CN108760150B - Large-scale force value symmetrical loading force and moment decoupling calibration device - Google Patents
Large-scale force value symmetrical loading force and moment decoupling calibration device Download PDFInfo
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- CN108760150B CN108760150B CN201810775146.1A CN201810775146A CN108760150B CN 108760150 B CN108760150 B CN 108760150B CN 201810775146 A CN201810775146 A CN 201810775146A CN 108760150 B CN108760150 B CN 108760150B
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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 large-scale force value symmetric loading force and moment decoupling calibration device, and belongs to the technical field of mechanical measurement. The core idea is that a tension-compression type force measuring sensor and a spoke type torque sensor are used as core measuring components, the large-scale force value symmetrical loading force and moment are decoupled, and the decoupling device comprises an installation supporting frame, a torque measuring assembly, a force and moment calibration beam assembly, a preloading assembly, a tension-compression type force measuring sensor, an inclination angle sensor and a calibrated standard force output device. The standard single-component tension and compression sensor and the standard torque sensor are arranged in the orthogonal direction, so that the standard force and the standard torque synthesized in the symmetrical loading process of the large-scale force value can be directly measured, the cooperative performance between the multi-standard force output devices is evaluated, the coupling influence relationship between the force and the torque is revealed, and the accuracy of single-component loading and multi-component loading in the in-situ calibration process of the large-scale force value multi-component force measuring system is ensured.
Description
Technical Field
The invention relates to a large-scale force value symmetric loading force and moment decoupling calibration device, and belongs to the technical field of mechanical measurement.
Background
Modern mechanics measurement mainly develops to large-scale force value measurement calibration and little force value measurement calibration two directions, and wherein large-scale force value measurement calibration mainly carries out evaluation and technical guarantee to the measurement characteristic of force value measurement system in large-scale experimental facilities. Large-scale test equipment is different from a conventional force value measuring device in a laboratory, often belongs to non-standard special equipment, has a complex internal structure, strong coupling, multiple components and measurement elements which are difficult to disassemble, and cannot adopt a traditional measurement and calibration mode of disassembling and independently inspecting.
Based on the technical requirements, a technical branch in the large-scale force value measurement calibration which comes from the beginning is a force value in-situ calibration technology (or called online calibration technology) of the large-scale special-purpose equipment. Compared with the large-scale force value calibration in the traditional laboratory, the loading mode of the in-situ calibration standard load of the large-scale special-purpose equipment is limited by the structure of the special-purpose equipment and the field working condition environment, and the standard force or the standard moment along the measurement axis system cannot be directly loaded. Meanwhile, large-scale special-purpose equipment is high in integration degree, multi-dimensional force elements can be simultaneously measured, and the corresponding in-situ calibration work needs to have the capacity of single-component loading and multi-component simultaneous loading of standard calibration loads. The loading mode of the standard load in the in-situ calibration process of the large force value multi-component force measuring system in the large-scale special-purpose equipment mostly adopts a symmetrical loading method, namely two component forces which are symmetrical and equal relative to the measuring axis of the force measuring system are used, the action line of the component force is parallel to the measuring axis, the component force is 1/2 of the standard calibration load, the component force is measured by a single-component force measuring sensor at the front end of a loading device, and the standard calibration force is obtained after the two component forces are synthesized; when the two component forces are not equal, a synthesized standard force is generated in the measuring axis direction, and a standard moment around the plane normal direction of the action line of the two component forces is generated at the same time, so that the combined loading of the standard force and the standard moment is realized.
The in-situ calibration symmetrical loading method for the large force value multi-component force measuring system in the large-scale special-purpose equipment can greatly simplify the structure of the in-situ calibration device, simultaneously avoids the harsh requirement of single-shaft loading on the structural rigidity of the loading device, and is particularly effective for the in-situ calibration work of the large force value multi-component force measuring system with limited installation space or high-altitude operation. However, the large-scale force value symmetrical loading method is provided according to the force and moment synthesis principle in theoretical mechanics, in practical engineering application, whether the calculated load after the synthesis of the standard forces output by the two independent standard force output devices is consistent with the standard calibration load or not and whether the standard force output devices can realize synchronous and cooperative output of the standard forces or not are provided; on the other hand, the combined loading of the standard force and the standard moment in the large-scale force value symmetrical loading is the coupling of the force and the moment in a two-dimensional plane, the moment is indirectly obtained through the product of the force and the moment arm, whether the standard force and the standard moment can be accurately output in the combined loading process and the coupling relation between the standard force and the standard moment need to be checked before the in-situ calibration work of the large-scale force value multi-component force measuring system. Therefore, the technical bottleneck of in-situ calibration symmetrical loading force and moment decoupling calibration of the large-scale force value multi-component force measurement system is solved, the accurate evaluation and assessment of the standard force and the standard moment load are realized, and the method is a precondition for the development of in-situ calibration research work of the large-scale force value multi-component force measurement system.
The document retrieval does not find that the prior related technical documents or the prior products relate to decoupling calibration of large-scale force value symmetrical loading force and moment, and the system calibration for realizing the standard force and moment loading through symmetrical cooperation of the standard force output device in the large-scale force value in-situ calibration process is still blank.
Disclosure of Invention
The invention aims to solve the technical bottleneck of in-situ calibration symmetrical loading force and moment decoupling calibration of a large-scale force value multi-component force measurement system, realize accurate evaluation and assessment of standard force and standard moment loads, and provide a large-scale force value symmetrical loading force and moment decoupling calibration device.
The invention has the core idea that standard single-component tension and compression sensors and standard torque sensors are arranged in the orthogonal direction, namely, the tension and compression force sensors and the spoke type torque sensors are used as core measurement components, a large-scale force value in-situ online calibration symmetric loading force and torque decoupling component calibration method is provided, the large-scale force value symmetric loading force and torque are decoupled, the standard force and the standard torque synthesized by the large-scale force value symmetric loading can be directly measured, the synergistic performance of a standard force output device is evaluated, the coupling influence relationship between the force and the torque is revealed, and the accuracy of single-component loading and multi-component loading in the in-situ calibration process of a large-scale force value multi-component force measurement system is ensured.
The purpose of the invention is realized by the following technical scheme:
a large-scale force value symmetrical loading force and moment decoupling calibration device comprises an installation support frame, a torque measurement assembly, a force and moment calibration beam assembly, a preloading assembly, a tension and compression type force measurement sensor, an inclination angle sensor and a calibrated standard force output device;
the mounting support frame consists of a base, a guide upright post, an upper cover, a preloading weight loading plate, a torque measuring mounting plate and a linear bearing; the upper cover is square, the base is rectangular and is also called as a rectangular base, and the width of the rectangular base is consistent with the length of the edge of the upper cover;
the number of the guide upright posts is 4; the number of the linear bearings is 4; the base, the guide upright post, the upper cover, the preloading weight loading plate and the torque measurement mounting plate are all 1 piece;
the torque measuring assembly consists of a spoke type torque sensor, a central torque shaft, a rotary bearing sleeve, a rotary bearing seat and a rotary supporting seat;
the rotary support seat is L-shaped, a reinforcing rib is arranged on the inner side of the rotary support seat, one end of the rotary support seat is fixedly connected with the torque measurement mounting plate, and the other end of the rotary support seat is connected with the fixed end of the spoke type torque sensor; the rotary bearing sleeve is of a hollow cylindrical structure, a flange is processed at one end of the rotary bearing sleeve, the outer diameter of the rotary bearing sleeve is consistent with the inner diameter of the rotary bearing seat, and the inner diameter of the rotary bearing sleeve is in small clearance fit with the outer diameter of the central torque shaft; the rotary bearing seat is of a hollow cylinder structure, the inner diameter of the rotary bearing seat is larger than the outer diameter of the spoke type torque sensor, flange plates are processed at two ends of the rotary bearing seat, one end of the rotary bearing seat, which is sleeved outside the spoke type torque sensor, is fixedly connected with the rotary supporting seat, and the other end of the rotary bearing seat is fixedly connected with a rotary bearing sleeve flange; the central torque shaft is of a cylinder structure, one end of the central torque shaft is welded with an end cover, the other end of the central torque shaft is welded with a mounting plate at a symmetrical position extending outwards along the center outside the cylinder, and one end of the welded end cover of the central torque shaft is fixedly connected with the measuring end of the spoke type torque sensor;
the force and moment calibration beam assembly consists of a pull rod connecting plate, a pull rod connecting plate rotating shaft, a center positioning mounting block, an H-shaped beam and a rotating shaft connecting block;
wherein the number of the pull rod connecting plate rotating shafts is 2; the rotary shaft connecting blocks are square and the number of the rotary shaft connecting blocks is 2; the central positioning installation blocks are square, and the number of the central positioning installation blocks is 2; the number of the rest components is 1;
the geometric center of the force and moment calibration beam assembly is collinear with the torque measurement axis of the torque measurement assembly, and the central axis of the force and moment calibration beam assembly in the length direction is perpendicular to the torque measurement axis of the torque measurement assembly; the force and moment calibration beam assembly and the torque measurement assembly are fixedly connected and combined into a whole and can move along the gravity direction under the guidance of the mounting and supporting frame;
the mounting direction of the H-shaped cross beam is consistent with the force bearing direction in the calibration process; the cross section of each rotary shaft connecting block is T-shaped, the distance between one end with a large size and the upper and lower outer surfaces of the H-shaped cross beam is consistent, the distance between one end with a small size and the upper and lower inner surfaces of the H-shaped cross beam is consistent, the section with the small size of the rotary shaft connecting block is embedded into the groove of the H-shaped cross beam, the two rotary shaft connecting blocks are symmetrically arranged along the central line of the H-shaped cross beam and are welded to process the mounting surface, and the specific mounting position is matched with the central; the section of the central positioning installation block is T-shaped, the distance between the end with large size and the upper and lower outer surfaces of the H-shaped cross beam is consistent, the thickness of the end with large size is smaller than that of the end with large size of the rotary shaft connecting block, the distance between the end with small size and the upper and lower inner surfaces of the H-shaped cross beam is consistent, the section with small size of the central positioning installation block is embedded into the groove of the H-shaped cross beam, and a threaded hole is processed at the geometric center of the central; the front end of the pin shaft of the pull rod connecting plate is provided with a processing thread which is connected with a threaded hole of the central positioning mounting block, the rear end of the pin shaft of the pull rod connecting plate is provided with a cylindrical pin shaft which is matched with the pull rod connecting plate, and the pull rod connecting plate can rotate around the axis of the pin shaft of the pull rod connecting plate; the pull rod connecting plate is of a U-shaped structure, the bottom end of the pull rod connecting plate is fixedly connected with the pull rod through a through hole and a nut, and symmetrical hinged holes are processed at the upper end of the pull rod connecting plate and matched with a pin shaft of the pull rod connecting plate;
the force and moment calibration beam assembly is provided with a calibrated standard force output device at a position, which is symmetrical relative to the geometric center, of the central axis in the length direction, and the standard force action point output by the calibrated standard force output device is positioned on the central axis of the force and moment calibration beam assembly in the length direction; the measuring end of the tension-compression type force measuring sensor is hinged with the central point of the force and moment calibration beam assembly;
the tension-compression type force measuring sensor is fixedly connected with the pull rod connecting plate through a lower end pull rod, a reverse threaded sleeve and an upper section pull rod; threads with opposite rotation directions are processed at two ends of the reverse thread sleeve, one end of the reverse thread sleeve is connected with the upper section pull rod, the other end of the reverse thread sleeve is connected with the lower section pull rod, and the length of the pull rod is adjusted; the other end of the lower section pull rod is connected with the tension-compression type force measuring sensor through threads, and the other end of the upper section pull rod is fixedly connected with the pull rod connecting plate through a nut;
the torque measuring assembly measures coupling torque generated by symmetric loading at the central rotation axis of the force and moment calibration beam assembly, and the pull-press type force measuring sensor measures resultant force generated by symmetric loading at the geometric central point of the force and moment calibration beam assembly;
the preloading component consists of a direction-changing pulley, a preloading steel cable and a standard preloading weight;
the number of the phase-change pulleys is 2, and the number of the preloading weights is determined according to the pre-tightening force required by the calibration range; preloading 1 steel cable;
the standard preloading weights are loaded step by adopting standard two-stage metering weights; the standard preloading weights generate preloading force to prevent the tension-compression type force measuring sensor from being compressed due to structural gravity, the tension-compression type force measuring sensor is ensured to be in a tension state at the beginning of calibration, then the tension-compression type force measuring sensor is symmetrically output by the calibration standard force output device, the tension-compression type force measuring sensor is further stretched to generate a measuring value, and the output increment of the tension-compression type force measuring sensor on the basis of preloading is the resultant force generated in the symmetrical loading process of the calibration standard force output device; the spoke type torque sensor is not subjected to torque before the calibration work is started, and the zero value of the spoke type torque sensor is ensured by the installation precision;
the preloading component provides preloading force in the axial direction of the tension-compression type force transducer, and ensures that the tension-compression type force transducer is always in a tension state in the calibration process; the tilt angle sensor is arranged at the center of the upper surface of the force and moment calibration beam assembly and used for measuring the deflection angle of the force and moment calibration beam assembly in the center loading process.
The connection relation between the large-scale force value symmetrical loading force and the moment decoupling calibration device is as follows:
the force and moment calibration beam assembly is connected with the torque measurement assembly and then connected with the mounting support frame; the tension-compression type force measuring sensor is connected with the force and moment calibration beam assembly; the pre-loading assembly is connected with the tension-compression type force measuring sensor, the inclination angle sensor is connected with the force and moment calibration beam assembly, and the calibrated standard force output device is connected with the force and moment calibration beam assembly.
The connection relationship of the installation supporting frame is as follows: two ends of the guide upright post are respectively connected with the base and the upper cover; the preloading weight loading plate is connected with the linear bearing; the torque measuring mounting plate is connected with the linear bearing; the linear bearing is connected with the guide upright post;
the connection relationship of the torque measuring assembly is as follows: the fixed end of the spoke type torque sensor is connected with the rotary supporting seat, and the measuring end of the spoke type torque sensor is connected with the central torque shaft; the inner ring of the rotary bearing sleeve is connected with the central torque shaft, and the outer ring of the rotary bearing sleeve is connected with the rotary bearing seat;
the connection relationship of the force and moment calibrating beam assembly is as follows:
the rotating shaft connecting block is connected with the H-shaped cross beam; the central positioning mounting block is connected with the H-shaped cross beam, then one end of a rotating shaft of the pull rod connecting plate is connected with the central positioning mounting block, and the other end of the rotating shaft is connected with the pull rod connecting plate;
the connection relationship of the preload components is as follows:
one end of the preloading steel cable is connected with the geometric center point of the torque measurement mounting plate, vertically penetrates through a through hole at the corresponding position in the vertical direction of the assembly center points of the upper cover and the torque measurement mounting plate, passes through a pair of symmetrical turning pulleys on the center line of the upper cover, and the other end of the preloading steel cable is connected with the geometric center point of the standard preloading weight loading plate;
the installation process of each component module in the large-scale force value symmetrical loading force and moment decoupling calibration device is as follows:
the mounting process of the mounting support frame is as follows:
step 1), an upper cover is supported and installed on one side of a rectangular base through a guide upright post, and three sides of the upper cover are aligned with three sides of the rectangular base;
step 2), fixing the base on a concrete foundation, and measuring by a level gauge in the installation process to ensure levelness;
step 3), one end of each of the four guide upright columns is fixedly arranged at a position, close to an angular point, of a diagonal line of the upper cover square, one end of the other guide upright column is fixedly arranged at a position of a central point of the upper cover square, and the other end of the other guide upright column is fixedly arranged at a corresponding position of the base;
step 4), fixedly mounting two linear bearings on a preloading weight loading plate and then sleeving two guide upright posts on the side where the narrow edges of the upper cover and the base are aligned;
step 5) fixedly mounting three linear bearings which are arranged in a triangular shape on the moment measuring mounting plate, and sleeving the rest three guide upright columns;
the torque measurement assembly was installed as follows:
step a), the fixed end of a spoke type torque sensor is fixedly arranged at the supporting end of a rotary supporting seat, and the measuring axis of the spoke type torque sensor is ensured to be vertical to the mounting surface of the supporting end of the rotary supporting seat;
step b) the rotary bearing seat is fixedly installed and a rotary supporting seat, and the axis of the rotary bearing seat is collinear with the measuring axis of the spoke type torque sensor;
step c) the rotary bearing sleeve is fixedly arranged in the rotary supporting seat by adopting the end part of the flange;
d) the central rotating shaft is in close clearance fit with the rotary bearing sleeve, the central rotating shaft is arranged in the rotary bearing sleeve, and the fixed end is fixedly arranged with the two ends of the spoke type torque sensor;
the force and moment calibration beam assembly is installed as follows:
step I, the rotating shaft connecting blocks are symmetrical relative to the central plane of the H-shaped cross beam and fixedly arranged on one side, close to the torque measuring assembly, of the H-shaped cross beam, and the upper and lower edges of the rotating shaft connecting blocks are aligned with the upper and lower edges of the H-shaped cross beam;
step II, the central positioning and mounting blocks are symmetrically mounted on two sides of the H-shaped cross beam, the upper and lower edges of the central positioning and mounting blocks are aligned with the upper and lower surfaces of the H-shaped cross beam, and the geometric center of the central positioning and mounting block set is ensured to be collinear with the geometric center of the H-shaped cross beam;
and step III, a rotating shaft of the pull rod connecting plate penetrates through a rotating hole of the pull rod connecting plate to be fixedly installed on the central positioning installation blocks on two sides of the H-shaped cross beam, and the rotating shaft of the pull rod connecting plate is guaranteed to be vertically installed.
The preload assembly installation process is as follows:
step (1), one end of a preloading steel cable is fixedly arranged at the geometric center point of a torque measurement mounting plate;
fixedly mounting a pair of symmetrical turning pulleys on the central line of the upper cover, and ensuring that the excircles of the two pulleys are respectively tangent to an extension line formed by the geometric central point of the torque measurement mounting plate and the through hole at the front position of the upper cover and an extension line formed by the geometric central point of the preloading weight mounting plate and the through hole at the rear position of the upper cover;
step (3) the other end of the preloading steel cable is fixedly arranged at the geometric center point of the preloading weight mounting plate;
and (4) the rotating shaft of the pull rod connecting plate penetrates through the rotating hole of the pull rod connecting plate to be fixedly installed on the central positioning installation blocks at two sides of the H-shaped cross beam, so that the rotating shaft of the pull rod connecting plate is ensured to be vertically installed.
Advantageous effects
The utility model provides a large-scale power value symmetry loading power and moment decoupling zero calibrating device, compares with current calibrating device, has following beneficial effect:
1. the large-scale force value symmetrical loading force and moment decoupling calibration device has the advantages of simple structure and good metering performance of key components;
2. according to the large-scale force value symmetric loading force and moment decoupling calibration device, the applicability and decoupling precision of the calibration device can be improved by effectively utilizing the combination relationship between orthogonal measurement shafting, and meanwhile, the calibration range can be expanded according to the measurement ranges of the tension-compression type force transducer and the spoke type torque transducer, so that the measurement requirements of various occasions are met.
Drawings
FIG. 1 is a schematic structural view of a large-scale force value symmetric loading force and moment decoupling calibration device;
FIG. 2 is a schematic view of a torque measurement assembly;
FIG. 3 is a schematic view of a force and moment alignment beam assembly;
the device comprises a 1-tension-compression type force measuring sensor, a 2-lower section pull rod, a 3-reverse threaded sleeve, a 4-upper section pull rod, a 5-pull rod connecting plate, a 6-pull rod connecting plate rotating shaft, a 7-center positioning mounting block, an 8-H-shaped cross beam, a 9-tilt angle sensor, a 10-rotating shaft connecting block, a 11-center torque shaft, a 12-rotating bearing sleeve, a 13-rotating bearing seat, a 14-rotating supporting seat, a 15-torque measuring mounting plate, a 16-guide upright post, a 17-upper cover, an 18-turning pulley, a 19-preloading steel cable, a 20-standard preloading weight, a 21-preloading weight loading plate, a 22-linear bearing, a 23-base, a 24-calibrated standard force output device and a 25-spoke type torque sensor.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Example 1
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiment is realized by the following technical scheme:
a large-scale force value symmetrical loading force and moment decoupling calibration device comprises an installation support frame, a torque measurement assembly, a force and moment calibration beam assembly, a preloading assembly, a tension-compression type force measurement sensor 1, an inclination angle sensor 9 and a calibrated standard force output device 24;
as shown in fig. 1, the geometric center of the force and moment calibration beam assembly is collinear with the torque measurement axis of the torque measurement assembly, and the central axis of the force and moment calibration beam assembly in the length direction is perpendicular to the torque measurement axis of the torque measurement assembly; the force and moment calibration beam assembly and the torque measurement assembly are fixedly connected and combined into a whole and can move along the gravity direction under the guidance of the mounting and supporting frame; the force and moment calibration beam assembly is provided with a calibrated standard force output device 24 at a position of the central axis of the length direction which is symmetrical relative to the geometric center, and the standard force action point output by the calibrated standard force output device 24 is positioned on the central axis of the force and moment calibration beam assembly in the length direction; the measuring end of the tension-compression type force measuring sensor 1 is hinged with the central point of the force and moment calibration beam assembly; the torque measuring assembly measures coupling torque generated by symmetric loading at the central rotation axis of the force and moment calibration beam assembly, and the pull-press type force measuring sensor 1 measures resultant force generated by symmetric loading at the geometric central point of the force and moment calibration beam assembly; the preload assembly provides preload force in the axial direction of the tension-compression type force transducer 1, and ensures that the tension-compression type force transducer 1 is always in a tension state in the calibration process; the tilt angle sensor 9 is arranged at the center of the upper surface of the force and moment calibration beam assembly and used for measuring the deflection angle of the force and moment calibration beam assembly in the center loading process.
In the large-scale force value symmetrical loading force and moment decoupling calibration device, an installation support frame consists of a base 23, a guide upright post 16, an upper cover 17, a preloading weight loading plate 21, a torque measurement installation plate 15 and a linear bearing 22; the upper cover 17 is square, the base 23 is rectangular, the width of the rectangle is consistent with the side length of the upper cover 17, the upper cover 17 is supported and mounted on one side of the rectangular base by the guide upright post 16, and three sides of the upper cover are aligned with three sides of the base 23; the base 23 is fixed on a concrete foundation, and the levelness is ensured by measuring by a level gauge in the installation process.
In the large-scale force value symmetric loading force and moment decoupling calibration device, one end of each of four guide upright columns 16 in an installation support frame is fixedly installed at a position, close to an angular point, of a diagonal line of a square of an upper cover 17, one end of the other guide upright column is fixedly installed at a position of a center point of the square of the upper cover 17, and the other end of each guide upright column is fixedly installed at a corresponding position of a base 23; the preloading weight loading plate 21 is fixedly provided with two linear bearings 22 and then sleeved on the two guide upright posts 16 at one side where the narrow sides of the upper cover 17 and the base 23 are aligned, and the torque measuring mounting plate 15 is fixedly provided with three linear bearings 22 which are arranged in a triangular shape and sleeved on the other three guide upright posts 16.
In the large-scale force value symmetrical loading force and moment decoupling calibration device, a tension-compression type force measuring sensor 1 is fixedly connected with a pull rod connecting plate 5 through a lower end pull rod 2, a reverse threaded sleeve 3 and an upper section pull rod 4; the two ends of the reverse threaded sleeve 3 are provided with threads with opposite turning directions, one end of the reverse threaded sleeve is connected with the upper section pull rod 4, the other end of the reverse threaded sleeve is connected with the lower section pull rod 2, and the length of the pull rod is adjusted; the other end of the lower section pull rod 2 is connected with the tension-compression type force measuring sensor 1 through threads, and the other end of the upper section pull rod 4 is fixedly connected with the pull rod connecting plate 5 through a nut.
In the large-scale force value symmetrical loading force and moment decoupling calibration device, a preloading component consists of direction-changing pulleys 18, a preloading steel cable 19 and a standard preloading weight 20, one end of the preloading steel cable 19 is fixed at the geometric center point of a torque measurement mounting plate 15, vertically penetrates through a through hole at the position of an upper cover 17, passes through a pair of symmetrical direction-changing pulleys 18 fixedly mounted on the upper cover 17, and the other end of the preloading steel cable is fixedly connected with the geometric center point of a standard preloading weight loading plate 21; the standard preloading weights 20 are loaded step by adopting standard two-stage metering weights; the standard preloading weights 20 generate preloading force to avoid the compression of the tension-compression type force transducer 1 caused by the structural gravity, so as to ensure that the tension-compression type force transducer 1 is in a tension state at the beginning of calibration, then the output is generated by the calibration standard force output device 24 symmetrically, the tension-compression type force transducer 1 is further stretched to generate a measurement value, and the output increment of the tension-compression type force transducer 1 on the basis of the preloading is the resultant force generated in the symmetrical loading process of the calibration standard force output device 24; the spoke torque sensor 25 is not subjected to torque until the calibration operation begins, the zero value of which is guaranteed by the mounting accuracy.
As shown in fig. 2, in the large force value symmetric loading force and moment decoupling calibration device, a torque measurement assembly consists of a central torque shaft 11, a rotary bearing sleeve 12, a rotary bearing seat 13 and a rotary support seat 14; the rotary support seat 14 is L-shaped, a reinforcing rib is arranged on the inner side of the rotary support seat, one end of the rotary support seat 14 is fixedly connected with the torque measurement mounting plate 15, and the other end of the rotary support seat is connected with the fixed end of the spoke type torque sensor 25; the rotary bearing sleeve 13 is of a hollow cylindrical structure, a flange is processed at one end of the rotary bearing sleeve 13, the outer diameter of the rotary bearing sleeve 12 is consistent with the inner diameter of the rotary bearing seat 13, and the inner diameter of the rotary bearing sleeve 12 is in small clearance fit with the outer diameter of the central torque shaft 11; the rotary bearing seat 13 is a hollow cylinder structure, the inner diameter of the rotary bearing seat is larger than the outer diameter of the spoke type torque sensor 25, flange plates are processed at two ends of the rotary bearing seat, one end of the rotary bearing seat, which is sleeved outside the spoke type torque sensor 25, is fixedly connected with the rotary support seat 14, and the other end of the rotary bearing seat is fixedly connected with the rotary bearing sleeve 12 through a flange; the central torque shaft 11 is of a cylinder structure, one end of the central torque shaft is welded with an end cover, the other end of the central torque shaft is welded with a mounting plate at a symmetrical position extending outwards along the center outside the cylinder, and one end of the welded end cover of the central torque shaft 11 is fixedly connected with the measuring end of the spoke type torque sensor 25.
As shown in fig. 3, in the large force value symmetric loading force and moment decoupling calibrating device, a force and moment calibrating beam assembly consists of a pull rod connecting plate 5, a pull rod connecting plate pin shaft 6, a central positioning mounting block 7, an H-shaped beam 8 and a rotating shaft connecting block 10; the mounting direction of the H-shaped cross beam 8 is consistent with the force bearing direction in the calibration process; the cross section of the rotary shaft connecting blocks 10 is T-shaped, the distance between one end with large size and the upper and lower outer surfaces of the H-shaped cross beam 8 is consistent, the distance between one end with small size and the upper and lower inner surfaces of the H-shaped cross beam is consistent, the section with small size of the rotary shaft connecting block is embedded into the groove of the H-shaped cross beam 8, the two rotary shaft connecting blocks 10 are arranged symmetrically along the central line of the H-shaped cross beam 8 and are welded to process the mounting surface, and the specific mounting position is matched with the epitaxial mounting plate of; the section of the central positioning installation block 7 is T-shaped, the distance between the end with large size and the upper and lower outer surfaces of the H-shaped cross beam 8 is consistent, the thickness of the end with large size is smaller than that of the end with large size of the rotating shaft connecting block 10, the distance between the end with small size and the upper and lower inner surfaces of the H-shaped cross beam 8 is consistent, the section with small size of the central positioning installation block 7 is embedded into the groove of the H-shaped cross beam 8, and a threaded hole is processed at the geometric center of the central positioning; the front end of a pin shaft 6 of the pull rod connecting plate is processed with threads and is connected with a threaded hole of a central positioning mounting block 7, the rear end is a cylindrical pin shaft and is matched with a pull rod connecting plate 5, and the pull rod connecting plate 5 can rotate around the axis of the pin shaft 6 of the pull rod connecting plate; the pull rod connecting plate 5 is of a U-shaped structure, the bottom end of the pull rod connecting plate is fixedly connected with the pull rod through a nut by a through hole, and symmetrical hinged holes are machined at the upper end of the pull rod connecting plate and matched with a pull rod connecting plate pin shaft 6.
In this embodiment, the technical indexes of the large-scale force value symmetric loading force and moment decoupling calibration device are as follows:
● force calibration Range: 0-30 KN;
● Torque calibration Range: 0 to 15KN · m;
● force value calibration accuracy: 0.5% F.S;
● torque calibration accuracy: 1% F.S;
● measurement repeatability: 0.1 percent;
● temperature drift: 0.1 percent;
● time drift: 0.1 percent;
● operating temperature: -10 ℃ to 60 ℃;
● operating relative humidity: HR 95%.
The pull-press type force sensor 1 is a 3274 and 195 pull-press type force sensor with a measuring range of 100kN manufactured by Lebow (Lebow) of America. The accuracy rating of this sensor is 0.1%. Specific indexes are shown in a table 1:
TABLE 1 technical indexes of tension-compression type force cell
The spoke type torque sensor adopts a SDC-203 spoke type torque sensor with the measuring range of 50 KN.m, which is produced by domestic Sundi sensor technology company Limited. The accuracy rating of this sensor is 0.5%. The specific indexes are shown in Table 2:
TABLE 2 spoke type Torque sensor
| Output (range): +/-22.5 mV/V | Static overload capacity: 200 percent of |
| Linearity: plus or minus 0.05 percent | Drift (20 min):<0.025％ |
| and (3) hysteresis: plus or minus 0.02 percent | Bridge circuit resistance: 700 omega |
| Sensitivity: 2.0 +/-0.002 mV/V | The use temperature range is as follows: minus 20 to plus 60 DEG C |
| Zero output: + -1.0% F.S | Influence of zero point temperature: 0.005% F.S/1 deg.C |
| Output impedance: 700 +/-5 omega | Sensitivity temperature effect: 0.03% F.S/1 deg.C |
| Repeatability: +/-0.02% F.S | Applied voltage (DC) 20V |
| Zero output: plus or minus 1.0 percent | Insulation resistance:>5000MΩ |
the H-shaped beam 8 is mainly used for decomposing and transferring load, the rigidity and the bearing capacity of the H-shaped beam have great influence on the performance of the decoupling calibration device, the H-shaped beam is one of key components of the large-scale force value symmetric loading force and moment decoupling calibration device, high-strength low-carbon alloy steel with good performance is adopted, and preferably the calibration device is made of 00Ni18Mo5Co8TiA1 steel in a solid solution state. Other force-bearing structural members are all machined by adopting steel castings to ensure that deformation is as small as possible, so that interference between decoupling of force and moment components is reduced.
The large-scale force value symmetrical loading force and moment decoupling calibration device corresponding to the embodiment mainly solves the technical bottleneck of in-situ calibration symmetrical loading force and moment decoupling calibration of a large-scale force value multi-component force measurement system, realizes accurate evaluation and assessment of standard force and standard moment load, can be applied to decoupling calibration of symmetrical loading force and moment of a hydraulic or electric actuating cylinder, and takes a standard servo electric control actuator as a calibrated standard force output device 24. Before the calibration work of the large-scale force value symmetrical loading force and moment decoupling calibration device is started, the standard preloading weights 20 are applied to load step by step to preload the tension-compression type force transducer, so that the tension-compression type force transducer is kept in a tension state. And the standard servo electric control actuators are symmetrically arranged at two ends of the H-shaped cross beam, and the action point of the standard output force is positioned on the axis of the H-shaped cross beam. And selecting a calibration point according to the standard force output range of the standard servo electric control actuator, and completing force and moment decoupling calibration respectively by adopting a step-type step-by-step loading method, wherein the force value calibration data is shown in a table 3, and the moment calibration data is shown in a table 4.
TABLE 3 force value calibration data
| Standard load/KN | Is calibrated to output 1/KN | Is calibrated to |
Calibration value/KN | moment/N.m |
| 0 | 0 | 0 | 0 | 0 |
| 3 | 1.501 | 1.499 | 3.000 | 0 |
| 6 | 3.004 | 3.001 | 5.999 | 1.0 |
| 9 | 4.502 | 4.498 | 9.001 | 1.5 |
| 12 | 6.003 | 6.005 | 12.000 | 1.4 |
| 15 | 7.5001 | 7.499 | 14.997 | 1.2 |
| 18 | 9.001 | 8.999 | 18.000 | 2.0 |
| 21 | 10.501 | 10.498 | 21.003 | 1.6 |
| 24 | 12.005 | 12.000 | 24.000 | 2.1 |
| 27 | 13.501 | 13.499 | 27.000 | 1.9 |
| 30 | 15.004 | 15.000 | 29.999 | 1.4 |
TABLE 4 Torque calibration data
| Standard load/KN m | Is calibrated to output 1/KN | Is calibrated to |
Calibration value/KN m | force/KN |
| 0 | 0 | 0 | 0 | 0 |
| 3 | 0 | 6.000 | 3.003 | 6.000 |
| 6 | 0 | 12.002 | 6.000 | 12.000 |
| 9 | 0 | 18.005 | 8.999 | 18.003 |
| 12 | 0 | 24.000 | 12.001 | 24.000 |
| 15 | 0 | 30.000 | 15.998 | 30.000 |
Test data show that the large-scale force value symmetrical loading force and moment decoupling calibration device can realize the technical bottleneck of in-situ calibration symmetrical loading force and moment decoupling calibration of a large-scale force value multi-component force measurement system, realizes accurate evaluation and assessment of standard force and standard moment load, and has good feasibility, and the corresponding device has the advantages of simple structure, low price of key parts and reliable performance.
While the foregoing is directed to the preferred embodiment of the present invention, it is not intended that the invention be limited to the embodiment and the drawings disclosed herein. Equivalents and modifications may be made without departing from the spirit of the disclosure, which is to be considered as within the scope of the invention.
Claims (6)
1. The utility model provides a large-scale power value symmetry loading power and moment decoupling zero calibrating device which characterized in that: the calibration device takes a tension-compression type force measuring sensor and a spoke type torque sensor as core measurement components, so that the large-scale force value symmetric loading force and moment are decoupled, the standard force and the standard moment synthesized by the large-scale force value symmetric loading are directly measured, the synergistic performance of a standard force output device is evaluated, the coupling influence relation between the force and the moment is disclosed, and the accuracy of single-component loading and multi-component loading in the in-situ calibration process of the large-scale force value multi-component force measuring system is ensured;
the device comprises a mounting support frame, a torque measuring component, a force and moment calibration beam component, a preloading component, a tension and compression type force measuring sensor, an inclination angle sensor and a calibrated standard force output device;
the mounting support frame consists of a base, a guide upright post, an upper cover, a preloading weight loading plate, a torque measuring mounting plate and a linear bearing; the upper cover is square, the base is rectangular, and the width of the rectangular base is consistent with the length of the side of the upper cover;
the number of the guide upright posts is 4; the number of the linear bearings is 4; the number of the base, the guide upright post, the upper cover, the preloading weight loading plate and the torque measurement mounting plate is 1;
the torque measuring assembly consists of a spoke type torque sensor, a central torque shaft, a rotary bearing sleeve, a rotary bearing seat and a rotary supporting seat;
the rotary support seat is L-shaped, a reinforcing rib is arranged on the inner side of the rotary support seat, one end of the rotary support seat is fixedly connected with the torque measurement mounting plate, and the other end of the rotary support seat is connected with the fixed end of the spoke type torque sensor; the rotary bearing sleeve is of a hollow cylindrical structure, a flange is processed at one end of the rotary bearing sleeve, the outer diameter of the rotary bearing sleeve is consistent with the inner diameter of the rotary bearing seat, and the inner diameter of the rotary bearing sleeve is in small clearance fit with the outer diameter of the central torque shaft; the rotary bearing seat is of a hollow cylinder structure, the inner diameter of the rotary bearing seat is larger than the outer diameter of the spoke type torque sensor, flange plates are processed at two ends of the rotary bearing seat, one end of the rotary bearing seat, which is sleeved outside the spoke type torque sensor, is fixedly connected with the rotary supporting seat, and the other end of the rotary bearing seat is fixedly connected with a rotary bearing sleeve flange; the central torque shaft is of a cylinder structure, one end of the central torque shaft is welded with an end cover, the other end of the central torque shaft is welded with a mounting plate at a symmetrical position extending outwards along the center outside the cylinder, and one end of the welded end cover of the central torque shaft is fixedly connected with the measuring end of the spoke type torque sensor;
the force and moment calibration beam assembly consists of a pull rod connecting plate, a pull rod connecting plate rotating shaft, a center positioning mounting block, an H-shaped beam and a rotating shaft connecting block;
wherein the number of the pull rod connecting plate rotating shafts is 2; the rotary shaft connecting blocks are square and the number of the rotary shaft connecting blocks is 2; the central positioning installation blocks are square, and the number of the central positioning installation blocks is 2; the number of the H-shaped cross beams and the number of the pull rod connecting plates are respectively 1;
the connection relation between the large-scale force value symmetrical loading force and the moment decoupling calibration device is as follows:
the force and moment calibration beam assembly is connected with the torque measurement assembly and then connected with the mounting support frame; the tension-compression type force measuring sensor is connected with the force and moment calibration beam assembly; the pre-loading assembly is connected with the tension-compression type force measuring sensor, the inclination angle sensor is connected with the force and moment calibration beam assembly, and the calibrated standard force output device is connected with the force and moment calibration beam assembly;
the connection relationship of the installation supporting frame is as follows: two ends of the guide upright post are respectively connected with the base and the upper cover; the preloading weight loading plate is connected with the linear bearing; the torque measuring mounting plate is connected with the linear bearing; the linear bearing is connected with the guide upright post;
the connection relationship of the torque measuring assembly is as follows: the fixed end of the spoke type torque sensor is connected with the rotary supporting seat, and the measuring end of the spoke type torque sensor is connected with the central torque shaft; the inner ring of the rotary bearing sleeve is connected with the central torque shaft, and the outer ring of the rotary bearing sleeve is connected with the rotary bearing seat;
the connection relationship of the force and moment calibrating beam assembly is as follows:
the rotating shaft connecting block is connected with the H-shaped cross beam; the central positioning mounting block is connected with the H-shaped cross beam, then one end of a rotating shaft of the pull rod connecting plate is connected with the central positioning mounting block, and the other end of the rotating shaft is connected with the pull rod connecting plate;
the connection relationship of the preload components is as follows:
one end of the preloading steel cable is connected with the geometric center point of the torque measurement mounting plate, vertically penetrates through the upper cover and a through hole at the position corresponding to the geometric center point of the torque measurement mounting plate in the vertical direction, passes through a pair of symmetrical turning pulleys on the center line of the upper cover, and the other end of the preloading steel cable is connected with the geometric center point of the standard preloading weight loading plate.
2. The large force value symmetric loading force and moment decoupling calibration device of claim 1, wherein: the geometric center of the force and moment calibration beam assembly is collinear with the torque measurement axis of the torque measurement assembly, and the central axis of the force and moment calibration beam assembly in the length direction is perpendicular to the torque measurement axis of the torque measurement assembly; the force and moment calibration beam assembly and the torque measurement assembly are fixedly connected and combined into a whole and can move along the gravity direction under the guidance of the mounting and supporting frame;
the mounting direction of the H-shaped cross beam is consistent with the force bearing direction in the calibration process; the cross section of each rotary shaft connecting block is T-shaped, the distance between one end with a large size and the upper and lower outer surfaces of the H-shaped cross beam is consistent, the distance between one end with a small size and the upper and lower inner surfaces of the H-shaped cross beam is consistent, the section with the small size of the rotary shaft connecting block is embedded into the groove of the H-shaped cross beam, the two rotary shaft connecting blocks are symmetrically arranged along the central line of the H-shaped cross beam and are welded to process the mounting surface, and the specific mounting position is matched with the central; the section of the central positioning installation block is T-shaped, the distance between the end with large size and the upper and lower outer surfaces of the H-shaped cross beam is consistent, the thickness of the end with large size is smaller than that of the end with large size of the rotary shaft connecting block, the distance between the end with small size and the upper and lower inner surfaces of the H-shaped cross beam is consistent, the section with small size of the central positioning installation block is embedded into the groove of the H-shaped cross beam, and a threaded hole is processed at the geometric center of the central; the front end of the pin shaft of the pull rod connecting plate is provided with a processing thread which is connected with a threaded hole of the central positioning mounting block, the rear end of the pin shaft of the pull rod connecting plate is provided with a cylindrical pin shaft which is matched with the pull rod connecting plate, and the pull rod connecting plate can rotate around the axis of the pin shaft of the pull rod connecting plate; the pull rod connecting plate is of a U-shaped structure, the bottom end of the pull rod connecting plate is fixedly connected with the pull rod through a through hole and a nut, and symmetrical hinged holes are processed at the upper end of the pull rod connecting plate and matched with a pin shaft of the pull rod connecting plate;
the force and moment calibration beam assembly is arranged on the frame, and the force and moment calibration beam assembly is arranged on the frame; and the measuring end of the tension-compression type force measuring sensor is hinged with the central point of the force and moment calibration beam assembly.
3. The large force value symmetric loading force and moment decoupling calibration device of claim 1, wherein: the tension-compression type force measuring sensor is fixedly connected with the pull rod connecting plate through a lower end pull rod, a reverse threaded sleeve and an upper section pull rod; threads with opposite rotation directions are processed at two ends of the reverse thread sleeve, one end of the reverse thread sleeve is connected with the upper section pull rod, the other end of the reverse thread sleeve is connected with the lower section pull rod, and the length of the pull rod is adjusted; the other end of the lower section pull rod is connected with the tension-compression type force measuring sensor through threads, and the other end of the upper section pull rod is fixedly connected with the pull rod connecting plate through a nut.
4. The large force value symmetric loading force and moment decoupling calibration device of claim 1, wherein: the torque measuring assembly measures coupling torque generated by symmetric loading at the central rotation axis of the force and moment calibration beam assembly, and the pull-press type force measuring sensor measures resultant force generated by symmetric loading at the geometric central point of the force and moment calibration beam assembly.
5. The large force value symmetric loading force and moment decoupling calibration device of claim 1, wherein: the preloading component consists of a direction-changing pulley, a preloading steel cable and a standard preloading weight;
one end of the preloading steel cable is fixed at the geometric center point of the torque measurement mounting plate, vertically penetrates through the through hole at the position of the upper cover, is fixedly arranged on the upper cover through a pair of symmetrical turning pulleys, and the other end of the preloading steel cable is fixedly connected with the geometric center point of the standard preloading weight loading plate; the standard preloading weights are loaded step by adopting standard two-stage metering weights; the standard preloading weights generate preloading force to prevent the tension-compression type force measuring sensor from being compressed due to structural gravity, the tension-compression type force measuring sensor is ensured to be in a tension state at the beginning of calibration, then the tension-compression type force measuring sensor is symmetrically output by the calibration standard force output device, the tension-compression type force measuring sensor is further stretched to generate a measuring value, and the output increment of the tension-compression type force measuring sensor on the basis of preloading is the resultant force generated in the symmetrical loading process of the calibration standard force output device; the spoke type torque sensor is not subjected to torque before the calibration work is started, and the zero value of the spoke type torque sensor is ensured by the installation precision;
the function of the preloading component is to provide the preloading force in the axial direction of the tension-compression type force transducer, and ensure that the tension-compression type force transducer is always in a tension state in the calibration process; the tilt angle sensor is arranged at the center of the upper surface of the force and moment calibration beam assembly and used for measuring the deflection angle of the force and moment calibration beam assembly in the center loading process.
6. The large force value symmetric loading force and moment decoupling calibration device of claim 1, wherein: the installation process of each component module in the large-scale force value symmetrical loading force and moment decoupling calibration device is as follows:
the mounting process of the mounting support frame is as follows:
step 1), an upper cover is supported and installed on one side of a rectangular base through a guide upright post, and three sides of the upper cover are aligned with three sides of the rectangular base;
step 2), fixing the base on a concrete foundation, and measuring by a level gauge in the installation process to ensure levelness;
step 3), one end of each of the four guide upright columns is fixedly arranged at a position, close to an angular point, of a diagonal line of the upper cover square, one end of the other guide upright column is fixedly arranged at a position of a central point of the upper cover square, and the other end of the other guide upright column is fixedly arranged at a corresponding position of the base;
step 4), fixedly mounting two linear bearings on a preloading weight loading plate and then sleeving two guide upright posts on the side where the narrow edges of the upper cover and the base are aligned;
step 5) fixedly mounting three linear bearings which are arranged in a triangular shape on the torque measurement mounting plate, and sleeving the other three guide stand columns;
the torque measurement assembly was installed as follows:
step a), the fixed end of the spoke type torque sensor is fixedly arranged at the supporting end of the rotary supporting seat, and the measuring axis of the spoke type torque sensor is ensured to be vertical to the mounting surface of the supporting end of the rotary supporting seat;
step b) the rotary bearing seat is fixedly arranged on the rotary supporting seat, and the axis of the rotary bearing seat is collinear with the measuring axis of the spoke type torque sensor;
step c) the rotary bearing sleeve is fixedly arranged in the rotary supporting seat by adopting the end part of the flange;
d) the central torque shaft is in small clearance fit with the rotary bearing sleeve, the central torque shaft is arranged in the rotary bearing sleeve, and the fixed end is fixedly arranged with the two ends of the spoke type torque sensor;
the force and moment calibration beam assembly is installed as follows:
step I), the rotary shaft connecting block is symmetrical relative to the central plane of the H-shaped cross beam and is fixedly arranged on one side, close to the torque measuring assembly, of the H-shaped cross beam, and the upper side and the lower side of the rotary shaft connecting block are aligned with the upper side and the lower side of the H-shaped cross beam;
step II), the central positioning and mounting blocks are symmetrically mounted on two sides of the H-shaped cross beam, the upper and lower edges of the central positioning and mounting blocks are aligned with the upper and lower surfaces of the H-shaped cross beam, and the geometric center of the central positioning and mounting blocks is ensured to be collinear with the geometric center of the H-shaped cross beam;
step III), a rotating shaft of the pull rod connecting plate penetrates through a rotating hole of the pull rod connecting plate to be fixedly installed on central positioning installation blocks on two sides of the H-shaped cross beam, and the rotating shaft of the pull rod connecting plate is ensured to be vertically installed;
the preload assembly installation process is as follows:
step (1), one end of a preloading steel cable is fixedly arranged at the geometric center point of a torque measurement mounting plate;
fixedly mounting a pair of symmetrical turning pulleys on the central line of the upper cover, and ensuring that the excircles of the two pulleys are respectively tangent to an extension line formed by the geometric central point of the torque measurement mounting plate and the through hole at the front position of the upper cover and an extension line formed by the geometric central point of the preloading weight mounting plate and the through hole at the rear position of the upper cover;
step (3) the other end of the preloading steel cable is fixedly arranged at the geometric center point of the preloading weight mounting plate;
and (4) the rotating shafts of the pull rod connecting plates penetrate through the rotating holes of the pull rod connecting plates and are fixedly arranged on the central positioning and mounting blocks at two sides of the H-shaped cross beam, so that the rotating shafts of the pull rod connecting plates are ensured to be vertically arranged.
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