CN110514871A - A kind of calibration switching mechanism of high-precision six-dimension acceleration sensor and scaling method - Google Patents
A kind of calibration switching mechanism of high-precision six-dimension acceleration sensor and scaling method Download PDFInfo
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- CN110514871A CN110514871A CN201910826737.1A CN201910826737A CN110514871A CN 110514871 A CN110514871 A CN 110514871A CN 201910826737 A CN201910826737 A CN 201910826737A CN 110514871 A CN110514871 A CN 110514871A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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Abstract
The present invention relates to a kind of calibration switching mechanism of high-precision six-dimension acceleration sensor and scaling methods, the mechanism includes pedestal, sliding platform and rotation system, pedestal is made of rack, sleeve, drive rack, gear shaft, driving gear, driven gear and the first adjusting gear rack, sleeve is mounted at stander end, drive rack is set in sleeve, and driving gear, driven gear are mounted on gear shaft；Sliding platform is made of slide plate, driven rack gear and the second adjusting gear rack, and driven rack gear is mounted on slide plate end, and driven rack gear is meshed with driven gear；Rotation system is made of shaft, thrust ball bearing and calibration gear, and thrust ball bearing is mounted in shaft, and calibration gear is mounted on thrust ball bearing, and calibration gear is meshed with the first adjusting gear rack or the second adjusting gear rack.It is an advantage of the invention that bearing capacity is strong, the calibration for realizing a variety of acceleration can be synchronized and calibration synchronizes；Driving is stablized, and is run smoothly, easily controllable, and output accuracy is high, improves stated accuracy.
Description
Technical field
The present invention relates to a kind of calibration switching mechanism of high-precision six-dimension acceleration sensor and conversion methods, belong to multidimensional and add
Velocity sensor or inertial navigation technical field.
Background technique
With the continuous development of science and technology and the requirement for recognizing objective world is continuously improved in people, and people compel to be essential
The motion information of carrier is obtained as this multivariant sensitive instrumentation of six-dimension acceleration sensor.Six-dimension acceleration sensing
Device can detect three-dimensional line acceleration and three dimensional angular acceleration simultaneously, be the critical elements for obtaining object of which movement parameter,
It is widely used in fields such as robot, virtual reality, space flight and aviation, Precision Machining, automation controls, six-dimension acceleration sensing
Utensil has wide practical use.After six-dimension acceleration sensor processing assembles, need to carry out calibration test to sensor, really
Determine the relationship between the input of sensor and output, the precision for demarcating loading device directly affects the measurement accuracy of sensor, because
This, the research of high-accuracy calibration device is of great significance.
It is at present based on motor-driven calibrating device mostly for the research of six-dimension acceleration sensor caliberating device.Specially
Benefit number discloses a kind of calibrating platform of six-dimensional acceleration transducer for 201010236968.6 Chinese patent, which passes through back
The rotary motion for turning platform provides acceleration source to six-dimension acceleration sensor, by changing pose platform on revolving platform
Position acts on sensor different acceleration amplitudes.The shortcoming of the patent be cannot to sensor implement linear acceleration and
The synchronous calibration of angular acceleration, causes calibration information not comprehensive.Meanwhile document " a kind of piezoelectric six-dimension acceleration sensor
Calibration method research " a kind of sensor testing method is proposed, it is utilized respectively line vibration excitor equipment and angle excitational equipment, is obtained each
Accelerometer output amplitude, and then calculate the attitude error and location error of sensor.The deficiency of the document is linear acceleration
Different with angular acceleration calibration facility, corresponding Static output drift value is different, and the load-bearing capacity of caliberating device is weaker.Specially
Benefit number discloses a kind of calibrating platform of six-dimensional acceleration transducer and scaling method for 201210138831.6 patent of invention, specially
Benefit number discloses a kind of six-dimension acceleration sensor experimental rig and its test method for 201811372358.1 patent of invention,
The two is to make by two groups of sliding platforms of motor driven, and then by the connection type of two groups of sliding platforms of adjusting to sensor
With different linear acceleration and angular acceleration, available comprehensive calibration information.But there is system design mechanism compared with
More, processing and assembling are more inconvenient；System vibration is larger, runs unstable；It is not easy to the disadvantages of adjusting transformation motion mode.
In summary, there are the following problems for existing six-dimension acceleration sensor caliberating device:
(1) there are biggish errors for motor driven output itself, cause the error of calibration result larger；
(2) driving motor control is more difficult, and calibrating platform serious vibration is driven unstable；
(3) structure is complicated, is not easy to adjust motion mode.
Summary of the invention
It is an object of the invention to: it is directed to above-mentioned disadvantage of the existing technology, proposes that a kind of stated accuracy is high, be easy to control
System, stable and reliable in work, the comprehensive six-dimension acceleration sensor of calibration information demarcate switching mechanism and the mechanism are utilized to carry out
The scaling method of calibration.
In order to reach the goals above, the present invention provides a kind of high-precision six-dimension acceleration sensors to demarcate switching mechanism,
Including pedestal, sliding platform and rotation system, the pedestal mainly by rack, sleeve, drive rack, gear shaft, driving gear,
Driven gear and the first adjusting gear rack composition, the sleeve are mounted at stander end, and the drive rack is set in sleeve, and
And the drive rack is meshed with driving gear, the driving gear, driven gear are mounted on gear shaft by flat key；Institute
Sliding platform to be stated mainly to be made of slide plate, driven rack gear and the second adjusting gear rack, the driven rack gear is mounted on the end of slide plate,
And the driven rack gear is meshed with driven gear；The rotation system mainly by shaft, thrust ball bearing, calibration gear and
Positioning pin composition, the thrust ball bearing are mounted in shaft, and the calibration gear is mounted on thrust ball bearing, and described
Calibration gear is meshed with the first adjusting gear rack or the second adjusting gear rack.
Vibration excitor is connect by the present invention by shaft coupling with drive rack, to drive sliding platform in the sliding slot of pedestal
It realizes and moves back and forth；Two rotation systems are connected on pedestal or sliding platform to realize in a manner of different calibration, and two
Standard acceler and acceleration transducer to be calibrated are separately connected on a rotation system.
Preferably, first adjusting gear rack is directly installed on the side wall of rack.
Preferably, second adjusting gear rack is mounted on L plate, and the L plate is mounted on slide plate.
In above structure, the first adjusting gear rack is mounted in the first positioning groove of frame side wall, can pass through adjusting
The overhang for adjusting bolt and controlling the first adjusting gear rack that its outside connects, and then control the first adjusting gear rack and demarcate gear
Matching relationship, the first adjusting gear rack along slide plate slides direction without moving；And the second adjusting gear rack is to be fixed by L plate with slide plate
Connection, it by controlling the installation of L plate and slide plate, and then controls the second adjusting gear rack and demarcates the cooperation of gear, individually marking
When determining angular acceleration, the second adjusting gear rack can be moved together with slide plate.
Preferably, the rack includes frame body, is respectively equipped with side wall and sliding slot in the two sides of the frame body；Institute
The both ends for stating gear shaft are separately mounted on the side wall of rack；Tolerable sliding tooth is formed among at the end of the frame body
The first U-type groove that item passes through is located above the first U-type groove in the frame body and is equipped with sleeve.
Preferably, it is formed with stepped hole at the end of the side wall, is equipped in the stepped hole and is matched with gear shaft
The outside of bearing, the bearing has bearing (ball) cover；The first positioning groove is formed at the intermediate position of the side wall, described first
Adjustable first adjusting gear rack is installed, the first adjusting gear rack is connected by adjusting bolt with side wall in positioning groove；Institute
The intermediate position for stating frame body, which is equipped with, can be connected with the rotating shaft positioning convex platform.
Preferably, the slide plate includes skateboard body, and the skateboard body is in inverted concave, at the end of the skateboard body
It is formed with the second U-type groove, the two sides at the end of the skateboard body positioned at the second U-type groove are formed with the matched with driven rack gear
Two positioning grooves are formed with slot in the centre of the skateboard body, and slot two sides are located in the skateboard body
Two the 4th positioning grooves are formed respectively with, a third positioning groove, the third positioning are formed on the right side of the skateboard body
Mountable L plate in groove.
Preferably, multiple keyways are formed on the gear shaft, the keyway is provided with flat key, and the flat key is separately connected
Gear, driven gear are driven, the driving gear, driven gear pass through the shaft shoulder being arranged on gear shaft and axle sleeve positioning.
Preferably, the shaft includes the shaft ontology being connected and fixed plate, and the fixed plate is mounted on determining for rack
(other two kinds calibration modes, i.e. linear acceleration in 4th positioning groove of (angular acceleration is individually demarcated) or slide plate on the boss of position
Calibration synchronous with angular acceleration and the independent calibration of linear acceleration), it is formed on the shaft ontology and prolongs in the axial direction
The positioning pin groove stretched is formed with dowel hole on the calibration gear, and the positioning pin can be inserted into positioning pin groove, dowel hole
In.
In above structure, positioning pin is for preventing calibration gear from rotating relative to shaft.It is individually marked when carrying out linear acceleration
Periodically, insertion positioning pin to demarcate gear and slide plate does identical sliding motion.When carry out angular acceleration it is independent calibration with
When synchronous with the angular acceleration calibration of linear acceleration, insertion positioning pin is not needed；When carrying out static demarcating, positioning pin is inserted all
It can be with.
Preferably, there are two the calibration gears, one of calibration gear connects standard acceler, another
It demarcates gear and connects acceleration transducer to be calibrated；The drive rack is connected by the mandril of shaft coupling and vibration excitor.
Working principle of the present invention is as follows: vibration excitor can drive drive rack to pump, due to sliding tooth
Item is meshed with the driving gear on gear shaft, this can drive sliding tooth wheel to rotate, while with the driven tooth on movable gear shaft
Wheel rotation, and since driven gear is meshed with the driven rack gear on slide plate, slide plate is finally able to drive integrally along the cunning of rack
Slot moves horizontally.When the shaft of rotation system is mounted in the 4th positioning groove of slide plate, the peace of the first adjusting gear rack is adjusted
Holding position makes it be meshed with calibration gear, and the L plate of the second adjusting gear rack of band is fitted without on slide plate at this time, and slide plate is mobile
When, the calibration gear being mounted on slide plate can also move, this allows for generating between calibration gear and the first adjusting gear rack
Relative motion is not inserted into positioning pin, calibration gear rotation at this time in shaft；When the shaft of rotation system is mounted on the positioning of rack
When on boss, the installation site of the first adjusting gear rack of adjustment separates it with calibration gear, while by the L of the second adjusting gear rack of band
Plate is mounted in the third positioning groove of slide plate, so that the second adjusting gear rack is meshed with calibration gear, when slide plate is mobile, is mounted on
The second adjusting gear rack on slide plate moves, so that relative motion is generated between the second adjusting gear rack and calibration gear, due to
Positioning pin, calibration gear rotation are not inserted into shaft.In addition, shaft is solid when in the positioning pin groove of positioning pin insertion shaft
Due in the 4th positioning groove of slide plate, the first, second adjusting gear rack does not engage with calibration gear, carries out linear acceleration at this time
Calibration.
The present invention also provides a kind of high-precision six-dimension acceleration sensor scaling methods, comprising the following steps:
S1, basic process
S101, vibration excitor are worked with driving function s=dcos (ω t), and driving slide plate is back and forth transported in the sliding slot of rack
It is dynamic；
S102, rotation system are connected with slide plate, and the linear displacement function of the calibration gear of rotation system is s1=dcos(ωt)；Calibration
Gear is matched with the first adjusting gear rack, calibration gear around the shaft central axis angular displacement function be φ=(d/r) cos (ω
T), wherein r is the radius for demarcating gear compound graduation circle；
S103, the linear acceleration function for demarcating gear are a1=ω2Dcos (ω t), angular acceleration function are ε1=(d/r) ω2 cos
(ωt)；
The position of S104, the installation site by changing shaft and the first adjusting gear rack of adjustment or the second adjusting gear rack obtain complete
The calibration information in face；
S2, corresponding calibration is realized by way of following four calibration
Shaft is fixed in the 4th positioning groove among slide plate, while adjusting and being located at machine by S201, the first calibration mode-
The first adjusting gear rack in the first positioning groove of frame side wall makes it be meshed with calibration gear, and positioning pin is not inserted into shaft,
Two calibration gears obtain identical linear acceleration and angular acceleration, linear acceleration a1=ω2Dcos (ω t), angular acceleration
For ε1=(d/r) ω2cos(ωt)；The linear acceleration of standard acceler and acceleration transducer undetermined is a1=ω2The angular acceleration of dcos (ω t), standard acceler and acceleration transducer to be calibrated is ε1=(d/r) ω2cos(ω
T), the working method is for linear acceleration calibration synchronous with angular acceleration；
Shaft is fixed in the 4th positioning groove among slide plate by S202, second of calibration mode-, adjusts the first adjusting tooth
Item separates it with calibration gear, and the L plate of the second adjusting gear rack of band is not installed on slide plate, while positioning pin being inserted into and is turned
In the positioning pin groove of axis, the linear acceleration of standard acceler and acceleration transducer to be calibrated is a1=ω2dcos(ω
T), the angular acceleration size of standard acceler and acceleration transducer to be calibrated is 0, which adds for line
The independent calibration of speed；
Shaft is fixed among rack on the positioning convex platform at position by S203, the third calibration mode-, and L plate is fixed on slide plate
In the third positioning groove of side, engages the second adjusting gear rack on L plate with calibration gear, extracts the positioning pin in shaft,
The linear acceleration of standard acceler and acceleration transducer to be calibrated is 0, standard acceler and to be calibrated
The angular acceleration size of acceleration transducer is ε1=(d/r) ω2Cos (ω t), the working method are independent for angular acceleration
Calibration；
S204, the 4th kind of calibration mode-close the power supply of vibration excitor, and driving function is 0 at this time, standard acceler
Linear acceleration and angular acceleration with acceleration transducer to be calibrated are 0, which accelerates for linear acceleration and angle
The static demarcating of degree.
In 4th kind of calibration mode, entire calibrating platform is static, and the installation site of positioning pin, shaft and adjusting gear rack is equal
It can arbitrarily determine.
The present invention can be realized the independent mark of calibration synchronous with angular acceleration to the linear acceleration of sensor, linear acceleration
The static demarcating of fixed, angular acceleration independent calibration and linear acceleration and angular acceleration；It overcomes merely using vibration excitor to biography
Sensor can only carry out the calibration of linear acceleration and the defect that vibration excitor load-bearing capacity is weak when being demarcated；It simultaneously can be to avoid tradition
The large error and problem more rambunctious that motor driven is brought in calibration mode.
After applying the present invention, it is able to solve the deficiency of traditional technology, is brought the following benefits:
(1) bearing capacity is strong, can synchronize the calibration for realizing a variety of acceleration, and demarcate synchronization；
(2) overall structure it is simple, it is easy to process and assembling, convenient for adjust transformation motion mode；
(3) driving is stablized, and is run smoothly, easily controllable, and output accuracy is high, improves stated accuracy.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is the structural schematic diagram that six-dimension acceleration sensor of the invention demarcates switching mechanism.
Fig. 2 is the assembling schematic diagram of pedestal and sliding platform in the present invention.
Fig. 3 is the structural schematic diagram of rack in the present invention.
Fig. 4 is the structural schematic diagram of middle slide plate of the present invention.
Fig. 5 is the structural schematic diagram of shaft in the present invention.
Fig. 6 is the structural schematic diagram of middle gear axis of the present invention.
Fig. 7 is the structural schematic diagram of middle sleeve of the present invention.
Fig. 8 is the structural schematic diagram of rotation system in the present invention.
In figure: 1. vibration excitors, 2. shaft couplings, 3. racks, 301. frame bodies, 302. side walls, 303. sliding slots, 304. first
U-type groove, 305. first positioning grooves, 306. positioning convex platforms, 307. pillars, 4. sleeves, 401. square cylinders, 402. mounting plates,
5. gear shaft, 501. axle sleeves, 502 keyways, 6. bearing (ball) covers, 7. driving gears, 7 ' driven gears, 8. driven rack gears, 9. drivings
Rack gear, 10. slide plates, 1001. skateboard bodies, 1002. second U-type grooves, 1003. second positioning grooves, 1004. slots,
1005. third positioning grooves, 1006. the 4th positioning grooves, 11. first adjusting gear racks, 11 ' the second adjusting gear racks of, 12. calibration
Gear, 13. standard accelers, 14. acceleration transducers to be calibrated, 15. shafts, 1501. shaft ontologies, 1502. is solid
Fixed board, 1503. positioning pin grooves, 16. thrust ball bearings, 17.L plate, 18. positioning pins.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Embodiment one
As depicted in figs. 1 and 2, a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism, including pedestal, sliding platform
And rotation system.Wherein, pedestal mainly by rack 3, sleeve 4, drive rack 9, gear shaft 5, axle sleeve 501, driving gear 7, from
Moving gear 7 ' and the first adjusting gear rack 11 composition, sleeve 4 are mounted at 3 end of rack, and drive rack 9 is set in sleeve 4, and
Drive rack 9 is meshed with driving gear 7, and drive rack 9 is connect by shaft coupling 2 with the mandril of vibration excitor 1, driving gear 7,
Driven gear 7 ' is mounted on gear shaft 5 by flat key, and the both ends of gear shaft 5 are separately mounted on the side wall of rack 3, and first adjusts
Section rack gear 11 is directly installed on the side wall of rack 3.As shown in figure 3, rack 3 includes frame body 301, side wall 302, sliding slot
303, the first U-type groove 304, the first positioning groove 305, positioning convex platform 306 and pillar 307, frame body 301 are rectangular slab,
Pillar 307 there are four setting on the bottom surface of rectangular slab, is respectively equipped with side wall 302 in the two sides of frame body 301 from outside to inside
With sliding slot 303, sliding slot 303 extends along 301 length direction of frame body；It is formed among at the end of frame body 301 tolerable
The first U-type groove 304 that drive rack 9 passes through is located above the first U-type groove 304 in frame body 301 and is equipped with sleeve 4, in machine
It is located at 304 two sides of the first U-type groove at the end of frame ontology 301 and is formed with screw hole, is equipped with screw with the screw hole.As shown in fig. 7, set
Cylinder 4 includes the square cylinder 401 and mounting plate 402 being connected, and the inner cavity of square cylinder 401 is matched with drive rack 9, is installed
Plate 402 is fixed at 301 end of frame body by above-mentioned screw.In addition, being formed with stepped hole, stepped hole at the end of side wall 302
The bearing matched with gear shaft 5 is inside installed, the outside of bearing has bearing (ball) cover 6；The intermediate position of side wall 302 in left side
It is formed with the first positioning groove 305, adjustable first adjusting gear rack 11 is installed in first positioning groove 305；In frame body
301 intermediate position is equipped with two positioning convex platforms 306 that can be connect respectively with shaft 15.As shown in fig. 6, being made on gear shaft 5
There are three keyway 502, keyway 502 is provided with flat key, and intermediate flat key connection driving gear 7, it is driven that two sides flat key is separately connected one
Gear 7 ' is arranged between driving gear 7 and driven gear 7 ' and between right side driven gear 7 ' and the right end of gear shaft 5
There is axle sleeve 501, driving gear 7, driven gear 7 ' are positioned by the shaft shoulder and axle sleeve 501 that are arranged on gear shaft 5.
Sliding platform is mainly made of slide plate 10, driven rack gear 8, L plate 17 and the second adjusting gear rack 11 ', and driven rack gear 8 is pacified
Mounted in the end of slide plate 10, and driven rack gear 8 is meshed with driven gear 7 ', and the second adjusting gear rack 11 ' is mounted on L plate 17
On, L plate 17 is mounted on slide plate 10.As shown in figure 4, slide plate 10 includes skateboard body 1001, skateboard body 1001 is in inverted concave,
The two sides of skateboard body 1001 are matched with sliding slot 303 respectively, and tolerable sliding tooth is formed at the end of skateboard body 1001
The second U-type groove 1002 that item 9 passes through, at the end of skateboard body 1001 positioned at the second U-type groove 1002 two sides be formed with it is driven
The second positioning groove 1003 that rack gear 8 matches is formed with corresponding with two positioning convex platforms 306 in the centre of skateboard body 1001
Slot 1004 is located at 1004 two sides of slot in skateboard body 1001 and is formed respectively with two the 4th positioning grooves
1006, mountable shaft 15 in the 4th positioning groove 1006 is formed with a third positioning groove on the right side of skateboard body 1001
1005, the L plate 17 of mountable the second adjusting gear rack 11 ' of band in third positioning groove 1005.
As shown in figure 8, rotation system is mainly made of shaft 15, thrust ball bearing 16, calibration gear 12 and positioning pin 18,
Thrust ball bearing is mounted in shaft 15, and calibration gear 12 is mounted on thrust ball bearing 16, and demarcates gear 12 and first
Adjusting gear rack 11 or the second adjusting gear rack 11 ' are meshed.It demarcates there are two gears 12, one of calibration gear 12 connects standard
Acceleration transducer 13, another calibration gear 12 connect acceleration transducer 14 to be calibrated.As shown in figure 5, shaft 15 includes
The shaft ontology 1501 and fixed plate 1502 being connected, fixed plate 1502 are mountable on the positioning convex platform 306 of rack 3 or slide plate
In 10 the 4th positioning groove 1006, it is formed with the positioning pin groove 1503 extended in the axial direction on shaft ontology 150, demarcates
It is formed with dowel hole on gear 12, positioning pin 18 can be plugged into positioning pin groove 1503, in dowel hole.
A kind of high-precision six-dimension acceleration sensor scaling method, comprising the following steps:
S1, basic process
(in formula, s indicates that the driving function of vibration excitor 1, d indicate driving width with driving function s=dcos (ω t) for S101, vibration excitor 1
Value, ω indicate driving frequency, and t indicates the time) it works, driving slide plate 10 is back and forth transported in the sliding slot 303 of rack 3
It is dynamic；
S102, rotation system are connected with slide plate 10, and the linear displacement function of the calibration gear 12 of rotation system is s1=dcos(ωt)
(in formula, s1Indicate the linear displacement function of calibration gear 12)；Calibration gear 12 is matched with the first adjusting gear rack 11, demarcates gear
12 around the shaft 15 central axis angular displacement function be φ=(d/r) cos (ω t), wherein r be demarcate 12 reference circle of gear partly
Diameter, φ indicate the angular displacement function of calibration gear；
S103, the linear acceleration function for demarcating gear 12 are a1=ω2Dcos (ω t), angular acceleration function are ε1=(d/r) ω2
cos(ωt)；
The position of S104, the installation site by changing shaft 15 and the first adjusting gear rack 11 of adjustment or the second adjusting gear rack 11 ',
Obtain comprehensive calibration information.
S2, corresponding calibration is realized by way of following four calibration
S201, the first calibration mode: shaft 15 is fixed in the 4th positioning groove 1006 among slide plate 10, is adjusted simultaneously
The first adjusting gear rack 11 in 3 the first positioning groove of side wall 305 of rack makes it be meshed with calibration gear 12 and (slides at this time
Second adjusting gear rack 11 ' is not installed on plate 10), two calibration gears 12 obtain identical linear acceleration and angular acceleration, line
Acceleration is a1=ω2Dcos (ω t), angular acceleration ε1=(d/r) ω2cos(ωt)；Standard acceler 13 and to
The linear acceleration for determining acceleration transducer 14 is a1=ω2Dcos (ω t), standard acceler 13 and acceleration to be calibrated pass
The angular acceleration of sensor 14 is ε1=(d/r) ω2Cos (ω t), the working method is for linear acceleration mark synchronous with angular acceleration
It is fixed；
S202, second of calibration mode: shaft 15 is fixed in the 4th positioning groove 1006 among slide plate 10, adjustment first
Adjusting gear rack 11 makes it separate with calibration gear 12 and (also not install the second adjusting gear rack 11 ' on slide plate 10 at this time), while will determine
Position pin 18 is inserted into the positioning pin groove 1503 of shaft 15, standard acceler 13 and acceleration transducer to be calibrated 14
Linear acceleration be a1=ω2Dcos (ω t), the angular acceleration of standard acceler 13 and acceleration transducer to be calibrated 14
Size is 0, which is used for the independent calibration of linear acceleration；
S203, the third calibration mode: shaft 15 is fixed on the positioning convex platform 306 at the intermediate position of rack 3, L plate 17 is consolidated
Due in the third positioning groove 1005 of 10 side of slide plate, make the second adjusting gear rack 11 ' on L plate 17 with calibration gear 12 engage
(the first adjusting gear rack 11 is separated with calibration gear 12 at this time), standard acceler 13 and acceleration transducer to be calibrated 14
Linear acceleration be 0, the angular acceleration size of standard acceler 13 and acceleration transducer to be calibrated 14 is ε1=
(d/r) ω2Cos (ω t), the working method are used for the independent calibration of angular acceleration；
S204, the 4th kind of calibration mode: the power supply of vibration excitor 1 is closed, driving function is 0 at this time, standard acceler
13 and the linear acceleration and angular acceleration of acceleration transducer to be calibrated 14 be 0, which is used for linear acceleration and angle
The static demarcating of acceleration.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (10)
1. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism, it is characterised in that: including pedestal, sliding platform and turn
Dynamic system, the pedestal is mainly by rack (3), sleeve (4), drive rack (9), gear shaft (5), driving gear (7), driven tooth
(7 ') and the first adjusting gear rack (11) composition are taken turns, the sleeve (4) is mounted at rack (3) end, drive rack (9) setting
In sleeve (4), and the drive rack (9) is meshed with driving gear (7), the driving gear (7), driven gear
(7 ') are mounted on gear shaft (5) by flat key；The sliding platform is mainly adjusted by slide plate (10), driven rack gear (8) and second
Save rack gear (11 ') composition, the driven rack gear (8) is mounted on the end of slide plate (10), and the driven rack gear (8) with it is driven
Gear (7 ') is meshed；The rotation system is mainly by shaft (15), thrust ball bearing (16), calibration gear (12) and positioning pin
(18) it forms, the thrust ball bearing is mounted on shaft (15), and the calibration gear (12) is mounted on thrust ball bearing (16)
On, and the calibration gear (12) is meshed with the first adjusting gear rack (11) or the second adjusting gear rack (11 ').
2. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: described
First adjusting gear rack (11) is mounted on the side wall of rack (3).
3. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: described
Second adjusting gear rack (11 ') is mounted on L plate (17), and the L plate (17) is mounted on slide plate (10).
4. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 2, it is characterised in that: described
Rack (3) includes frame body (301), is respectively equipped with side wall (302) and sliding slot in the two sides of the frame body (301)
(303)；The both ends of the gear shaft (5) are separately mounted on the side wall of rack (3)；At the end of the frame body (301)
Centre is formed with the first U-type groove (304) that tolerable drive rack (9) passes through, and the first U is located on the frame body (301)
Sleeve (4) are equipped with above type groove (304).
5. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 4, it is characterised in that: in institute
It states and is formed with stepped hole at the end of side wall (302), the bearing matched with gear shaft (5), the axis are installed in the stepped hole
The outside held has bearing (ball) cover (6)；It is formed with the first positioning groove (305) at the intermediate position of the side wall (302), described
Adjustable first adjusting gear rack (11) is installed in one positioning groove (305)；At the intermediate position of the frame body (301)
Equipped with the positioning convex platform (306) that can be connect with shaft (15).
6. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: described
Slide plate (10) includes skateboard body (1001), and the skateboard body (1001) is in inverted concave, in the skateboard body (1001)
It is formed with the second U-type groove (1002) at end, the two sides system of the second U-type groove (1002) is located at the end of the skateboard body (1001)
There is the second positioning groove (1003) matched with driven rack gear (8), is formed in the centre of the skateboard body (1001) rectangular
Shape hole (1004), on the skateboard body (1001) being located at slot (1004) two sides, to be formed respectively with two the 4th positioning recessed
Slot (1006) is formed with a third positioning groove (1005), the third positioning groove on the right side of the skateboard body (1001)
(1005) mountable L plate (17) in.
7. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: in institute
It states and is formed on gear shaft (5) multiple keyways (502), the keyway (502) is provided with flat key, and the flat key is separately connected sliding tooth
Take turns (7), driven gear (7 '), driving gear (7), driven gear (7 ') by be arranged the shaft shoulder on gear shaft (5) and
Axle sleeve (501) positioning.
8. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: described
Shaft (15) includes the shaft ontology (1501) being connected and fixed plate (1502), and the fixed plate (1502) is mounted on rack
(3) it on positioning convex platform (306) or in the 4th positioning groove (1006) of slide plate (10), is made on the shaft ontology (1501)
There is the positioning pin groove (1503) extended in the axial direction, is formed with dowel hole, the positioning pin on the calibration gear (12)
(18) positioning pin groove (1503) be can be inserted into, in dowel hole.
9. a kind of high-precision six-dimension acceleration sensor demarcates switching mechanism according to claim 1, it is characterised in that: described
It demarcates there are two gear (12), one of calibration gear (12) connection standard acceler (13), another calibration tooth
It takes turns (12) and connects acceleration transducer (14) to be calibrated；The drive rack (9) passes through the top of shaft coupling (2) and vibration excitor (1)
Bar connection.
10. a kind of high-precision six-dimension acceleration sensor scaling method, which comprises the following steps:
S1, basic process
S101, vibration excitor (1) are worked with driving function s=dcos (ω t), sliding slot of driving slide plate (10) in rack (3)
(303) it moves back and forth in；
S102, rotation system are connected with slide plate (10), and the linear displacement function of the calibration gear (12) of rotation system is s1=dcos(ω
t)；Calibration gear (12) is matched with the first adjusting gear rack (11), the angle of calibration gear (12) (15) central axis around the shaft
Shifting function is φ=(d/r) cos (ω t), and wherein r is the radius for demarcating gear (12) reference circle；
S103, the linear acceleration function for demarcating gear (12) are a1=ω2Dcos (ω t), angular acceleration function are ε1=(d/r) ω2
cos(ωt)；
S104, the installation site by changing shaft (15) and adjustment the first adjusting gear rack (11) or the second adjusting gear rack (11 ')
Position, obtain comprehensive calibration information；
S2, corresponding calibration is realized by way of following four calibration
Shaft (15) is fixed in the 4th intermediate positioning groove (1006) of slide plate (10) by S201, the first calibration mode-,
Adjustment is located at the first adjusting gear rack (11) in rack (3) the first positioning groove of side wall (305) simultaneously, makes itself and calibration gear
(12) it is meshed, two calibration gears (12) obtain identical linear acceleration and angular acceleration, linear acceleration a1=ω2dcos
(ω t), angular acceleration ε1=(d/r) ω2cos(ωt)；Standard acceler (13) and acceleration transducer undetermined
(14) linear acceleration is a1=ω2Dcos (ω t), standard acceler (13) and acceleration transducer to be calibrated (14)
Angular acceleration is ε1=(d/r) ω2cos(ωt)；
Shaft (15) is fixed in the 4th intermediate positioning groove (1006) of slide plate (10) by S202, second of calibration mode-,
Adjusting the first adjusting gear rack (11) separates it with calibration gear (12), while positioning pin (18) is inserted into determining for shaft (15)
In position pin groove (1503), the linear acceleration of standard acceler (13) and acceleration transducer to be calibrated (14) is a1=
ω2The angular acceleration size of dcos (ω t), standard acceler (13) and acceleration transducer to be calibrated (14) is 0；
Shaft (15) is fixed on the positioning convex platform (306) at the intermediate position of rack (3) by S203, the third calibration mode-, by L
Plate (17) is fixed in the third positioning groove (1005) of slide plate (10) side, makes the second adjusting gear rack (11 ') on L plate (17)
It is engaged with calibration gear (12), the linear acceleration of standard acceler (13) and acceleration transducer to be calibrated (14) is
0, the angular acceleration of standard acceler (13) and acceleration transducer to be calibrated (14) is ε1=(d/r) ω2cos(ω
t)；
S204, the 4th kind of calibration mode-close the power supply of vibration excitor (1), and driving function is 0 at this time, normal acceleration sensing
The linear acceleration and angular acceleration of device (13) and acceleration transducer to be calibrated (14) are 0.
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