CN116989935B - Midpoint calibration equipment and method for torque sensor - Google Patents
Midpoint calibration equipment and method for torque sensor Download PDFInfo
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- CN116989935B CN116989935B CN202310968836.XA CN202310968836A CN116989935B CN 116989935 B CN116989935 B CN 116989935B CN 202310968836 A CN202310968836 A CN 202310968836A CN 116989935 B CN116989935 B CN 116989935B
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Abstract
The invention relates to the technical field of automobile steering, in particular to a torque sensor midpoint calibration device and method. Including frame, steering gear dabber assembly, revolving stage, elevating system, rotary mechanism, fixture, detection mechanism and locking clamping jaw, locking clamping jaw can lock the output shaft of steering gear dabber assembly, and detection mechanism is including the detection camera of vertical setting, and the direction of detection camera can be collineation with the locking clamping jaw, and rotary mechanism is including the powerful gas claw that is used for centre gripping steering gear dabber assembly input shaft, and rotary mechanism still includes speed reducer, servo motor, torque sensor and angle code dish, and the axis collineation of locking clamping jaw and powerful gas claw. The invention adopts automatic torque centering to improve the consistency and reliability of products, adopts automatic equipment to reduce the randomness of human operation and improves the production capacity; the invention ensures that the consistency of the midpoint calibration of the steering sensor is better; reducing customer complaints of inconsistent left and right hand forces.
Description
Technical Field
The invention relates to the technical field of automobile steering, in particular to a torque sensor midpoint calibration device and method.
Background
The steering gear is a mechanical device which is driven by people and is unmanned and provided with a power source, so that the steering gear randomly changes the running route and direction in the running process, and is also called a steering gear and a steering gear, and is the most important component in a steering system. The function of the device is as follows: the power required for steering an automobile using a power steering system increases the force transmitted from the steering wheel to the steering transmission mechanism and changes the transmission direction of the force.
Because the electric steering gear assembly is arranged below the steering wheel, the hand feeling requirement of the steering wheel is extremely high, namely, the electric power steering is adopted, and the purpose of providing steering wheel power-assisted control steering is realized through the combination of three electric appliances of a torque sensor, a motor and a controller. How to effectively and accurately monitor the change of moment on hands to meet the requirement of power output. The change of the input shaft and the output shaft of the steering gear is quantized by adopting sensors, and the quantized signals are transmitted to an ECU (electronic control center processing unit) at the same time, and the ECU provides assistance through a driving motor to control the magnitude of steering assistance and meet the hand feeling requirements of users. Therefore, higher requirements are put on the calibration and the use of the steering sensor in the steering process, and the consistency of the left hand feeling and the right hand feeling of a user in use is required to be met. In the early stage, a mode of manually centering the sensor is adopted, a quantized signal cannot achieve a better midpoint, and the automatic calibration equipment of the torque sensor midpoint calibration method is invented, so that complaints of inconsistent hand feeling of customers are better improved.
Disclosure of Invention
Based on this, it is necessary to provide a torque sensor midpoint calibration device and method for solving the problems in the prior art.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the invention provides a torque sensor midpoint calibration device, which comprises a frame, a steering gear mandrel assembly, a turntable, a lifting mechanism, a rotating mechanism, a clamping mechanism, a detection mechanism and a locking clamping jaw, wherein the turntable is horizontally arranged in the frame, the lifting mechanism is vertically arranged on the frame, the rotating mechanism is in transmission connection with the lifting mechanism, the clamping mechanism, the detection mechanism and the locking clamping jaw are respectively provided with a plurality of groups, the clamping mechanism, the detection mechanism and the locking clamping jaw are annularly distributed around the rotating center of the turntable, the clamping mechanism is fixedly arranged on the turntable, the steering gear mandrel assembly is arranged in the clamping mechanism, the locking clamping jaw is arranged under the steering gear mandrel assembly, the locking clamping jaw can lock an output shaft of the steering gear mandrel assembly, the detection mechanism comprises a vertically arranged detection camera, the detection direction of the detection camera can be collinear with the locking clamping jaw, the rotating mechanism comprises a powerful air claw for clamping an input shaft of a steering gear mandrel assembly, the powerful air claw can be rotationally arranged right above the steering gear mandrel assembly, the rotating mechanism further comprises a speed reducer, a servo motor, a torque sensor and an angle coding disc, the angle coding disc is fixedly connected with the powerful air claw, the torque sensor is vertically arranged, the bottom end of the torque sensor is in transmission connection with the angle coding disc, the top end of the torque sensor is in transmission connection with the speed reducer, the servo motor is in transmission connection with the speed reducer, the locking clamping jaw is collinear with the axis of the powerful air claw, the clamping mechanism comprises a first support frame, a second support frame, a third support frame, a hinged frame, a first clamping component and a second clamping component, the steering gear mandrel assembly comprises a rectangular shell and a cylindrical shell, the first support frame and the second support frame are respectively positioned on two sides of the rectangular shell, the third support frame is located the below of cylinder type shell, first clamping assembly installs on the second support frame and is connected with the transmission of rectangle shell, articulated frame and third support frame are articulated, second clamping assembly sets up on the third support frame and is connected with cylinder type shell transmission, first clamping assembly is including the threaded rod, horizontal gag lever post, support tight board, locking nut and screw down the rotary drum, support tight board vertical setting, the lateral wall of support tight board can keep away from the lateral wall of first support frame one side with the rectangle shell and contradict, threaded rod level sets up and the length direction of threaded rod is perpendicular with the axis direction of cylinder type shell, the one end of threaded rod rotates with support tight board to be connected, threaded rod and second support frame threaded connection, screw down the rotary drum fixed mounting is kept away from in the threaded rod one side of support tight board, locking nut installs on the threaded rod and with threaded rod threaded connection, the one end and the support tight board fixed connection of horizontal gag lever post, the other end and second support frame sliding connection of horizontal gag lever post, the top of third support frame is equipped with first arc wall, the bottom of articulated frame is equipped with the second arc wall, first arc wall and second arc wall, the outside that first arc wall and second arc wall can rotate with the joint on the long arc wall of joint board, the joint can install the arc wall on the arc wall of joint line with the arc wall of third support frame.
Preferably, the second clamping assembly further comprises a spring, a vertical chute is formed in the side wall of the third supporting frame, the buckle can be lifted and arranged in the vertical chute, the spring is arranged in the vertical chute, the bottom end of the spring is fixedly connected with the bottom of the vertical chute, and the other end of the spring is fixedly connected with the buckle.
Preferably, the detection mechanism further comprises a linear pushing assembly and a mounting frame, the linear pushing assembly is mounted on the first supporting frame, the transmission direction of the linear pushing assembly is perpendicular to the axis direction of the cylindrical shell, the detection camera is vertically and fixedly arranged at the top end of the mounting frame, and the linear pushing assembly is in transmission connection with the mounting frame.
Preferably, the linear pushing assembly comprises a linear driver and a first guide rail, wherein the linear driver is fixedly arranged on the first support frame, the output end of the linear driver is fixedly connected with the bottom end side wall of the mounting frame, the length direction of the first guide rail is perpendicular to the axis direction of the cylindrical shell, and the bottom end of the mounting frame is in sliding fit with the first guide rail.
Preferably, the lifting mechanism comprises a screw rod sliding table and a second guide rail, the second guide rail is vertically arranged on the side wall of the frame, the screw rod sliding table is fixedly connected with the frame, and the rotating mechanism is fixedly connected with the output end of the screw rod sliding table.
The method for calibrating the midpoint of the torque sensor comprises the following steps:
s1: the torque sensor signal static calibration is only aimed at torque calibration, the output shaft is locked, the input shaft is rotated to the positions of +80% and-80% of the linear working range of the torsion bar, and the reading values of the two positions are respectively recorded through the programmer software. Calculating the optimized slope and offset value through programmer software, and respectively programming the values into registers of corresponding channels of the sensor;
s2: the method comprises the steps of (1) placing a workpiece to be tested on a rack in a sensor characteristic experiment, manually inserting a sensor wire plug, locking an output end, driving an input end, rotating an input shaft at constant speed in the forward and reverse directions until the set input torque is reached, and simultaneously recording an input torque signal of a torque sensor of a steering gear assembly to form a torque sensor signal curve;
s3: and detecting angle signals, wherein an input end is clamped, an output end is loosened, 2 paths of angle signal values of an initial position are recorded, absolute angles are calculated through an angle algorithm, and the absolute angles calculated by rotating angles of 4 points in forward rotation and 4 points in reverse rotation and 2 paths of angle signals acquired in actual practice are compared.
Compared with the prior art, the invention has the beneficial effects that:
1. the detection camera is firstly positioned right above the steering gear mandrel assembly and used for determining the installation position of the steering gear mandrel assembly, so that the installation accuracy of the steering gear mandrel assembly is guaranteed, the clamping mechanism is driven according to the detection result to adjust the position of the steering gear mandrel assembly, namely, the axises of the steering gear mandrel assembly and the axises of the locking clamping jaws above are guaranteed to be collinear, the installation frame is driven to retract through the output of the linear pushing assembly, and the installation frame drives the detection camera to retract, so that the avoidance of the rotating mechanism is facilitated.
2. The rectangular shell of the steering gear mandrel assembly is borne through the first support frame and the second support frame, the cylindrical shell of the steering gear mandrel assembly is borne through the third support frame, the steering gear mandrel can be accurately borne and clamped, and the position of the steering gear mandrel can be accurately adjusted according to requirements.
3. The invention adopts automatic torque centering to improve the consistency and reliability of products, adopts automatic equipment to reduce the randomness of human operation and improves the production capacity.
4. The invention ensures that the consistency of the point calibration of the steering sensor is better. Reducing customer complaints of inconsistent left and right hand forces.
Drawings
FIG. 1 is a schematic perspective view of a torque sensor midpoint calibration device;
FIG. 2 is a front view of a torque sensor midpoint calibration device;
FIG. 3 is a top view of a torque sensor midpoint calibration device;
FIG. 4 is a schematic perspective view of a turntable, a clamping mechanism and a detection mechanism in a torque sensor midpoint calibration device;
FIG. 5 is a schematic perspective view of a clamping mechanism and locking jaws of a torque sensor midpoint calibration device;
FIG. 6 is a schematic perspective view of a first clamping assembly of a torque sensor midpoint calibration device;
FIG. 7 is a schematic perspective view of a second clamping assembly of the torque sensor midpoint calibration device;
FIG. 8 is a side view of a second clamp assembly in a torque sensor midpoint calibration apparatus;
FIG. 9 is a schematic perspective view of a lifting mechanism and a rotating mechanism in a torque sensor midpoint calibration device.
The reference numerals in the figures are:
1. a frame; 2. a diverter spindle assembly; 3. a turntable; 4. a lifting mechanism; 5. a rotation mechanism; 6. a clamping mechanism; 7. a detection mechanism; 8. locking the clamping jaw; 9. detecting a camera; 10. a strong pneumatic claw; 11. a speed reducer; 12. a servo motor; 13. a torque sensor; 14. an angle encoding disk; 15. a first support frame; 16. a second support frame; 17. a third support frame; 18. a hinge bracket; 19. a rectangular housing; 20. a cylindrical housing; 21. a threaded rod; 22. a horizontal stop lever; 23. a pressing plate; 24. a lock nut; 25. twisting the rotary drum; 26. a clamping plate; 27. a buckle; 28. a first arc-shaped groove; 29. a second arc-shaped groove; 30. a spring; 31. a vertical chute; 32. a mounting frame; 33. a linear driver; 34. a first guide rail; 35. a screw rod sliding table; 36. and a second guide rail.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
The torque sensor midpoint calibration device comprises a frame 1, a steering gear mandrel assembly 2, a turntable 3, a lifting mechanism 4, a rotating mechanism 5, a clamping mechanism 6, a detection mechanism 7 and a locking clamping jaw 8, wherein the turntable 3 is horizontally arranged in the frame 1, the lifting mechanism 4 is vertically arranged on the frame 1, the rotating mechanism 5 is in transmission connection with the lifting mechanism 4, the clamping mechanism 6, the detection mechanism 7 and the locking clamping jaw 8 are respectively provided with a plurality of groups, the clamping mechanism 6, the detection mechanism 7 and the locking clamping jaw 8 are annularly distributed around the rotation center of the turntable 3, the clamping mechanism 6 is fixedly arranged on the turntable 3, the steering gear mandrel assembly 2 is arranged in the clamping mechanism 6, the locking clamping jaw 8 is arranged under the steering gear mandrel assembly 2, the locking clamping jaw 8 can lock an output shaft of the steering gear mandrel assembly 2, the detection mechanism 7 comprises a vertically arranged detection camera 9, a detection direction of the detection camera 9 can be collinear with the locking clamping jaw 8, the rotating mechanism 5 comprises a powerful air claw 10 for clamping an input shaft of the steering gear mandrel assembly 2, the powerful air claw 10 can be rotatably arranged above the steering gear mandrel assembly 2, the steering gear mandrel assembly is also in transmission angle sensor 12, the positive-speed reducer 11 is connected with a speed reducer 11, the torque sensor is fixedly arranged at the top end of a speed reducer 13, the encoder is fixedly connected with a speed reducer 13, and has a speed reducer 13, and is connected with a encoder 13.
The midpoint calibration equipment of the torque sensor is used for torque calibration and judging whether the value before calibration can be calibrated or not. The diverter mandrel assembly 2 is placed on the clamping mechanism 6, and the two ends of the diverter mandrel assembly are suspended in the air and are in a static state. And (3) manually inserting the sensor line plug, judging the range of the main/auxiliary torque signal, and calibrating the offset and the slope within the qualified range. The calibrating method comprises the following steps: locking the output shaft by the locking jaw 8, and respectively rotating the input shaft to +80% and-80% positions of the linear working range of the torsion bar (for example, the working range is +/-4 degrees, the +80% position is +8N.m, and the-80% position is-8N.m); the read values for these two locations of the two channels are recorded separately by the programmer software. And calculating the optimized offset and slope through programmer software, and respectively programming the offset and the slope into registers of corresponding main/auxiliary channels of the sensor. The chip is locked by the programmer software so as to prevent the subsequent interference or damage of the outside world to the sensor register. The invention adopts automatic torque centering to improve the consistency and reliability of products, adopts automatic equipment to reduce the randomness of human operation and improves the production capacity. The invention ensures that the consistency of the point calibration of the steering sensor is better. Reducing customer complaints of inconsistent left and right hand forces.
The detection camera 9 in the detection mechanism 7 detects the installation position of the steering gear mandrel assembly 2 installed in the clamping mechanism 6, so that the input shaft and the output shaft of the steering gear mandrel assembly 2 are positioned on the same axis with the locking clamping jaw 8 and the strong air claw 10, the measurement accuracy is improved, the servo motor 12 works to drive the speed reducer to work, the speed reducer 11 drives the torsion driver, and the detection function of the input shaft is realized.
The clamping mechanism 6 comprises a first supporting frame 15, a second supporting frame 16, a third supporting frame 17, a hinge frame 18, a first clamping component and a second clamping component, the steering gear mandrel assembly 2 comprises a rectangular shell 19 and a cylindrical shell 20, the first supporting frame 15 and the second supporting frame 16 are respectively positioned on two sides of the rectangular shell 19, the third supporting frame 17 is positioned below the cylindrical shell 20, the first clamping component is mounted on the second supporting frame 16 and is in transmission connection with the rectangular shell 19, the hinge frame 18 is hinged with the third supporting frame 17, and the second clamping component is arranged on the third supporting frame 17 and is in transmission connection with the cylindrical shell 20.
When clamping the steering gear spindle assembly 2, the rectangular shell 19 of the steering gear spindle assembly 2 is borne by the first support frame 15 and the second support frame 16, the cylindrical shell 20 of the steering gear spindle assembly 2 is borne by the third support frame 17, the rectangular shell 19 is clamped by the first clamping component, and the hinged frame 18 is locked with the third support frame 17 by the output of the second clamping component, so that the cylindrical shell 20 is clamped.
The first clamping assembly comprises a threaded rod 21, a horizontal limiting rod 22, a tightening plate 23, a locking nut 24 and a screwing rotary drum 25, wherein the tightening plate 23 is vertically arranged, the side wall of the tightening plate 23 can be abutted against the side wall of the rectangular shell 19 on the side far away from the first supporting frame 15, the threaded rod 21 is horizontally arranged, the length direction of the threaded rod 21 is perpendicular to the axis direction of the cylindrical shell 20, one end of the threaded rod 21 is rotationally connected with the tightening plate 23, the threaded rod 21 is in threaded connection with the second supporting frame 16, the screwing rotary drum 25 is fixedly arranged on the side, far away from the tightening plate 23, of the threaded rod 21, the locking nut 24 is arranged on the threaded rod 21 and is in threaded connection with the threaded rod 21, one end of the horizontal limiting rod 22 is fixedly connected with the tightening plate 23, and the other end of the horizontal limiting rod 22 is in sliding connection with the second supporting frame 16.
At first centre gripping subassembly during operation, operating personnel twists rotary drum 25 through rotating, drives threaded rod 21 and rotates, threaded rod 21 and second support frame 16 threaded connection for threaded rod 21 will support tight board 23 propelling movement to the one side that is close to steering gear dabber assembly 2 when rotating, and horizontal gag lever post 22 is used for playing direction and the spacing function to support tight board 23 displacement, when support tight board 23 back in place, rotates lock nut 24, makes threaded rod 21 and second support frame 16 locking, prevents to support tight board 23 lax, and then has realized the centre gripping function to steering gear dabber assembly 2 rectangular housing 19, and can adjust rectangular housing 19's horizontal position.
The second clamping assembly comprises a clamping plate 26 and a buckle 27, a first arc-shaped groove 28 is formed in the top end of the third support frame 17, a second arc-shaped groove 29 is formed in the bottom end of the hinge frame 18, the radial lengths of the first arc-shaped groove 28 and the second arc-shaped groove 29 are consistent with the radial length of the outer side wall of the cylindrical shell 20, the clamping plate 26 can be rotatably arranged on the hinge frame 18, the buckle 27 is arranged on the third support frame 17, and the clamping plate 26 can be connected with the buckle 27 in a clamping mode.
When the second clamping assembly works, the hinged frame 18 is rotated to the third supporting frame 17, the cylindrical shell 20 is clamped through the first arc-shaped groove 28 and the second arc-shaped groove 29, the hinged frame 18 and the third supporting frame 17 are locked through the second clamping assembly, and the hinged frame 18 and the third supporting frame 17 are connected through the clamping plate 26 and the clamping buckle 27.
The second clamping assembly further comprises a spring 30, a vertical chute 31 is arranged on the side wall of the third supporting frame 17, the buckle 27 is arranged in the vertical chute 31 in a lifting mode, the spring 30 is arranged in the vertical chute 31, the bottom end of the spring 30 is fixedly connected with the bottom of the vertical chute 31, and the other end of the spring 30 is fixedly connected with the buckle 27.
When the clamping plate 26 is connected with the buckle 27, the spring 30 pulls the buckle 27 downwards along the direction of the vertical chute 31, so that the buckle 27 has a downward movement trend, and further the connection between the clamping plate 26 and the buckle 27 is ensured not to be loosened.
The detection mechanism 7 further comprises a linear pushing assembly and a mounting frame 32, the linear pushing assembly is mounted on the first supporting frame 15, the transmission direction of the linear pushing assembly is perpendicular to the axis direction of the cylindrical shell 20, the detection camera 9 is vertically and fixedly arranged at the top end of the mounting frame 32, and the linear pushing assembly is in transmission connection with the mounting frame 32.
When the detection mechanism 7 works, the detection camera 9 is firstly positioned right above the steering gear core shaft assembly 2 and used for determining the installation position of the steering gear core shaft assembly 2, so that the installation accuracy of the steering gear core shaft assembly 2 is guaranteed, and after the steering gear core shaft assembly 2 is installed, the installation frame 32 is driven to retract through the output of the linear pushing assembly, so that the installation frame 32 drives the detection camera 9 to retract, and the avoidance of the rotary mechanism 5 is facilitated.
The linear pushing assembly comprises a linear driver 33 and a first guide rail 34, wherein the linear driver 33 is fixedly arranged on the first supporting frame 15, the output end of the linear driver 33 is fixedly connected with the bottom end side wall of the mounting frame 32, the length direction of the first guide rail 34 is perpendicular to the axis direction of the cylindrical shell 20, and the bottom end of the mounting frame 32 is in sliding fit with the first guide rail 34.
When the linear pushing assembly works, the linear driver 33 outputs to drive the mounting frame 32 fixedly connected with the linear pushing assembly to horizontally displace, and the first guide rail 34 is used for guiding and limiting the displacement of the mounting frame 32.
The lifting mechanism 4 comprises a screw rod sliding table 35 and a second guide rail 36, the second guide rail 36 is vertically arranged on the side wall of the frame 1, the screw rod sliding table 35 is fixedly connected with the frame 1, and the rotating mechanism 5 is fixedly connected with the output end of the screw rod sliding table 35.
When the lifting mechanism 4 works, the screw rod sliding table 35 works to drive the rotating mechanism 5 to realize the lifting function, and the second guide rail 36 plays a role in guiding and limiting the lifting of the rotating mechanism 5.
A method for calibrating a midpoint of a torque sensor comprises the following steps:
s1: the torque sensor signal static calibration is only aimed at torque calibration, the output shaft is locked, the input shaft is rotated to the positions of +80% and-80% of the linear working range of the torsion bar, and the reading values of the two positions are respectively recorded through the programmer software. Calculating the optimized slope and offset value through programmer software, and respectively programming the values into registers of corresponding channels of the sensor;
s2: the method comprises the steps of (1) placing a workpiece to be tested on a rack in a sensor characteristic experiment, manually inserting a sensor wire plug, locking an output end, driving an input end, rotating an input shaft at constant speed in the forward and reverse directions until the set input torque is reached, and simultaneously recording an input torque signal of a torque sensor of a steering gear assembly to form a torque sensor signal curve;
s3: and detecting angle signals, wherein an input end is clamped, an output end is loosened, 2 paths of angle signal values of an initial position are recorded, absolute angles are calculated through an angle algorithm, and the absolute angles calculated by rotating angles of 4 points in forward rotation and 4 points in reverse rotation and 2 paths of angle signals acquired in actual practice are compared.
The experimental purpose of static calibration of the torque sensor signal in step S1 is: the method is used for torque calibration, and whether the value before calibration can be calibrated (the parameter can be set) is judged. The diverter mandrel assembly 2 is placed on a clamp, and two ends of the diverter mandrel assembly are suspended in the air and are in a static state. And (5) manually inserting the sensor line plug, judging the range of T1/T2, and calibrating the offset and the slope within the qualified range.
The experimental purpose of the sensor characteristic experiment in step S2 is: and detecting whether the calibrated offset and slope are correct.
The experimental purpose of the detection of the angle signal in step S3 is: and detecting whether the angle signal output is normal.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The torque sensor midpoint calibration equipment is characterized by comprising a frame (1), a steering gear mandrel assembly (2), a turntable (3), a lifting mechanism (4), a rotating mechanism (5), a clamping mechanism (6), a detection mechanism (7) and locking clamping jaws (8), wherein the turntable (3) is horizontally arranged in the frame (1), the lifting mechanism (4) is vertically arranged on the frame (1), the rotating mechanism (5) is in transmission connection with the lifting mechanism (4), the clamping mechanism (6), the detection mechanism (7) and the locking clamping jaws (8) are all provided with a plurality of groups, the clamping mechanism (6), the detection mechanism (7) and the locking clamping jaws (8) are all distributed annularly around the rotation center of the turntable (3), the clamping mechanism (6) is fixedly arranged on the turntable (3), the steering gear mandrel assembly (2) is arranged in the clamping mechanism (6), the locking clamping jaws (8) are arranged right below the steering gear mandrel assembly (2), the locking clamping jaws (8) can lock the output shaft of the steering gear mandrel assembly (2), the detection mechanism (7) comprises a vertically arranged detection head (9), the detection clamping jaws (9) can lock the direction of the camera head (9) and the camera head (8) in a collinear manner, the rotating mechanism (5) comprises a powerful air claw (10) for clamping an input shaft of the steering gear mandrel assembly (2), the powerful air claw (10) is rotatably arranged right above the steering gear mandrel assembly (2), the rotating mechanism (5) further comprises a speed reducer (11), a servo motor (12), a torque sensor (13) and an angle coding disc (14), the angle coding disc (14) is fixedly connected with the powerful air claw (10), the torque sensor (13) is vertically arranged, the bottom end of the torque sensor (13) is in transmission connection with the angle coding disc (14), the top end of the torque sensor (13) is in transmission connection with the speed reducer (11), the servo motor (12) is in transmission connection with the speed reducer (11), the locking clamping jaw (8) is collinear with the axis of the powerful air claw (10), the clamping mechanism (6) comprises a first supporting frame (15), a second supporting frame (16), a third supporting frame (17), a hinging frame (18), a first clamping component and a second clamping component, the steering gear assembly (2) comprises a rectangular shell (19) and a cylindrical shell (20), the first supporting frame (16) and the second supporting frame (16) are respectively positioned on two sides of the first supporting frame (16) and the second supporting frame (16) are respectively positioned below the rectangular shell (20), the first clamping component is arranged on the second supporting frame (16) and is in transmission connection with the rectangular shell (19), the hinged frame (18) is hinged with the third supporting frame (17), the second clamping component is arranged on the third supporting frame (17) and is in transmission connection with the cylindrical shell (20), the first clamping component comprises a threaded rod (21), a horizontal limiting rod (22), a tightening plate (23), a locking nut (24) and a screwing rotary drum (25), the tightening plate (23) is vertically arranged, the side wall of the tightening plate (23) can be abutted against the side wall of the rectangular shell (19) far away from the first supporting frame (15), the length direction of the threaded rod (21) is horizontally arranged and is perpendicular to the axial direction of the cylindrical shell (20), one end of the threaded rod (21) is in rotation connection with the tightening plate (23), the threaded rod (21) is in threaded connection with the second supporting frame (16), the locking nut (24) is fixedly arranged on one side of the threaded rod (21) far away from the tightening plate (23), the locking nut (24) is arranged on the threaded rod (21) and is connected with the threaded rod (21), the second clamping plate (22) is in threaded connection with the second clamping plate (22), the other end of the sliding component is fixedly clamped with the second supporting frame (27), the top of third support frame (17) is equipped with first arc wall (28), and the bottom of articulated frame (18) is equipped with second arc wall (29), and the footpath length of first arc wall (28) and second arc wall (29) is unanimous with the lateral wall footpath length of cylinder shell (20), and bayonet lock (26) can pivoted install on articulated frame (18), and buckle (27) are installed on third support frame (17), and bayonet lock (26) can with buckle (27) joint.
2. The torque sensor midpoint calibration device according to claim 1, wherein the second clamping assembly further comprises a spring (30), a vertical chute (31) is formed in the side wall of the third supporting frame (17), the buckle (27) is arranged in the vertical chute (31) in a lifting manner, the spring (30) is arranged in the vertical chute (31), the bottom end of the spring (30) is fixedly connected with the bottom of the vertical chute (31), and the other end of the spring (30) is fixedly connected with the buckle (27).
3. The torque sensor midpoint calibration device according to claim 2, wherein the detecting mechanism (7) further comprises a linear pushing assembly and a mounting frame (32), the linear pushing assembly is mounted on the first supporting frame (15), the transmission direction of the linear pushing assembly is perpendicular to the axis direction of the cylindrical shell (20), the detecting camera (9) is vertically and fixedly arranged at the top end of the mounting frame (32), and the linear pushing assembly is in transmission connection with the mounting frame (32).
4. A torque sensor midpoint calibration device according to claim 3, wherein the linear pushing assembly comprises a linear driver (33) and a first guide rail (34), the linear driver (33) is fixedly mounted on the first support frame (15), the output end of the linear driver (33) is fixedly connected with the bottom end side wall of the mounting frame (32), the length direction of the first guide rail (34) is perpendicular to the axis direction of the cylindrical shell (20), and the bottom end of the mounting frame (32) is in sliding fit with the first guide rail (34).
5. The torque sensor midpoint calibration device according to claim 4, wherein the lifting mechanism (4) comprises a screw rod sliding table (35) and a second guide rail (36), the second guide rail (36) is vertically arranged on the side wall of the frame (1), the screw rod sliding table (35) is fixedly connected with the frame (1), and the rotating mechanism (5) is fixedly connected with the output end of the screw rod sliding table (35).
6. A method of calibrating a midpoint of a torque sensor, the torque sensor midpoint calibration device of claim 1, comprising the steps of:
s1: the torque sensor signal static calibration is carried out, only aiming at torque calibration, an output shaft is locked, the input shaft is rotated to the position of +80% and-80% of the linear working range of the torsion bar, the reading values of the two positions are respectively recorded through programmer software, the values of the slope and the offset after optimization are calculated through the programmer software, and the values are respectively written into registers of corresponding channels of the sensor;
s2: the method comprises the steps of (1) placing a workpiece to be tested on a rack in a sensor characteristic experiment, manually inserting a sensor wire plug, locking an output end, driving an input end, rotating an input shaft at constant speed in the forward and reverse directions until the set input torque is reached, and simultaneously recording an input torque signal of a torque sensor of a steering gear assembly to form a torque sensor signal curve;
s3: and detecting angle signals, wherein an input end is clamped, an output end is loosened, 2 paths of angle signal values of an initial position are recorded, absolute angles are calculated through an angle algorithm, and the absolute angles calculated by rotating angles of 4 points in forward rotation and 4 points in reverse rotation and 2 paths of angle signals acquired in actual practice are compared.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310968836.XA CN116989935B (en) | 2023-08-03 | 2023-08-03 | Midpoint calibration equipment and method for torque sensor |
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| KR101832393B1 (en) * | 2017-11-07 | 2018-02-27 | (주)영일랩스 | Column type electric power steering performance test system |
| CN111504665A (en) * | 2020-04-29 | 2020-08-07 | 中国检验认证集团湖北有限公司 | Rotary endurance testing machine for automobile steering column assembly |
| CN218994618U (en) * | 2022-12-30 | 2023-05-09 | 苏州欧拓电子科技有限公司 | Torque rotation angle sensor assembly tester |
| KR20230071240A (en) * | 2021-11-16 | 2023-05-23 | 쎄네스테크놀로지(주) | Calibration apparatus for 6 axis force-torque sensor |
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| JP2003182603A (en) * | 2001-12-13 | 2003-07-03 | Toyoda Mach Works Ltd | Midpoint setting method for torque sensor |
| KR20040001376A (en) * | 2002-06-28 | 2004-01-07 | 주식회사 만도 | The middle point location of torque sensor set up method in eps system |
| JP2007290412A (en) * | 2006-04-20 | 2007-11-08 | Jtekt Corp | Electric power steering device |
| CN106660576A (en) * | 2014-06-25 | 2017-05-10 | Trw有限公司 | An electric power assisted steering system |
| CN204679209U (en) * | 2015-04-30 | 2015-09-30 | 荆州恒隆汽车零部件制造有限公司 | A kind of electric steering column torque sensor mid point demarcates board |
| CN106168520A (en) * | 2015-05-20 | 2016-11-30 | 株式会社电装 | Sensor device and the electric power steering apparatus of use sensor device |
| CN205449487U (en) * | 2015-12-29 | 2016-08-10 | 北京汽车研究总院有限公司 | Car a steering system measuring device |
| KR101832393B1 (en) * | 2017-11-07 | 2018-02-27 | (주)영일랩스 | Column type electric power steering performance test system |
| CN111504665A (en) * | 2020-04-29 | 2020-08-07 | 中国检验认证集团湖北有限公司 | Rotary endurance testing machine for automobile steering column assembly |
| KR20230071240A (en) * | 2021-11-16 | 2023-05-23 | 쎄네스테크놀로지(주) | Calibration apparatus for 6 axis force-torque sensor |
| CN218994618U (en) * | 2022-12-30 | 2023-05-09 | 苏州欧拓电子科技有限公司 | Torque rotation angle sensor assembly tester |
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| CN116989935A (en) | 2023-11-03 |
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