CN107449550B - A device and calibration method suitable for the calibration of multiple groups of torque sensors - Google Patents

Abstract

The invention discloses a device suitable for calibrating multiple sets of torque sensors, comprising an installation base, a torque sensor loading sliding group, a calibration device torque transmission component, a to-be-calibrated torque sensor, a calibration device tail bearing component, a computer and a mass block. One end of the to-be-calibrated torque sensor is clamped to the bearing assembly at the rear of the calibration device, and the other end is connected to the torque transmission assembly of the calibration device. Compared with the traditional torque sensor, the present invention has more powerful functions, and can satisfy the calibration of the force value of torque sensors of various specifications at the same time. Sleeve, simple and convenient, save a certain amount of time.

Description

A device and calibration method suitable for the calibration of multiple groups of torque sensors

technical field

The invention relates to a device and a calibration method suitable for the calibration of multiple groups of torque sensors, and belongs to the technical field of torque calibration.

Background technique

At present, torque is increasingly used as an important parameter to evaluate the working capacity, energy consumption, life, efficiency and safety of mechanical power equipment, and it has become an indispensable content of mechanical product development research, test analysis, and quality control. Therefore, ensuring the accurate and reliable torque measurement value is essential to ensure the quality of the product.

Torque calibration device is an important instrument to test the accuracy of torque sensor. Any torque sensor can only be used normally after calibration. At present, the most common torque sensor calibration device has many functions and single function, and can only calibrate a certain torque sensor; the most common torque calibration method is weight calibration. range calibration. If several groups of torque sensors with different ranges need to be calibrated, multiple calibration devices of different sizes need to be made, which greatly increases the calibration cost; at the same time, the calibration weights are placed back and forth, which wastes a certain amount of time.

Chinese Patent 201521005817.4 discloses a torque sensor calibration device, including a mounting base, a long loading arm, a long arm mounting seat, a weight tray, a torque sensor to be calibrated, a leveling short arm, a short arm mounting seat and a leveling cylinder, etc.; In this device, the two ends of the measuring shaft of the torque sensor to be calibrated are respectively connected with the connecting shaft of the long arm and the connecting shaft of the short arm. However, the function of the device is simple, and can only be calibrated for a single torque sensor, and the calibration is performed by installing calibration weights back and forth, which is inefficient and wastes time.

Therefore, in order to reduce the calibration cost of multiple sets of torque sensors with different ranges and improve the calibration efficiency of torque sensors, it is necessary to develop a new device and calibration method that can be applied to multiple sets of torque sensors at the same time.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a device and a calibration method suitable for the calibration of multiple groups of torque sensors. A servo motor is used to drive the sliding seat and the mass block to move, and the position of the sliding seat is controlled to ensure the torque. It replaces the traditional weight calibration, and improves the calibration efficiency while ensuring the calibration accuracy.

Technical solution: In order to solve the above technical problems, a device suitable for the calibration of multiple groups of torque sensors of the present invention includes an installation base, a torque sensor loading slip group, a calibration device torque transmission component, a to-be-calibrated torque sensor, and a load on the rear of the calibration device. An assembly, a computer and a mass block, one end of the torque sensor to be calibrated is clamped at the rear bearing assembly of the calibration device, and the other end is connected with the torque transmission assembly of the calibration device, and the torque transmission assembly of the calibration device is connected with the torque sensor loading slip group, and the mass block is located in the The torque sensor is loaded on the sliding group; the torque sensor loading sliding group includes a torque sensor calibration plate, a servo motor, a lead screw, a lead screw nut and a first guide rail, the servo motor is installed on the torque sensor calibration plate, and the servo motor and the wire Screw connection, a screw nut is sleeved on the screw, the screw nut is connected with the screw nut seat, the screw nut seat is connected with two first sliding blocks, the first sliding block is connected with the sliding seat, and the mass block is located in the sliding seat On the upper side, the two first sliders are respectively located on the first guide rail, the first guide rail is installed on the torque sensor calibration plate, the magnetic scale reading head is installed on one side of the screw nut seat, and the magnetic scale reading head is installed on the torque sensor calibration plate. The magnetic scale reading head paired with the magnetic scale reading head and the to-be-calibrated torque sensor are connected with the computer signal; the lead screw is driven by the servo motor to rotate, thereby driving the lead screw nut seat to move on the first guide rail, so as to pass the The calibration device torque transfer assembly applies torque to the torque sensor to be calibrated.

Preferably, a limit switch is installed on the torque sensor calibration board.

Preferably, the torque transmission assembly of the calibration device includes a torque sensor calibration support, a calibration shaft and a transition sleeve, one end of the transition sleeve is connected to the torque sensor to be calibrated, and the other end is connected to a calibration shaft, and the calibration shaft is installed on the shaft through a bearing. On the torque sensor calibration support, the calibration shaft and the torque sensor calibration plate are connected by keys.

Preferably, the tail bearing assembly of the calibration device includes a second guide rail, a second slider, a flange sleeve mounting bracket, a flange sleeve, a sleeve and a locking handle, and the second slider is mounted on the second guide rail On the upper side, the flange sleeve mounting frame is L-shaped, and there are reinforcing ribs at right angles. The flange sleeve mounting frame is installed on the second slider by screws; the flange sleeve is a stepped shaft, and the flange sleeve is screwed through. Installed on the flange sleeve mounting frame; the sleeve is a shaft part with external splines processed externally, and a double keyway through hole processed internally. Connected with the torque sensor to be calibrated, the locking handle is mounted on the flange sleeve mounting frame through threads.

An above-mentioned calibration method for a device for calibrating multiple groups of torque sensors, comprising the following steps:

1) After installing all the parts, select a small-scale torque sensor that has been calibrated and install it at the torque sensor to be calibrated, install it in place, and lock the position of the bearing assembly at the tail of the calibration device by locking the handle;

2) Start the servo motor, and drive the sliding seat to move through the lead screw. When the sliding seat moves to the limit switch, it stops moving. This moment is recorded as the zero point of the device, because the position of the limit switch from the center line of the calibration axis is determined by the calibration device itself. Therefore, the position coordinates of the zero point from the center line of the calibration axis are known; at this time, the position of the magnetic scale reading head is the initial position, the position of the screw nut seat is the zero point position, and the position of the sliding seat is the balance position, and the torque sensor is recorded at this time. value, the torque value is the zero point value of the calibration device;

3) The servo motor rotates in the reverse direction, the slider moves in the reverse direction from the zero position, and the slider movement distance X is recorded in real time through the magnetic scale reading head, and the torque T in this process is recorded through the computer to generate a T-X curve; The torque value when the seat moves to each specific coordinate;

4) Taking the center line of the calibration shaft as the benchmark, the positions of different mass blocks from the center line of the calibration shaft are different, and the torque generated is different. The position can calculate the different torque values T' generated by each mass block at different positions; therefore, after the mass block is installed, the torque T at a certain position is _total = T+T', and the computer records the installation of each mass block after installation. The corresponding torque range that can be calibrated;

5) According to the size and specification of the torque sensor to be calibrated, select the appropriate transition sleeve, sleeve and mass block, respectively install the transition sleeve, sleeve and mass block to the correct position, and install the to-be-calibrated torque sensor;

然后，选择扭矩传感器第一次标定的扭矩T₁，该扭矩是由滑座和质量块同时在位置X₁处产生的，即

通过计算机计算出X₁的坐标，然后计算机控制伺服电机带动滑座向远离伺服电机方向运动至坐标X₁处，做第一次标定；6) Start the servo motor, and control the servo motor to move the slider to the equilibrium position (that is, the torque is zero). At this time, the computer records the position coordinates of the slider, and the distance between the position coordinates and the center line of the calibration axis is X ₀ , then the slider is Balancing torque from seat and mass

Then, select the torque T ₁ for the first calibration of the torque sensor, which is generated by the slider and the mass at the position X ₁ at the same time, namely

Calculate the coordinates of X ₁ through the computer, and then the computer controls the servo motor to drive the carriage to move away from the servo motor to the coordinate X ₁ , and do the first calibration;

7) Continue to select the torque T ₂ calibrated by the torque sensor for the second time. This torque is generated by the slider and the mass block at the position X ₂ at the same time. The coordinates of X ₂ are calculated by the computer, and then the computer controls the servo motor to make the slider. Move the mass block to X ₂ and do the second calibration; continue to select the torques T ₃ , T ₄ , T ₅ of the third to fifth calibration of the torque sensor in turn, and calculate the corresponding coordinates X ₃ , T 5 through the computer, respectively. X ₄ , X ₅ , and then the computer controls the servo motor to move the carriage with the mass block to X ₃ , X ₄ , and X ₅ respectively, do the third to fifth calibration, and perform five torque values for the torque sensor in turn. After the calibration is completed, the screw nut seat will return to the balance position and wait for the next calibration.

Beneficial effect: Compared with the prior art, the present invention has the following advantages:

(1) The present invention uses a servo motor to drive the sliding seat and the mass block to move, and ensures the torque by controlling the position of the sliding seat, replacing the traditional weight calibration, and improving the calibration efficiency while ensuring the calibration accuracy.

(2) The present invention is more powerful than the traditional torque sensor, and can satisfy the calibration of the force value of torque sensors of various specifications at the same time. By sliding the rear flange sleeve mounting frame back and forth along the guide rail, the torque sensors of different specifications and their corresponding transitions can be quickly replaced. Axle sleeve, sleeve, simple and convenient, save a certain amount of time.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

Figure 2 is a cross-sectional view of the present invention.

FIG. 3 is a front view of the torque sensor loading sliding group of the present invention.

FIG. 4 is a schematic diagram of the structure of the transition sleeve of the present invention.

FIG. 5 is a schematic view of the sleeve structure of the present invention.

Detailed ways

As shown in FIGS. 1 to 5 , the device suitable for the calibration of multiple groups of torque sensors of the present invention includes an installation frame 1 , a base plate 2 of the calibration device, a loading sliding group 3 of the torque sensor, a torque transmission assembly 4 of the calibration device, and a torque to be calibrated. Sensor 6 , calibration device tail bearing assembly 5 , computer 7 , mass block 8 .

In the present invention, the installation base 1 is a trapezoidal frame, which is welded by a plurality of channel steels and square steels, and a plurality of light holes are machined around the upper surface; The base plate 2 of the calibration device is a rectangular steel plate with an installation groove datum surface processed in the middle, and threaded holes are processed in the base surface and around the steel plate; the base plate 2 of the calibration device is installed on the installation base 1 by screws, and the base plate of the calibration device is 2, a calibration device torque transmission assembly 4 and a calibration device tail bearing assembly 5 are installed on it.

In the present invention, the torque sensor loading sliding group 3 includes a torque sensor calibration plate 3.1, a cover 3.2, a motor mounting plate 3.3, a servo motor 3.4, a coupling 3.5, a bearing mounting seat 3.6, a bearing 3.7, a trapezoidal screw 3.8 , Screw nut 3.9, screw nut seat 3.10, first guide rail 3.11, first slider 3.12, slider 3.13, magnetic scale reading head 3.14, magnetic scale 3.15 and limit switch 3.16. Torque sensor calibration plate 3.1 is a welding piece, which is welded by rectangular steel plate, round steel and reinforcing rib plate. , the bosses on both sides of the groove are machined with a row of threaded holes, one end of which is also machined with threaded holes, the round steel end face is machined with four threaded holes on the circumference, and a double key slot hole is machined in the center. The calibration shaft 4.2 is connected; the cover 3.2 is in the shape of a circular flange, a boss is machined in the middle, and the flange circumference is machined with four light holes, and the cover is installed on the round steel end face of the torque sensor calibration plate by screws; The steel plate is machined with positioning holes and mounting holes. The motor mounting plate 3.3 is installed on the end face of the torque sensor calibration plate 3.1 by screws; Head hole, two bearing mounts 3.6 are respectively installed on both ends of the torque sensor calibration plate 3.1 by screws; the screw nut seat 3.10 is in the shape of a square, with a through hole in the middle, and threaded holes on both sides and the top; the sliding seat 3.13 is concave, with countersunk holes in the middle and threaded holes on both sides; servo motor 3.4, coupling 3.5, bearing 3.7, trapezoidal lead screw 3.8, lead screw nut 3.9, lead screw nut seat 3.10, first guide rail 3.11, the first slider 3.12, the magnetic scale reading head 3.14, the magnetic scale 3.15 and the limit switch 3.16 are all standard parts; the servo motor 3.4 is installed on the motor mounting plate 3.3 by screws, and the two bearings 3.7 are respectively installed on the In the bearing mounting seat 3.6, both ends of the trapezoidal lead screw 3.8 pass through the bearing 3.7, one end of which is connected with the output shaft of the servo motor 3.4 through the coupling 3.5, and the lead screw nut 3.9 is respectively connected with the lead screw 3.8 and the lead screw nut seat 3.10. The two first guide rails 3.11 are respectively installed on the bosses on both sides of the torque sensor calibration plate 3.1 through screws, the two first sliders 3.12 are respectively matched with the two first guide rails 3.11, and the sliders 3.13 are respectively connected with the two first guide rails 3.11 through screws. The slider 3.12 and the screw nut seat 3.10 are installed, the mass block 8 is installed on the slider 3.13; the magnetic scale reading head 3.14 is installed on one side of the screw nut seat 3.10, and the limit switch parts are installed on the other side, and the magnetic scale 3.15 is attached to the In the groove of the torque sensor calibration plate 3.1, and at the same time directly below the magnetic scale reading head 3.14, the limit switch 3.16 is installed at one end of the torque sensor calibration plate 3.1 to ensure that it can be aligned with its components.

In the present invention, the calibration device torque transmission assembly 4 includes a torque sensor calibration support 4.1, a calibration shaft 4.2, a bearing 4.3, a bearing end cover 4.4, a calibration support cover 4.5, and a transition sleeve 4.6. The torque sensor calibration support 4.1 is a box body. U-shaped grooves are machined on both sides of the lower plate to adjust the front and rear installation distance. Two through holes are machined on the front and rear plates of the box body, and the two through holes are concentric, and the bearings are placed inside. 4.3. A circle of threaded holes is machined on the outside of the two through holes, and four threaded holes are machined on the top. The calibration support 4.1 of the moment sensor is installed on the base plate 2 of the calibration device through screws; the calibration shaft 4.2 is a stepped shaft, and one end is processed with double The outer keyway is machined with an inner spline slot at one end, the stepped shaft is installed in the torque sensor calibration support 4.1 through the bearing, one end is connected to the torque sensor calibration plate 3.1 in the torque sensor loading sliding group 3 through a key, and the other end is connected to the torque sensor calibration plate 3.1 through a spline. The transition shaft sleeve 4.6 is matched; the bearing end cover 4.4 is a circular flange with bosses and through holes machined inside, and the bearing end cover 4.4 is fixed on the front and rear surfaces of the torque sensor calibration support 4.1 by screws; the calibration support cover 4.5 is a rectangle. The cover plate, with four light holes machined on it, is installed on the torque sensor calibration support 4.1 by screws; the transition sleeve 4.6 is a stepped shaft part, one end is machined with an external spline, and the other end is machined with two internal flat keyways, One end of the external spline is matched with the internal spline of the calibration shaft 4.2, and the other end is connected to the torque sensor 6 to be calibrated through a flat key. The transition sleeve 4.6 is a replaceable part, and different sizes of transition sleeves can be selected according to the torque sensor of different specifications. 4.6.

In the present invention, the tail bearing assembly 5 of the calibration device includes a second guide rail 5.1, a second slider 5.2, a flange sleeve mounting frame 5.3, a flange sleeve 5.4, a sleeve 5.5 and a locking handle 5.6. The second guide rail 5.1 and the second sliding block 5.2 are both standard parts, the two second guide rails 5.1 are respectively fixed on both sides of one end of the base plate 2 of the calibration device by screws, and the two second sliding blocks 5.2 are respectively installed with the two second guide rails 5.1 ;The flange sleeve mounting frame 5.3 is L-shaped, with reinforcing ribs at right angles, the bottom plate is machined with threaded holes, the side plate is machined with smooth holes and threaded holes evenly distributed around the smooth holes, the flange sleeve mounting frame 5.3 is installed by screws On the two second sliders 5.2; the flange sleeve 5.4 is a stepped shaft, a circle of light holes is machined on the large circular surface, the stepped shaft is machined with spline groove through holes, and the flange sleeve 5.4 is mounted on the flange by screws On the sleeve mounting frame 5.3; the sleeve 5.5 is a shaft part with external splines processed externally, and a double keyway through hole internally processed. The torque sensor 6 to be calibrated is connected, the sleeve 5.5 is a replaceable part, and different sizes of sleeve 5.5 can be selected according to the torque sensor of different specifications; the locking handle 5.6 is a standard part, and the locking handle 5.6 passes through the flange sleeve mounting frame The threaded holes 2 on the bottom plate can press the bottom plate 2 of the calibration device to prevent the rear bearing assembly 5 of the calibration device from moving back and forth.

In the present invention, the mass block 8 is a cuboid iron block with precise mass, and a smooth hole is machined on it. When necessary, the mass block 8 is installed on the torque sensor loading sliding group 3 through a screw determined by the mass. The mass block 8 has many different types. Specification.

The technical scheme adopted by the calibration method of the device suitable for the calibration of multiple groups of torque sensors of the present invention is further explained:

Referring to Figures 1 and 3, determine the torque value of each position of the sliding seat 3.13 in the torque sensor loading sliding group 3.

First, select a small-scale torque sensor that has been calibrated and install it at the torque sensor 6 to be calibrated, install it in place, and lock the position of the bearing assembly 5 at the tail of the calibration device by locking the handle 5.6.

Secondly, the servo motor 3.4 starts, and the lead screw 3.8 drives the slide 3.13 to move. When the slide 3.13 moves to the limit switch 3.16, it stops moving, and this moment is marked as the zero point of the device; because the limit switch 3.16 is far from the center line of the calibration shaft 4.2 The position is determined by the calibration device itself, so the position coordinates of the zero point from the center line of the calibration axis 4.2 are known; at this time, the position of the magnetic scale reading head 3.14 is the initial position, the position of the screw nut seat 3.10 is the zero point position, and the sliding seat 3.13 The position is the equilibrium position, and the torque sensor value is recorded at this time, and the torque value is the zero point value of the calibration device.

Next, the servo motor 3.4 rotates in the reverse direction, the sliding seat 3.13 moves in the reverse direction, and the movement distance X of the sliding seat 3.13 is recorded in real time through the magnetic scale reading head 3.14, and the torque T in this process is recorded by the computer 7, so as to generate a T-X curve; Obtain the torque value when the carriage 3.13 moves to each specific position.

Finally, based on the center line of the calibration axis 4.2, the positions of different mass blocks 8 from the center line of the calibration axis 4.2 are different, and the torque generated is different. According to the mass and position, the different torque values T′ generated by each mass block 8 at different positions can be calculated; therefore, after the mass block is installed, the torque T at a certain position is _always = T+T′, which is recorded by the computer 7 The corresponding torque range that can be calibrated by the device after each mass block 8 is installed.

Perform torque calibration on the torque sensor torque 6 to be calibrated.

The first step is to select the appropriate transition sleeve 4.6, sleeve 5.5 and mass block 8 according to the size and specification of the torque sensor 6 to be calibrated, and install the transition sleeve 4.6, sleeve 5.5 and mass block 8 to the correct positions, respectively. Calibrate torque sensor 6.

可以通过计算机计算出。然后，选择扭矩传感器6第一次标定的扭矩值为扭矩传感器量程的20％，该扭矩是由滑座3.13和质量块8同时在位置X₁处产生的，通过计算机7计算出X₁的坐标，然后计算机7控制伺服电机3.4带动滑座3.13向远离伺服电机3.4方向运动至坐标X₁处，做第一次标定。The second step is to start the servo motor 3.4, and control the servo motor 3.4 to move the slide 3.13 to the equilibrium position (that is, the torque is zero). At this time, the computer 7 records the position coordinates of the slide 3.13, which is far from the center of the calibration axis 4.2. Line X ₀ , the balancing torque produced by the carriage 3.13 and the mass 8

can be calculated by computer. Then, the torque value of the first calibration of the torque sensor 6 is 20% of the range of the torque sensor. The torque is generated by the sliding seat 3.13 and the mass 8 at the position X ₁ at the same time, and the coordinates of X ₁ are calculated by the computer 7. , and then the computer 7 controls the servo motor 3.4 to drive the carriage 3.13 to move away from the servo motor 3.4 to the coordinate X ₁ for the first calibration.

The third step is to continue to select the torque value of the _second calibration of the torque sensor 6, which is 40% of the torque sensor range. 7 Calculate the coordinates of X ₂ , and then the computer 7 controls the servo motor 3.4 to make the carriage 3.13 move the mass block 8 to X ₂ for the second calibration. Continue to select the torque values of the third to fifth calibrations of the torque sensor 6 in sequence, which are 60%, 80%, and 100% of the range in sequence, and calculate the corresponding coordinates X ₃ , X ₄ , X ₅ through the computer 7 , and then The computer 7 controls the servo motor 3.4 to make the carriage 3.13 move with the mass 8 to X ₃ , X ₄ , and X ₅ respectively, and perform the third to fifth calibration. After the calibration of the five torque values of the torque sensor 6 is completed in turn, the sliding seat 3.13 returns to the equilibrium position and waits for the next calibration.

After a torque sensor is calibrated, remove the sensor and the correspondingly installed transition sleeve 4.6, sleeve 5.5 and mass block 8; replace a torque sensor 6 with a different specification to be calibrated and the correspondingly installed transition sleeve 4.6, For the sleeve 5.5 and the mass block 8, repeat the above-mentioned steps 1 to 3, and continue to calibrate until the calibration of all required specifications of the torque sensor is completed.

Claims (3)

1. The utility model provides a device suitable for calibration of multiunit torque sensor which characterized in that: the device comprises an installation base, a torque sensor loading sliding group, a calibration device torque transmission assembly, a to-be-calibrated torque sensor, a calibration device tail bearing assembly, a computer and a mass block, wherein one end of the to-be-calibrated torque sensor is clamped on the calibration device tail bearing assembly, the other end of the to-be-calibrated torque sensor is connected with the calibration device torque transmission assembly, the calibration device torque transmission assembly is connected with the torque sensor loading sliding group, and the mass block is positioned on the torque sensor loading sliding group; the loading sliding set of the torque sensor comprises a torque sensor calibration plate, a servo motor, a lead screw nut and a first guide rail, wherein the servo motor is arranged on the torque sensor calibration plate, the servo motor is connected with the lead screw, the lead screw is sleeved with the lead screw nut, the lead screw nut is connected with a lead screw nut seat, the lead screw nut seat is connected with two first slide blocks, the first slide blocks are connected with a slide seat, a mass block is positioned on the slide seat, the two first slide blocks are respectively positioned on the first guide rail, the first guide rail is arranged on the torque sensor calibration plate, a magnetic grid ruler reading head is arranged on one side surface of the lead screw nut seat, a magnetic grid ruler matched with the magnetic grid ruler reading head for use is arranged on the torque sensor calibration plate, and the magnetic grid ruler reading head and the torque sensor to be calibrated are; the servo motor drives the screw rod to rotate, so that the screw rod nut seat is driven to move on the first guide rail, and the torque is acted on the torque sensor to be calibrated through the torque transmission assembly of the calibration device; the calibration device comprises a torque transmission assembly, a calibration device and a control device, wherein the torque transmission assembly comprises a torque sensor calibration support, a calibration shaft and a transition shaft sleeve, one end of the transition shaft sleeve is connected with a torque sensor to be calibrated, the other end of the transition shaft sleeve is connected with the calibration shaft, the calibration shaft is arranged on the torque sensor calibration support through a bearing, and the calibration shaft is connected with a torque sensor calibration plate through a key; the tail bearing assembly of the calibration device comprises a second guide rail, a second sliding block, a flange sleeve mounting frame, a flange sleeve, a sleeve and a locking handle, wherein the second sliding block is mounted on the second guide rail; the flange sleeve is a step shaft and is arranged on the flange sleeve mounting frame through screws; the sleeve is an axle type part, and outside processing has external splines, and inside processing becomes double key groove through-hole, and the sleeve outside is connected with flange sleeve's spline fit, and inside is connected with waiting to mark torque sensor through the parallel key, and the locking handle passes through the screw thread and installs on flange sleeve mounting bracket.

2. The apparatus for calibration of multiple sets of torque sensors according to claim 1, wherein: and the torque sensor calibration plate is provided with a limit switch.

3. A method for calibrating a device suitable for calibrating a plurality of torque sensors according to claim 2, comprising the steps of:

1) after all parts are installed, a calibrated small-range torque sensor is selected to be installed at a torque sensor to be calibrated and installed in place, and the position of a tail bearing assembly of the calibration device is locked through a locking handle;

2) starting a servo motor, driving a sliding seat to move through a lead screw, stopping the movement when the sliding seat moves to a limit switch, recording the value of a torque sensor at the moment when the moment is recorded as a zero point of the device, the position of a reading head of a magnetic grating ruler is an initial position, the position of a nut seat of the lead screw is a zero point position, and the position of the sliding seat is a balance position, wherein the torque value is the zero point value of the calibration device;

3) the servo motor rotates reversely, the screw rod nut seat moves reversely from a zero position, the moving distance X of the sliding seat is recorded in real time through a reading head of the magnetic grid ruler, the torque T in the process is recorded through a computer, and a T-X curve is generated; so as to obtain the torque value when the sliding seat moves to each specific coordinate;

4) the central line of the calibration shaft is taken as a reference, the positions of different mass blocks from the central line of the calibration shaft are different, so that the generated torques are different, the masses of the mass blocks and the screw can be accurately measured when each mass block is installed, and different torque values T' generated by each mass block at different positions can be calculated through the masses and the positions; torque T at a certain position after mounting mass block_{General assembly}Recording a corresponding torque range which can be calibrated by the device after each mass block is installed by a computer;

5) selecting a proper transition shaft sleeve, a proper sleeve and a proper mass block according to the size specification of the torque sensor to be calibrated, respectively installing the transition shaft sleeve, the proper sleeve and the proper mass block to correct positions, and installing the torque sensor to be calibrated;

6) starting the servo motor, controlling the servo motor to move the sliding seat to the balance position, recording the position coordinates of the sliding seat by the computer, and recording the position coordinatesThe distance from the central line of the calibration shaft is X₀The slide seat and the mass block generate balance torque, and then the torque T calibrated by the torque sensor for the first time is selected₁The torque being simultaneously at position X by the slide and the mass₁Generated by, i.e. calculating X by computer₁Then the computer controls the servo motor to drive the lead screw nut seat to move to a coordinate X1X in a direction away from the servo motor₁Performing first calibration;

7) continuously selecting the torque T calibrated for the second time by the torque sensor₂The torque being simultaneously at position X by the slide and the mass₂Generated by the process, calculating X by computer₂Then the computer controls the servo motor to make the sliding seat move to X with the mass block₂Performing second calibration; continuously selecting the third to fifth calibrated torques T of the torque sensor in sequence₃、T₄、T₅Respectively calculating corresponding coordinates X by a computer₃、X₄、X₅Then the computer controls the servo motor to make the sliding seat respectively move to X with the mass block₃、X₄、X₅And performing third to fifth calibration, and after the five torque values of the torque sensor are calibrated in sequence, returning the screw nut seat to the balance position again for the next calibration.

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