CN114112191A - Object mass center measuring device and object mass center measuring method - Google Patents
Object mass center measuring device and object mass center measuring method Download PDFInfo
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- CN114112191A CN114112191A CN202111673233.4A CN202111673233A CN114112191A CN 114112191 A CN114112191 A CN 114112191A CN 202111673233 A CN202111673233 A CN 202111673233A CN 114112191 A CN114112191 A CN 114112191A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000005303 weighing Methods 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 26
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000003860 storage Methods 0.000 description 32
- 230000003068 static effect Effects 0.000 description 13
- 230000009286 beneficial effect Effects 0.000 description 11
- 239000007788 liquid Substances 0.000 description 11
- 230000006872 improvement Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
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- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
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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
- G01M1/125—Determining position of centre of gravity of aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G21/00—Details of weighing apparatus
- G01G21/22—Weigh pans or other weighing receptacles; Weighing platforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G21/00—Details of weighing apparatus
- G01G21/23—Support or suspension of weighing platforms
- G01G21/235—Support or suspension of weighing platforms using knife-edge bearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G21/00—Details of weighing apparatus
- G01G21/24—Guides or linkages for ensuring parallel motion of the weigh-pans
- G01G21/241—Guides or linkages for ensuring parallel motion of the weigh-pans combined with knife-edge bearings
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Abstract
The invention relates to an object mass center measuring device and an object mass center measuring method, comprising a device base, wherein an object bearing seat for bearing an object to be measured is arranged on the device base, a swinging support structure is arranged between the object bearing seat and the device base and is used for swinging the object bearing seat along a horizontally extending swinging axis, and a balance detection device for detecting the balance state of the object bearing seat is also arranged between the object bearing seat and the device base; the object bearing seat is provided with a weight guide seat which extends along a straight line and is used for guiding the weight to move, the straight line of the extending direction of the weight guide seat is vertical to the swinging axis of the object bearing seat, and the object mass center measuring device also comprises a distance acquisition structure for acquiring the distance from the weight to the swinging axis; the device is characterized in that a weighing sensor is arranged on the base, and a swinging support structure is arranged between the weighing sensor and the object bearing seat and used for measuring the total mass of the object bearing seat and an object to be measured placed on the object bearing seat.
Description
Technical Field
The invention belongs to the field of mechanical balance detection, and particularly relates to an object mass center measuring device and an object mass center measuring method.
Background
The centroid plays an important role in some situations, such as important quality characteristic parameters of an aircraft, and therefore, the centroid of an object needs to be accurately measured during production, assembly and the like. In practical engineering, dynamic centroid measurement needs also exist, for example, a liquid storage tank is used for storing liquid, liquid needs to be drained or injected when the liquid is used, and the centroid can be dynamically changed. And for the storage tanks with the parallel structures, liquid is discharged or injected through the parallel pipelines, and the amount of liquid injected or discharged by different pipelines is different, so that dynamic mass center change also exists in the parallel direction of the storage tanks, and dynamic high-precision measurement is carried out on the mass center in the liquid feeding and discharging process of the storage tanks in the research and development test stage of the storage tanks, so that data support is provided for mastering the dynamic change process of the storage tanks and optimizing the design of the storage tanks.
At present, the main methods adopted by the method are three-point or four-point support weighing methods regardless of static mass center measurement or dynamic mass center measurement. The three-point support weighing method is to use three identical weighing sensors to measure the mass of the object to be measured together, and then calculate the mass center of the object to be measured according to static balance and static moment balance, such as the mass center measuring device disclosed in the patent document CN 112268607A. The four-point supporting weighing method is characterized in that the mass of an object to be measured is measured by four identical weighing sensors which are distributed in a rectangular shape, and then the mass center of the object to be measured is obtained through calculation according to static balance and static moment balance.
However, in both the three-point support weighing and the four-point support weighing, the measurement accuracy of the center of mass is determined by the accuracy of the weighing sensor. For products with large overall mass, a wide-range weighing sensor is usually selected to meet the support requirement, however, the precision of the wide-range weighing sensor is generally low, and each support point has a detection error, so that the three-point or four-point support weighing method cannot accurately measure the mass center of an object to be measured, the measurement precision is low, and the measurement precision requirement of a measurement scene with high precision requirement cannot be met.
Disclosure of Invention
The invention aims to provide an object mass center measuring device to solve the technical problem that a three-point or four-point support weighing method in the prior art is low in measuring accuracy.
In order to achieve the purpose, the technical scheme of the object mass center measuring device provided by the invention is as follows: an object mass center measuring device comprises a device base, wherein an object bearing seat used for bearing an object to be measured is arranged on the device base, a swing supporting structure is arranged between the object bearing seat and the device base and is used for enabling the object bearing seat to swing along a swing axis extending horizontally, and a balance detecting device used for detecting the balance state of the object bearing seat is also arranged between the object bearing seat and the device base; the object bearing seat is provided with a weight guide seat which extends along a straight line and is used for guiding the weight to move, the straight line of the extending direction of the weight guide seat is vertical to the swinging axis of the object bearing seat, and the object mass center measuring device also comprises a distance acquisition structure for acquiring the distance from the weight to the swinging axis; the device is characterized in that a weighing sensor is arranged on the base, and a swinging support structure is arranged between the weighing sensor and the object bearing seat and used for measuring the total mass of the object bearing seat and an object to be measured placed on the object bearing seat.
The beneficial effects are that: the object mass center measuring device provided by the invention has the advantages that the object to be measured is placed on the object bearing seat, the object bearing seat swings on the device base around the swing axis, the object bearing seat is balanced by adjusting the position of the weight on the weight guide seat, the balance detection device detects the balance state of the object bearing seat in real time, after the object bearing seat is balanced again, the distance acquisition structure acquires the horizontal distance between the weight and the swing fulcrum, the mass center of the object to be measured can be calculated only by the mass of the object to be measured according to the static moment balance principle, compared with the prior art that the three-point or four-point supporting weighing method needs to weigh at three positions or four positions of the object to be measured, the number of weighing sensors used during weighing is reduced, and then reduced weighing sensor to the influence of the accuracy of the object barycenter that records, improved the measurement accuracy of object barycenter.
As a further improvement, two ends of the swing axis on the object bearing seat are respectively provided with a swing fulcrum.
The beneficial effects are that: only set up the swing fulcrum at the both ends of swing axis, under the circumstances that the assurance object bears the seat and can swing, simplified the structure, be convenient for make.
As further improvement, be equipped with the linear electric motor module on the weight guide holder, the linear electric motor module drive weight removes, and the while is as being used for acquireing the weight to the distance of swing axis acquires the structure, and linear electric motor module, balanced detection device all are connected to controlling means.
The beneficial effects are that: the linear motor module can automatically control the weight to move through the control device, so that the measurement efficiency is improved, and the dynamic measurement of the distance from the weight to the swing axis can be realized.
As a further improvement, a rotor tray is arranged on the linear motor module, the linear motor module drives the rotor tray to move, and weights are placed on the rotor tray.
The beneficial effects are that: set up the active cell tray on linear electric motor module, can place the weight of different specifications on the active cell tray according to the object that awaits measuring of different masses, be favorable to improving object barycenter measuring device's application scope.
As a further improvement, the balance detection device is a displacement sensor near two swinging ends of the object bearing seat.
The beneficial effects are that: the displacement sensor can accurately and efficiently measure the swinging state of the object bearing seat without manual judgment, thereby being beneficial to improving the measurement efficiency and the measurement precision and realizing the dynamic measurement of the object bearing seat in the swinging process of the object bearing seat.
As a further improvement, the object bearing seat is provided with a turntable for placing an object to be tested.
The beneficial effects are that: can be through rotating the carousel to satisfy the detection demand of the object that awaits measuring under the different conditions, be favorable to improving object barycenter measuring device's application scope.
As a further improvement, the object mass center measuring device also comprises a limiting structure used for locking the object bearing seat on the device base.
The beneficial effects are that: the limiting structure locks the object bearing seat on the device base, can avoid the object bearing seat from swinging back and forth when the object mass center measuring device is in a standby state, and is favorable for prolonging the service life of the device.
As a further improvement, the limiting structure comprises positioning pins arranged on each side of the swinging axis of the object bearing seat and positioning pin mounting holes arranged on the device base corresponding to the positioning pins.
The beneficial effects are that: the positioning pin and the positioning pin mounting hole are simple in structure and convenient to manufacture.
As a further improvement, the object bearing seat is provided with a sinking weight bracket for placing the object to be tested, and the weight bracket is used for lowering the overall gravity center of the object bearing seat and the object to be tested below the swing axis of the object bearing seat.
The beneficial effects are that: the object to be measured is placed on the weight bracket of formula of sinking, reduces the focus of object to be measured, is favorable to reducing the space occupation when measuring the barycenter of object to be measured.
The technical scheme of the object centroid measuring method provided by the invention is as follows: a method for measuring the mass center of an object comprises the following three steps:
the method comprises the following steps: leveling of
The object to be measured is placed on the object bearing seat in a balanced state, and the position of a weight which is arranged on the object bearing seat and has the moving direction vertical to the swinging axis of the object bearing seat is adjusted according to the swinging direction of the object bearing seat, so that the object bearing seat is balanced.
Step two: distance measurement
And after the object bearing seat is balanced, acquiring the distance from the weight to the swing axis of the object bearing seat.
Step three, calculating the mass center
And calculating the mass center of the object to be measured in the direction vertical to the swing axis of the object bearing seat according to the condition that the sum of the torques of all the objects participating in the balance of the object bearing seat is zero.
The beneficial effects are that: the object mass center measuring method provided by the invention is characterized in that an object to be measured is placed on the object bearing seat, the object bearing seat swings on the device base around the swing axis, the object bearing seat is balanced by adjusting the position of the weight on the weight guide seat, the balance detection device detects the balance state of the object bearing seat in real time, after the object bearing seat is balanced again, the distance acquisition structure acquires the horizontal distance between the weight and the swing fulcrum, the mass center of the object to be measured can be calculated only by the mass of the object to be measured according to the static moment balance principle, compared with the prior art that the three-point or four-point supporting weighing method needs to weigh at three positions or four positions of the object to be measured, the number of weighing sensors used during weighing is reduced, and then reduced weighing sensor to the influence of the accuracy of the object barycenter that records, improved the measurement accuracy of object barycenter.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of an apparatus for measuring the centroid of an object according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of an assembly of a magnetic grid displacement sensor;
fig. 4 is a schematic structural diagram of a second embodiment of the device for measuring the centroid of an object according to the present invention.
Description of reference numerals: 1. a device base; 2. a base plate; 3. supporting legs; 4. swinging the support table; 5. a limiting support table; 6. a first step; 7. a second step; 8. a limiting block; 9. an object carrying seat; 10. a seat body; 11. a weight bracket; 12. a weight guide seat; 13. a linear motor module; 14. a mover tray; 15. a turntable; 16. a rotating shaft; 17. an object to be measured; 18. a weighing sensor; 19. a support block; 20. a knife edge structure; 21. mounting blocks; 22. a magnetic tape; 23. a magnetic grid displacement sensor; 24. a lower side edge; 25. positioning pins; 26. a laser displacement sensor; 27. an upper support plate; 28. a lower support plate; 29. a supporting seat; 30. the storage tanks are connected in parallel; 31. a liquid inlet pipeline; 32. a support frame; 33. a drainage line; 34. a rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that, in the embodiments of the present invention, relational terms such as "first" and "second", and the like, which may be present in the embodiments, are only used for distinguishing one entity or operation from another entity or operation, and do not necessarily require or imply that such actual relationships or orders between the entities or operations exist. Also, terms such as "comprises," "comprising," or any other variation thereof, which may be present, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the appearances of the phrase "comprising an … …" or similar limitation may be present without necessarily excluding the presence of additional identical elements in the process, method, article, or apparatus that comprises the same elements.
In the description of the present invention, unless otherwise explicitly specified or limited, terms such as "mounted," "connected," and "connected" that may be present are to be construed broadly, e.g., as a fixed connection, a releasable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
In the description of the present invention, unless otherwise specifically stated or limited, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be detachable or non-detachable. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
The present invention will be described in further detail with reference to examples.
as shown in fig. 1 and 2, the object centroid measuring device includes a device base 1, an object bearing seat 9 and a balance detecting device are arranged on the device base 1, the object bearing seat 9 is used for placing an object 17 to be detected, and the balance detecting device is used for detecting the balance state of the object bearing seat 9.
The device base 1 comprises a rectangular bottom plate 2, four supporting legs 3 are arranged below the bottom plate 2, and the four supporting legs 3 are respectively arranged at the positions of four corners of the bottom plate 2 so as to support the whole device base 1. The longitudinal direction of the base plate 2 is the left-right direction, and the width direction of the base plate 2 is the front-back direction.
The object bearing seat 9 is integrally of a frame structure and comprises a seat body 10 and a weight bracket 11.
Two swing fulcrums are arranged on the lower surface of the seat body 10, the two swing fulcrums are arranged oppositely in the front-back direction, the swing fulcrums are knife edge structures 20, and vertex angles of the knife edge structures 20 face downwards. The knife edge structure 20 as a fulcrum of oscillation is prior art. In order to realize the swinging of the object bearing seat 9 on the device base 1, a swinging support platform 4 is respectively arranged corresponding to two swinging supporting points in the front-back direction above the bottom plate 2, the two swinging support platforms 4 extend vertically, a weighing sensor 18 is arranged at the top end of the swinging support platform 4, a supporting block 19 is arranged on the weighing sensor 18, a knife slot with an upward opening is arranged on the supporting block 19 and is used for adaptively supporting the swinging supporting points on the object bearing seat 9, the swinging supporting points and the supporting block 19 form a swinging support structure, so that when the object bearing seat 9 is placed on the device base 1, the object bearing seat 9 can swing left and right on the device base 1, and the straight line where the connecting line of the two swinging supporting points forms the swinging axis of the object bearing seat 9. The top ends of the two swing supporting tables 4 are provided with the weighing sensors 18, so that the mass of the object 17 to be measured can be measured conveniently, and the mass measurement of the object 17 to be measured with the mass in dynamic change can be realized.
Displacement sensors are arranged on the lower surfaces of the two swing ends of the seat body 10, in the embodiment, the displacement sensors are magnetic grid displacement sensors 23, specifically, as shown in fig. 3, two side edges in the left and right directions above the bottom plate 2 are respectively provided with one limiting support table 5, the outer side edge of the top end of each limiting support table 5 is provided with a first step 6, the magnetic grid displacement sensors 23 are mounted on the first steps 6, correspondingly, mounting blocks 21 are arranged below the left and right side edges of the seat body 10, magnetic tapes 22 are arranged on the vertical side surfaces of the mounting blocks 21 and used for being matched with the magnetic grid displacement sensors 23 to form a balance detection device, the swing state of the object bearing seat 9 is detected in real time, and the balance state of the object bearing seat 9 is ensured when the object 17 to be detected is measured.
In order to avoid the too large amplitude of the left-right swing of the object bearing seat 9, a swing limit is arranged in the left-right swing direction of the object bearing seat 9, specifically, a second step 7 is arranged at the top of the limit support platform 5, the second step 7 is positioned at the inner side of the first step 6 and is higher than the first step 6, a triangular limit block 8 is arranged at the top of the second step 7, and the apex angle of the limit block 8 faces upwards and is used for blocking the swing end of the object bearing seat 9 to avoid the too large amplitude of the swing of the object bearing seat 9.
Linear motor modules are prior art, while linear motors can be considered as an evolution of rotating electrical machines in terms of structure, which can be seen as a rotating electrical machine that is split radially and then the circumference of the machine is stretched into a straight line. If the motor is correspondingly understood with the rotating motor, the linear motor is equivalent to the stator of the rotating motor and is called as a primary; the rotor of the rotating motor is called as a secondary, the primary is provided with alternating current, and the secondary moves linearly along the primary under the action of electromagnetic force. In this scheme we call the secondary of the linear motion the mover.
The left-right direction is defined as the Y direction, and the front-back direction is defined as the Z direction.
Before the centroid measurement is carried out on the object 17 to be measured, the rotating disc 15 is rotated to the position 1, weights are placed on the rotor tray 14, and the total mass of the rotor tray 14 and the weights is recorded as MPThe control device controls the linear motor module 13 to drive the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and the horizontal distance between the weight in the Y direction and the swing axis of the object bearing seat 9 in the balanced state is recorded to be L1(ii) a Then the rotating disk 15 is rotated by 90 degrees to the position 2, and the horizontal distance L between the weight in the Z direction and the swing axis of the object bearing seat 9 in the balanced state is recorded in the same way2(ii) a And records the readings M of the two load cells 18 at that time1And M2。
When the centroid of the object 17 to be measured is measured, the object 17 to be measured is placed on the rotary table 15, the rotary table 15 is rotated to the position 1, the control device controls the linear motor module 13 to drive the rotor tray 14 to move left and right so that the object bearing seat 9 reaches a balanced state, and the horizontal distance between the weight and the swing axis of the object bearing seat 9 in the Y direction under the balanced state is recorded as L3(ii) a Rotating the turntable 15 by 90 degrees to the position 2, and recording the horizontal distance L between the balance weight and the swing axis of the object bearing seat 9 in the Z direction4(ii) a And records the readings M of the two load cells 18 at that time3And M4。
Then by the formula M ═ M3+M4-M1-M2Calculating the mass M of the object 17 to be measured; based on the principle of static moment balance, the formula Y is (M)p*(L3-L1) Calculating the mass center Y of the object 17 to be measured in the Y direction by using the equation Z (M) in the same wayp*(L4-L2) M) calculates the centroid Z of the object 17 to be measured in the Z direction.
The object mass center measuring device provided by the invention is characterized in that an object to be measured 17 is placed on an object bearing seat 9, the object bearing seat 9 swings on a device base 1 around a swing axis, the object bearing seat 9 is balanced by adjusting the position of a weight on a weight guide seat 12, a balance detecting device detects the balance state of the object bearing seat 9 in real time, after the object bearing seat 9 is balanced again, a distance acquiring structure acquires the horizontal distance between the weight and a swing fulcrum, the mass center of the object to be measured 17 can be calculated only by the mass of the object to be measured 17 according to the static moment balance principle, compared with the prior art that a three-point or four-point support weighing method is adopted to weigh three positions or four positions of the object to be measured 17, the number of weighing sensors 18 used during weighing is reduced, and further the influence of the weighing sensors 18 on the accuracy of the measured object mass center is reduced, the measurement accuracy of the mass center of the object is improved.
the present embodiment is different from embodiment 1 in that: in embodiment 1, the object bearing seat 9 is provided with a turntable 15, the object 17 to be measured is placed on the turntable 15, and the center of mass of the object 17 to be measured in different directions can be measured by rotating the turntable 15. In this embodiment, the object bearing seat 9 is not provided with a turntable, and the object 17 to be measured is placed on the sinking weight bracket 11 of the object bearing seat 9, and in this embodiment, the mass center of the parallel storage tank 30 of the aircraft is measured as an example, as shown in fig. 4:
the seat body 10 of the object bearing seat 9 is provided with a through hole matched with the parallel storage box 30 in shape, so that the parallel storage box 30 passes through the object bearing seat 9 and is placed on the weight bracket 11.
The weight bracket 11 is provided with an upper support plate 27 and a lower support plate 28 which are arranged at intervals, and the lower support plate 28 is used for installing the linear motor module 13. The upper supporting plate 27 is provided with a mounting structure for placing the parallel storage tanks 30, the mounting structure comprises two supporting seats 29 which are arranged in parallel, the shapes of the supporting seats 29 are matched with the shapes of the bottoms of the storage tanks so that the parallel storage tanks 30 can be stably placed on the object bearing seat 9, and through holes are arranged at the bottoms of the supporting seats 29 and the lower supporting plate 28 in a penetrating manner so that a liquid discharge pipeline 33 of the parallel storage tanks 30 can pass through the through holes.
The upper surface of the seat body 10 of the object bearing seat 9 is provided with a support frame 32 for supporting the liquid inlet pipeline 31 of the parallel connection storage box 30. The downside that the object bore seat 9 is equipped with downside border 24, the position that corresponds two swing brace table 4 on the lower surface of downside border 24 is provided with respectively and bears the rotation axis 34 that the seat 9 outside extended towards the object, correspondingly, the installation piece 21 on two weighing sensor 18 all is equipped with the arc groove with rotation axis 34 adaptation, rotation axis 34 forms the swing bearing structure with the arc groove adaptation, so that when the object bore seat 9 was placed on device base 1, object bore seat 9 can be on device base 1 horizontal hunting, the straight line at two rotation axis 34's line place forms the swing axis that the object bore seat 9.
The second step 7 of two spacing brace tables 5 is equipped with the locating pin mounting hole in the side of stopper 8, and the position that corresponds the locating pin mounting hole on the downside border 24 that the object bore seat 9 is equipped with the locating hole to when barycenter measuring device standby, bear seat 9 lock nail on device base 1 with the object through cartridge locating pin 25, locating pin 25 forms limit structure with the locating pin mounting hole, avoids the object to bear seat 9 and swings at will, improves the object and bears the life of seat 9.
The first step 6 of the two limit supporting tables 5 is provided with a laser displacement sensor 26, and the laser displacement sensor 26 is used as a balance detection device and can directly measure the swing state of the object bearing seat 9.
Before the mass center of the parallel storage box 30 is measured, weights are placed on the rotor tray 14, and the total mass of the rotor tray 14 and the weights is recorded as MPThe control device controls the linear motor module 13 to drive the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and the horizontal distance between the weight and the swing axis of the bearing seat 9 in the balanced state is recorded to be L1And records the readings M of the two load cells 18 at that time1And M2。
When the mass center of the parallel storage box 30 is measured, the parallel storage box 30 is placed on the weight bracket 11, and the control deviceControlling the linear motor module 13 to drive the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and recording that the horizontal distance between the weight and the swing axis of the bearing seat 9 is L in the balanced state2And records the readings M of the two load cells 18 at that time3And M4。
Then by the formula M ═ M3+M4-M1-M2Calculating the mass M of the parallel storage tanks 30; based on the principle of static moment balance, the formula Y is (M)p*(L2-L1) The Y center of mass of the parallel storage box 30 in the Y direction is calculated by the x/M, the parallel storage box 30 is symmetrical in the Z direction due to the spherical structure, the center of mass is positioned on the swing axis of the object bearing seat 9, the specific value of the center of mass is zero, and no extra measurement is needed.
the present embodiment is different from embodiment 1 in that: in embodiment 1, the weight guide seat 12 is provided with the linear motor module 13, the linear motor module 13 is provided with the mover tray 14, the weight is placed on the mover tray 14, and the linear motor module 13 drives the mover tray 14 to move with the weight. In the embodiment, the rotor tray 14 is directly guided to the weight guide seat 12, the laser displacement sensor is arranged on the swing support platform 4, the rotor tray 14 is manually moved, and the value measured by the laser displacement sensor is the distance from the weight to the swing axis of the object bearing seat 9.
the present embodiment is different from embodiment 1 in that: in embodiment 1, the weight guide seat 12 is provided with the linear motor module 13, the linear motor module 13 is provided with the mover tray 14, the weight is placed on the mover tray 14, and the linear motor module 13 drives the mover tray 14 to move with the weight. In this embodiment, the weight is directly mounted on the linear motor module 13, and the linear motor module 13 drives the weight to move.
the present embodiment is different from embodiment 2 in that: in embodiment 2, the positioning pin 25 and the positioning pin mounting hole form a limiting structure. In this embodiment, the second step 7 of the limiting support platform 5 of the device base 1 is provided with a bolt mounting hole, the object bearing seat 9 is locked on the device base 1 by penetrating and installing a positioning bolt, and the positioning bolt and the bolt mounting hole form a limiting structure.
the present embodiment is different from embodiment 2 in that: in example 2, the weight holder 11 of the sinking design was provided with a support base 29, and the parallel storage tanks 30 to be tested were placed in the support base 29. In this embodiment, the supporting seat is directly disposed on the upper surface of the object bearing seat 9, the parallel storage tank 30 is disposed in the supporting seat, and the bottom of the supporting seat penetrates through the object bearing seat 9 and is provided with a through hole for the liquid discharge pipeline 33 of the parallel storage tank 30.
The invention also provides an embodiment of the object centroid measuring method:
the method for measuring the mass center of the object comprises three steps of leveling, ranging and calculating the mass center.
Leveling: before the centroid measurement is carried out on the object 17 to be measured, the rotating disc 15 is rotated to the position 1, a weight with mass is placed on the rotor tray 14, and the total mass of the rotor tray 14 and the weight is recorded as MPThe linear motor module 13 controls the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and the horizontal distance between the weight in the Y direction and the swing axis of the object bearing seat 9 in the balanced state is recorded to be L1(ii) a Then the rotating disk 15 is rotated by 90 degrees to the position 2, and the horizontal distance L between the weight in the Z direction and the swing axis of the object bearing seat 9 in the balanced state is recorded in the same way2(ii) a And records the readings M of the two load cells 18 at that time1And M2；
Ranging: placing an object 17 to be measured on a turntable 15, rotating the turntable 15 to the position 1, and recording the horizontal distance L between the weight and the swing axis of the object bearing seat 9 in the Y direction in the balance state after the object bearing seat 9 reaches the balance state3(ii) a Rotating the turntable 15 by 90 degrees to position 2, recording the balance state weight in the same wayThe horizontal distance between the Z direction and the swing axis of the object bearing seat 9 is L4(ii) a And records the readings M of the two load cells 18 at that time3And M4；
Calculating the mass center: by the formula M ═ M3+M4-M1-M2Calculating the mass M of the object 17 to be measured; based on the principle of static moment balance, the formula Y is (M)p*(L3-L1) Calculating the mass center Y of the object 17 to be measured in the Y direction by using the equation Z (M) in the same wayp*(L4-L2) M) calculates the centroid Z of the object 17 to be measured in the Z direction.
The method for measuring the mass center of the object is also suitable for the object 17 to be measured with the mass in dynamic change, taking the mass center of the parallel storage box 30 as an example, the method comprises the following steps:
step one, leveling: before the mass center of the parallel storage box 30 is measured, weights are placed on the rotor tray 14, and the total mass of the rotor tray 14 and the weights is recorded as MPThe control device controls the linear motor module 13 to drive the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and the horizontal distance between the weight and the swing axis of the bearing seat 9 in the balanced state is recorded to be L1And records the readings M of the two load cells 18 at that time1And M2。
Step two, ranging: the parallel storage box 30 is placed on the weight bracket 11, the control device controls the linear motor module 13 to drive the rotor tray 14 to move left and right to enable the object bearing seat 9 to reach a balanced state, and the horizontal distance between the weight and the swing axis of the bearing seat 9 in the balanced state is recorded as L2And records the readings M of the two load cells 18 at that time3And M4。
Step three, calculating the mass center: by the formula M ═ M3+M4-M1-M2Calculating the mass M of the parallel storage tanks 30; based on the principle of static moment balance, the formula Y is (M)p*(L2-L1) M) is calculated, the mass center Y of the parallel storage tank 30 in the Y direction is calculated, the parallel storage tank 30 is symmetrical in the Z direction due to the spherical structure of the parallel storage tank,the mass center is positioned on the swinging axis of the object bearing seat 9, and the specific numerical value of the mass center is zero, so that additional measurement is not needed.
The invention provides a method for measuring the mass center of an object, an object to be measured 17 is placed on an object bearing seat 9, the object bearing seat 9 swings on a device base 1 around a swing axis, the object bearing seat 9 is balanced by adjusting the position of a weight on a weight guide seat 12, a balance detection device detects the balance state of the object bearing seat 9 in real time, after the object bearing seat 9 is balanced again, a distance acquisition structure acquires the horizontal distance between the weight and a swing fulcrum, the mass center of the object to be measured 17 can be calculated only by the mass of the object to be measured 17 according to the static moment balance principle, compared with the prior art that a three-point or four-point support weighing method is adopted to weigh three positions or four positions of the object to be measured 17, the number of weighing sensors 18 used during weighing is reduced, and further the influence of the weighing sensors 18 on the accuracy of the measured mass center of the object is reduced, the measurement accuracy of the mass center of the object is improved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all changes in the structure equivalent to the content of the description and the drawings of the present invention should be considered as being included in the scope of the present invention.
Claims (10)
1. An object mass center measuring device is characterized by comprising a device base (1), wherein an object bearing seat (9) used for bearing an object (17) to be measured is arranged on the device base (1), a swinging support structure is arranged between the object bearing seat (9) and the device base (1) and is used for swinging the object bearing seat (9) along a horizontally extending swinging axis, and a balance detection device used for detecting the balance state of the object bearing seat (9) is also arranged between the object bearing seat (9) and the device base (1); the object bears and is equipped with on seat (9) along the straight line extension, supplies weight guide seat (12) that the weight direction removed, and the straight line perpendicular to object that weight guide seat (12) extending direction belongs to bears the swing axis of seat (9), and object barycenter measuring device still is including being used for obtaining the weight and arriving the distance of swing axis acquires the structure. The device is characterized in that a weighing sensor (18) is arranged on the device base (1), the swing supporting structure is arranged between the weighing sensor (18) and the object bearing seat (9) and used for measuring the total mass of the object bearing seat (9) and an object (17) to be measured placed on the object bearing seat (9).
2. The device for measuring the mass center of an object according to claim 1, wherein the object bearing seat (9) is provided with a swing fulcrum at each of two ends of the swing axis.
3. The device for measuring the mass center of an object according to claim 1 or 2, wherein a linear motor module (13) is arranged on the weight guide seat (12), the linear motor module (13) drives the weight to move, and meanwhile, as a distance acquisition structure for acquiring the distance from the weight to the swing axis, the linear motor module (13) and the balance detection device are both connected to the control device.
4. The device for measuring the mass center of an object according to claim 3, wherein a rotor tray (14) is arranged on the linear motor module (13), the linear motor module (13) drives the rotor tray (14) to move, and a weight is placed on the rotor tray (14).
5. The device for measuring the centroid of an object as claimed in claim 1 or 2, characterized in that said balance detection means are displacement sensors close to the two swinging ends of said object carrying seat (9).
6. The device for measuring the mass center of an object according to claim 1 or 2, wherein a turntable (15) for placing the object (17) to be measured is arranged on the object bearing seat (9).
7. The object centroid measuring device according to claim 1 or 2, characterized in that it further comprises a limit structure for locking the object carrier seat (9) on the device base (1).
8. The object centroid measuring device according to claim 7, characterized in that the limiting structure comprises a positioning pin (25) disposed on each side of the swing axis of the object bearing seat (9) and a positioning pin mounting hole disposed on the device base (1) corresponding to each positioning pin (25).
9. The device for measuring the centroid of an object as claimed in claim 1 or 2, wherein the object bearing seat (9) is provided with a sinking weight bracket (11) for placing the object (17) to be measured, and the device is used for lowering the overall centroid of the object bearing seat (9) and the object (17) to be measured below the swing axis of the object bearing seat (9).
10. A method for measuring the mass center of an object is characterized by comprising the following three steps:
the method comprises the following steps: leveling of
The method comprises the steps of placing an object (17) to be measured on an object bearing seat (9) in a balanced state, adjusting the position of a weight which is arranged on the object bearing seat (9) and has the moving direction vertical to the swinging axis of the object bearing seat (9) according to the swinging direction of the object bearing seat (9), and balancing the object bearing seat (9).
Step two: distance measurement
And after the object bearing seat (9) is balanced, acquiring the distance from the weight to the swing axis of the object bearing seat (9).
Step three, calculating the mass center
And calculating the mass center of the measured object in the direction vertical to the swing axis of the object bearing seat (9) according to the condition that the sum of the torques of all the objects participating in the balance of the object bearing seat (9) is zero.
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