CN111649853A - A micro-torque measurement device based on torque sensor - Google Patents
A micro-torque measurement device based on torque sensor Download PDFInfo
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Abstract
本发明公开一种基于力矩传感器的微力矩测量装置,包括由上面板、下面板、左面板、右面板、前面板和后面板构成的立方体机箱,前面板上设置有压力表和气压调节阀孔,右面板上设置有气压快速接头和航空插头,上面板中部设置有测量台,测量台用于固定待测电机的输出轴;上面板上表面还设置有水平泡,上面板的下表面安装有套筒,套筒内从上到下依次设置有空气静压轴承、联轴器、力矩传感器和抱死固定装置,空气静压轴承的顶端与测量台连接,空气静压轴承和力矩传感器之间通过联轴器相互连接,抱死固定装置内设置有用于固定力矩传感器的顶丝,抱死固定装置的底部与套筒底部固定连接。
The invention discloses a micro-torque measurement device based on a torque sensor, comprising a cubic case consisting of an upper panel, a lower panel, a left panel, a right panel, a front panel and a rear panel, and the front panel is provided with a pressure gauge and an air pressure regulating valve hole , the right panel is provided with air pressure quick connectors and aviation plugs, the middle of the upper panel is provided with a measuring table, which is used to fix the output shaft of the motor to be tested; the upper surface of the upper panel is also provided with a horizontal bubble, and the lower surface of the upper panel is installed with a Sleeve, aerostatic bearing, coupling, torque sensor and locking device are arranged in sequence from top to bottom in the sleeve. The top of the aerostatic bearing is connected with the measuring table, and between the aerostatic bearing and the torque sensor They are connected to each other through couplings, a top wire for fixing the torque sensor is arranged in the locking fixing device, and the bottom of the locking fixing device is fixedly connected with the bottom of the sleeve.
Description
技术领域technical field
本发明属于力矩测量领域,特别是一种基于力矩传感器的微力矩测量装置。The invention belongs to the field of torque measurement, in particular to a micro-torque measurement device based on a torque sensor.
背景技术Background technique
陀螺仪电机反作用力矩、电机干扰力矩、波动力矩等动态性能参数是衡量电机性能的重要指标,目前,传统的微小力矩测量装置主要是依据力平衡测量法和应变式测量法。力平衡测量法即被测力矩加载于传动轴上,力矩器根据角度传感器产生的角度变化对传动轴施加反力矩使其平衡,测得驱动电流即可得到被测力矩;应变式测量法即被测力矩加载于力矩传感器测量轴上,测量轴上安装有应变片,应变片组成测量电桥,由相应系统测量力矩产生的剪应变或剪应力,从而得到电桥输出电压变化,采集传感器输出电压可以测得被测力矩,该方法简单直观,但测量精度主要取决于传感器的测量精度,使用过程中存在有过载损坏的危险,同时需要保证安装传动轴和测量轴有较高的同轴度,加工及安装难度较高,抗干扰能力差,使用时有较大局限性。Dynamic performance parameters such as gyroscope motor reaction torque, motor disturbance torque, and fluctuating torque are important indicators to measure motor performance. At present, traditional micro-torque measurement devices are mainly based on force balance measurement method and strain measurement method. The force balance measurement method is that the measured torque is loaded on the transmission shaft, the torque device applies a counter torque to the transmission shaft according to the angle change generated by the angle sensor to make it balanced, and the measured torque can be obtained by measuring the driving current; The measuring torque is loaded on the measuring shaft of the torque sensor, and the measuring shaft is equipped with a strain gauge. The strain gauge constitutes a measuring bridge. The shear strain or shear stress generated by the torque is measured by the corresponding system, so as to obtain the output voltage change of the bridge and collect the output voltage of the sensor. The measured torque can be measured. This method is simple and intuitive, but the measurement accuracy mainly depends on the measurement accuracy of the sensor. There is a danger of overload damage during use. At the same time, it is necessary to ensure that the installation drive shaft and the measurement shaft have high coaxiality. The processing and installation are difficult, the anti-interference ability is poor, and there are great limitations in use.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了克服现有技术中的不足,提供一种基于力矩传感器的微力矩测量装置,用于实现陀螺仪电机反作用力矩、电机干扰力矩、波动力矩的测量,可以实现x、y、z方向的力矩测量。为了提高力矩测量精度采用将力矩传感器固定一端的设计方案,对抱死传感器一端轴的结构做出了设计发明;测量台上配有自标定力臂杆,简化对力矩测量的标定过程;采用空气静压轴承减小外界干扰对力矩测量带来的影响,提高测量精度及系统的稳定性;通过设计解决现有传统力矩传感器测量装置装卡困难、易过载损坏、测量精度不高等问题,提供一种高精度、低成本、易操作的微力矩测量装置,可推广用于多种电机微力矩测量场合。The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide a micro-torque measurement device based on a torque sensor, which is used to realize the measurement of the reaction torque of the gyroscope motor, the interference torque of the motor, and the fluctuation torque, and can realize x, y, Moment measurement in the z direction. In order to improve the torque measurement accuracy, the design scheme of fixing one end of the torque sensor is adopted, and a design invention is made for the structure of one end of the shaft of the locked sensor; the measuring table is equipped with a self-calibrating force arm, which simplifies the calibration process of torque measurement; air The hydrostatic bearing reduces the influence of external interference on the torque measurement, improves the measurement accuracy and the stability of the system; through the design, it solves the problems of the existing traditional torque sensor measurement device, which is difficult to install, easy to overload and damage, and the measurement accuracy is low. A high-precision, low-cost, and easy-to-operate micro-torque measuring device, which can be applied to various motor micro-torque measurement occasions.
本发明的目的是通过以下技术方案实现的:The purpose of this invention is to realize through the following technical solutions:
一种基于力矩传感器的微力矩测量装置,包括由上面板、下面板、左面板、右面板、前面板和后面板构成的立方体机箱,所述前面板上设置有压力表和气压调节阀孔,所述右面板上设置有气压快速接头和航空插头,所述上面板中部设置有测量台,所述测量台用于固定待测电机的输出轴;所述上面板上表面还设置有水平泡,所述上面板的下表面安装有套筒,所述套筒内从上到下依次设置有空气静压轴承、联轴器、力矩传感器和抱死固定装置,所述空气静压轴承的顶端与测量台连接,空气静压轴承和力矩传感器之间通过联轴器相互连接,所述抱死固定装置内设置有用于固定所述力矩传感器的顶丝,所述抱死固定装置的底部与套筒底部固定连接;所述空气静压轴承通过所述气压快速接头与外部气源连接,所述力矩传感器通过线缆和所述航空插头与位于机箱外的电控机箱连接,所述电控机箱与计算机连接。A micro-torque measurement device based on a torque sensor, comprising a cubic case consisting of an upper panel, a lower panel, a left panel, a right panel, a front panel and a rear panel, the front panel is provided with a pressure gauge and an air pressure regulating valve hole, The right panel is provided with an air pressure quick connector and an aviation plug, a measuring table is arranged in the middle of the upper panel, and the measuring table is used to fix the output shaft of the motor to be measured; the upper surface of the upper panel is also provided with a horizontal bubble, A sleeve is installed on the lower surface of the upper panel, and an aerostatic bearing, a coupling, a torque sensor and a locking fixing device are sequentially arranged in the sleeve from top to bottom. The measuring table is connected, and the aerostatic bearing and the torque sensor are connected to each other through a coupling. The locking fixing device is provided with a jack wire for fixing the torque sensor, and the bottom of the locking fixing device is connected to the sleeve. The bottom is fixedly connected; the air static pressure bearing is connected to the external air source through the air pressure quick connector, and the torque sensor is connected to the electric control case outside the case through the cable and the aviation plug, and the electric control case is connected to the electric control case. computer connection.
进一步的,上面板、下面板与左面板、右面板通过螺丝固定,所述前面板和后面板采用滑入方式安装形成所述机箱。Further, the upper panel, the lower panel, the left panel and the right panel are fixed by screws, and the front panel and the rear panel are installed in a sliding manner to form the chassis.
进一步的,所述力矩传感器通过传感器支架固定,所述传感器支架底部与套筒底部固定连接。Further, the torque sensor is fixed by a sensor bracket, and the bottom of the sensor bracket is fixedly connected to the bottom of the sleeve.
进一步的,所述测量台活动连接有用于标定微力矩测量装置的自标定力臂杆。Further, the measuring platform is movably connected with a self-calibration force arm for calibrating the micro-torque measuring device.
进一步的,所述空气静压轴承上设有与所述上面板下表面连接的法兰盘。Further, the aerostatic bearing is provided with a flange connected to the lower surface of the upper panel.
进一步的,所述机箱内设有调压器,气压调节阀采用伸出旋钮式结构伸出所述气压调节阀孔,从外部实现对空气静压轴承气压的控制。Further, a pressure regulator is provided in the chassis, and the air pressure regulating valve adopts a knob-type structure to extend out of the air pressure regulating valve hole, so as to control the air pressure of the air static pressure bearing from the outside.
进一步的,所述左面板和右面板上还设有把手。Further, handles are also provided on the left panel and the right panel.
与现有技术相比,本发明的技术方案所带来的有益效果是:Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are:
1.本发明微力矩测量装置能够用于实现陀螺仪电机反作用力矩、电机干扰力矩、波动力矩的测量,可以实现x、y、z方向的力矩测量。一台力矩仪即可完成对不同型号电机的径向、轴向力矩测量。1. The micro-torque measuring device of the present invention can be used to realize the measurement of the reaction torque of the gyroscope motor, the interference torque of the motor, and the fluctuation torque, and can realize the torque measurement in the x, y, and z directions. A single torque meter can complete the radial and axial torque measurement of different types of motors.
2.为了提高力矩测量精度将力矩传感器采用了固定一端的设计方案,设计发明抱死固定装置,对力矩传感器一端轴的结构通过抱死固定装置做出了可抱死设计。2. In order to improve the torque measurement accuracy, the torque sensor adopts the design scheme of fixing one end, and designs and invents a locking fixing device, and makes a lockable design for the structure of the shaft at one end of the torque sensor through the locking fixing device.
3.测量台上配有设计发明的自标定力臂杆,对设备进行标定时悬进自标定力臂杆,标定结束后取下自标定力臂杆,不增加力矩测量过程中的转动惯量,减小对力矩测量装置精度的影响,使测量更准确,同时极大的简化了对力矩装置的标定过程。3. The measuring table is equipped with a designed and invented self-calibration force arm. When the equipment is calibrated, the self-calibration force arm is suspended. After the calibration, the self-calibration force arm is removed without increasing the moment of inertia during the torque measurement process. It reduces the influence on the accuracy of the torque measuring device, makes the measurement more accurate, and greatly simplifies the calibration process of the torque device.
4.采用空气静压轴承,将电机产生的力矩通过空气静压轴承进行传递,极大的减小了外界摩擦等干扰力矩带来的影响,提高了测量精度及系统的稳定性。4. Using aerostatic bearing, the torque generated by the motor is transmitted through the aerostatic bearing, which greatly reduces the influence of interference torque such as external friction, and improves the measurement accuracy and the stability of the system.
5.为了避免出现联轴器连接力矩传感器与空气静压轴承的过程中同轴度安装误差,导致设备无法回到零点以及测量数值偏差过大的现象,采用弹性联轴器及抱死固定装置与力矩传感器支架全部固定在套筒上的设计,减少了微力矩测量装置同轴度的安装难度,仅通过调节任意一端位置即可实现安装同轴度的调试。弹性联轴器可以补偿径向、轴向偏差和角位移,便于同轴度的保证。5. In order to avoid the installation error of coaxiality in the process of coupling the torque sensor and the aerostatic bearing, which will cause the equipment to fail to return to the zero point and the deviation of the measured value is too large, an elastic coupling and a locking device are used. The design that the torque sensor bracket is all fixed on the sleeve reduces the installation difficulty of the coaxiality of the micro-torque measurement device, and the installation coaxiality can be debugged only by adjusting the position of either end. The elastic coupling can compensate radial, axial deviation and angular displacement, which is convenient for the guarantee of coaxiality.
6.基于力矩传感器的微力矩测量装置通过对力矩传感器一端固定,空气静压轴承、弹性联轴器及设计发明的抱死固定装置全部固定在套筒上的设计,极大提高了系统测量精度与稳定性,将选取力矩传感器的测量精度由1.5×10-5N·m极大地提升到了2×10- 6N·m,提高了一个数量级,提升了领域内采用力矩传感器的微力矩测量精度。6. The micro-torque measurement device based on the torque sensor is designed by fixing one end of the torque sensor, and the aerostatic bearing, elastic coupling and the designed and invented locking device are all fixed on the sleeve, which greatly improves the measurement accuracy of the system. and stability, the measurement accuracy of the selected torque sensor has been greatly improved from 1.5 × 10 -5 N·m to 2 × 10 - 6 N·m, which is an order of magnitude improved, and the measurement accuracy of the torque sensor used in the field is improved. .
7.抱死固定装置采用过盈配合及顶丝设计,顶丝通过顶固力矩计算设计,施加过载力矩时,顶丝失效,保护力矩传感器不会过载损坏;相比于传统测量装置装卡困难、易过载损坏、测量精度不高等问题,本发明力矩测量装置具有高精度、低成本、易操作且安全可靠等优点。7. The locking fixture adopts interference fit and top wire design. The top wire is calculated and designed by the top fixing torque. When an overload torque is applied, the top wire fails, and the torque sensor is protected from overload damage; compared with the traditional measuring device, it is difficult to install , easy overload damage, low measurement accuracy and other problems, the torque measurement device of the present invention has the advantages of high precision, low cost, easy operation, safety and reliability.
附图说明Description of drawings
图1是本发明微力矩测量装置的装配图。FIG. 1 is an assembly diagram of the micro-torque measuring device of the present invention.
图2是本发明微力矩测量装置的内部结构示意图。FIG. 2 is a schematic diagram of the internal structure of the micro-torque measuring device of the present invention.
图3是本发明微力矩测量装置的连接状态示意图。FIG. 3 is a schematic diagram of the connection state of the micro-torque measuring device of the present invention.
图4是本发明微力矩测量装置测量台与自标定力臂杆结构示意图。4 is a schematic structural diagram of the measuring table and the self-calibrating force arm of the micro-torque measuring device of the present invention.
图5是本发明微力矩测量装置内抱死固定装置的结构示意图。FIG. 5 is a schematic structural diagram of the locking and fixing device in the micro-torque measuring device of the present invention.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明作进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
如图1所示,本发明提供一种基于力矩传感器的微力矩测量装置,包括由上面板1、下面板2、左面板3、右面板4、前面板5和后面板构成的立方体机箱,上面板1中部安装测量台6,被测陀螺仪电机使用伸出轴工装插入测量台6中,工装通过紧固螺丝固定在测量台上,自标定力臂杆29可以悬进悬出测量台6实现对力矩测量装置的标定;上面板1、下面板2与左面板3、右面板4通过沉头螺丝13固定,前面板5、后面板采取滑入方式安装,简化与测量无关的安装;上面板1上安装有水平泡12,方便调节测量装置的水平;左面板和右面板上的把手8通过面板内侧的紧固螺丝固定;前面板5上通过螺丝固定有压力表外壳7,压力表安装于压力表外壳7上;内部空气静压轴承14采用充气接头15和气压快速接头10与外部气源26相接,机箱内置调压器,机箱内的气压调节阀9采用伸出旋钮式结构,从外部实现对空气静压轴承气压的控制;力矩传感器20信号经线缆通过右面板4上安装的航空插头11传入计算机处理,检查各部分固定可靠,对空气静压轴承14进行充气后,开始测量。As shown in FIG. 1 , the present invention provides a micro-torque measurement device based on a torque sensor, including a cubic case consisting of an upper panel 1, a
具体的,本实施例中套筒设计的是圆柱体,圆柱侧面有切面开窗处理,是半开放的,保证强度同时还保证对套筒内进行调节和观察。空气静压轴承与外部气源26相连的连接管就是从位于套筒侧面的一个开窗插入,前面板5上设有气压调节阀孔,气压通过伸出气压调节阀孔的气压调节阀9进行调节。Specifically, in this embodiment, the sleeve is designed as a cylinder, and the side of the cylinder has a cut surface window treatment, which is semi-open, which ensures the strength and also ensures that the inside of the sleeve can be adjusted and observed. The connecting pipe connecting the air static pressure bearing with the
本实施例微力矩测量装置内部结构如图2至图5所示,测量台6通过紧固螺丝与空气静压轴承14上端面连接;空气静压轴承14上安装有法兰盘,并通过紧固螺丝16将法兰盘与上面板1的下端面固定;空气静压轴承14下端与力矩传感器20轴通过弹性联轴器17相接,弹性联轴器17弹性作用补偿径向、角向和轴向偏差;力矩传感器20通过紧固螺丝22固定在传感器支架21上,传感器支架21与套筒18下端连接,将力矩传感器14自身重力影响分解到底面螺丝25上,减小对力矩测量的影响;力矩传感器20下轴插入下端抱死固定装置23,两者采用过盈配合,保证同轴度的同时使力矩传感器20下轴不便于发生相对转动,通过顶丝24对力矩传感器20下轴进行固定,便于传感器测量应变;抱死固定装置23通过紧固螺丝25固定在套筒18下端;套筒18通过紧固螺丝19固定在上面板1下端面上;将气管插入空气静压轴承充气接头15;此时,力矩测量装置安装完毕。The internal structure of the micro-torque measuring device in this embodiment is shown in Figures 2 to 5. The measuring table 6 is connected to the upper end face of the
本实施微测量装置的连接图如图3所示,使用线缆连接装置与电控机箱27,电控机箱27与上位机28相接,检查各部分固定可靠后,使用外部气源26对空气静压轴承14充气后,开始测量。力矩传感器通过线缆与航空插头与电控机箱27连接,电控机箱27与计算机28相接,检查各部分固定可靠后,使用外部气源26对空气静压轴承14充气后,开始测量。The connection diagram of the micro-measurement device in this embodiment is shown in Figure 3. The cable is used to connect the device to the
对于基于力矩传感器20的微力矩测量装置,结构相对简单,安装方便,弹性联轴器17可以补偿径向、轴向偏差和角位移,便于同轴度的保证;抱死固定装置23与传感器支架21全部固定在套筒18上的设计,套筒18安装于上面板1下端面,减少了力矩测量装置同轴度的安装难度,与弹性联轴器17配合,仅通过调节任意一端位置即可实现安装同轴度的调试;抱死固定装置23采用过盈配合及顶丝24设计,顶丝24通过顶固力矩计算设计,施加过载力矩时,顶丝24失效,保护力矩传感器20不会过载损坏;相比于传统测量装置装卡困难、易过载损坏、测量精度不高等问题,提供了一种高精度、低成本、易操作且安全可靠的微力矩测量装置。For the micro-torque measurement device based on the
本发明并不限于上文描述的实施方式。以上对具体实施方式的描述旨在描述和说明本发明的技术方案,上述的具体实施方式仅仅是示意性的,并不是限制性的。在不脱离本发明宗旨和权利要求所保护的范围情况下,本领域的普通技术人员在本发明的启示下还可做出很多形式的具体变换,这些均属于本发明的保护范围之内。The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above-mentioned specific embodiments are only illustrative and not restrictive. Without departing from the spirit of the present invention and the protection scope of the claims, those of ordinary skill in the art can also make many specific transformations under the inspiration of the present invention, which all fall within the protection scope of the present invention.
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