CN114636501A - Torque calibration device and method for steering robot - Google Patents
Torque calibration device and method for steering robot Download PDFInfo
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- CN114636501A CN114636501A CN202210333343.4A CN202210333343A CN114636501A CN 114636501 A CN114636501 A CN 114636501A CN 202210333343 A CN202210333343 A CN 202210333343A CN 114636501 A CN114636501 A CN 114636501A
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- 238000012360 testing method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
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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
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The invention relates to a torque calibration device and a torque calibration method for a steering robot, which comprise the following steps: the steering robot comprises a base, a first connector and a second connector, wherein the first connector is fixed on the base and is also used for being fixed with the steering robot; a torque sensor mounted on the base, the torque sensor being connected to the steering robot main body through a force lever; when the steering robot rotates, the first connector blocks the steering robot from rotating, and the torque of the steering robot is measured by the torque sensor. The steering robot is connected with the first connector and the torque sensor respectively, when the steering robot rotates, the first connector blocks the steering robot to rotate, the torque of the steering robot is dynamically calibrated through the torque sensor, the structure is simple, the calibration process is easy to operate and implement, and effective traceability of torque parameters of the steering robot is realized.
Description
Technical Field
The invention relates to the technical field of calibration of special test instrument equipment for automobiles, in particular to a torque calibration device and a torque calibration method for a steering robot.
Background
With the rapid development of the intelligent networking automobile, special test equipment for the performance of the intelligent networking automobile is also increasingly updated. The steering robot is widely applied to research and development, test and operation stability test of intelligent auxiliary driving system performance, the GBT30677-2014 item 6.3.5 of electronic stability control system performance requirement and test method for light automobiles is definitely specified, and an automatic steering device is adopted when steering operation specified by 7.5.3, 7.5.4, 7.6.1 and 7.7.3 is carried out.
At present, an automatic steering device widely applied in China is a steering robot. The steering robot can replace the driver to manipulate the steering wheel, apply inputs to the vehicle steering system, and perform accurate and repeatable dynamic measurements. The steering robot is used for carrying out a whole vehicle performance test, but no published calibration method is available at present for how to calibrate the torque of the steering robot.
Disclosure of Invention
The embodiment of the invention provides a torque calibration device and a torque calibration method of a steering robot, which aim to solve the problem of how to calibrate the torque of the steering robot in the related art.
In a first aspect, a torque calibration device for a steering robot is provided, which includes: the steering robot comprises a base, a first connector and a second connector, wherein the first connector is fixed on the base and is also used for being fixed with the steering robot; the torque sensor is arranged on the base and is used for being connected with the steering robot through a force rod; when the steering robot rotates, the first connector blocks the steering robot from rotating, and the torque of the steering robot is measured by the torque sensor.
In some embodiments, a connecting disc is fixed on the torque sensor, a cross beam is mounted on the connecting disc, two ends of the cross beam are provided with connecting blocks extending in a direction perpendicular to the force rod, screw holes are formed in the end faces of the connecting blocks, and the force rod is connected with the connecting blocks through bolts.
In some embodiments, the cross beam is U-shaped, the opening of the U-shape faces the connecting disc, the cross beam is connected with the connecting disc through a shaft body, and the cross beam can rotate around the shaft body.
In some embodiments, a main body support is installed on the base, a base is installed on the main body support, an adapter is installed on the base through a positioning pin, and the adapter is used for connecting the steering robot.
In some embodiments, the body mount has a T-shape, and includes a first body and a second body perpendicular to each other, the torque sensor and the adaptor are respectively located at two opposite ends of the first body, and a distance between the second body and the torque sensor is smaller than a distance between the second body and the adaptor.
In some embodiments, a cross-sectional dimension of a side of the base adjacent the adapter is greater than a cross-sectional dimension of a side adjacent the body mount.
In some embodiments, a bearing is installed in the main body support, a shaft rod penetrates through the bearing, a gasket is installed at the bottom of the base through a positioning pin, the gasket is connected with a second connector through the shaft rod, and the second connector is connected with the first connector.
In some embodiments, the first connector is i-shaped, the portion of the second connector adjacent the first connector is cylindrical, and the portion of the second connector adjacent the base is tapered.
In some embodiments, the first connector is a flexible connector.
In a second aspect, a torque calibration method of the torque calibration device for the steering robot is provided, which includes the following steps: connecting the steering robot with the first connector and the torque sensor; rotating the steering robot; calculating the difference between the torque indication value of the steering robot and the torque indication value of the torque sensor; and adjusting the steering robot, and repeating the steps until the torque indication value of the steering robot and the torque indication value error of the torque sensor are within a preset range.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides a torque calibration device and a torque calibration method of a steering robot, wherein the steering robot is respectively connected with a first connector and a torque sensor, when the steering robot rotates, the first connector blocks the steering robot from rotating, the torque of the steering robot is dynamically calibrated through the torque sensor, the structure is simple, the calibration process is easy to operate and implement, and the effective source tracing of the torque parameters of the steering robot is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic overall structural diagram of a torque calibration device for a steering robot according to an embodiment of the present invention;
fig. 2 is a partial structural schematic diagram of a torque calibration device of a steering robot according to an embodiment of the present invention;
fig. 3 is another partial structural schematic diagram of a torque calibration device of a steering robot according to an embodiment of the present invention.
Reference numbers in the figures:
1. a base; 2. a main body support; 21. a first body; 22. a second body; 3. a sensor mounting pad; 4. a torque sensor; 5. a connecting disc; 6. a cross beam; 61. connecting blocks; 7. a gasket; 8. a base; 9. an adapter; 10. a second connector; 11. a first connector; 12. and fixing the gasket.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The embodiment of the invention provides a torque calibration device and a torque calibration method for a steering robot, which can solve the problem of how to calibrate the torque of the steering robot in the related art.
Referring to fig. 1, a torque calibration apparatus for a steering robot according to an embodiment of the present invention may include: the steering robot comprises a base 1, a first connector 11 and a second connector 11, wherein the first connector 11 is also used for being fixed with the steering robot; the torque sensor 4 is arranged on the base 1, and the torque sensor 4 is used for being connected with the steering robot through a force rod; when the steering robot rotates, the first connector 11 blocks the steering robot from rotating and measures the torque of the steering robot by the torque sensor 4. In this embodiment, when the steering robot rotates, because the first connector 11 fixed with the steering robot is fixed with the base 1, thereby make and generate the moment of torsion with the steering robot, can survey the moment of torsion that turns to the robot through the torque sensor 4 that the power pole is connected with the steering robot, according to the moment of torsion indicating value of torque sensor 4, can calibrate the moment of torsion that turns to the robot, realized effectively tracing to the source to the steering robot moment of torsion parameter.
Referring to fig. 1, in some embodiments, a connection plate 5 may be fixed to the torque sensor 4, a cross beam 6 is mounted on the connection plate 5, two ends of the cross beam 6 have connection blocks 61 extending in a direction perpendicular to the force rod, the end surfaces of the connection blocks 61 are provided with screw holes, and the force rod is connected with the connection blocks 61 through bolts. In this embodiment, the steering robot has two force rods, which are respectively installed on two opposite sides of the beam 6 and are parallel to each other, and two ends of the force rods are fixed on the outer side of the connecting block 61 and the steering robot, so that supporting force can be provided for the steering robot, thereby maintaining the balance of the steering robot and making the measuring result more accurate. In other embodiments, the force rod may be directly connected to the connecting plate 5, or a bump may be provided on the connecting plate 5 to connect to the force rod.
Referring to fig. 1, in some embodiments, the cross beam 6 may have a U shape, and the opening of the U shape faces the connecting plate 5, and the cross beam 6 is connected to the connecting plate 5 through a shaft, and the cross beam 6 can rotate around the shaft. In this embodiment, the opening side of crossbeam 6 is located the top of connection pad 5 to have certain rotation space, crossbeam 6 can be according to turning to its pivoted angle of the size of robot's specification and the length adjustment of power pole, use more nimble, and application scope is wider. Preferably, the cross beam 6 is in a direction perpendicular to the force beam in order to avoid wobbling during the measurement.
Referring to fig. 1, in some embodiments, a main body support 2 is installed on the base 1, a base 8 is installed on the main body support 2, an adapter 9 is installed on the base 8 through a positioning pin, and the adapter 9 is used for connecting the steering robot. In this embodiment, turn to the robot and be fixed in adapter 9, be equipped with the bolt hole on base 8, adapter 9 passes through the locating pin and fixes a position on base 8 to turning to the robot location, making to turn to robot, adapter 9 and base 8 can coaxial coupling, more convenient quick when the installation turns to the robot, easily location. In other embodiments, a pin hole may be directly formed on the first body 21 to position the adaptor 9 on the body mount 2.
Referring to fig. 1, in some embodiments, the main body support 2 is T-shaped and includes a first main body 21 and a second main body 22 perpendicular to each other, the torque sensor 4 and the adaptor 9 are respectively located at two opposite ends of the first main body 21, and a distance between the second main body 22 and the torque sensor 4 is smaller than a distance between the second main body 22 and the adaptor 9. In this embodiment, the torque sensor 4 and the adaptor 9 are both located on the first main body 21, after the steering robot is installed, the force rod of the steering robot is horizontal, the first connector 11 is located below the adaptor 9, and the second main body 22 is far away from the adaptor 9, so as to make room for the first connector 11 and the middle connecting piece and avoid interference between the two.
Referring to fig. 1, in some embodiments, the cross-sectional dimension of the side of the base 8 adjacent to the adapter 9 may be greater than the cross-sectional dimension of the side adjacent to the first body 21. In this embodiment, the base 8 is composed of a shorter cylinder and a longer cylinder, the diameter of the short cylinder is the same as that of the adapter 9, the adapter 9 can be better installed in a matching manner, the diameter of the long cylinder is smaller than that of the short cylinder, the short cylinder is thinner, after the steering robot and the adapter 9 are installed on the base 8, the thinner long cylinder can give up some space for the steering robot to rotate, friction between the steering robot and the steering robot is avoided, and measured data are more accurate.
Referring to fig. 1, in some embodiments, a bearing is installed in the main body support 2, a shaft rod penetrates through the bearing, a gasket 7 is installed at the bottom of the base 8 through a positioning pin, the base 8 is fixed to the gasket 7 through a bolt, the gasket 7 is connected with a second connector 10 through the shaft rod, and the second connector 10 is connected with the first connector 11. In this embodiment, the second connector 10 is coaxially connected to the base 8, the adaptor 9 and the steering robot, the second connector 10 is used for connecting the shaft rod with the first connector 11, and when the steering robot rotates, the adaptor 9, the base 8 and the second connector 10 can drive the first connector 11 to generate a rotation trend; the gasket 7 is paved at the bottom of the base 8, so that the base 8 is more stable, and the gasket 7 also has good wear resistance.
Referring to fig. 1, in some embodiments, the first connector 11 is i-shaped, the portion of the second connector 10 adjacent to the first connector 11 is cylindrical, and the portion of the second connector 10 adjacent to the base 8 is tapered. In this embodiment, the middle of first connector 11 is the cylinder, and the cylindrical end of second connector 10 is provided with the flange and is used for fixed axostylus axostyle, and second connector 10 is fixed through bolted connection with first connector 11, plays the effect of transition, because the diameter of axostylus axostyle is less than the diameter of first connector 11, consequently second connector 10 needs the part to be the toper setting, makes the atress of first connector 11 more stable.
Referring to fig. 1, in some embodiments, the first connector 11 is a flexible connector. In this embodiment, the steering robot applies a moment to the first connector 11 through the second connector 10, the first connector 11 is configured to be flexible and can be partially deformed, so as to prevent the force applied by the steering robot from being damaged, and further, the connection part of the first connector 11 and the second connector 10 can be slightly twisted, so as to prolong the service life of the first connector 11.
With reference to figure 1 of the drawings, fig. 2 and 3 show, when mounting, the main body support 2 is fixed on the base 1 through bolts, the sensor mounting pad 3 is fixed at one end of the main body support 2 through bolts, the torque sensor 4 is fixed on the sensor mounting pad 3 through bolts, the connecting disc 5 is fixed with the torque sensor 4 through bolts, the cross beam 6 is connected with two ends of the connecting disc 5 through bolts, a bolt hole is arranged in the middle of the base 8, the adaptor 9 is connected with the base 8 through bolts, the base 8 is positioned with the pad 7 through a positioning pin, the base 8 is fixed with the pad 7 through bolts, the bearing penetrates through the other end of the main body support 2, the shaft rod is arranged in the bearing in a penetrating way, the pad 7 is fixed at the upper end of the shaft rod, the lower end of the shaft rod is fixedly connected with the second connector 10, the upper end of the first connector 11 is fixed with the second connector 10 through bolts, and the lower end of the first connector 11 and the fixing pad 12 are fixed on the base 1 through bolts.
Referring to fig. 1, a torque calibration method for a torque calibration device of a steering robot according to an embodiment of the present invention may include the following steps: connecting the steering robot with the first connector 11 and the torque sensor 4; rotating the steering robot; calculating the difference between the torque indication value of the steering robot and the torque indication value of the torque sensor 4; and adjusting the steering robot, and repeating the steps until the torque indication value of the steering robot and the torque indication value error of the torque sensor 4 are within a preset range. Through being connected the installation with first connector 11 and torque sensor 4 to turn to the robot, after turning to the robot, can be through turning to the robot and torque sensor 4's the difference of moment of torsion and calibrating the moment of torsion of turning to the robot, realized effectively tracing to the source to turning to robot torque parameter.
Before the moment calibration of the steering robot is carried out, a corrected steering robot is installed on a moment calibration device of the steering robot and is connected with a required wiring harness, the corrected steering robot is connected and communicated with control software, specifically, a base cover plate of a driving motor of the corrected steering robot is detached, an adapter 9 is installed on a base of the driving motor of the corrected steering robot through three fixing bolts, and the corrected steering robot is connected to a base 8 of the moment calibration device of the steering robot through a bolt hole of the adapter 9 through a bolt; one ends of two parallel force rod far force sensors of the corrected steering robot are fixedly connected with force rod connection points on two sides of a driving motor of the steering robot through bolts, and one ends of the parallel force rod near force sensors are fixedly connected with two ends of a cross beam 6 through bolts; and supplying a stable power supply to the torque sensor 4, turning on a switch of a display of the torque sensor 4, connecting a wire harness required by normal work of the steering robot, and turning on control software to realize communication connection.
During calibration, when the calibrated steering robot and the torque sensor 4 are not stressed, the torque sensor 4 is displayed and cleared, and the human torque of the calibrated steering robot is confirmed to be zero; the calibrated rotating disk of the robot is rotated to connect the screw hole of the base 8 with the positioning screw hole of the adapter 9 and is screwed up and fixed by the bolt. Selecting a motion curve type, such as a sine curve type, setting a limit angle according to the torque range of the corrected steering robot, controlling the rotation of the steering robot by control software, carrying out dynamic calibration, simultaneously recording the torque of the corrected steering robot and the output of the torque sensor 4, and taking the difference between the indication value of the corrected steering robot and the indication value of the torque sensor 4 as an indication error.
The torque calibration device and the torque calibration method for the steering robot provided by the embodiment of the invention have the following principles:
through being connected the installation with first connector 11 turning to the robot, fix first connector 11 to base 1 again on, after turning to the robot, first connector 11 can hinder to turn to the robot and rotate, and then measures the moment of torsion through torque sensor 4 to the difference of the torque indication value of utilizing to turn to robot and torque sensor 4 calibrates the moment of torsion that turns to the robot.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is to be noted that, in the present invention, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, 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, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A torque calibration device for a steering robot, comprising:
the steering robot comprises a base (1), a first connector (11) and a second connector (11), wherein the first connector (11) is also used for being fixed with the steering robot;
a torque sensor (4) mounted on the base (1), the torque sensor (4) being connected to the steering robot main body through a force lever;
when the steering robot rotates, the first connector (11) blocks the steering robot from rotating, and the torque of the steering robot is measured by the torque sensor (4).
2. The torque calibration device for a steering robot according to claim 1, wherein:
be fixed with connection pad (5) on torque sensor (4), install crossbeam (6) on connection pad (5), the both ends of crossbeam (6) have along the perpendicular to connecting block (61) that the direction of power pole extends, connecting block (61) terminal surface is provided with the screw, the power pole with connecting block (61) pass through bolted connection.
3. The torque calibration device for a steering robot according to claim 2, wherein:
the cross beam (6) is U-shaped, the opening of the U-shaped face the connecting disc (5), the cross beam (6) is connected with the connecting disc (5) through a shaft body, and the cross beam (6) can rotate around the shaft body.
4. The torque calibration device for a steering robot according to claim 1, wherein:
install main part support (2) on base (1), install base (8) on main part support (2), install adapter (9) through the locating pin on base (8), adapter (9) are used for connecting turn to the robot.
5. The torque calibration device for a steering robot according to claim 4, wherein:
the main body support (2) is T-shaped and comprises a first main body (21) and a second main body (22) which are perpendicular to each other, the torque sensor (4) and the adapter (9) are respectively located at two opposite ends of the first main body (21), and the distance between the second main body (22) and the torque sensor (4) is smaller than the distance between the second main body (22) and the adapter (9).
6. The torque calibration device for a steering robot according to claim 4, wherein:
the cross-sectional dimension of the base (8) on the side close to the adapter (9) is larger than the cross-sectional dimension of the base on the side close to the main body support (2).
7. The torque calibration device for a steering robot according to claim 4, wherein:
the bearing is installed in the main body support (2), a shaft rod penetrates through the bearing, the bottom of the base (8) is connected to the gasket (7) through the positioning pin in a positioning mode, the base (8) is fixed to the gasket (7) through the bolt, the gasket (7) is connected with the second connector (10) through the shaft rod, and the second connector (10) is connected with the first connector (11) through the bolt.
8. The torque calibration device for a steering robot according to claim 7, wherein:
the first connector (11) is I-shaped, the part of the second connector (10) close to the first connector (11) is cylindrical, and the part of the second connector (10) close to the base (8) is conical.
9. The torque calibration device for a steering robot according to claim 1, wherein:
the first connector (11) is a flexible connector.
10. A method of calibrating a torque calibration device for a steering robot according to claim 1, comprising the steps of:
connecting the steering robot with the first connector (11) and the torque sensor (4);
rotating the steering robot;
calculating the difference between the torque indication value of the steering robot and the torque indication value of the torque sensor (4);
and adjusting the steering robot, and repeating the steps until the torque indication value of the steering robot and the torque indication value error of the torque sensor (4) are within a preset range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210333343.4A CN114636501A (en) | 2022-03-30 | 2022-03-30 | Torque calibration device and method for steering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210333343.4A CN114636501A (en) | 2022-03-30 | 2022-03-30 | Torque calibration device and method for steering robot |
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| CN114636501A true CN114636501A (en) | 2022-06-17 |
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| CN202210333343.4A Pending CN114636501A (en) | 2022-03-30 | 2022-03-30 | Torque calibration device and method for steering robot |
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| CN203881479U (en) * | 2014-06-09 | 2014-10-15 | 青岛前哨风动工具制造技术有限公司 | Multifunctional torque calibration device |
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| CN208795411U (en) * | 2018-09-07 | 2019-04-26 | 苏州朗博校准检测有限公司 | A kind of torque sensor calibrating installation |
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| CN113358261A (en) * | 2021-06-27 | 2021-09-07 | 豫北转向系统（新乡）有限公司 | Automobile steering force testing tool and testing method thereof |
| KR102330784B1 (en) * | 2020-09-28 | 2021-11-23 | 한국산업기술시험원 | Torque wrench calibration automation system |
| CN215414191U (en) * | 2021-05-26 | 2022-01-04 | 山东广成工业设备有限公司 | Torque wrench calibrating device |
-
2022
- 2022-03-30 CN CN202210333343.4A patent/CN114636501A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203881479U (en) * | 2014-06-09 | 2014-10-15 | 青岛前哨风动工具制造技术有限公司 | Multifunctional torque calibration device |
| CN108760150A (en) * | 2018-07-16 | 2018-11-06 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of large size force value asymmetrical load power and torque decouple calibrating installation |
| CN208795411U (en) * | 2018-09-07 | 2019-04-26 | 苏州朗博校准检测有限公司 | A kind of torque sensor calibrating installation |
| CN111829706A (en) * | 2020-08-04 | 2020-10-27 | 中国汽车工程研究院股份有限公司 | Half-shaft torque calibration device and working method thereof |
| KR102330784B1 (en) * | 2020-09-28 | 2021-11-23 | 한국산업기술시험원 | Torque wrench calibration automation system |
| CN215414191U (en) * | 2021-05-26 | 2022-01-04 | 山东广成工业设备有限公司 | Torque wrench calibrating device |
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