CN114323440A - Two-dimensional centroid measuring device and measuring method thereof - Google Patents
Two-dimensional centroid measuring device and measuring method thereof Download PDFInfo
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- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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Abstract
A two-dimensional centroid measuring device and a measuring method thereof relate to the technical field of instrument measurement. The invention aims to solve the problems that the centroid of the existing measured object is difficult to measure or the measurement precision is low. The invention comprises a scale pan, a bottom plate, three floating fulcrums of a clamp and three sensors, wherein the bottom plate is horizontally arranged, the three sensors are uniformly distributed on the upper part of the bottom plate along the circumferential direction of the same circle, the floating fulcrums are arranged above the sensors, the scale pan is erected at the upper ends of the three floating fulcrums, and the clamp is arranged on the scale pan. The invention is used for measuring the projection position of the mass center of the workpiece on the horizontal plane.
Description
Technical Field
The invention relates to the technical field of instrument measurement, in particular to a two-dimensional centroid measuring device and a measuring method thereof.
Background
With the development of science and technology, more accurate and simpler methods for obtaining the mass and the mass center of parts such as blades, loads, projectiles and the like are needed in the fields of aviation, aerospace, war industry, power and the like. The current common measurement methods comprise a suspension method, a static method and a dynamic method, and have the defects of poor precision, low efficiency and high cost. Therefore, a new accurate and fast centroid measuring device needs to be developed, and a new technology and a new device are provided for mechanical measurement.
Disclosure of Invention
The invention provides novel centroid measuring equipment based on a static measuring method and a measuring method thereof, aiming at solving the problems that the centroid of the existing measured object is difficult to measure or the measuring precision is low.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a two dimension barycenter measuring device includes scale, bottom plate, the three fulcrum and the three sensor that float of anchor clamps, and the bottom plate level sets up, and the circumferencial direction equipartition along same circle on the upper portion of bottom plate is equipped with three sensor, and the top of sensor is equipped with the fulcrum that floats, and the scale has been erect to the upper end of the three fulcrum that floats, is equipped with anchor clamps on the scale.
Furthermore, overload protection is arranged between the sensor and the upper end face of the bottom plate.
Furthermore, the floating fulcrum, the sensor and the overload protection at the same end of the bottom plate are coaxially arranged.
Further, the sensor is a pressure sensor.
Furthermore, the floating fulcrum is a single-point supporting mechanism and only transmits positive pressure in the vertical direction.
Furthermore, four calibration interfaces are arranged on the scale pan, and special calibration weights are matched in the calibration interfaces.
A measuring method using the two-dimensional centroid measuring device comprises the following steps:
the method comprises the following steps: firstly, coordinates of three floating fulcrums are obtained through calibration weights;
step two: taking down the calibration weight, and clamping the object to be measured on the scale pan;
step three: respectively measuring the weight borne by the three floating fulcrums through three sensors;
step four: and analyzing according to the pressure value of each sensor to obtain the position coordinate of the mass center of the object to be measured relative to the weighing scale.
Further, the obtaining of the coordinates of the three floating pivot points in the first step includes the following processes: the method comprises the steps of establishing a scale coordinate system by taking the center of a scale as an original point, determining the coordinates of four calibration interfaces according to the respective positions of the four calibration interfaces, respectively placing weights with known weight into three calibration interfaces, calibrating the positions of floating fulcrums, and obtaining the coordinates of the three floating fulcrums.
Further, the obtaining of the coordinates of the three floating pivot points in the first step further includes the following steps:
the position coordinates of each floating fulcrum relative to the scale are calibrated through weights with known weights according to a formula (1)
Wherein in the formula (1), m is the weight of the weight, x1Is the x-axis coordinate when the weight is placed at the first calibration interface,
the supporting force x of three floating supporting points when the weight is placed at the first calibration interfacea、xb、xcX axial coordinates of the three floating pivot points; put the weight respectively in three demarcation interface, substitute formula (1) with the supporting force of three demarcation interface and the three unsteady fulcrum that corresponds, as shown in formula (2), wherein r is weight barycenter position, and then solves 6 unknowns according to formula (2), as shown in formula (3):
wherein in the formula (2), m is the weight of the weight, r is the distance between the calibration interface and the coordinate axis, the coordinates of the three calibration interfaces are (r, r), (-r, r) and (-r, -r) respectively,
the supporting force of three floating supporting points when the weight is placed at the first calibration interface,
the supporting force of three floating supporting points when the weight is placed at the second calibration interface,
the supporting force, x, of three floating fulcrums when weights are placed at the third calibration interfacea、xb、xcIs the x-axis coordinate, y, of three floating fulcrumsa、yb、ycThe y-axis coordinates of the three floating pivot points.
Further, in the fourth step, the supporting force F of the three floating supporting points is obtained according to the third stepa、Fb、FcCalculating by using a formula to obtain the position coordinate of the mass center of the object to be measured relative to the scale to obtain a formula (4)
Wherein in the formula (4), m is the weight of the object to be measured, Fa、Fb、FcThe supporting force x of three floating supporting points when the object to be measured is put ina、xb、xcIs the x-axis coordinate, y, of three floating fulcrumsa、yb、ycThe coordinate is the y axial coordinate of the three floating pivot points, x is the x axial coordinate of the centroid of the object to be detected, and y is the y axial coordinate of the centroid of the object to be detected.
Compared with the prior art, the invention has the following beneficial effects:
the floating fulcrum and the scale plate eliminate shear stress and horizontal tension, so that the sensor is only subjected to the gravity from a measured object, and the mass center measurement precision is improved.
The invention enables the tool clamp, the scale pan and the floating fulcrum to have higher position precision through the spigot of the scale pan and the calibration process, has simple and reliable structure and further improves the centroid measurement precision.
And thirdly, a precisely assembled clamp is arranged on the scale pan and matched with specially developed measurement software, so that the distance between the quality center of the measured object and the reference position can be rapidly measured.
The invention has the advantages of low cost, safe use and reliability, and can be used for measuring the two-dimensional mass center of a single article and expanding the measurement of a plurality of articles by accessing different measurement modules.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a top view of the present invention;
fig. 4 is a sectional view of the floating fulcrum 1 of the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the two-dimensional centroid measuring device of the embodiment includes a scale pan 4, a bottom plate 5, a clamp 6, three floating pivots 1 and three sensors 2, the bottom plate 5 is horizontally disposed, the three sensors 2 are uniformly disposed on the upper portion of the bottom plate 5 along the circumferential direction of the same circle, the floating pivots 1 are disposed above the sensors 2, the scale pan 4 is erected on the upper ends of the three floating pivots 1, and the clamp 6 is disposed on the scale pan 4.
The weighing device with the floating fulcrum, the sensor and the scale as main parts can weigh an article and measure the two-dimensional centroid distance of the article relative to a reference position. The device has the characteristics of compact structure, high precision, high measurement efficiency and strong adaptability.
The scale 4 connects the three sets of sensors 2 together, so that the geometric form and the installation position of the measured object can not generate extra component force to the sensors 2, and the sensors 2 only receive the gravity in the vertical direction.
The floating fulcrum 1 is a special supporting device, and only can apply positive pressure to the sensor 2, and does not apply shearing force to the sensor 2.
The floating pivot 1 comprises an arc seat 1-1, a flat seat 1-2, a supporting ball 1-4, a plurality of elastic supporting columns 1-3 and a plurality of rivets 1-5, the arc seat 1-1 is arranged under the flat seat 1-2, the middle part of the upper end surface of the arc seat 1-1 is provided with an arc groove 1-1-1, the middle part of the lower end surface of the flat seat 1-2 is provided with a cylindrical groove 1-2-1, the supporting ball 1-4 is arranged between the arc groove 1-1-1 and the cylindrical groove 1-2-1, the outer diameter of the supporting ball 1-4 is larger than the sum of the maximum groove depth of the arc groove 1-1-1 and the groove depth of the cylindrical groove 1-2-1, the elastic supporting columns 1-3 are evenly distributed and arranged between the arc seat 1-1 and the flat seat 1-2 in a floating way along the circumferential direction, the rivets 1-5 are evenly distributed and float between the arc seat 1-1 and the flat seat 1-2 along the circumferential direction.
In the embodiment, the arc seat 1-1 and the flat seat 1-2 are coaxially arranged.
The circular arc seat 1-1 and the flat seat 1-2 are provided with a circular arc groove 1-1-1 and a cylindrical groove 1-2-1, and can be used for placing a supporting ball 1-4, wherein the supporting ball 1-4 is only subjected to normal positive pressure from the circular arc seat 1-1 and the flat seat 1-2.
The arc seat 1-1 and the flat seat 1-2 are connected by an elastic support column 1-3 and a rivet 1-5, but gaps exist in the connection, and the support ball 1-4, the arc seat 1-1 and the flat seat 1-2 can swing in a small range.
Holes with the same phase are arranged between the circular arc seat 1-1 and the flat seat 1-2 and used for placing the elastic support columns 1-3 and the rivets 1-5, the support balls 1-4 are placed in the middle, and the rivets 1-5 connect the circular arc seat 1-1 with the flat seat 1-2 to prevent the support balls 1-4 from falling off.
The special calibration analysis algorithm can obtain X, Y coordinates of the three floating pivot points 1 relative to the scale pan 4 and X, Y coordinates of the measured object centroid relative to the scale pan 4 by calibrating the known weights and analyzing the stress condition of the sensor 2.
The scale plate 4 and the clamp 6 have a certain assembly relation, and the clamp 6 and the reference position of the measured object have a certain geometric relation, so that a two-dimensional position relation from the quality center of the measured object to the reference position of the measured object in the horizontal direction is obtained.
The second embodiment is as follows: the present embodiment will be described with reference to fig. 1 to 4, and an overload protector 3 is provided between the sensor 2 and the upper end surface of the base plate 5 according to the present embodiment. Technical features not disclosed in the present embodiment are the same as those of the first embodiment.
The third concrete implementation mode: the present embodiment is described with reference to fig. 1 to 4, and the floating fulcrum 1, the sensor 2 and the overload protection 3 are coaxially disposed at the same end of the bottom plate 5 in the present embodiment. The technical features not disclosed in the present embodiment are the same as those of the second embodiment.
The fourth concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 4, and the sensor 2 according to the present embodiment is a pressure sensor. The technical features not disclosed in the present embodiment are the same as those of the third embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 4, and the floating fulcrum 1 of the present embodiment is a single point support mechanism and transmits only a vertical positive pressure. The technical features not disclosed in the present embodiment are the same as those of the fourth embodiment.
The sixth specific implementation mode: the scale pan 4 of the present embodiment is provided with four calibration interfaces 4-1, and a calibration weight is fitted into the calibration interface 4-1. The technical features not disclosed in the present embodiment are the same as those of the second embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 1 to 4, and a measurement method using the two-dimensional centroid measuring apparatus according to the present embodiment includes the following steps:
the method comprises the following steps: firstly, coordinates of three floating supporting points 1 are obtained through calibration weights;
step two: taking down the calibration weight, and clamping the object to be measured on the scale pan 4;
step three: the weight born by the three floating fulcrums 1 is measured by the three sensors 2 respectively;
step four: and analyzing according to the pressure value of each sensor to obtain the position coordinate of the mass center of the object to be measured relative to the scale pan 4.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 to 4, and the obtaining of the coordinates of the three floating fulcrums 1 in the first step of the embodiment includes the following steps: the method comprises the steps of establishing a scale coordinate system by taking the center of a scale 4 as an origin, determining the coordinates of four calibration interfaces 4-1 according to the respective positions of the four calibration interfaces 4-1, respectively, and then putting weights with known weights into three calibration interfaces 4-1, so as to calibrate the position of a floating fulcrum 1 and obtain the coordinates of the three floating fulcrums 1. The technical features not disclosed in this embodiment are the same as those in the seventh embodiment.
The specific implementation method nine: the present embodiment is described with reference to fig. 1 to 4, and the obtaining the coordinates of the three floating fulcrums 1 in the first step of the present embodiment further includes the following steps:
the position coordinate of each floating pivot 1 relative to the scale pan 4 is calibrated by the weight with known weight according to the formula (1)
Wherein in the formula (1), m is the weight of the weight, x1Is the x-axis coordinate when the weight is placed at the first calibration interface 4-1,
the supporting force, x, of the three floating fulcrums 1 when the weight is placed at the first calibration interface 4-1a、xb、xcIs the x axial coordinate of three floating pivot points 1; put the weight respectively in three demarcation interface 4-1, substitute three demarcation interface 4-1 and the three supporting force of the fulcrum 1 that floats that corresponds into equation (1), as shown in equation (2), wherein r is the weight barycenter position, and then solve 6 unknowns according to equation (2), as shown in equation (3):
wherein in the formula (2), m is the weight of the weight, r is the distance between the calibration interface and the coordinate axis, the coordinates of the three calibration interfaces are (r, r), (-r, r) and (-r, -r) respectively,
the supporting force of the three floating supporting points 1 when the weight is placed at the first calibration interface 4-1,
the supporting force of the three floating supporting points 1 when the weight is placed at the second calibration interface 4-1,
the supporting force, x, of the three floating fulcrums 1 when the weight is placed at the third calibration interface 4-1a、xb、xcIs the x axial coordinate, y of three floating pivot points 1a、yb、ycThe y-axis coordinates of the three floating pivot points 1.
The technical features not disclosed in this embodiment are the same as those in the eighth embodiment.
Weights are respectively placed in the three calibration interfaces 4-1, the weights are respectively placed in the 1 st, 2 nd and 3 rd positions, 6 equations can be obtained, namely, the number positions of the three calibration interfaces 4-1 are assumed to be the 1 st calibration interface, the 2 nd calibration interface and the 3 rd calibration interface, the number positions of the three floating fulcrums 1 are assumed to be the a th floating fulcrum, the b th floating fulcrum and the c th floating fulcrum, and the three calibration interfaces and the corresponding three floating fulcrum supporting forces are substituted into a formula (1).
The detailed implementation mode is ten: in the fourth step of the present embodiment, the supporting force F of the three floating fulcrums 1 is obtained according to the third stepa、Fb、FcCalculating by using a formula to obtain the position coordinate of the mass center of the object to be measured relative to the scale 4 to obtain the formula (4)
Wherein in the formula (4), m is the weight of the object to be measured, Fa、Fb、FcThe supporting force x of the three floating supporting points 1 when the object to be measured is put ina、xb、xcIs the x axial coordinate, y of three floating pivot points 1a、yb、ycIs the y axial coordinate of the three floating pivot points 1, x is the x axial coordinate of the centroid of the object to be measured, and y is the y axial coordinate of the centroid of the object to be measuredAnd (4) coordinates.
Technical features not disclosed in the present embodiment are the same as those in the ninth embodiment.
Principle of operation
When the object to be measured is placed in the fixture, the sensors placed at the lower part of the scale have different measured values, the sum of the measured values is the weight of the object to be measured, and the coordinate position of the object to be measured in the scale coordinate system can be measured by utilizing an algorithm.
The coordinate position of the floating fulcrum in the scale coordinate system can be obtained through calibration; through precision machining and assembly, the coordinate position of the clamp in the scale coordinate system can be obtained, and therefore the coordinate from the quality center of the measured object to the reference surface of the measured object can be obtained.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A two-dimensional centroid measuring device is characterized in that: it includes scale dish (4), bottom plate (5), three unsteady fulcrum (1) of anchor clamps (6) and three sensor (2), and bottom plate (5) level sets up, and the circumferencial direction equipartition along same circle on the upper portion of bottom plate (5) is equipped with three sensor (2), and the top of sensor (2) is equipped with unsteady fulcrum (1), and scale dish (4) are erect to the upper end of three unsteady fulcrum (1), are equipped with anchor clamps (6) on scale dish (4).
2. The two-dimensional centroid measuring device of claim 1, wherein: and an overload protection (3) is arranged between the sensor (2) and the upper end face of the bottom plate (5).
3. A two-dimensional centroid measuring apparatus as recited in claim 2 wherein: the floating fulcrum (1), the sensor (2) and the overload protection (3) at the same end of the bottom plate (5) are coaxially arranged.
4. A two-dimensional centroid measuring apparatus as recited in claim 3, wherein: the sensor (2) is a pressure sensor.
5. The two-dimensional centroid measuring device according to claim 4, wherein: the floating fulcrum (1) is a single-point supporting mechanism and only transmits positive pressure in the vertical direction.
6. The two-dimensional centroid measuring device of claim 1, wherein: four calibration interfaces (4-1) are arranged on the scale pan (4), and special calibration weights are matched in the calibration interfaces (4-1).
7. A measuring method using the two-dimensional centroid measuring device as claimed in any one of claims 1 to 6, said measuring method comprising the steps of:
the method comprises the following steps: firstly, coordinates of three floating fulcrums (1) are obtained through calibration weights;
step two: taking down the calibration weight, and clamping the object to be measured on the scale pan (4);
step three: the weight born by the three floating fulcrums (1) is measured by the three sensors (2) respectively;
step four: and analyzing according to the pressure value of each sensor to obtain the position coordinate of the mass center of the object to be measured relative to the scale pan (4).
8. The measurement method of the two-dimensional centroid measurement device according to claim 7, wherein: the step one of obtaining the coordinates of the three floating fulcrums (1) comprises the following processes: the method comprises the steps of establishing a scale coordinate system by taking the center of a scale (4) as an origin, determining the coordinates of four calibration interfaces (4-1) according to the respective positions of the four calibration interfaces (4-1) by using the three-axis direction of the scale coordinate system as the same as the three-axis direction of a three-dimensional rectangular coordinate system, and then respectively placing weights with known weights into the three calibration interfaces (4-1) to calibrate the position of a floating fulcrum (1) and obtain the coordinates of the three floating fulcrums (1).
9. The measurement method of the two-dimensional centroid measurement device according to claim 8, wherein: the step one of obtaining the coordinates of the three floating fulcrums (1) further comprises the following processes:
the position coordinate of each floating pivot (1) relative to the scale pan (4) is calibrated by the weight with known weight according to the formula (1)
Wherein in the formula (1), m is the weight of the weight, x1Is the x-axis coordinate when the weight is placed on the first calibration interface (4-1),
the supporting force x of three floating fulcrums (1) when the weight is placed at the first calibration interface (4-1)a、xb、xcIs the x axial coordinate of the three floating supporting points (1); put the weight respectively in three demarcation interface (4-1), substitute formula (1) with the supporting force of three demarcation interface (4-1) and three unsteady fulcrum (1) that correspond, as shown in formula (2), wherein r is weight barycenter position, and then solve 6 unknowns according to formula (2), as shown in formula (3):
wherein in the formula (2), m is the weight of the weight, r is the distance between the calibration interface and the coordinate axis, the coordinates of the three calibration interfaces are (r, r), (-r, r) and (-r, -r) respectively,
the supporting force of three floating supporting points (1) when the weight is placed at the first calibration interface (4-1),
the supporting force of three floating supporting points (1) when the weight is placed at the second calibration interface (4-1),
the supporting force x of three floating fulcrums (1) when the weight is placed at the third calibration interface (4-1)a、xb、xcIs the x axial coordinate, y of three floating supporting points (1)a、yb、ycIs the y-axis coordinate of the three floating pivot points (1).
10. The measurement method of the two-dimensional centroid measurement device according to claim 9, characterized in that: in the fourth step, the supporting force F of the three floating fulcrums (1) is obtained according to the third stepa、Fb、FcCalculating by using a formula to obtain the position coordinate of the mass center of the object to be measured relative to the scale (4) to obtain the formula (4)
Wherein in the formula (4), m is the weight of the object to be measured, Fa、Fb、FcIs the supporting force x of three floating supporting points (1) when an object to be measured is put ina、xb、xcIs the x axial coordinate, y of three floating supporting points (1)a、yb、ycIs the y axial coordinate of the three floating supporting points (1), x is the x axial coordinate of the centroid of the object to be detected, and y is the y axial coordinate of the centroid of the object to be detected.
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