installed along Z-direction, the piezoelectric force transducer (6) installed along X and Y-direction, data acquisition
And processing system (7)；
The described piezoelectric force transducer (5) installed along Z-direction is positioned between base (2) upper surface and loading disk (3) lower surface, passes through
Bolt presses provides pretightning force, measures vibration force and X, the oscillatory torque of Y-direction of Z-direction；The described piezoelectric forces installed along Z-direction
Sensor (5) is arranged on the convex position that loading disk (3) lower surface is reserved in the way of line is symmetrical, and its number is at least 4,
It is at most 8；
The described piezoelectric force transducer (6) installed along X and Y-direction is bolted on housing (4) and loading disk (3) side,
Its installation direction and Z axis are spatial vertical relation, and bolt is tightened in the side of loading disk (3) simultaneously, to measure X, the shaking of Y-direction
Power and the oscillatory torque of Z-direction；The described piezoelectric force transducer (6) installed along X and Y-direction is arranged on negative in the way of angle is symmetrical
Load plate (3) lateral grooves position, its number is at least 4, is at most 12；
Described housing (4) is fixed by screws in the lower surface of base plate (1)；Described base (2) is bolted on base plate (1)
On；
When microvibration source produces vibration, the piezoelectric force transducer (5) along Z-direction installation, the piezoelectric forces along X and Y-direction installation pass
Sensor (6) produces voltage signal output, is connected with data acquisition and processing system (7) by signal transmssion line, and high impedance is defeated
Enter signal and be transformed to Low ESR output, and the ultra-weak electronic signal of amplifying piezo-electric element, eventually through the analyzing and processing to the signal of telecommunication,
It is converted into three microvibration force signals and three microvibration torque signals, and then the vibration analyzing microvibration source is special
Property.
High precision high rigidity six-dimensional force measuring table the most according to claim 1, it is characterised in that described pacifies along Z-direction
The piezoelectric force transducer (5) of dress, the piezoelectric force transducer (6) installed along X and Y-direction are by piezoelectric force transducer insulation crust and two panels
Piezoelectric force transducer piezoelectric ceramics forms, and constitutes differential circuitry with data acquisition and processing system (7), improves signal noise
Ratio.
High precision high rigidity six-dimensional force measuring table the most according to claim 1, it is characterised in that described base plate (1) and
Base (2) is steel plate structure.
High precision high rigidity six-dimensional force measuring table the most according to claim 1, it is characterised in that described loading disk (3)
Shape of cross section be square.
High precision high rigidity six-dimensional force measuring table the most according to claim 4, it is characterised in that described along Z-direction installation
The number of piezoelectric force transducer (5) be 4, be separately mounted on the convex position that four angles of loading disk (3) lower surface are reserved.
6. according to the high precision high rigidity six-dimensional force measuring table described in claim Isosorbide-5-Nitrae or 5, it is characterised in that described load
The material of dish (3) is steel alloy.
High precision high rigidity six-dimensional force measuring table the most according to claim 1, it is characterised in that data acquisition and process
System (7) is made up of data acquisition device and computer, and the voltage signal that piezoelectric force transducer is obtained by data acquisition device is converted into
Digital signal, and be input in computer by data wire, digital signal is analyzed and computing by computer, finally gives micro-
The signal of small vibration power.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818988.1A CN106289619A (en) | 2016-09-13 | 2016-09-13 | A kind of high precision high rigidity six-dimensional force measuring table |
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| CN201610818988.1A CN106289619A (en) | 2016-09-13 | 2016-09-13 | A kind of high precision high rigidity six-dimensional force measuring table |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462479A (en) * | 2017-08-02 | 2017-12-12 | 中国地震局工程力学研究所 | Test platform and drop weight test method for drop hammer tester |
| CN109781330A (en) * | 2019-02-25 | 2019-05-21 | 重庆大学 | Suit beam pressure-volume based on circumferential array perceives six-dimension force sensor |
| CN109990888A (en) * | 2019-03-25 | 2019-07-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of wide range power measuring mechanism |
| CN111928988A (en) * | 2020-08-12 | 2020-11-13 | 中国科学院长春光学精密机械与物理研究所 | Array type disturbance vibration measurement device and array type disturbance vibration measurement control method |
| CN112045494A (en) * | 2020-08-19 | 2020-12-08 | 山东理工大学 | Bidirectional machining force measuring and compensating device for cutting machining |
| CN113029416A (en) * | 2021-04-08 | 2021-06-25 | 哈尔滨工业大学 | Six-dimensional force measuring device based on gas lubrication mechanical decoupling |
| CN113091981A (en) * | 2021-03-16 | 2021-07-09 | 南京航空航天大学 | Sensor with pretightening force and measuring method |
| CN113739976A (en) * | 2021-08-27 | 2021-12-03 | 南京航空航天大学 | Six-dimensional force sensor with integrated structure decoupling |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462479A (en) * | 2017-08-02 | 2017-12-12 | 中国地震局工程力学研究所 | Test platform and drop weight test method for drop hammer tester |
| CN109781330A (en) * | 2019-02-25 | 2019-05-21 | 重庆大学 | Suit beam pressure-volume based on circumferential array perceives six-dimension force sensor |
| CN109990888A (en) * | 2019-03-25 | 2019-07-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of wide range power measuring mechanism |
| CN111928988A (en) * | 2020-08-12 | 2020-11-13 | 中国科学院长春光学精密机械与物理研究所 | Array type disturbance vibration measurement device and array type disturbance vibration measurement control method |
| CN112045494A (en) * | 2020-08-19 | 2020-12-08 | 山东理工大学 | Bidirectional machining force measuring and compensating device for cutting machining |
| CN113091981A (en) * | 2021-03-16 | 2021-07-09 | 南京航空航天大学 | Sensor with pretightening force and measuring method |
| CN113029416A (en) * | 2021-04-08 | 2021-06-25 | 哈尔滨工业大学 | Six-dimensional force measuring device based on gas lubrication mechanical decoupling |
| CN113739976A (en) * | 2021-08-27 | 2021-12-03 | 南京航空航天大学 | Six-dimensional force sensor with integrated structure decoupling |
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