CN110346084A - A kind of centroid detection device and method - Google Patents
A kind of centroid detection device and method Download PDFInfo
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- CN110346084A CN110346084A CN201910571080.9A CN201910571080A CN110346084A CN 110346084 A CN110346084 A CN 110346084A CN 201910571080 A CN201910571080 A CN 201910571080A CN 110346084 A CN110346084 A CN 110346084A
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- turntable
- angle
- mass center
- measured
- supporting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a kind of centroid detection device and methods.Device includes rotating angle readable turntable and load cell, and turntable is directly or indirectly connected horizontal by angle of cut γ, load cell with turntable, for measuring the normal pressure of turntable；Turntable is for fixing test object.Method includes: that (1) is in subject support surface to be measured with horizontal plane in angle of cut γ plane；(2) using object center-of-mass coordinate to be measured as parameter, the mathematical relationship of itself and supporting surface normal pressure is established；(3) change object centroid position to be measured according to known variable quantity, to change the normal pressure of its supporting surface；(4) according to multiple mass center variable quantity and supporting surface normal pressure numerical value, the center-of-mass coordinate of object to be measured is obtained with parameter fitting method.The present invention tests mass center using single load cell, reduces sensor and introduces error；Test process only needs clamped one time, reduces repeated clamping and introduces error.
Description
Technical field
The invention belongs to mechanical kinetics testing fields, test more particularly, to a kind of mass center based on single-point side force
Device and method.
Background technique
The precision of the centroid position of mechanical structure directly influences the precision of Structural Dynamics control, and mass center test is being navigated
There is extensive demand in many fields for needing accurate control such as its device, industrial robot, military product.
Just for the quality matter of various products, also characteristic sets up standard to all trades and professions before many years, and based on this
Develop a series of measure theory and measuring system.The method for substantially using static test, the test object in test
It is remain stationary state, using multiple load cells, mass center is calculated by the regularity of distribution of the gravity on multiple sensors
Position.
Using the static test of multiple load cells, principle is simple to operation；Test process needs repeatedly dress
Folder, it is very high to clamp precision requirement, and the requirement on machining accuracy of other mechanisms of testboard is high, because test process is static state
And it is difficult to eliminate the influence of mismachining tolerance；The sensitivity of multiple sensors is there are error and cannot be identical, and linear gauge
Rule can not be identical, and test result is also difficult to reflect sensor bring error.Simultaneously as in test process completely
Static state, therefore, it is difficult to consider mismachining tolerance.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of centroid detection device and method,
It is repeatedly dynamic only with a load cell its object is to survey method accordingly by simplifying mass center test device and improving
State reading can obtain mass center test result, so as to avoid the mismachining tolerance and first professional etiquette between multiple load cells
Inconsistent problem is restrained, while testing procedure can be adjusted according to measuring accuracy and further decrease transducer sensitivity error, thus
Solve existing mass center measuring technology by multiple load cells obtain mass center test or multiple clamping, mismachining tolerance and/or
Operating error is difficult to the technical problem eliminated, complicated for operation, precision is not high.
To achieve the above object, according to one aspect of the present invention, a kind of centroid detection device, including rotation are provided
Angle readable turntable and load cell, the turntable horizontal by angle of cut γ, the load cell with
The turntable is directly or indirectly connected, for measuring the normal pressure of turntable；The turntable is for fixed test pair
As；
The fixed test object is fixed on the turntable when work, and is repeatedly read turntable and be in different angles
The rotation angle of turntable and load cell reading when spending.
Preferably, the mass center test device comprising supporting mechanism, the supporting mechanism are fixed with the turntable,
The supporting mechanism is used to support the turntable and the angle of cut γ of the turntable and horizontal plane is made to be predetermined angle.
Preferably, the mass center test device, the supporting mechanism include the support parallel with the turntable table top
Plate and supporting hinges；The support plate is fixed by supporting hinges and vertical stationary plane.
Preferably, the mass center test device has support plate angle sensor between support plate and the supporting hinges
Device.
Preferably, the mass center test device, the supporting mechanism include stressed plate, the stressed plate and the rotation
Turntable table top, the support plate are parallel, and the stressed plate is vertical with the rotary shaft of turntable to be fixed, the load cell
It is set between the stressed plate and the support plate.
A kind of mass center test method is provided according to another aspect of the invention comprising following steps:
(1) it is in subject support surface to be measured with horizontal plane in angle of cut γ plane, wherein 0 ° of 90 ° of < γ <；
(2) using the object center-of-mass coordinate to be measured as parameter, the mathematics for establishing it with the supporting surface normal pressure is closed
System；
(3) change the object centroid position to be measured according to known variable quantity, to change the normal direction pressure of its supporting surface
Power；
(4) multiple mass center variable quantity and supporting surface normal pressure numerical value are obtained according to step (3), is obtained with parameter fitting method
Take the center-of-mass coordinate of the object to be measured.
Preferably, the test method establishes coordinate system with the supporting plane, determines the object mass center to be measured
Coordinate in the coordinate system.
Preferably, the test method, step (3) is described to change the object matter to be measured according to known variable quantity
Heart position, comprising:
Change the object centroid position to be measured according to known variant amount in the supporting plane；And/or
Change the angle of cut γ of the supporting plane Yu the horizontal plane.
Preferably, the test method, the step (2) specifically:
Using mass center the turntable horizontal by angle of cut γ three-dimensional coordinate in a coordinate system as parameter, establish it
Using turntable rotation angle as the relation function of variable between dynamometer reading.
Preferably, the test method applies mass center test device provided by the invention.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
Mass center test device provided by the invention tests mass center using single load cell, reduces sensor and introduces mistake
Difference；Test process only needs clamped one time, reduces repeated clamping and introduces error.
Mass center test method provided by the invention, test process are dynamic, are surveyed in the state of test object movement
Examination, test data are able to reflect out testboard processing, installation accuracy, improve test accuracy indirectly.
Detailed description of the invention
Fig. 1 is a kind of mass center schematic structural diagram of testing device based on single-point dynamometry provided in an embodiment of the present invention；
Fig. 2 is the Mechanics coordinates schematic diagram of the mass center test method provided in an embodiment of the present invention based on single-point dynamometry.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 101 be support hinge
Chain, 102 be support plate, and 103 be stressed plate, and 104 be turntable, and 105 be load cell, and 106 be turntable angle sensor
Device, 107 be stressed plate angular transducer；201 be earth coordinates, and 202 be stressed plate coordinate system, and 203 be turntable coordinate
System, 204 be load cell coordinate system.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Not constituting conflict between this can be combined with each other.
Provided by the invention kind of mass center detection device, including rotation angle readable turntable 104 and force-measuring sensing
Device 105 and supporting mechanism, the turntable 104 is horizontal by angle of cut γ, the load cell 105 and the rotation
Platform 104 is directly or indirectly connected, for measuring the normal pressure of turntable 104；The turntable 104 is for fixed test pair
As；The supporting mechanism and the turntable 104 are fixed, the supporting mechanism be used to support the turntable 104 make it is described
The angle of cut γ of turntable 104 and horizontal plane is predetermined angle.
The supporting mechanism include the support plate 102 parallel with 104 table top of turntable, supporting hinges 101 and by
Power plate 103；The support plate 102 is fixed by supporting hinges 101 and vertical stationary plane；Support plate 102 and the supporting hinges
There is 102 angular transducer of support plate between 101.The stressed plate 103 and 104 table top of turntable, the support plate
102 is parallel, and the stressed plate 103 is vertical with the rotary shaft of turntable 104 to be fixed, and the load cell 105 is set to institute
It states between stressed plate 103 and the support plate 102.
The fixed test object is fixed on the turntable 104 when work, and is repeatedly read turntable 104 and be in
The rotation angle of turntable 104 and load cell 105 are read when different angle.
Mass center test method provided by the invention preferably applies mass center test device provided by the invention, including following step
It is rapid:
(1) it is in subject support surface to be measured with horizontal plane in angle of cut γ plane, wherein 0 ° of 90 ° of < γ <；With institute
It states supporting plane and establishes coordinate system, determine coordinate of the object mass center to be measured in the coordinate system.
(2) using the object center-of-mass coordinate to be measured as parameter, the mathematics for establishing it with the supporting surface normal pressure is closed
System；Specifically:
Using mass center the turntable 104 horizontal by angle of cut γ three-dimensional coordinate in a coordinate system as parameter, establish
It rotates angle as the relation function of variable using turntable 104 between dynamometer reading.
(3) change the object centroid position to be measured according to known variable quantity, to change the normal direction pressure of its supporting surface
Power；Include:
Change the object centroid position to be measured according to known variant amount in the supporting plane；And/or
Change the angle of cut γ of the supporting plane Yu the horizontal plane.
(4) multiple mass center variable quantity and supporting surface normal pressure numerical value are obtained according to step (3), is obtained with parameter fitting method
Take the center-of-mass coordinate of the object to be measured.
The following are embodiments:
Embodiment 1
A kind of mass center test device, as shown in Figure 1, including turntable 104, turntable angular transducer 106 and support
Mechanism, the supporting mechanism include: stressed plate 103, load cell 105, support plate 102, supporting hinges 101 and stressed plate
Angular transducer 107；
The axis of rotation of the turntable 104 is vertically installed in the stressed plate 103, and the stressed plate 103 is for branch
The turntable 104 is supportted, the turntable angular transducer 106 for reading 104 angle, θ of turntable is provided in rotary shaft；
The turntable 104 is for fixing test object.
The stressed plate 103 and the support plate 102 are arranged in parallel, and are equipped with the load cell 105 between the two,
105 measurement direction of load cell is parallel with 103 normal direction of stressed plate, for measuring the stressed plate 103 to the support
The method phase pressure F of plate 102.
Rotation center of the supporting hinges 101 by the support plate 102 and the stressed plate 103, the support plate
The stressed plate angle for reading stressed plate 103 and horizontal interfacial angle γ is provided between 102 and the supporting hinges 101 to pass
Sensor 107.
Embodiment 2
It is as follows that mass center testing procedure is carried out using the mass center test device that embodiment 1 provides:
(1) it is in subject support surface to be measured with horizontal plane in angle of cut γ plane, wherein 0 ° of 90 ° of < γ <；Specifically
It is as follows:
Object to be measured is fixed in the rotating disk for the mass center test device that embodiment 1 provides, when original state, stress
Plate 103 is in a horizontal position or the position of arbitrary known tilt angle.Drive the support plate 102 along the hinge 101
Rotation 0 ° of 90 ° of < γ < into stressed plate angular transducer reading.
(2) using the object center-of-mass coordinate to be measured as parameter, the mathematics for establishing it with the supporting surface normal pressure is closed
System；
According to Fig. 2 set up mechanism coordinate system.It is required that the origin arrangement of all coordinate systems is on the same line.
Coordinate system 0 201 is earth coordinates, fixed, the rotation overlapping of axles of Z axis and the hinge 101；Coordinate
Be 1 202 it is 103 coordinate system of stressed plate, is remained unchanged with the relative position of the stressed plate 103, Z axis and the hinge
The rotation overlapping of axles of chain 101；Coordinate system 2 203 is 104 coordinate system of turntable, the relative position with the turntable 104
It remains unchanged, the rotation overlapping of axles of Y-axis and the turntable 104, the Y-axis of the coordinate system 2 203 and the coordinate system 1
202 Z axis distance is L2；Coordinate system f 204 is the coordinate system of the load cell 105, with the load cell 105
Phase position remain unchanged, all directions week is parallel with all directions axis of the coordinate system 1 202, the coordinate system f's 204
Y-axis and the Z axis distance of the coordinate system 1 202 are Lf。
The position of test object mass center is defined in the coordinate system 2 203It is fixed in coordinate system 0 201
Adopted test object weightWherein x, y, z are mass center corresponding coordinate in coordinate system 2, and G is that test object is practical
Weight.
The transformation matrix of the relatively described coordinate system 2 203 of the coordinate system 1 202Wherein:
The transformation matrix of the relatively described coordinate system 1 202 of the coordinate system 2 203
Wherein:
The transformation matrix of the relatively described coordinate system 1 202 of the coordinate system f 204 Wherein
In the coordinate system 1 202, the gravity G of test object is calculated0To the torque τ of coordinate system Z axis1, wherein
According to the dynamic balance relation in the coordinate system 1 202, following test object centroid position P is obtained2, test
Object gravity G0, the stressed plate angular transducer 107 reading, the turntable angular transducer 106 reading, the dynamometry
Sensor 105 reads the relational expression between F:
(3) change the object centroid position to be measured according to known variable quantity, to change the normal direction pressure of its supporting surface
Power；Specifically:
It drives the support plate 102 to rotate along the hinge 101, while turntable 104 being driven to rotate, record simultaneously
The reading of stressed plate angular transducer 107, the turntable angular transducer 106 reading and the load cell 105 are read
Number F.
(4) multiple mass center variable quantity and supporting surface normal pressure numerical value are obtained according to step (3), is obtained with parameter fitting method
Take the center-of-mass coordinate of the object to be measured；Specifically:
Using the method for parameter fitting, with F (x, y, z, θ, γ, L2,Lf, G) and it is fitting object, it is input number with θ, γ
According to using F as output data, with L2,Lf, G is known parameters, and fitting parameter x, y, z obtain the centroid position P of test object2。
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all wrap
Containing within protection scope of the present invention.
Claims (10)
1. a kind of centroid detection device, which is characterized in that including rotation angle readable turntable (104) and force-measuring sensing
Device (105), the turntable (104) is horizontal by angle of cut γ, the load cell (105) and the turntable (104)
Directly or indirectly it is connected, for measuring the normal pressure of turntable (104)；The turntable (104) is for fixing test object；
The fixed test object is fixed on the turntable (104) when work, and is repeatedly read turntable (104) and be in not
Rotation angle and load cell (105) with turntable when angle (104) are read.
2. mass center test device as described in claim 1, which is characterized in that including supporting mechanism, the supporting mechanism and institute
It states turntable (104) to fix, the supporting mechanism is used to support the turntable (104) and makes the turntable (104) and water
The angle of cut γ of plane is predetermined angle.
3. mass center test device as claimed in claim 2, which is characterized in that the supporting mechanism includes and the turntable
(104) the parallel support plate of table top (102) and supporting hinges (101)；The support plate (102) by supporting hinges (101) with
Vertical stationary plane is fixed.
4. mass center test device as claimed in claim 3, which is characterized in that support plate (102) and the supporting hinges (101)
Between have stressed plate angular transducer (107).
5. mass center test device as claimed in claim 3, which is characterized in that the supporting mechanism includes stressed plate (103), institute
It is parallel with the turntable (104) table top, the support plate (102) to state stressed plate (103), the stressed plate (103) and rotation
The rotary shaft of turntable (104) is vertically fixed, and the load cell (105) is set to the stressed plate (103) and the support
Between plate (102).
6. a kind of mass center test method, which comprises the following steps:
(1) it is in subject support surface to be measured with horizontal plane in angle of cut γ plane, wherein 0 ° of 90 ° of < γ <；
(2) using the object center-of-mass coordinate to be measured as parameter, the mathematical relationship of itself and the supporting surface normal pressure is established；
(3) change the object centroid position to be measured according to known variable quantity, to change the normal pressure of its supporting surface；
(4) multiple mass center variable quantity and supporting surface normal pressure numerical value are obtained according to step (3), described in the acquisition of parameter fitting method
The center-of-mass coordinate of object to be measured.
7. test method as claimed in claim 6, which is characterized in that coordinate system is established with the supporting plane, determine described in
Coordinate of the object mass center to be measured in the coordinate system.
8. test method as claimed in claim 6, which is characterized in that step (3) is described to change institute according to known variable quantity
State object centroid position to be measured, comprising:
Change the object centroid position to be measured according to known variant amount in the supporting plane；And/or
Change the angle of cut γ of the supporting plane Yu the horizontal plane.
9. test method as claimed in claim 8, which is characterized in that the step (2) specifically:
Using mass center the turntable horizontal by angle of cut γ three-dimensional coordinate in a coordinate system as parameter, establish itself and dynamometry
Using turntable rotation angle as the relation function of variable between meter reading.
10. test method as claimed in claim 6, which is characterized in that application is as described in claim 1 to 5 any one
Mass center test device.
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| CN201910571080.9A CN110346084B (en) | 2019-06-28 | 2019-06-28 | Centroid detection device and method |
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Cited By (1)
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| CN114184319A (en) * | 2021-11-05 | 2022-03-15 | 河北汉光重工有限责任公司 | High-precision projectile body mass center measuring method |
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