CN207515799U - A kind of calibrating installation of inertia device - Google Patents
A kind of calibrating installation of inertia device Download PDFInfo
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- CN207515799U CN207515799U CN201721240844.9U CN201721240844U CN207515799U CN 207515799 U CN207515799 U CN 207515799U CN 201721240844 U CN201721240844 U CN 201721240844U CN 207515799 U CN207515799 U CN 207515799U
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Abstract
The utility model is related to inertia device collimation technique fields, provide a kind of calibrating installation of inertia device.Wherein calibrating installation includes three vertical cylinders of mutual center, the main side face of fixation when six top surfaces of three cylinders form calibration；Three cylinders are respectively divided into two sections in center upright position, and link block is provided between each segmented column body, and the surface of link block is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side；Wherein, the link block between three adjacent segmented column bodies forms a hollow out centrum space, and three inclined-planes on vertebra top are intersected in centrum for placing inertia device to be measured.The utility model is in the case of no turntable, zero bias under gyroscope difference posture can be calibrated, zero bias, constant multiplier and scale factor that can realize accelerometer etc. completely calibrates for error, and multiple sensors can be respectively installed on three inclined-planes of centrum to be calibrated, improve calibration efficiency.
Description
【Technical field】
The utility model is related to inertia device collimation technique field, more particularly to a kind of calibrating installation of inertia device.
【Background technology】
MEMS (Micro-Electro-Mechanic System, MEMS) sensor has small, weight
Gently, reliability it is high, it is at low cost, be easy to large-scale production the advantages that.Recently as the universal and device price of MEMS technology
Decline, MEMS device possesses wide future in engineering applications.MEMS gyroscope and acceleration are passed as typical MEMS inertia
Sensor has been widely used for the intelligent control and consumer electronics sector of unmanned plane, robot.However MEMS gyroscope
With acceleration also comprising many constant errors, offset output can generate certain drift with the variation of time, i.e. zero is inclined
It moves, while also there are scale factor errors and interaxis error for multi-axial sensor, it is therefore desirable to periodically MEMS and gyroscope be carried out
Calibration.High-precision multi-axis turntable is common gyroscope and accelerometer calibration equipment, is capable of providing accurate angular speed and angle
Position.But high-precision calibration equipment price is expensive, ordinary user can not bear, and polyhedral structure pair is used in routine use more
Gyroscope and accelerometer are calibrated.And single axle table, the content that can be detected is there are great limitation, therefore, such as
Where realize that the test function of multi-axis turntable seems very with practical value on the less expensive single axle table of equipment cost.
【Utility model content】
The technical problems to be solved in the utility model is to overcome calibrating installation under uniaxial environment in the prior art available
Detection data dimension is limited, and cannot meet the requirement for being carried out at the same time multiple inertia device calibrations.
In a first aspect, the utility model provides a kind of calibrating installation of inertia device, calibrating installation includes mutual
Three vertical cylinders of center, the main side face of fixation when six top surfaces of three cylinders form calibration；
Three cylinders are respectively divided into two sections in center upright position, and are provided with link block between each segmented column body, institute
It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface for stating link block；Wherein, adjacent three
Link block between segmented column body forms a hollow out centrum space, and three inclined-planes on vertebra top are intersected in the centrum and are treated for placing
The inertia device of survey.
Preferably, at least two fixation grooves are each provided on six main sides face, the fixation is used with groove
In the fixed feet for possessing identical quantity on embedded single axle table, the fixation of the calibrating installation is completed.
Preferably, at least two fixations groove includes two current electrodes, the current electrode by conducting wire with
The pedestal connection for being used to fix inertia device on three inclined-planes is arranged on, for giving the inertia for being arranged on each position on three inclined-planes
Device is powered.
Preferably, the calibrating installation is internally provided with accumulator, and the accumulator is by conducting wire and is arranged on three tiltedly
Face position connects for fixing the pedestal of inertia device, for the inertia device for being arranged on each position on three inclined-planes to be given to supply
Electricity.
Preferably, in the calibrating installation, the calibrating installation frame being made of the cylinder and link block is to pass through filling
Injection molding tool is integrally formed；Alternatively, molding is burnished and fabricated by ball-type idiosome；Alternatively, it is respectively zero with the cylinder and link block
Component mode assembled formation.
Preferably, the link block is coupled in the surface portion in adjacent main side face, is connected with reference to main side face structure setting
Two auxiliary end faces；Wherein, the auxiliary end face of all link blocks and the main side face of three cylinders form one can fix end face with 30
Calibrating installation.
Preferably, it is 30 ° that the respective both sides in main side Mian Hefu end faces, which reach the angle that calibrating installation center is formed, so that
Two intersecting cylinders and the section of the link block institute Component units of cylinders intersected for linking two are positive 12 side shape；Alternatively,
Two auxiliary end faces are respectively 45 ° with the angle on vertebra top so that the link block between two intersecting cylinders is symmetrical for one
Structure.
Preferably, the weight of the calibrating installation is 2-10Kg.
Preferably, magnetic enclosure material is provided on end face, the magnetic enclosure material is used to fix by the calibrating installation
After on turntable, contacting the magnetic enclosure material on the end face of turntable can be adsorbed by the electromagnet of corresponding region on turntable.
The utility model devises a kind of available for gyroscope and the calibrating installation and method of accelerometer.In no turntable
In the case of, the calibrating installation of the utility model design can calibrate the zero offset error under gyroscope difference posture, can be with
Zero bias, constant multiplier and scale factor for realizing accelerometer etc. completely calibrates for error.On the other hand, the utility model device
It can realize that carrying out zero bias, scale factor and scale factor equal error to gyroscope using single axle table calibrates, and energy
Multiple sensors are respectively enough installed on three inclined-planes of centrum to be calibrated, improve calibration efficiency.
【Description of the drawings】
It, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Required attached drawing is briefly described.It should be evident that drawings described below is only the one of the utility model
A little embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the column structure schematic diagram in a kind of inertia device detection device that the utility model embodiment provides；
Fig. 2 is the cylinder mating part link block in a kind of inertia device detection device that the utility model embodiment provides
Structure diagram；
Fig. 3 is the vertebral body structure signal in a kind of inertia device detection device that the utility model embodiment provides
Figure；
Fig. 4 is a kind of outline structural diagram for inertia device detection device that the utility model embodiment provides；
Fig. 5 is a kind of contour structures vertical view for inertia device detection device that the utility model embodiment provides；
Fig. 6 is a kind of groove structure schematic diagram for inertia device detection device that the utility model embodiment provides；
Fig. 7 is the groove structure schematic diagram for another inertia device detection device that the utility model embodiment provides；
Fig. 8 is the uniaxial turntable structure schematic diagram with fixed feet that the utility model embodiment provides；
Fig. 9 is that the utility model embodiment secures the schematic diagram after detection device and uniaxial turntable；
Figure 10 is the uniaxial turntable structure schematic diagram with fixed feet and magnetic suck structure that the utility model embodiment provides；
Figure 11 is being electrically connected between a kind of pedestal for fixed inertia device that the utility model embodiment provides and fixed feet
Connect schematic diagram；
Figure 12 is a kind of calibration method flow diagram for inertia device that the utility model embodiment provides；
Figure 13 is a kind of sensor error model schematic that the utility model embodiment provides.
【Specific embodiment】
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Term " interior ", " outer ", " longitudinal direction ", " transverse direction ", " on ", " under ", " top ", " bottom " in the description of the present invention,
It is based on orientation shown in the drawings or position relationship to wait the orientation of instructions or position relationship, is for only for ease of and describes this practicality newly
Type rather than require the utility model must be with specific azimuth configuration and operation, therefore be not construed as to the utility model
Limitation.
As long as in addition, technical characteristic involved in the various embodiments of the present invention described below each other it
Between do not form conflict and can be combined with each other.
MEMS gyroscope and accelerometer can carry out calibration test before manufacture, but the zero of gyroscope and accelerometer is defeated
The phenomenon that certain drift can be generated with the time by going out, i.e., zero bias are inaccurate, this is the inherent characteristic of MEMS device.
The error model of usual 3 axis MEMS transducer can be written as form：
yk=SkTkMkuk+bk
Wherein k represents different types of sensor, ukRepresent the measurand under ideal coordinates system, ykRepresent sensor
Original output vector, bkRepresent sensor bias vector, SkRepresent sensor constant multiplier matrix, TkAnd MkIt represents to pass respectively
The between centers orthogonal matrix and alignment matrix of sensor.As can be seen that multi-axial sensor completely calibrates for error comprising 12 calibration ginsengs
Number, generally corresponds to that the output of multiple gyroscopes, that the input of multiple acceleration corresponds to multiple accelerometers is defeated using multiple turning rate inputs
The least-square fitting approach gone out calibrates the error of sensor.
How personal be critical issue to MEMS gyroscope and accelerometer progress field calibration.The method of most convenient at present
It is to be to provide accurate angular speed and angle using high-precision multi-axis turntable calibration gyroscope and accelerometer, the major function of turntable
Position.High precision turntable calibrates gyroscope with different turning rate input, inputs to calibrate acceleration with different Angle Positions
It counts (usually having 6 position methods, 12 position methods etc.), different Angle Positions correspond to different acceleration of gravity inputs.But high-precision multiaxis
Turntable it is expensive, maintenance cost is high, is not particularly suited for individual.
Embodiment 1:
Utility model people also used hexahedron to calibrate gyroscope and accelerometer during solving the problems, such as, led to
It crosses and by hexahedron place on upper and lower, front, rear, left and right six direction, obtain gyroscope and accelerometer on different directions
Output, so as to fulfill the zero bias of gyroscope and accelerometer calibrate.Hexahedron calibration method can install number of probes simultaneously
Space it is limited, calibration efficiency is not high.On the other hand, hexahedron structure is only capable of to accelerometer input 0, ± g uniform acceleration values,
It can only obtain six groups of Calibration equations, and complete error equation includes 12 unknown quantitys, it can not abundant calibrating accolerometer between centers
Cross-coupling error.
Therefore, the utility model embodiment 1 provides a kind of calibrating installation of inertia device, as Figure 1-Figure 4, calibration
Device includes three vertical cylinders of mutual center, the main side of fixation when six top surfaces of three cylinders form calibration
Face；Wherein, three cylinders be specially the upward cylinder I of z-axis shown in Fig. 1, the upward cylinder II of x-axis and y-axis to
The schematic diagram of column structure is only presented to have had an X-rayed in calibrating installation after other structures in cylinder III, described Fig. 1.
Three cylinders be respectively divided into center upright position two sections (such as：Fig. 1 middle column bodies I is divided into I-1 sections and I-2
Section, reference frame are labeled as Section 1 using the intersection point of cylinder as origin with coordinate system positive direction side, negative direction side
Section 2 is labeled as, which applies also for cylinder II and cylinder III), and link block is provided between each segmented column body, it is described
It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface of link block；Wherein, three adjacent sections
Link block between cylinder forms a hollow out centrum space, and three inclined-planes of the centrum are used to place inertia device to be measured.
In the utility model embodiment, 8 centrums are contained in a calibrating installation, in total 24 can place it is to be measured
The inclined-plane of inertia device.Preferably, the weight of the calibrating installation is 2-10Kg, so as to which weight is being set as g ranks
Inertia device to be measured after, the center of gravity of calibrating installation is maintained to be unlikely to excessive deflection and influence its on single axis stage test fortune
It is dynamic.
The utility model embodiment devises the calibrating installation available for gyroscope and accelerometer, in the situation of no turntable
Under, the zero bias under gyroscope difference posture can be calibrated, can realize zero bias, constant multiplier and the ratio of accelerometer
Factor etc. completely calibrates for error.On the other hand, the device of the utility model embodiment can be realized using single axle table to top
Spiral shell instrument carries out scale factor and scale factor equal error is calibrated, and can respectively be installed on three inclined-planes of centrum multiple
Sensor is calibrated, and improves calibration efficiency.
The utility model embodiment may be used six end faces and gyroscope and accelerometer calibrated, by by six faces
Body placed on upper and lower, front, rear, left and right six direction, obtains the output of gyroscope and accelerometer on different directions, from
And realize the calibration of gyroscope and accelerometer.
As shown in Fig. 2, in order to illustrate the convenience of link block, only retouched with the structure diagram comprising one piece of link block
It states.Wherein, link block I_II_1 is provided between I-1 sections and II-1 sections shown in Fig. 2.Wherein, the thickness ginseng of link block
Examine being slightly thicker than through the long or length of side (when being cylindrical structure for cylinder, as to design through the long either length of side for cylinder
Diameter；And for when cylinder is the cuboid that bottom surface is square, the as square length of side), it can also be slightly thinner than through length, but
Be, premise be to ensure that the center of gravity deviation of entire calibrating installation meet preset condition (such as：It is required that the center of gravity of calibrating installation is located at
The center that each cylinder intersects, and deviation is less than 1mm).
As shown in figure 3, the structure diagram to present only calibrating installation middle column body structure and a centrum space, wherein,
The size and shape of each link block is to use identical structure design, so as to ensure that when different main side faces are turned to,
The center of gravity of entire calibrating installation is unlikely to change.The vertebra top in the centrum space is that 90 ° of right-angle sides are formed for three faces.
As shown in figure 4, the calibrating installation schematic diagram for containing complete column structure and complete connecting block structure for one,
In, the link block is coupled in the surface portion in adjacent main side face, two auxiliary end faces being connected with reference to main side face structure setting；Its
In, the main side face of the auxiliary end face of all link blocks and three cylinders, which forms one, has 30 calibrating installations that can fix end face.Its
In, the angle of each end face is 135 °.
Assuming that A faces are the top surface of calibrating installation, the vertical view of the utility model embodiment calibrating installation is as shown in Figure 5.It passes
Sensor may be mounted in D regions shown in Fig. 4, and D regions (the centrum space i.e. described in the present embodiment) is mutually perpendicular three
A right-angle plane is formed, and each plane that D regions include may serve to installation sensor.The utility model embodiment device is total to
Comprising 8 D regions, multiple sensors can be installed simultaneously and calibrated.
The mode of rubberizing may be used in test in the end face for the calibrating installation that the utility model embodiment is proposed, but
It is that the utility model embodiment additionally provides a kind of more preferably implementation, as shown in Figure 6 and Figure 7, on six main sides face
At least two fixation grooves 11 are each provided with, the fixation groove 11 possesses identical quantity for being embedded on single axle table
Fixed feet 21, complete the fixation of the calibrating installation.Possess 30 for above-mentioned and can fix for the calibrating installation of end face,
Each can fix end face and be both provided with the fixation groove 11, as shown in Figure 6.Wherein, Mian Hefu end faces in main side are respective
It is 30 ° that both sides, which reach the angle that calibrating installation center is formed, so that two intersecting cylinders and the columns intersected for linking two
The section of the link block institute Component units of body be positive 12 while shape (as shown in fig. 7, at this point, shape when section AA ' A " is positive 12, wherein,
A, the position that A ' and A " is drawn is the central point of each end face)；Alternatively, two auxiliary end faces are respectively 45 ° with the angle on vertebra top
(as shown in fig. 7, β is 45 ° in figure at this time) so that the link block between two intersecting cylinders is a symmetrical structure.
As shown in figure 8, the surface texture for a typical single axle table, it is three to correspond to groove number shown in Fig. 7
Designed fixed feet 21.As shown in figure 9, for by the way that the fixation groove 11 of calibrating installation is embedded into turntable surface fixed feet 21
Complete the calibrating installation before test and the fixed effect diagram of turntable.
As shown in Figure 10, the preferred extension implementation of another kind provided for the utility model embodiment, wherein, it is uniaxial
The disk region that turntable is provided with fixed feet 21 can also set permanent magnet or electromagnet 22, and coordinate each of calibrating installation
For fixed surface using can magnetic enclosure material make, so as to further improve fixed stability.
Since the setting of calibrating installation also needs to the requirement for considering to power to inertia device to be measured, just calibrate
How device powers to inertia device to be measured, the utility model embodiment optional implementation in additionally providing 2.
Scheme one：
At least two fixations groove includes two current electrodes, and the current electrode is by conducting wire and is arranged on vertebra
Three inclined-planes of body connect for fixing the pedestal of inertia device, for the inertia device for being arranged on each three inclined-planes of centrum to be given to supply
Electricity.As shown in figure 11, two fixed feets 21 can be used to be used as data transmission interface and power delivery interface respectively, and it is accordingly solid
Determining the interface mode of foot 21 can imitate earphone interface to be fabricated to two section concatenation compositions (two sections are intermediate to be provided with insulating trip) up and down,
It is each to save in coupling the shrapnel that corresponds to depth in calibrating installation in fixation groove, so as to complete above-mentioned data transmission interface or
The coupling of person's power delivery interface.Wherein, especially when calibrating installation supports the calibration of multiple inertia devices simultaneously, in addition to can
Outside with the utilization more grooves of above-mentioned setting and corresponding fixed feet (such as：It transmits and is equipped with to the sensing data of each inertia device
One fixed feet-groove structure, and their power port can be with a public fixed feet-groove structure), it can also be described
Calibration cartridge centers a master controller, and the data-out port of the pedestal of each fixed inertia device is connected to described
Master controller just can still give two fixed feets-groove structure and complete to examine while corresponding multiple inertia devices in this way
Survey (gives the pedestal of the effect diagram of one group of inertia device patch pedestal 12, wherein the three of centrum surface in such as Figure 11
Design sketch is as shown in pedestal 12 in Figure 11).
Scheme two：
The calibrating installation is internally provided with accumulator, and the accumulator is by conducting wire and is arranged on three inclined-planes of centrum
For fixing the connection of the pedestal of inertia device, for giving the inertia device power supply for being arranged on each three inclined-planes of centrum.
In the utility model embodiment, the calibrating installation frame that the cylinder and link block are formed is by the way that mold is perfused
It is integrally formed；Alternatively, molding is burnished and fabricated by ball-type idiosome；Alternatively, parts side is respectively with the cylinder and link block
Formula assembled formation.
Embodiment 2:
The utility model embodiment additionally provides a kind of calibration method of inertia device, and the calibration method is used as implemented
The calibrating installation of inertia device described in example 1, as shown in figure 12, the method further includes：
In step 201, one or more inertia device to be measured is fixed in the centrum of the calibrating installation
Position at the top of vertebra.
In step 202, according to preset computational methods, at least 12 end faces is selected to be separately fixed on single axle table,
And complete corresponding data acquisition.
In step 203, collected data are brought into respectively in the calculation equation of each inertia device, correspondence is calculated
The calibration result for including one or more parameter in zero bias, constant multiplier, interaxis error and scale factor of each inertia device.
The utility model embodiment devises the calibration method available for gyroscope and accelerometer.In the situation of no turntable
Under, the calibrating installation of the utility model embodiment design can calibrate the zero bias under gyroscope difference posture, Ke Yishi
Zero bias, constant multiplier and scale factor of existing accelerometer etc. completely calibrate for error.On the other hand, the utility model embodiment
Calibration method can realize that carrying out scale factor and scale factor equal error to gyroscope using single axle table calibrates, and
And can sensor be installed as much as possible and be calibrated, improve calibration efficiency.
For multi-axial sensor, each sensitive axes of sensor should theoretically keep perpendicular quadrature.Further, for more
Sensor-based system, it should keep being mutually perpendicular to install between each sensor, and the sensitive axes of each sensor should snap to unification
Reference frame, however sensor is nonopiate and not right due to including between centers caused by production technology and chip attachment process error
Various cross-coupling errors including neat are difficult to avoid that.As shown in figure 13, sensor is described using sensor error model
Error Propagation Property.
Subscript k represents different types of sensor in Figure 13.ukRepresent the measurand under ideal coordinates system, ykIt represents
Sensor original output vector.bkRepresent sensor bias vector：
SkRepresent that (wherein, constant multiplier is the ratio of gyroscope output quantity and input angle speed to sensor constant multiplier matrix
Value)：
TkAnd MkThe between centers orthogonal matrix and alignment matrix of sensor are represented respectively, are main cross-coupling error items.It is comprehensive
On, the original output of sensor and the relationship of measurand can be expressed as：
yk=SkTkMkuk+bk (1-3)
After the sensor output value for generally yielding multiple test points, using least square method by 1-3 formulas
Reason, we simplify the optimization procedure of sensor ascertainment error parameter by two step method for parameter estimation.First, it is fixed
An adopted combination misalignment matrix Hk, meet：
Hk=SkTkMk (1-4)
To replace individually estimating constant multiplier matrix Sk, orthogonalization matrix TkWith alignment matrix Mk.By this simplification, pass
The linear time-varying error being not accounted in sensor ascertainment error modular form (1-3) will also be calibrated.The utility model
Embodiment is unfolded to illustrate respectively from accelerometer calibration and gyro calibiatio i respectively.
1st, accelerometer calibration
When sensor remains static, only only have gravity to accelerate in the case where not considering Coriolis acceleration
Degree is applied on accelerometer, and sensor is kept to be in W different positions, output definition of the accelerometer under W position
ForWhereinRepresent the accelerometer output under i-th of position.Assuming that plus
Attitude angle of the speedometer under W position is respectively φiAnd θi(i=1,2 ..., W), it is defeated according to accelerometer under stationary state
Enter value and the relationship of acceleration of gravity：
WhereinRepresent the acceleration of gravity acted on accelerometer the input under i-th of position, i.e.,
By measuring acceleration.Expansion (1-5) can obtain accurate input acceleration at different locationValue
Total input acceleration is defined asTotal biasing under accelerometer different location
Vector is defined as Ba|3×w=R (ba) (R () function representation BaEach column element be set as the biasing b of accelerometera).Acceleration
The bias vector of meterAnd combination misalignment matrixEstimation can be iterated by formula (1-7) until convergence.
In formulaRepresent (ya-HaUa) the i-th column element.
2nd, gyro calibiatio i
Unlike accelerometer calibration process, the bias vector of gyroscopeEssence can be carried out by not needing to iterative calculation
Really estimation.The calibration of gyroscope is broadly divided into following two steps：
Holding sensor is static at M different location respectively, and M input angular velocity of gyroscope is at this timeOutput speedIt can be counted as its biasing.In view of the defeated of gyroscope
Go out noise, the average value for defining output valve is offset of gyroscope：
The gyroscope under M position always biases B at this timeg|3×1=R (bg) (R () function representation BgEach column element setting
Biasing b for accelerometerg)。
Sensor is fixed, rotates n times rotating around referential reference axis with different angular speed, input angular velocity is at this timeGyroscope Output speed isTotal input angular velocity isTotal Output speed isIt can obtain answering for gyroscope
Close error matrix Hg
WhereinRepresent gyroscope output valve matrix UgRight inverse matrix.
When common hexahedron calibrating accolerometer and gyroscope, usually only generated on some axis of sensor defeated
Enter, and the input of other two axis is 0, cross-coupling error shows unobvious in this case.Such as when sensor levels are quiet
Only be placed on hexahedron and Z axis upward when, the input of accelerometer is [0 0 g], only has the accelerometer defeated in Z-direction
Enter, X and Y-axis without input, the influence to Z axis output can not embody.Similarly, in this case gyro calibiatio i when input
For [0 0 ω] (ω represents turntable angle velocity magnitude), only there are turning rate input, X and Y-axis to Z axis without turning rate input, to Z
The influence of axis output can not embody.Therefore, hexahedron structure can not integral calibration cross-coupling error.The utility model embodiment
Device can realize the acceleration input in three axial directions when calibrating accolerometer, and three can be also realized using single axle table
Turning rate input in a axial direction makes the input and output coupling influence on three axis fully demonstrate out, and then improves between centers and hand over
Fork coupling calibration accuracy.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of calibrating installation of inertia device, which is characterized in that calibrating installation includes three vertical columns of mutual center
Body, the main side face of fixation when six top surfaces of three cylinders form calibration；
Three cylinders are respectively divided into two sections in center upright position, and link block, the company are provided between each segmented column body
It is designed for fan-shaped either polygon and thickness with reference to cylinder through the long or length of side on the surface for connecing block；Wherein, three adjacent segmented columns
Link block between body forms a hollow out centrum space, and it is to be measured for placing that three inclined-planes on vertebra top are intersected in the centrum
Inertia device.
2. the calibrating installation of inertia device according to claim 1, which is characterized in that respectively set on six main sides face
At least two fixation grooves are equipped with, the fixation groove is used to be embedded in the fixed feet for possessing identical quantity on single axle table,
Complete the fixation of the calibrating installation.
3. the calibrating installation of inertia device according to claim 2, which is characterized in that at least two fixations groove
Include two current electrodes, the current electrode passes through conducting wire and the pedestal for being used to fix inertia device for being arranged on three inclined-planes
Connection, for giving the inertia device power supply for being arranged on each position on three inclined-planes.
4. the calibrating installation of inertia device according to claim 1, which is characterized in that the calibrating installation is internally provided with
Accumulator, the accumulator are connect with being arranged on the pedestal for being used to fix inertia device of three incline positions by conducting wire, used
It powers in the inertia device for being arranged on each position on three inclined-planes.
5. the calibrating installation of inertia device according to claim 1, which is characterized in that in the calibrating installation, by institute
Stating the calibrating installation frame that cylinder and link block are formed is integrally formed by the way that mold is perfused；Alternatively, it is polished by ball-type idiosome
Make molding；Alternatively, the assembled formation in a manner that the cylinder and link block are respectively parts.
6. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that the link block is coupled in
The surface portion in adjacent main side face, two auxiliary end faces being connected with reference to main side face structure setting；Wherein, the auxiliary end of all link blocks
Face and the main side face of three cylinders, which form one, has 30 calibrating installations that can fix end face.
7. the calibrating installation of inertia device according to claim 6, which is characterized in that main side Mian Hefu end faces respective two
It is 30 ° that side, which reaches the angle that calibrating installation center is formed, so that two intersecting cylinders and the cylinders intersected for linking two
Link block institute Component units section be positive 12 side shape；Alternatively,
Two auxiliary end faces are respectively 45 ° with the angle on vertebra top so that the link block between two intersecting cylinders is a symmetrical structure.
8. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that the weight of the calibrating installation
It measures as 2-10Kg.
9. according to the calibrating installation of any inertia devices of claim 1-5, which is characterized in that be provided with magnetic on end face
Enclosure material, the magnetic enclosure material are used for after the calibrating installation is fixed on turntable, contact on the end face of turntable
Magnetic enclosure material can be adsorbed by the electromagnet of corresponding region on turntable.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672120A (en) * | 2019-09-09 | 2020-01-10 | 武汉元生创新科技有限公司 | Device calibration device |
| CN112595343A (en) * | 2020-11-18 | 2021-04-02 | 北京航天控制仪器研究所 | Horizontal unipolar test simulation equipment of lightweight high accuracy |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672120A (en) * | 2019-09-09 | 2020-01-10 | 武汉元生创新科技有限公司 | Device calibration device |
| CN110672120B (en) * | 2019-09-09 | 2021-04-27 | 武汉元生创新科技有限公司 | Device calibration device |
| CN112595343A (en) * | 2020-11-18 | 2021-04-02 | 北京航天控制仪器研究所 | Horizontal unipolar test simulation equipment of lightweight high accuracy |
| CN112595343B (en) * | 2020-11-18 | 2023-07-28 | 北京航天控制仪器研究所 | Lightweight high-precision horizontal single-shaft test simulation equipment |
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