CN219178803U - Portable multidimensional force calibration device for laboratory and field - Google Patents

Abstract

The utility model discloses a portable multi-dimensional force calibration device for both laboratory and field use, comprising: a calibration tool, a loading mechanism, and a standard force measurement unit; The supporting platform is connected to ensure that the loading mechanism can correctly apply the standard force value and standard moment along the loaded axis of the multi-dimensional force sensor to be calibrated; the loading mechanism includes: a transmission mechanism, an integrated servo motor control system; the transmission mechanism adopts a large transmission ratio The worm gear screw jack is used for the transmission of loading force and torque; the integrated servo motor control system integrates servo motor, encoder, and controller, which is small in size and light in weight, and is suitable for on-site calibration; the standard force measurement unit obtains the loading force through calibration software The real-time data is fed back to the controller, and the controller realizes the precise control of the loading force by controlling the current of the servo motor.

Description

A portable multi-dimensional force calibration device for both laboratory and field use

technical field

The utility model relates to the technical field of multi-component force sensor calibration, in particular to a portable multi-dimensional force calibration device for both laboratory and field use.

Background technique

For the docking collision force of the docking mechanism in the aerospace field, the satellite disturbance force, the thrust of the orbit-changing engine, and the vector thrust of the solid engine, it is necessary to accurately measure the magnitude, direction, and point of action of the force. Since the conventional unidirectional force sensor can only measure and determine The size of the directional force cannot meet the requirements of multi-dimensional force measurement, so a multi-dimensional force sensor must be used to measure multi-dimensional force information. The measurement data of these multidimensional force sensors plays an extremely important role in the test results, so the parameters must be corrected before use and the periodic calibration during use must be performed on the sensor in situ to ensure that the technical performance of the multidimensional force sensor meets the requirements of the model test .

The sensor used to measure the docking collision force on the comprehensive test system of the docking mechanism adopts a special multi-dimensional force sensor suitable for the structural size and measurement range of the test system. For the in-situ calibration of the multi-dimensional force sensor, a special on-site calibration device is required. For standard force/moment loading of multidimensional force transducers. Due to the frequent model tasks of the docking mechanism comprehensive test system, the reserved calibration time window is relatively short. According to the calibration requirements, it is necessary to calibrate the individual parameters of the sensor in the laboratory, and then perform an on-site parameter correction. Therefore, the multi-dimensional force sensor needs to be adjusted. Quick calibration in a short time, therefore, it is necessary to develop a universal portable multi-dimensional force calibration with wide range, high loading control accuracy, high loading efficiency, strong applicability, easy quick installation and disassembly, suitable for both laboratory and on-site calibration device.

Utility model content

The purpose of this utility model is to provide a portable multi-dimensional force calibration device for both laboratory and field use. It not only has a wide measurement range and high accuracy of force value loading, but also has a small volume and is easy to install and disassemble. After the force sensor is removed from the application scene, individual parameters and coupling error parameters are calibrated in the laboratory, and in-situ calibration can be performed in the field environment (that is, the multi-dimensional force sensor is installed on the test system). In addition, this device is scalable, and the corresponding structural framework can be applied to the field calibration of different six-component force sensors.

In order to achieve the above purpose, the utility model provides a portable multi-dimensional force calibration device for both laboratory and field use, including: calibration tooling, loading mechanism, and standard force measurement unit;

The calibration tooling can install, fix and support the entire loading mechanism, and is structurally connected to the test bench support platform, and ensures that the loading mechanism can correctly apply standard force values and standard moments along the loaded axis of the calibrated multi-dimensional force sensor, thereby realizing On-site calibration of multi-dimensional force sensors;

The loading mechanism includes: a transmission mechanism and an integrated servo motor control system; the transmission mechanism uses a worm gear screw jack with a large transmission ratio for the transmission of loading force and torque; the integrated servo motor control system integrates a servo motor, The encoder and controller are small in size and light in weight, and are suitable for on-site calibration; the integrated servo motor control system is connected to the host computer through the bus, and the calibration software controls the motor to drive the worm to rotate, and drives the worm gear to make the screw elevator move in translation. Multi-dimensional force transducers apply force/moment loads smoothly;

The standard force measurement unit obtains the real-time data of the loading force through the calibration software, and feeds it back to the controller. The controller controls the current of the servo motor to realize the precise control of the loading force, thereby realizing the on-site in-situ calibration of the sensor .

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the calibration tool realizes accurate loading of moments around three axes by designing a loading station parallel to the coordinate axes.

The above-mentioned portable multi-dimensional force calibration device for laboratory and on-site use, wherein the loading tooling in each direction can be installed and disassembled independently, and the on-site installation or disassembly can be quickly completed without the use of a lifting mechanism, which can greatly reduce the need for calibration. time.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the calibration tooling includes: a support rod, a loading plate, a force-bearing tooling, and an adapter plate; the positioning tooling of the calibration tooling is installed on the adapter plate superior.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the force-bearing tooling includes: a ball seat and a positioning plate, and the force transmission is guaranteed to be point force transmission by adopting the form of a ball-point contact ball seat; The positioning plate can realize the precise positioning of the force-bearing position in the torque on-site calibration. By installing the force-bearing ball seat on the positioning plate to form a force-bearing tooling for torque calibration, a specific distance parallel to the mechanical coordinate axis of the sensor can be imposed on the multi-dimensional force sensor. The standard force is used to realize the on-site calibration of the torque parameters of the multi-dimensional force sensor around the specified axis.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the four-legged support rods are respectively installed on the installation base of the multi-dimensional force sensor to be calibrated to fix the loading plate of the calibration tool, and then the loaded The plate is installed on the four support rods. After the position of the mounting plate is initially determined, the loading plate is fixed with double nuts, and finally the loading mechanism is installed on the loading plate.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and on-site use, wherein the loading mechanism adopts a mechanical structure to realize safe and stable force application to the multi-dimensional force sensor, and the worm gear screw jack is used as the transmission mechanism, and the integrated servo motor The control system is used as the driving mechanism to realize the control of loading drive and loading force, and finally apply the standard force/torque to the sensor to be calibrated.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the integrated servo motor control system has a high-resolution analog signal data acquisition channel and a photoelectric encoder digital signal measurement channel to perform feedback control on the motor speed To realize the precise control of the loading speed, so as to realize the smooth application of standard force to the multi-dimensional force sensor.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the standard force measurement unit includes: a standard force sensor, a signal conditioning unit, a data acquisition unit, and a host computer.

The above-mentioned portable multi-dimensional force calibration device for both laboratory and field use, wherein the standard force sensor is connected to the loading mechanism through the sensor connection sleeve, and the standard force value received during loading is obtained in real time, and the signal conditioning unit converts the standard force sensor The strain signal is converted into a standard voltage signal, and the data acquisition unit acquires the voltage signal, which is analyzed and processed by the host computer and calibration software to obtain the corresponding calibration value.

The technical solution of the portable multi-dimensional force calibration device is:

(1) The calibration device consists of a calibration tool, a loading mechanism, and a standard force measurement unit.

(2) By developing a calibration tool suitable for the multi-dimensional force sensor, it is ensured that the loading mechanism can correctly apply the standard force along each coordinate axis of the multi-dimensional force sensor to be calibrated, thereby realizing on-site calibration. Accurate loading of moments around the three axes is achieved by designing a loading station parallel to the coordinate axes.

(3) The calibration tooling is composed of a support rod, a loading plate, a force-bearing tooling, etc. The loading tooling in each direction can be installed and disassembled independently, and the on-site installation or disassembly can be completed quickly without the use of a lifting mechanism, greatly reducing the time required for calibration .

(4) The loading mechanism is composed of a transmission mechanism and an integrated servo motor control system. The transmission mechanism uses a worm gear screw jack with a large transmission ratio for the transmission of loading force and torque. The integrated servo motor control system integrates servo motors, encoders, and controllers. The overall size is small and light, and it is suitable for on-site calibration. The control system is connected to the host computer through the bus, and the calibration software is used to control the motor to drive the worm to rotate, drive the worm gear to make the screw elevator move in translation, and apply force/moment load to the multi-dimensional force sensor smoothly.

(5) The standard force measurement unit is composed of a standard force sensor, a signal conditioning unit, a data acquisition unit, and a host computer. The real-time data of the loading force is obtained through the calibration software and fed back to the controller. The controller controls the current of the servo motor To realize the precise control of the loading force, so as to realize the in-situ calibration of the sensor.

Compared with the prior art, the technical beneficial effects of the utility model are:

The portable multi-dimensional force calibration device adopts a loading mechanism based on a worm gear screw screw jack and an integrated servo motor control system to realize accurate and stable loading of the standard force of the multi-dimensional force sensor of the multi-dimensional force sensor. The worm gear screw jack has the advantages of large transmission ratio, stable loading, and self-locking in the reverse stroke. The integrated servo motor control system has the advantages of small size, light weight, portability, and convenient control.

The portable multi-dimensional force calibration device has the characteristics of dual-use in the laboratory and on-site, and according to the actual requirements of the site, the structure of the calibration tool can be changed to adapt to the calibration of multi-dimensional force sensors in different application scenarios.

Description of drawings

A portable multi-dimensional force calibration device for both laboratory and on-site use of the utility model is given by the following embodiments and accompanying drawings.

Figure 1 is a block diagram of a portable multi-dimensional force calibration device;

Fig. 2 is a block diagram of the loading mechanism;

Figure 3 is a block diagram of the standard force measurement unit;

Fig. 4 is a design drawing of a stressed ball seat;

Fig. 5 is the design drawing of the positioning board seat;

Figure 6 is the design drawing of the loading plate in the main direction and the schematic diagram of the installation interface of the loading mechanism;

Fig. 7 is a schematic diagram of a side loading plate;

Figure 8 is a schematic diagram of the design of the lateral loading plate and the installation interface of the loading mechanism;

Fig. 9 is a structural diagram of a multidimensional force sensor;

Figure 10 is a schematic diagram of the design of the adapter board;

11 is an overall schematic cross-sectional view of a portable multi-dimensional calibration device (for on-site calibration);

12 is an overall schematic diagram of a portable multi-dimensional calibration device (for on-site calibration);

Fig. 13 is an overall schematic diagram of the laboratory calibration of the portable multi-dimensional calibration device.

Among them, in Figure 11 and Figure 12, 1-main direction loading plate, 2-positioning plate seat, 3-support rod, 4-forced ball seat, 5 main direction pad, 6-forced ball seat cover, 7- Sensor connection sleeve (main direction), 8-transfer plate, 9-lateral support plate, 10-lateral support rod, 11-lateral support rod, 12-lateral loading plate, 13-sensor connection sleeve (lateral ), 14-sensor pressure head, 15-standard force sensor (main direction), 16-worm gear screw jack, 17-lateral standard force sensor (lateral), 18-force ball seat steel ball, 19-24- Screws, 25-test system flange, 26-multidimensional force sensor

In Figure 13, a-X/Y direction loading mechanism, b-X/Y direction standard force sensor, c-Z direction loading mechanism, d-Z direction standard force sensor, e-Z direction loading plate, f-main direction loading plate, g-main direction support bar, h -Lateral loading plate, i-lateral support bar, j-force tooling, k-transfer plate.

Detailed ways

The following is a further detailed description of a portable multi-dimensional force calibration device for both laboratory and field use of the present invention.

Due to the complex structure of the docking mechanism comprehensive test system, the high-precision multi-dimensional force sensor, a key equipment for multi-dimensional force measurement, requires very high installation and positioning accuracy. It is difficult to achieve complete and reliable on-site calibration with traditional measurement methods.

The utility model adopts the calibration principle of the comparison method, through a specially developed loading mechanism to act on the standard force sensor and the calibrated multi-dimensional force sensor with a linearly independent standard force/moment in a certain loading mode, according to the output of each channel of the multi-dimensional force sensor The functional relationship between the value and the standard force/torque is used to solve the indication error of the multi-dimensional force sensor and complete the on-site calibration. At the same time, after the calibration device is reassembled, the multi-dimensional force calibration device for the laboratory can be formed in the laboratory to realize the independent calibration of the multi-dimensional force sensor laboratory.

The loading mechanism is composed of a transmission mechanism and a driving mechanism. Figure 2 is a block diagram of the loading mechanism. The loading mechanism adopts a mechanical structure to realize safe and stable force addition to the multi-dimensional force sensor. The worm gear screw jack is used as the transmission mechanism, and the integrated servo motor control system is used as the driving mechanism to realize the control of loading drive and loading force, and finally apply the standard force/torque to the sensor to be calibrated.

Worm gear transmission has compact structure, good rigidity, small deformation, stable transmission, large transmission ratio, and can easily load force; the most important point is that it can be self-locking, that is, it can stay at any force value point within the range. The disadvantages of complex hydraulic servo structure, high energy consumption, high maintenance cost and poor positioning accuracy of the cylinder are avoided.

The driving mechanism adopts an integrated servo motor control system based on DSP full digital closed-loop control to realize standard force loading and precise control. The integrated servo motor control system has a high-resolution analog signal data acquisition channel and a photoelectric encoder digital signal measurement channel, and performs feedback control on the motor speed to achieve precise control of the loading speed, thereby realizing the smooth application of standard force to the multi-dimensional force sensor.

The standard force measurement unit is composed of a standard force sensor, a signal conditioning unit, a data acquisition unit, and a host computer. The standard force sensor is connected to the loading mechanism through a sensor connection sleeve to obtain the standard force value received during loading in real time. The signal conditioning unit converts the standard force sensor The strain signal is converted into a standard voltage signal, and the data acquisition unit collects and obtains the voltage signal, which is analyzed and processed by the host computer and calibration software according to the corresponding formula algorithm to obtain the corresponding calibration value.

According to the actual installation state and structural characteristics of the multi-dimensional force sensor used in the test system, according to the characteristics of the sensor itself and the on-site calibration operation space, the matching calibration tooling is developed as a device composition. The main function of the calibration tool is to install, fix and support the entire loading mechanism, and to connect it structurally with the test bench support platform to ensure that the loading mechanism can correctly apply the standard force value along the loaded axis of the multi-dimensional force sensor being calibrated And standard torque, so as to realize the field calibration of multi-dimensional force sensor.

The calibration tool is composed of a support rod, a loading plate, a force tooling, an adapter plate, etc.

The force-bearing tooling consists of a ball seat and a positioning plate. The design adopts the ball seat form of ball point contact to ensure that the force transmission is point force transmission, which greatly improves the measurement accuracy compared with surface force. The design diagram of the bearing ball seat is shown in Figure 4.

The function of the positioning plate is to realize the precise positioning of the force position in the torque on-site calibration. By installing the force-bearing ball seat on the positioning plate to form a force-bearing tooling for torque calibration, a specific distance parallel to the mechanical coordinate axis of the sensor can be imposed on the multi-dimensional force sensor. (that is, the fixed moment arm of the moment), to realize the on-site calibration of the moment parameters of the multi-dimensional force sensor around the specified axis. The design of the positioning board is shown in Figure 5.

Due to the limitation of the site space, the support rods with four-leg structure were respectively installed on the installation base of the multi-dimensional force sensor to be used to fix the loading plate of the calibration tool, and then the loading plate was installed on the four support rods. After installing the plate position, use the double nuts to secure the loading plate. Finally install the loading mechanism on the loading plate. The whole process is simple and convenient, enabling quick installation and disassembly.

Figure 6 shows the main direction loading plate of the calibration device, which is made of stainless steel plate with a thickness of 20mm. The center position of the axis is 150mm), the installation position of the loading mechanism for calibrating the Y-direction moment (150mm away from the center position of the mechanical coordinate axis), the tooling and the loading mechanism are installed in a cantilever manner during the actual installation process.

Figure 7 shows the lateral loading plate of the calibration device. During the calibration process, the multi-dimensional force sensor can be directly loaded. The lateral support rods are installed on the mounting base of the multi-dimensional force sensor, and are positioned by the through holes on the loading plate. Install the loading plate on the support rod, and fix the loading plate with double nuts, and then install the loading mechanism to two positions on the loading plate in turn, and the two positions correspond to the calibration installation positions of the X-direction force and the Z-direction moment; the same Reasonable installation of Y-direction tooling can realize the calibrated installation position of Y-direction force and Z-direction moment. The whole process is simple and convenient, enabling quick installation and disassembly.

Figure 8 is a schematic diagram of the interface of the lateral loading board. The lateral loading board is attached to the two sides of the multi-dimensional force sensor to be calibrated to play the role of installation and positioning. There are two installation positions on the loading board, one for X/Y direction force calibration The installation position of the loading device (by rotating the installation by 90°, the force calibration in the X and Y directions can be realized), and one is the installation position of the loading mechanism when the Z-direction torque is calibrated (100mm away from the center of the mechanical coordinate axis).

Since the Z-direction (main direction) force-bearing installation surface of the multi-dimensional force sensor to be calibrated is a hollow hole structure in the center (as shown in Figure 9), it is impossible to directly carry out Z-direction force and X/Y-direction moment loading along the mechanical coordinate axis of the sensor. , so it is necessary to design a matching adapter board.

The inner surface of the adapter plate is attached to the Z-direction force-bearing installation surface of the multi-dimensional force sensor to be calibrated, and the outer surface is attached to the flange of the test bench (also the central hollow hole structure), and then the sensor and the flange are connected through eight bolts. The disk is fixed.

The positioning tool of the calibration tool is installed on the adapter plate, and the accuracy of the ball seat is retested through the laser tracking measurement system to determine the actual and accurate position of the deviation. The loading mechanism for on-site calibration of Z-direction force and X/Y-direction moment is directly loaded on the ball seat of the positioning tool to complete the calibration of the main direction parameters of the multi-dimensional force sensor.

Figure 11 and Figure 12 are the overall schematic diagrams for on-site calibration of the portable multi-dimensional force calibration device used in the comprehensive test system of the docking mechanism. By changing the structural design changes such as the installation structure position of the loading mechanism in the loading plate, it can be applied to the on-site calibration of the multi-dimensional force sensor for the test bench in different occasions.

Fig. 13 is an overall schematic diagram for laboratory calibration of the portable multi-dimensional calibration device. The portable multi-dimensional calibration device can be assembled into a laboratory calibration device as shown in Figure 13. It can simultaneously calibrate the force/torque parameters of the multi-dimensional force sensor in two orthogonal directions, and can also perform multi-dimensional force sensor in two directions. Calibration of parametric coupling errors. By changing the lateral support bar and lateral loading plate by rotating 90°, the X-direction and Y-direction force/moment calibration can be carried out respectively. Change the installation interface position of the loading mechanism in each direction separately, and you can choose to carry out force value calibration or torque calibration in each direction.

The on-site calibration device designed and developed by the utility model can achieve small size, light weight, compact structure, good calibration tooling rigidity, small deformation, stable transmission of the loading mechanism, and fast loading speed when the worm gear screw elevator and the integrated servo control system are selected. Precise control ensures no overshoot, and the self-locking function can ensure that there is no backstroke during the loading process, which meets the on-site calibration requirements of multi-dimensional force sensors under special structures on site, and can also carry out high-precision calibration of multi-dimensional force sensors in the laboratory.

Claims (10)

1. A laboratory and field portable multi-dimensional force calibration device, comprising: the device comprises a calibration tool, a loading mechanism and a standard force measuring unit;

the calibration tool can be used for installing, fixing and supporting the whole loading mechanism, is structurally connected with the test bed supporting platform, and ensures that the loading mechanism can correctly apply standard force values and standard moment along the loading axis of the calibrated multidimensional force sensor, thereby realizing the on-site calibration of the multidimensional force sensor;

the loading mechanism includes: a transmission mechanism and an integrated servo motor control system; the transmission mechanism adopts a worm and gear spiral lifter with a large transmission ratio to carry out the transmission of loading force and moment; the integrated servo motor control system integrates a servo motor, an encoder and a controller, has small overall volume and light weight, and is suitable for on-site calibration; the integrated servo motor control system is connected with the upper computer through a bus, and the motor is controlled to drive the worm to rotate through the calibration software, so that the worm wheel is driven to enable the spiral lifter to translate, and the force/moment load is stably applied to the multidimensional force sensor;

the standard force measuring unit obtains real-time data of the loading force through the calibration software and feeds the real-time data back to the controller, and the controller controls the current of the servo motor to realize accurate control of the loading force, so that the on-site in-situ calibration of the sensor is realized.

2. A laboratory and field portable multidimensional force calibration apparatus as claimed in claim 1, wherein the calibration fixture is adapted to accurately load moments about three axes by designing a loading station parallel to the coordinate axes.

3. The portable multi-dimensional force calibration device for both laboratory and field use according to claim 2, wherein the loading tools in each direction can be independently assembled and disassembled, and the assembly and disassembly in the field can be completed quickly without a lifting mechanism, thereby greatly reducing the time required for calibration.

4. A laboratory and field portable multidimensional force calibration apparatus as recited in claim 3, wherein said calibration fixture comprises: the device comprises a supporting rod, a loading plate, a stress tool and an adapter plate; and the positioning tool of the calibration tool is arranged on the adapter plate.

5. The portable multi-dimensional force calibration apparatus of claim 4, wherein the force tool comprises: the ball seat and the positioning plate ensure that the force is transmitted as point stress transmission in a ball seat form of ball point contact; the positioning plate can realize accurate positioning of a force bearing position in moment on-site calibration, and the force bearing ball seat is arranged on the positioning plate to form a force bearing tool for moment calibration, so that standard force parallel to a mechanical coordinate axis of the sensor for a set distance can be applied to the multidimensional force sensor, and on-site calibration of moment parameters of the multidimensional force sensor around a designated shaft is realized.

6. The portable multi-dimensional force calibration device for both laboratory and field use according to claim 5, wherein the support rods with four-leg structure are respectively mounted on the mounting bases of the calibrated multi-dimensional force sensor for fixing the loading plate of the calibration fixture, then the loading plate is mounted on the four support rods, after the position of the mounting plate is preliminarily determined, the loading plate is fixed by using double nuts, and finally the loading mechanism is mounted on the loading plate.

7. The portable multi-dimensional force calibration device for both laboratory and field use according to claim 1, wherein the loading mechanism adopts a mechanical structure to realize safe and stable force application to the multi-dimensional force sensor, and the integrated servo motor control system is used as a driving mechanism to realize control of loading driving and loading force by using a worm gear screw lifter as a transmission mechanism, so that standard force/moment is finally applied to the calibrated sensor.

8. The portable multi-dimensional force calibration device for both laboratory and field use according to claim 7, wherein the integrated servo motor control system comprises a high-resolution analog signal data acquisition channel and a photoelectric encoder digital signal measurement channel, and the motor rotation speed is feedback controlled to realize accurate control of the loading speed, so that the standard force is stably applied to the multi-dimensional force sensor.

9. A portable multi-dimensional force calibration apparatus for both laboratory and field use as defined in claim 1, wherein said standard force measurement unit comprises: standard force transducer, signal conditioning unit, data acquisition unit, host computer.

10. The portable multi-dimensional force calibration device for both laboratory and field use according to claim 9, wherein the standard force sensor is connected with the loading mechanism through a sensor connecting sleeve, the standard force value is received during loading in real time, the signal conditioning unit converts the strain signal of the standard force sensor into a standard voltage signal, the data acquisition unit acquires the obtained voltage signal, and the corresponding calibration value is obtained through analysis and processing of an upper computer and calibration software.

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