CN116465544A - Non-contact torque sensor calibration method and device - Google Patents
Non-contact torque sensor calibration method and device Download PDFInfo
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- CN116465544A CN116465544A CN202211699675.0A CN202211699675A CN116465544A CN 116465544 A CN116465544 A CN 116465544A CN 202211699675 A CN202211699675 A CN 202211699675A CN 116465544 A CN116465544 A CN 116465544A
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- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000011065 in-situ storage Methods 0.000 claims abstract description 10
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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Abstract
The invention relates to a non-contact torque sensor calibration method and a non-contact torque sensor calibration device, which can quickly and accurately complete calibration under the condition that a non-contact torque sensor is not required to be disassembled, eliminate measurement deviation caused by disassembly and assembly, and realize on-site in-situ calibration of a torque test platform. The device comprises a mechanical system and an electrical control system, wherein the mechanical system comprises a servo motor, a multi-stage deceleration torque multiplication mechanism and a stress box body, the servo motor and the multi-stage deceleration torque multiplication mechanism are arranged in the stress box body, the electrical control system comprises a PLC, a servo driver and a liquid crystal screen, the multi-stage deceleration torque multiplication mechanism comprises four-stage spur gear transmission, one-stage turbine-worm transmission and one-stage bevel gear transmission, and the servo motor applies torque. The calibration method comprises the steps of preparation before calibration, in-situ calibration and reset after calibration. According to the invention, the non-contact torque sensor is not required to be disassembled and assembled, the calibration is directly and rapidly completed on the test platform, and the measurement deviation caused by disassembly and assembly is eliminated.
Description
Technical Field
The invention relates to a non-contact torque sensor calibration method and device.
Background
The non-contact torque sensor is mainly used for measuring torsional moment on various rotating or non-rotating mechanical parts, and has long service life and high reliability due to the non-contact working mode, and is widely applied to various torque test platforms and systems, such as: motor test platform, engine test platform, drive unit test platform, vehicle EPS system etc.. In order to ensure the accuracy of the torque value measured by the non-contact torque sensor, the sensor needs to be calibrated periodically, and the currently common calibration method is to detach the sensor and install the sensor on a laboratory standard torque testing machine for calibration. The method for calibrating the standard torque machine after disassembly is adopted, so that measurement deviation exists, and the process of disassembling and assembling the non-contact torque sensor not only can influence the measurement characteristics of the sensor, but also can influence the whole torque test platform. And some test platforms are limited by installation space, and the disassembly of the non-contact torque sensor is difficult, so that the calibration on a laboratory standard torque testing machine is difficult to realize, and therefore, a method and a device for directly calibrating in situ on the test platform without disassembling the non-contact torque sensor are needed.
Disclosure of Invention
The invention aims to quickly and accurately complete calibration under the condition of not disassembling a non-contact torque sensor by researching a non-contact torque sensor calibration method, eliminate measurement deviation caused by disassembly and assembly, realize in-situ calibration of a torque test platform and develop a non-contact torque sensor calibration device.
The invention is realized by the following technical scheme:
the utility model provides a non-contact torque sensor calibrating device, includes mechanical system and electrical control system, and wherein mechanical system includes servo motor, multistage speed and torque multiplication mechanism and atress box, and servo motor and multistage speed and torque multiplication mechanism are adorned in the atress box, and electrical control system includes PLC, servo driver and LCD screen, and the control process of this system is: the PLC sends out high-speed pulse and motor rotation direction signals according to requirements, the servo motor is controlled to rotate through the servo driver, the servo motor rotates to drive the encoder to rotate, the encoder output signals return to the servo driver through the feedback signal line, and the system is corrected through comparison with the output pulse displacement signals to form a closed-loop control system;
the multistage deceleration torque multiplication mechanism comprises four stages of spur gear transmission, one stage of turbine-worm transmission and one stage of bevel gear transmission, and the transmission relation of the multistage deceleration torque multiplication mechanism after a servo motor applies torque is as follows: the torque multiplication output is finally realized through first-stage turbine-worm transmission, then first-stage bevel gear transmission and then fourth-stage spur gear transmission.
A method of calibrating a non-contact torque sensor, comprising:
preparation before calibration: and placing the non-contact torque sensor calibration device at the position of the transmission part test platform for installing the test piece, fixing the test piece on the transmission shaft through a tool, and finally adjusting the test piece to be concentric. Tightly holding the output end shaft of the non-contact torque sensor to be tested;
in-situ calibration: selecting a torque applying direction, starting a non-contact torque sensor calibration device, pre-twisting for 3 times according to a rated torque value of a measured non-contact torque sensor, and recording a difference value of zero points displayed by a system before and after the last pre-twisting;
the return-to-zero difference of the torque of the calibrated non-contact torque sensor is calculated according to the formula (1):
wherein:
Z T -the corrected non-contact torque sensor torque returns zero difference;
ΔT 0 -corrected non-contact torque sensor torque zero variation, nm;
T r -calibrated nominal torque value of non-contact torque sensor, nm;
the torque indication error of the calibrated non-contact torque sensor is calculated according to the formula (2):
wherein:
E T -corrected non-contact torque sensor torque indication error;
T s -non-contact torque sensor calibration device torque value, nm;
-arithmetic mean of 3 torque measurements of the calibrated non-contact torque sensor, nm; the torque repeatability of the calibrated non-contact torque sensor is calculated according to the formula (3):
wherein:
R T -calibrated for non-contact torque sensor torque repeatability errors;
t-non-contact torque sensor calibration device torque value, nm;
T max -maximum error of 3 torque measurements, nm, of the calibrated non-contact torque sensor;
T min -the error of torque measurement value of the calibrated non-contact torque sensor 3 times is the minimum value, nm; resetting after calibration: after the return calibration is completed, the noncontact torque sensor should be calibrated by fine adjustment
The torque output is set to zero and then the disassembly of the device is performed.
According to the invention, the non-contact torque sensor is not required to be disassembled and assembled, the calibration is directly and rapidly completed on the test platform, and the measurement deviation caused by disassembly and assembly is eliminated.
Drawings
FIG. 1 is a schematic diagram of a non-contact torque sensor calibration device of the present invention;
FIG. 2 is a schematic diagram of a multi-stage retarding torque multiplication mechanism of the present invention;
FIG. 3 is a schematic diagram of a method of calibrating a non-contact torque sensor according to the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and features of the present invention more apparent, a complete description of the technical solutions of the present invention will be provided below with reference to the accompanying drawings in which some, but not all embodiments of the invention are described, and the components of the present invention generally described and illustrated in the accompanying drawings may be arranged and designed in various different configurations to satisfy the calibration of different torque test platforms.
Referring to fig. 1 and 2, the present invention provides a non-contact torque sensor calibration device, which includes a mechanical system and an electrical control system.
The mechanical system consists of a servo motor 1, a multi-stage deceleration torque multiplication mechanism 2 and a stress box body 3, wherein the servo motor 1 and the multi-stage deceleration torque multiplication mechanism 2 are arranged in the stress box body 3, and the electrical control system consists of electrical elements such as a PLC4, a servo driver 5, a liquid crystal display 6 and the like. The device is simple to operate and convenient to use. A series of operational requirements for loading, unloading, stopping, etc. may be implemented. When adjusting the position and unloading torque, a quick loading/quick unloading function can be adopted; when the sensor is assembled and disassembled, the fine adjustment can be realized by adopting slow loading.
Wherein the mechanical system comprises:
servo motor 1: in order to achieve the purposes of convenient carrying and quick disassembly and assembly during field use, the whole design requires a small size of a loading motor, high control precision and good stability, and an alternating current servo motor is selected as a power output motor through comparison. The alternating current servo motor is provided with an encoder, the running condition of the motor can be reported to the driver at any time, and the driver can control the running of the motor more accurately according to the obtained feedback, so that the closed-loop control of speed, position and moment is realized, and the control precision is improved. In order to meet the real-time stable output of the on-site in-situ calibration, the selected compact alternating current servo motor has the functions of dynamic response and speed capable of setting a range, has strong overload resistance, can bear a load which is three times of rated torque, and is suitable for occasions with on-site load debugging and quick start requirements.
Multistage deceleration torque multiplication mechanism 2: the device is a transmission device which is enclosed in a stress box body 3 and is composed of transmission parts such as gears, worms, turbines and the like, and is arranged between a servo motor 1 and an output end of the device for changing the rotating speed and the torque of a shaft so as to realize the output of large torque. The multistage deceleration torque multiplication mechanism 2 is one of important component parts of a non-contact torque sensor calibration device, and a novel multistage deceleration torque is designed for realizing the requirement of small occupied spaceThe torque multiplication mechanism is of a coaxial structure, and the whole structure is long and cannot be used in a limited narrow space. The multistage deceleration torque multiplication mechanism is designed into a non-coaxial structure, so that the whole length is reduced, the volume of the loading device is reduced, and the requirement of a narrow space can be met. Because the transmission ratio is large, the transmission ratio of the common gear set cannot meet the transmission requirement, and the maximum transmission ratio of the worm and gear can reach 80, but the transmission efficiency of the worm and gear is lower and the heat is large, so that multi-stage worm and gear transmission is not suitable, and the whole space utilization of the moment increaser is considered, and finally four-stage straight gear transmission, one-stage worm and gear transmission and one-stage bevel gear transmission are selected. All pinions of the spur gear group are selected to be 40Cr (quenched and tempered), the tooth surface hardness is 280HBS, the material of the large gear is 45 steel (quenched and tempered), the tooth surface hardness is 240HBS, the precision is 7, and the pressure angle is 20 degrees. Considering that the transmission power is not large and the speed is extremely small, the worm is made of 45 # steel, and the spiral tooth surface of the worm is required to be quenched due to the high efficiency, so that the wear resistance is improved. The hardness is 45-55HRC. And (3) casting the tin-phosphorus-copper ZCUS10PI for the turbine by a metal mold. By combining a single-stage worm, determining a gear ratio range and a gear ratio distribution principle, and adopting a trial center distance of a=80 mm, a worm lead angle of r=5° 04', and a worm diameter of d 1 The module m=3.15 mm, the worm head number z1=1, the worm wheel tooth number z2=39, and the displacement coefficient x= +0.2619 mm=35.5 mm. For material reasons, the strength of the worm screw tooth part is always higher than that of the worm gear teeth, so that failure frequently occurs on the worm gear teeth, so that only the worm wheel is subjected to strength check, K leaves enough safety margin, and K=K A K V K β Because the worm gear is connected with the servo motor, the torque is not large and the strength is enough.
Stress box 3: in the torque output process of the non-contact torque sensor calibration device, the box body is a main stressed component and has enough strength and rigidity. In consideration of structural strength and processing convenience, a box body is processed by adopting a mode of welding steel plates. The main stress surface of the box body is a front surface, a side surface and a bottom surface, and the bottom surface of the box body is provided with screw holes so that the box body can be connected with a bottom surface steel groove. The top is provided with a hanging ring, so that the mobile device is convenient to move. In order to ensure the rationality of the design, finite element analysis is required for the designed box. The box body is formed by welding carbon steel plates, the main stress surface is a 40mm thick steel plate, the other surfaces are 20mm thick steel plates, finite element strength analysis is carried out on the box body through the processes of stress model establishment, grid setting and solving, result analysis and the like, the maximum stress of a stress concentration area is less than 1/3 of the yield strength of the material,
the electrical control system includes: PLC4, servo driver 5, liquid crystal display 6. Through programming a PLC program, PID setting parameters are adjusted, rapid, stable and efficient output torque control is realized, the A/D output module controls the servo driver 5 through pulse instructions, and the switching value is used for controlling the function selection (such as a motor control mode, motor forward and reverse rotation and the like) of the servo driver 5. The servo driver 5 receives the instruction of the PLC and converts the instruction into an internal circuit to power the servo motor 1. The man-machine interaction interface is programmed through the upper computer software, so that the function visualization is realized, the operation is simplified, and the control is visual. In order to realize accurate torque output, avoid output fluctuation caused by mechanical structure and the like when the servo motor keeps constant output, and can not keep stable output, a Programmable Logic Controller (PLC) is required to realize full-course automatic control. In order to realize accurate in-situ calibration, the analog input module AI 8 XU/I/RTD/TC ST and the analog output module AQ 4x U/IST are matched to form the control of input and output of the combination of analog quantity and switching quantity. In order to ensure the stability of the torque output device, a servo drive 5 is used as a control drive for the servo motor 1. In a servo system, the output quantity can automatically, quickly and accurately follow the change of the input quantity, and the mechanical parameters mainly comprise displacement, angle, force, torque, speed and acceleration. The servo system can accurately follow or reproduce a certain process and can be used as a power source of the torque output system, so that accurate, stable and rapid control can be achieved. The control method of the servo driver 5 is classified into speed control, position control, and torque control. According to the actual use requirement of the device, constant torque is required to be output, so a torque control mode is adopted to control the servo driver. The torque control mode is to set the output torque of the servo motor shaft through PLC analog input or direct address assignment.
As shown in fig. 3, the present invention provides a calibration method of a non-contact torque sensor, wherein the calibration process includes the following steps:
preparation before calibration: the non-contact torque sensor calibration device 10 is placed at the position where the test piece is installed on the transmission part test platform 11, is fixed on the transmission shaft through a tool, and is finally adjusted to be concentric. The output end shaft of the non-contact torque sensor 12 to be tested is held tightly.
In-situ calibration: and selecting the torque applying direction, starting a non-contact torque sensor calibration device, and pre-twisting for 3 times according to the rated torque value of the non-contact torque sensor to be measured. And recording the difference value of the display zero points of the system before and after the last pre-twisting.
The return-to-zero difference of the torque of the calibrated non-contact torque sensor is calculated according to the formula (1):
wherein:
Z T -the corrected non-contact torque sensor torque returns zero difference;
ΔT 0 -corrected non-contact torque sensor torque zero variation, nm;
T r -calibrated nominal torque value of non-contact torque sensor, nm;
corrected non-contact torque sensor torque indication error: and the torque is steadily increased step by step until the rated torque value is reached, then the torque value is gradually removed, and after the torque output of the device is stable, the indication value of the calibrated non-contact torque sensor is respectively read and recorded. This process was repeated 3 times, readjusting the zero points of the device and calibrated sensor at each start as needed. Calculated according to the formula (2):
wherein:
E T -corrected non-contact torque sensor torque indication error;
T s -non-contact torque sensor calibration device torque value, nm;
-arithmetic mean of 3 torque measurements, nm, of the calibrated non-contact torque sensor.
The torque repeatability of the calibrated non-contact torque sensor is calculated according to the formula (3):
wherein:
R T -calibrated for non-contact torque sensor torque repeatability errors;
t-non-contact torque sensor calibration device torque value, nm;
T max -maximum error of 3 torque measurements, nm, of the calibrated non-contact torque sensor;
T min -the error of torque measurement by the calibrated non-contact torque sensor 3 times is minimum, nm.
Resetting after calibration: after the return calibration is completed, the torque output of the non-contact torque sensor calibration device is adjusted to zero through fine adjustment, and then the disassembly of the device is performed.
According to the invention, under the condition that the non-contact torque sensor is not required to be disassembled, the calibration is completed rapidly and accurately, the measurement deviation caused by disassembly and assembly is eliminated, and the on-site in-situ calibration of the torque test platform is realized. The method is suitable for calibrating the non-contact torque sensor installed on various torque testing platforms and systems.
Claims (2)
1. A non-contact torque sensor calibrating device is characterized in that: the system comprises a mechanical system and an electrical control system, wherein the mechanical system comprises a servo motor, a multistage deceleration torque multiplication mechanism and a stress box body, the servo motor and the multistage deceleration torque multiplication mechanism are arranged in the stress box body, the electrical control system comprises a PLC, a servo driver and a liquid crystal screen, and the control process of the system is as follows: the PLC sends out high-speed pulse and motor rotation direction signals according to requirements, the servo motor is controlled to rotate through the servo driver, the servo motor rotates to drive the encoder to rotate, the encoder output signals return to the servo driver through the feedback signal line, and the system is corrected through comparison with the output pulse displacement signals to form a closed-loop control system;
the multistage deceleration torque multiplication mechanism comprises four stages of spur gear transmission, one stage of turbine-worm transmission and one stage of bevel gear transmission, and the transmission relation of the multistage deceleration torque multiplication mechanism after a servo motor applies torque is as follows: the torque multiplication output is finally realized through first-stage turbine-worm transmission, then first-stage bevel gear transmission and then fourth-stage spur gear transmission.
2. A non-contact torque sensor calibration method is characterized in that: the method comprises the following steps:
preparation before calibration: placing the non-contact torque sensor calibration device according to claim 1 at the position of a test piece of a transmission part test platform, fixing the non-contact torque sensor calibration device on a transmission shaft through a tool, and finally adjusting the non-contact torque sensor calibration device to be concentric. Tightly holding the output end shaft of the non-contact torque sensor to be tested;
in-situ calibration: selecting a torque applying direction, starting a non-contact torque sensor calibration device, pre-twisting for 3 times according to a rated torque value of a measured non-contact torque sensor, and recording a difference value of zero points displayed by a system before and after the last pre-twisting;
the return-to-zero difference of the torque of the calibrated non-contact torque sensor is calculated according to the formula (1):
wherein:
z T -the corrected non-contact torque sensor torque returns zero difference;
ΔT 0 calibrated non-contact torque transmissionSensor torque zero variation, nm;
T r -calibrated nominal torque value of non-contact torque sensor, nm;
the torque indication error of the calibrated non-contact torque sensor is calculated according to the formula (2):
wherein:
E T -corrected non-contact torque sensor torque indication error;
T s -non-contact torque sensor calibration device torque value, nm;
-arithmetic mean of 3 torque measurements of the calibrated non-contact torque sensor, nm;
the torque repeatability of the calibrated non-contact torque sensor is calculated according to the formula (3):
wherein:
R T -calibrated for non-contact torque sensor torque repeatability errors;
t-non-contact torque sensor calibration device torque value, nm;
T max -maximum error of 3 torque measurements, nm, of the calibrated non-contact torque sensor;
T min -the error of torque measurement value of the calibrated non-contact torque sensor 3 times is the minimum value, nm;
resetting after calibration: after the return calibration is completed, the torque output of the non-contact torque sensor calibration device is adjusted to zero through fine adjustment, and then the disassembly of the device is performed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211699675.0A CN116465544A (en) | 2022-12-28 | 2022-12-28 | Non-contact torque sensor calibration method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211699675.0A CN116465544A (en) | 2022-12-28 | 2022-12-28 | Non-contact torque sensor calibration method and device |
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| CN116465544A true CN116465544A (en) | 2023-07-21 |
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| CN202211699675.0A Pending CN116465544A (en) | 2022-12-28 | 2022-12-28 | Non-contact torque sensor calibration method and device |
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- 2022-12-28 CN CN202211699675.0A patent/CN116465544A/en active Pending
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