WO2016049803A1 - 质心测量仪器及其测量方法 - Google Patents
质心测量仪器及其测量方法 Download PDFInfo
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- WO2016049803A1 WO2016049803A1 PCT/CN2014/087774 CN2014087774W WO2016049803A1 WO 2016049803 A1 WO2016049803 A1 WO 2016049803A1 CN 2014087774 W CN2014087774 W CN 2014087774W WO 2016049803 A1 WO2016049803 A1 WO 2016049803A1
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- centroid
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- balance bar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
Definitions
- the invention relates to the field of measurement technology, in particular to a measuring instrument for the centroid position of an object and a measuring method thereof.
- the center of mass is the center of mass of the object. It is also the center of the gravity when the gravity field is uniform. It is an important parameter that needs to be accurately measured in many engineering fields. It has very important practical significance. When the center of mass deviates from the set geometric center point. Called eccentricity. For example, the center of mass of an aerial camera on an unmanned aerial vehicle (UAV) is very important for the design of the pan/tilt of the positioning camera. The centroid deviation has a great influence on the stability of the gimbal. Therefore, an urgent need is needed. A highly accurate and universal instrument and method for determining the centroid position of an object.
- UAV unmanned aerial vehicle
- centroid measuring instruments that can be found in the market usually have specific application occasions. When encountering specific measurement requirements, there are often problems such as excessive measurement range or insufficient measurement accuracy. And the structure of the measuring instrument system on the market is more complicated.
- the technical problem to be solved by the embodiments of the present invention is to provide a centroid measuring instrument and a measuring method thereof, which can easily and conveniently realize the measurement of the centroid of the object, the measurement result has high precision, and can measure various articles, and has versatility. .
- the invention provides a centroid measuring instrument comprising:
- a support blade piece is disposed below the center of the balance bar, and two sides of the same distance from the support blade block are respectively provided with a measurement knife edge block, and the object above the balance bar supports the object to be tested;
- the two electronic scales respectively support the measuring knife edge block, and when the centroid of the object to be tested is eccentric, the two electronic scales have a difference of the number, and the centroid measuring instrument when the balance bar reaches a predetermined horizontal state And the difference force of the two electronic scales is multiplied by the distance between the measuring knife block and the supporting knife block to obtain the moment generated by the centroid of the object to be measured, and then the torque is divided by the gravity of the object to be tested according to the torque principle. Obtain the centroid eccentric distance of the object to be tested.
- the two electronic scales are selected to have an electronic scale with an accuracy of 0.001 g.
- the centroid measuring instrument further includes two lifting devices for supporting the two electronic scales, and adjusting the heights of the two electronic scales to bring the balance bar to a predetermined horizontal state.
- the centroid measuring instrument further includes an instrument base for horizontally supporting the knife seat and the two lifting devices.
- the centroid measuring instrument further includes a positioning fixture component for positioning an object to be tested, the positioning fixture component including a horizontal positioning fixture and a vertical positioning fixture, the horizontal positioning fixture being coupled to the balance bar.
- the horizontal positioning clamp and the vertical positioning clamp are detachably and exchangeably coupled to the balance bar.
- a sliding slot is disposed above the center of the balance bar, and the horizontal positioning fixture and the vertical positioning fixture are respectively provided with positioning posts, and the horizontal positioning fixture or the vertical positioning fixture passes the positioning pillar and the positioning pillar A fit of the chute is coupled to the balance bar.
- the knife seat has a wire slot opening toward a surface of the support blade block, the support blade block having a blade edge, the blade tip being inserted into the wire slot.
- an embodiment of the present invention further provides a centroid measurement method using the above measuring instrument, comprising the following steps:
- Adjusting the balance bar to a predetermined level by adjusting the height of the electronic scales with larger numbers in the two electronic scales, so that the two electronic scales have positive indications, and the balance rods are considered to be balanced when the indications on both sides are approximately zero Reaching a predetermined level;
- the difference between the indications of the two electronic scales is obtained by first recording the difference between the indications of the two electronic scales as the first difference, and then repositioning the left and right side of the object to be tested to the balance. Above the center of the rod, repeat the step of adjusting the level of the balance bar. At this time, the difference between the readings of the two electronic scales is recorded as the second difference, by taking the average of the first difference and the second difference. Obtain the difference between the two electronic scales.
- the centroid measuring method further includes providing a positioning fixture component to position the object to be tested positioned above the center of the balance bar, and calculating a total torque generated by the positioning fixture and the object to be measured when calculating the centroid eccentric distance of the object to be tested. The torque produced by the component.
- the torque principle formula is selected Where L is the centroid eccentricity distance of the object to be tested, F 1 is the difference force of the two electronic scales, L 1 is the set distance of the measuring knife block and the supporting knife block, and G is the object to be tested And the deduction of the moment when calculating the centroid eccentric distance of the object to be measured is converted into the difference between the two electronic scales generated by the positioning fixture and the object to be tested, and the two electronic scales generated by the positioning fixture component are subtracted. The difference in force of the indication.
- the centroid measurement method further includes converting the object to be tested and the positioning fixture to the other two directions in the three-dimensional coordinate system, and repeating the measuring step to respectively obtain the centroid eccentric distance of the object to be tested in the other two direction dimensions.
- the centroid measurement method further includes performing an measurement calculation using an accuracy test block of a known centroid position in place of the object to be tested to verify the accuracy of the calculation result.
- the knife edge and the electronic scale by balancing the action of the knife edge and the electronic scale, when the balance bar reaches a predetermined horizontal state, the difference between the electronic scales of the two sides is recorded, and the eccentricity distance of the centroid is calculated by using the torque principle formula, and the measuring instrument is constructed.
- Simple the measurement method is simple and convenient, and it has universality for different objects to be tested.
- the knife edge and the electronic scale can make the precision higher.
- FIG. 1 is a perspective view of a centroid measuring instrument according to an embodiment of the present invention, which is used to measure a centroid position of a camera;
- Figure 2 is a front elevational view of the centroid measuring instrument of Figure 1;
- Figure 3 is a plan view of the centroid measuring instrument of Figure 1;
- FIG. 5 is a schematic perspective view of an accuracy test block used in an embodiment of the present invention.
- Centroid measuring instrument 100 camera 200 Centroid measuring part 10 Positioning fixture component 20 Balance bar 11 Knife holder 12 Electronic scale 13 Lifts 14 Sliding table 142 Manual shaft 143 Instrument base 15 First horizontal positioning fixture twenty one Second horizontal positioning fixture twenty two Third vertical positioning fixture twenty three Fourth vertical positioning fixture twenty four Assembly 210 Positioning column 222 Screw 220 Trunking 120 Chute 111 Support knife block 112 Measuring knife block 113 Accuracy test block 16
- the centroid measuring instrument provided by the embodiment of the present invention can measure the centroid position of the object to be tested simply, conveniently and with high precision.
- the embodiment is used for measuring the centroid position of the aerial camera with high precision requirements, and the cloud for positioning the camera
- the design of the station provides important parameters.
- the measuring instrument of the centroid of the object comprises a centroid measuring component and a positioning fixture component, and the positioning fixture component is mainly designed for a specific object to be tested, and plays a role of reliably positioning the object to be tested.
- the positioning fixture component has a universal positioning fixture in both the horizontal and vertical directions for connection with the balance bar of the centroid measuring component, and the three-dimensional centroid position of the object to be tested can be measured by the direction of the positioning fixture.
- FIG. 1 to FIG. 3 is a centroid measuring instrument 100 for measuring the centroid position of an object to be tested.
- the object to be tested may be, but is not limited to, the camera 200.
- the centroid measuring instrument 100 includes a centroid measuring component 10 and a positioning fixture component 20.
- the centroid measuring component 10 mainly comprises a balance bar 11, a knife seat 12, two electronic scales 13, two lifting platforms 14 and an instrument base 15.
- the positioning fixture component 20 includes a first horizontal positioning fixture 21, a second horizontal positioning fixture 22, a first vertical positioning fixture 23, and a second vertical positioning fixture 24.
- the first horizontal positioning jig 21 and the second horizontal positioning jig 22 are oppositely disposed, and the first vertical positioning jig 23 and the second vertical positioning jig 24 are oppositely disposed.
- the first horizontal positioning jig 21, the second horizontal positioning jig 22, the first vertical positioning jig 23 and the second vertical positioning jig 24 together form an assembly 210 for positioning an object to be tested, and wherein the first horizontal positioning jig 21 Connected to the balance bar 11.
- the first and second horizontal positioning jigs 21, 22 and the first and second vertical positioning jigs 23, 24 are exchangeable positions, that is, at least the first horizontal positioning jig 21 and the first vertical positioning jig 23
- a positioning post 222 is provided for connection and positioning to the balance bar 11.
- the intermediate upper surface of the balance bar 11 is provided with a sliding slot 111 for placing the first horizontal positioning jig 21 for engaging with the positioning post 222 to connect the assembly 210 to the balance bar 11.
- the lower surface of the balance bar 11 is provided with a support blade block 112, and the measurement blade block 113 is provided on both sides of the lower surface of the balance bar 11.
- the knife seat 12 is disposed below the support blade block 112, and the knife seat 12 is provided with a wire groove 120 for contacting the blade edge of the support blade block 112 toward the surface of the support blade block 112.
- the two electronic scales 13 are respectively located below the cutting edges of the two measuring knife blocks 113.
- the two lifting platforms 14 are respectively located below the two electronic scales 13.
- the instrument base 15 is placed on a horizontal surface with a flat surface on the upper surface for horizontally supporting the above device.
- the two electronic scales 13 and the lifting platform 14 are high-precision instruments to make the measurement results have higher precision.
- the two electronic scales 13 are selected with an electronic scale with an accuracy of 0.001 g.
- the two lifting tables 14 are selected with a Z-axis manual sliding table with an accuracy of 0.003 mm, and each Z-axis manual sliding table includes a sliding table surface 142 horizontally supporting the electronic scale 13 and a manual rotating shaft 143 for lifting the sliding table surface 142.
- the camera 200 to be tested is positioned within the assembly 210 and placed in the middle of the balance bar 11.
- the center of mass of the camera 200 is eccentric, the corresponding electronic scale 13 under the measuring blade block 113 is subjected to a force.
- the height of the sliding table surface 142 is raised and lowered by rotating the manual rotating shaft 143, so that the balance bar 11 reaches a predetermined horizontal state.
- both sides of the electronic scale 13 have an indication, but one of the sides of the display is approximately 0, that is, it is considered to meet the predetermined horizontal state
- the difference between the electronic scales and the 13th indicates that the center of mass of the camera 200 is deviated from the center.
- the difference of the electronic scale 13 is multiplied by the distance between the measuring blade block 113 and the supporting blade block 112 to obtain the moment generated by the centroid deviation from the supporting blade block 112.
- the principle of the torque principle is .
- W T is the force distance generated by the centroid eccentricity
- G is the mass gravity
- L is the centroid eccentric distance
- F 1 is the electronic weighing mass difference force
- L 1 is the distance between the measuring knife block and the supporting knife block (Designed as 90mm), some symbols are shown in Figure 1.
- the centroid of the eccentric distance L in this parameter novel embodiments finally obtained practical, more accurately obtain the above torque principles of measuring values of the other parameters corresponding to the formula, such as F 1 corresponding to said electronic mass illustrating difference number M a
- the embodiment of the present invention is obtained by using a symmetric measurement method and then taking an average value.
- the test method flow is specifically described as follows.
- centroid measuring instrument 100 without the set position clamp member 20 and the camera 200 is placed on a platform of a stable level, and the platform does not have interference such as vibration and wind.
- the supporting knife edge block 112 of the balance bar 11 is placed on the knife edge seat 12, and the switch of the electronic scale 13 (the I/O button on the panel of the electronic scale 13) is opened to adjust the spiral of the lifting platform 14 under the electronic scale 13 to change the electronic scale 13
- the height makes the balance bar 11 approximately horizontal.
- the adjustment method is to increase the height of the electronic scale 13 with a large number of indications, and the rotation is adjusted.
- the effect is that the electronic scales 13 on both sides have positive indications, and the indications on both sides are approximately zero (less than 0.1 g).
- the balance bar 11 can be considered to be horizontal.
- the difference between the two electronic scales 13 is caused by the centroid eccentricity of the balance bar 11.
- the mass M c of the camera 200, the mass M j of the positioning fixture component 20, and the total mass M between the camera 200 and the positioning fixture component 20 are measured. t .
- the camera 200 and the positioning jig unit 20 are assembled and placed in the chute 111 in the middle of the balance bar 11.
- the electronic scale 13 has a positive value at one end and a negative value at the other end, and the elevation is a positive value of the height of the electronic scale 13 at one end, so that the display of the electronic scale 13 at the other end is positive and approximately zero.
- the difference between the two said electronic scales 13 is caused by the centroid eccentricity of the camera 200 and the positioning jig member 20. Record the indications M 1 , M 2 of the electronic scales 13 on both sides at this time.
- the camera 200 and the positioning fixture member 20 are removed, and the height of the electronic scale 13 is readjusted according to the foregoing method to adjust the balance bar 11 (the indications of the electronic scales 13 at both ends are less than 0.05 g), and then the camera 200 and the positioning are performed.
- the left and right side of the clamp member 20 is horizontally rotated (180 degrees horizontally about the vertical axis) and placed in the sliding slot 111 in the middle of the balance bar 11.
- the indications of the electronic scales 13 on both sides are recorded. Number M 3 , M 4 . This step averages the symmetrical measurements to compensate for machining assembly errors.
- the L and M a value 1 is known, in the camera 200 and clamp member 20 are positioned in the case, taking M a M at, the principle of the torque equation can be transformed into Where L represents L t and M represents M t .
- the peeling method ie, subtraction method
- find the camera's centroid eccentricity in one direction or use It is also possible to derive the eccentricity of the camera center of mass in one direction.
- the camera 200 and the positioning jig unit 20 are switched to the Y and Z directions, and the centroid eccentric distance of the camera 200 in the Y direction and the Z direction can be obtained, respectively.
- the Y-axis centroid can be measured by horizontally rotating the camera 200 and the positioning jig member 20 by 90 degrees; in addition, the camera 200 and the positioning jig member 20 are lowered, and the Z-axis centroid can be measured by the side of the camera jig.
- the accuracy test block 16 is an object of a known shape, and its centroid can be calculated by a model whose quality is equal to the quality of the camera 200.
- the accuracy test block 16 is used to repeat the above test steps, and the centroid eccentricity distance is calculated by the above formula, and then compared with the known centroid of the model to verify the test accuracy of the measuring instrument, and the test accuracy error can be less than or equal to 0.01 mm. .
- the two lifting platforms 14 may be other lifting devices or are not necessary, for example, the electronic scale 13 has a system for adjusting the height of the table, or can be adjusted by precisely adjusting the gasket.
- the electron is said to have a height of 13.
- the instrument base 15 can be replaced by a platform.
- the centroid measuring instrument and method provided by the embodiment of the utility model can easily and conveniently realize the measurement of the centroid of the object, and the measurement result has high precision, and can measure various objects according to the replacement of different fixtures, and has versatility.
- the knife edge and the electronic scale can make the measurement results more accurate.
- High-precision electronic scales and lifting devices can further improve accuracy.
- the symmetrical measurement reduction error method also improves the measurement results.
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Abstract
一种质心测量仪器，包括：平衡杆（11），平衡杆（11）的中心下方设有支撑刀口块（112），且与支撑刀口块（112）相同距离的两侧分别设有测量刀口块（113），平衡杆（11）的中心上方支撑待测物体；刀口座（12），刀口座（12）支撑支撑刀口块（112）；以及两个电子称（13），分别支撑测量刀口块（113），在待测物体的质心偏心时，两个电子称（13）有示数的差值，质心测量仪器在平衡杆（11）达到预定的水平状态时，两个电子称（13）示数的差值力乘以测量刀口块（113）与支撑刀口块（112）的距离获得待测物体的质心偏心产生的力矩，再根据力矩原理将力矩除以待测物体的重力获得待测物体的质心偏心距离。还提供一种使用上述质心测量仪器的质心测量方法。
Description
本发明涉及测量技术领域，尤其涉及物体质心位置的测量仪器及其测量方法。
质心是物体的质量中心，在重力场均匀时也为所受重力的中心，它是众多工程领域中需要精确测定的重要参数，有非常重要的实用意义，在质心偏离设定的几何中心点时称为偏心。例如，无人机（Unmanned Aerial Vehicle，UAV）上的航拍相机的质心对于定位相机的云台的设计有着非常重要的意义，质心偏差对于云台的稳定性有非常大的影响，因此迫切需要一种高精度通用的测定物体质心位置的仪器和方法。
现有一些市场上能够找到的质心测量仪器通常具有特定的应用场合，在遇到具体的测量要求时，常常会存在测量的量程过大，或者测量精度不够等问题。并且市场上的测量仪系统结构比较复杂。
本发明实施例主要解决的技术问题是提供一种质心测量仪器及其测量方法，可简单方便的实现物体质心的测量，测量结果精度较高，并且可以进行多种物品的测量，具有通用性。
一方面，本发明提供了一种质心测量仪器，包括：
平衡杆，所述平衡杆的中心下方设有支撑刀口块，且与所述支撑刀口块相同距离的两侧分别设有测量刀口块，所述平衡杆的中心上方支撑待测物体；
刀口座，所述刀口座支撑所述支撑刀口块；以及
两个电子称分别支撑所述测量刀口块，在待测物体的质心偏心时，所述两个电子称有示数的差值，所述质心测量仪器在所述平衡杆达到预定的水平状态时，所述两个电子称示数的差值力乘以所述测量刀口块与支撑刀口块的距离获得待测物体的质心偏心产生的力矩，再根据力矩原理将力矩除以待测物体的重力获得待测物体的质心偏心距离。
所述两个电子称选用精度为0.001g的电子称。
所述质心测量仪器还包括两个升降装置用于支撑所述两个电子称，并调节所述两个电子称的高度使所述平衡杆达到预定的水平状态。
所述质心测量仪器还包括仪器底座，用于水平支撑所述刀口座和两个升降装置。
所述质心测量仪器还包括用于定位待测物体的定位夹具部件，所述定位夹具部件包括水平定位夹具和竖直定位夹具，所述水平定位夹具连接至所述平衡杆。
所述水平定位夹具和所述竖直定位夹具可拆卸交换连接至所述平衡杆。
所述平衡杆的中心上方开设有滑槽，所述水平定位夹具和所述竖直定位夹具分别设有定位柱，所述水平定位夹具或所述竖直定位夹具通过所述定位柱与所述滑槽的配合连接至所述平衡杆。
所述刀口座朝向所述支撑刀口块的表面开设有线槽，所述支撑刀口块具有刀尖，所述刀尖插入所述线槽中。
另一方面，本发明实施例还提供了使用上述测量仪器的质心测量方法，包括如下步骤：
调节平衡杆达到预定的水平状态，通过调节两个电子称中示数较大的电子称的高度，使两个电子称均有正示数，且两侧的示数近似为零时认为平衡杆达到预定的水平状态；
将待测物体定位放置在所述平衡杆的中心上方，重复调节平衡杆水平的步骤，获得两个电子称的示数的差值；以及
根据力矩原理公式计算待测物体的质心偏心距离，通过将所述两个电子称示数的差值力乘以所述测量刀口块与支撑刀口块的距离获得待测物体的质心偏心产生的力矩，再根据力矩原理将力矩除以待测物体的重力获得待测物体的质心偏心距离。
所述两个电子称的示数的差值通过先记录所述两个电子称的示数的差值为第一次差值，然后将待测物体左右侧调换位置重新定位放置到所述平衡杆的中心上方，重复调节平衡杆水平的步骤，此时记录两个电子称的示数的差值为第二次差值，通过取第一次差值和第二次差值的平均值以获得两个电子称的示数的差值。
所述质心测量方法还包括提供定位夹具部件以将待测物体定位放置在所述平衡杆的中心上方，计算待测物体的质心偏心距离时利用定位夹具和待测物体产生的总力矩扣除定位夹具部件产生的力矩。
所述力矩原理公式选用
，其中L为待测物体的质心偏心距离，F1为所述两个电子称示数的差值力，L1为所述测量刀口块与支撑刀口块的设定距离，G为待测物体的重力，并且计算待测物体的质心偏心距离时力矩的扣除转化为定位夹具和待测物体产生的所述两个电子称示数的差值力扣除定位夹具部件产生的所述两个电子称示数的差值力。
所述质心测量方法还包括将待测物体和定位夹具转换至三维坐标系中另两个方向，重复所述测量步骤以分别得到另两个方向维度的待测物体的质心偏心距离。
所述质心测量方法还包括利用已知质心位置的精度测试块代替待测物体进行测量计算，以验证计算结果的精确度。
本发明实施例通过平衡刀口和电子称的作用，在平衡杆达到预定的水平状态时，记录下两侧电子称的示数差值，再利用力矩原理公式计算出质心的偏心距离，测量仪器构造简单，测量方法简单方便，对不同待测物体具有通用性，刀口和电子称可以使精度较高。
图1是本发明实施例提供的一种质心测量仪器的立体示意图，其用于测量相机的质心位置；
图2是图1的质心测量仪器的正视图；
图3是图1的质心测量仪器的俯视图；
图4是本发明实施例提供的一种质心测量方法的流程图；
图5是本发明实施例使用的精度测试块的立体示意图。
| 质心测量仪器 | 100 |
| 相机 | 200 |
| 质心测量部件 | 10 |
| 定位夹具部件 | 20 |
| 平衡杆 | 11 |
| 刀口座 | 12 |
| 电子称 | 13 |
| 升降台 | 14 |
| 滑台面 | 142 |
| 手动转轴 | 143 |
| 仪器底座 | 15 |
| 第一水平定位夹具 | 21 |
| 第二水平定位夹具 | 22 |
| 第三竖直定位夹具 | 23 |
| 第四竖直定位夹具 | 24 |
| 装配体 | 210 |
| 定位柱 | 222 |
| 螺杆 | 220 |
| 线槽 | 120 |
| 滑槽 | 111 |
| 支撑刀口块 | 112 |
| 测量刀口块 | 113 |
| 精度测试块 | 16 |
如下具体实施方式将结合上述附图进一步说明本实用新型。
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
本实用新型实施例提供的质心测量仪器，能够简单、方便、较高精度测出待测物体的质心位置，本实施例用于测量高精度要求的航拍相机的质心位置，以对定位相机的云台的设计提供重要参数。该物体质心的测量仪器包括质心测量部件和定位夹具部件，定位夹具部件主要针对特定的待测物体设计，起到可靠的定位待测物体的作用。定位夹具部件在水平和垂直两个方向上有通用的定位夹具，用于和质心测量部件的平衡杆连接，通过定位夹具的方向的调换，可以测得待测物体三维质心位置。
具体的，请参见图1至图3，是本实用新型实施例的一种质心测量仪器100，用于测量待测物体的质心位置。所述待测物可以为、但并不限于为相机200。该质心测量仪器100包括质心测量部件10和定位夹具部件20。该质心测量部件10主要包括平衡杆11，刀口座12，两个电子称13，两个升降台14和仪器底座15。该定位夹具部件20包括第一水平定位夹具21、第二水平定位夹具22、第一竖直定位夹具23和第二竖直定位夹具24。该第一水平定位夹具21和第二水平定位夹具22相对设置，该第一竖直定位夹具23和第二竖直定位夹具24相对设置。该第一水平定位夹具21、第二水平定位夹具22、第一竖直定位夹具23和第二竖直定位夹具24共同构成一个定位待测物体的装配体210，且其中第一水平定位夹具21连接至平衡杆11。在测量方向变换时，第一、第二水平定位夹具21、22和第一、第二竖直定位夹具23、24可交换位置，即至少第一水平定位夹具21和第一竖直定位夹具23设有定位柱222，用于连接定位至平衡杆11。在装配和拆卸待测的该相机200时，可以通过拧出第二水平定位夹具22上的螺杆220，再将相机200装配入该装配体210，或自该装配体210取出。
该平衡杆11的中间上表面设有放置所述第一水平定位夹具21的滑槽111，所述滑槽111用于与定位柱222配合，以将装配体210连接定位至平衡杆11。该平衡杆11的下表面设有支撑刀口块112，该平衡杆11的下表面的两侧设有测量刀口块113。该刀口座12设置于该支撑刀口块112的下方，该刀口座12朝向该支撑刀口块112的表面设有供该支撑刀口块112的刀尖接触的线槽120。该两个电子称13分别位于该两个测量刀口块113的刀尖下方。该两个升降台14分别位于该两个电子称13的下方。该仪器底座15置于水平面上，其上表面为平面，用于水平支撑上述装置。
该两个电子称13和升降台14均为高精度仪器，以使测量结果有较高精度。本实施例中，该两个电子称13选用精度为0.001g的电子称。该两个升降台14选用精度为0.003mm的Z轴手动滑台，且每个Z轴手动滑台包括水平支撑电子称13的滑台面142，和用于升降滑台面142的手动转轴143。
待测的相机200定位于该装配体210内，且置于平衡杆11的中间。当相机200的质心偏心时，相对应的测量刀口块113下的电子称13受到作用力，此时通过旋转所述手动转轴143升降该滑台面142的高度，使得平衡杆11达到预定的水平状态（此时两侧电子称13均有示数，但其中一侧示数近似为0，即认为符合预定的水平状态），电子称13示数的差值为相机200的质心偏离中心导致的质量。此时电子称13示数的差值乘以测量刀口块113与支撑刀口块112的距离就得到了质心偏离支撑刀口块112产生的力矩。该力矩原理公式为
。
其中，WT为质心偏心产生的力距；G为质量块重力；L为质心偏心距离；F1为电子称质量示数差值力；L1为测量刀口块与支撑刀口块之间的距离（设计为90mm），部分符号标示如图1所示。
依据上述原理，质心偏心距离L为本实用新型实施例最终要获得的参数，为更准确地获得上述力矩原理公式中其它参数对应的测试值，如F1对应的电子称质量示数差Ma，本实用新型实施例采用对称式测量然后取平均值的方法获得。该测试方法流程具体描述如下。
将未装设定位夹具部件20和相机200的质心测量仪器100放于稳定水平的平台上，平台不要有震动和风等的干扰。
将平衡杆11的支撑刀口块112放于刀口座12上，打开电子称13的开关（电子称13的面板上I/O按钮）调节电子称13下面升降台14的螺旋，改变电子称13的高度，使得平衡杆11近似水平。调节方法为提高示数较大的电子称13的高度，轮流调节，最后达到效果为两侧的电子称13均有正示数，且两侧的示数近似为零(小于0.1g)。此时可以认为平衡杆11水平了。两个电子称13示数的差值为平衡杆11的质心偏心导致。
调节平衡杆11水平后，关闭电子称13的开关后，重新打开电子称13，此时，电子称13清零。
用该质心测量仪器100外部的电子称（选用较大量程的电子程）测出相机200的质量Mc, 定位夹具部件20的质量Mj，相机200和定位夹具部件20之间的总质量Mt。
将相机200和定位夹具部件20装配好轻放到平衡杆11中间的滑槽111内。此时，电子称13一端示数为正值，另一端为负值，提升示数为正值一端电子称13的高度，使得另一端电子称13的示数为正值，且近似为零。此时，两个所述电子称13示数的差值为相机200和定位夹具部件20质心偏心距导致。记下此时两侧电子称13的示数M1，M2。
取下相机200和定位夹具部件20，按照前述方法重新调节电子称13的高度，以将平衡杆11调节水平（两端电子称13的示数均小于0.05g），然后再将相机200和定位夹具部件20左右侧调换位置（绕竖直轴水平旋转180度）轻放到平衡杆11中间的滑槽111内，同上步骤操作，调节平衡杆11水平后，记下两侧电子称13的示数M3，M4。此步骤为对称测量取平均值，以对加工装配误差进行补偿。
用公式
计算出Ma，此时标识为Mat。
根据Ma和L1的已知值，在相机200和定位夹具部件20均在的情形下，Ma取Mat，前述力矩原理公式可以变形为
，其中L代表Lt，M代表Mt。
同样，根据Ma和L1的已知值，在仅具有定位夹具存在的情形下（即未装设相机于测量仪器上），Ma取Maj，前述力矩原理公式可以变形为
，其中L代表Lj，M代表Mj。
因此，对于相机200质心偏心距离，可以用去皮法（即扣除法）表达式
得出一个方向的相机质心偏心距离，或用
也可得出一个方向的相机质心偏心距离。
采用上述方法，将相机200和定位夹具部件20转换至Y、Z方向，可以分别得到Y方向和Z方向维度的相机200的质心偏心距离。具体地，将相机200和定位夹具部件20水平旋转90度就可以测量Y轴质心；另外，将相机200和定位夹具部件20放倒，用相机夹具侧面就可以测量Z轴质心。
取一精度测试块16验证上述计算结果，具体地，如图4，该精度测试块16是形状已知的物体，其质心可以由模型计算得到，该精度测试块16的质量等于相机200的质量，使用该精度测试块16重复上述的测试步骤，并用上述公式计算出其质心偏心距离，然后与模型已知的质心比较，以验证该测量仪器的测试精度，其测试精度误差可小于等于0.01mm。
可以理解的是，在其它实施例中，该两个升降台14可以为其它的升降装置或者非为必要，例如该电子称13具有自调节台面高度的系统，或者通过精密调节垫片便可以调节该电子称13的高度。同样，该仪器底座15可以为一平台代替。
综上，该实用新型的实施例提供的质心测量仪器和方法可以简单方便的实现物体质心的测量，测量结果精度高，根据更换不同的夹具可以进行多种物体的测量，具有通用性。刀口和电子称可以使测量结果较为准确。高精度的电子称和升降装置可以进一步提高精确度，另外，对称式测量减小误差法也了改善测量结果。
以上所述仅为本实用新型的实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。
Claims (14)
- 一种质心测量仪器，其特征在于，包括：平衡杆，所述平衡杆的中心下方设有支撑刀口块，且与所述支撑刀口块相同距离的两侧分别设有测量刀口块，所述平衡杆的中心上方支撑待测物体；刀口座，所述刀口座支撑所述支撑刀口块；以及两个电子称分别支撑所述测量刀口块，在待测物体的质心偏心时，所述两个电子称有示数的差值，所述质心测量仪器在所述平衡杆达到预定的水平状态时，所述两个电子称示数的差值力乘以所述测量刀口块与支撑刀口块的距离获得待测物体的质心偏心产生的力矩，再根据力矩原理将力矩除以待测物体的重力获得待测物体的质心偏心距离。
- 如权利要求1所述的质心测量仪器，其特征在于，所述两个电子称选用精度为0.001g的电子称。
- 如权利要求1所述的质心测量仪器，其特征在于，还包括两个升降装置用于支撑所述两个电子称，并调节所述两个电子称的高度使所述平衡杆达到预定的水平状态。
- 如权利要求3所述的质心测量仪器，其特征在于，还包括仪器底座，用于水平支撑所述刀口座和两个升降装置。
- 如权利要求1所述的质心测量仪器，其特征在于，还包括用于定位待测物体的定位夹具部件，所述定位夹具部件包括水平定位夹具和竖直定位夹具，所述水平定位夹具连接至所述平衡杆。
- 如权利要求5所述的质心测量仪器，其特征在于，所述水平定位夹具和所述竖直定位夹具可拆卸交换连接至所述平衡杆。
- 如权利要求6所述的质心测量仪器，其特征在于，所述平衡杆的中心上方开设有滑槽，所述水平定位夹具和所述竖直定位夹具分别设有定位柱，所述水平定位夹具或所述竖直定位夹具通过所述定位柱与所述滑槽的配合连接至所述平衡杆。
- 如权利要求1所述的质心测量仪器，其特征在于，所述刀口座朝向所述支撑刀口块的表面开设有线槽，所述支撑刀口块具有刀尖，所述刀尖插入所述线槽中。
- 一种使用权利要求1所述的质心测量仪器的质心测量方法，其特征在于，包括：调节平衡杆达到预定的水平状态，通过调节两个电子称中示数较大的电子称的高度，使两个电子称均有正示数，且两侧的示数近似为零时认为平衡杆达到预定的水平状态；将待测物体定位放置在所述平衡杆的中心上方，重复调节平衡杆水平的步骤，获得两个电子称的示数的差值；以及根据力矩原理公式计算待测物体的质心偏心距离，通过将所述两个电子称示数的差值力乘以所述测量刀口块与支撑刀口块的距离获得待测物体的质心偏心产生的力矩，再根据力矩原理将力矩除以待测物体的重力获得待测物体的质心偏心距离。
- 如权利要求9所述的质心测量方法，其特征在于，所述两个电子称的示数的差值通过先记录所述两个电子称的示数的差值为第一次差值，然后将待测物体左右侧调换位置重新定位放置到所述平衡杆的中心上方，重复调节平衡杆水平的步骤，此时记录两个电子称的示数的差值为第二次差值，通过取第一次差值和第二次差值的平均值以获得两个电子称的示数的差值。
- 如权利要求9所述的质心测量方法，其特征在于，还包括提供定位夹具部件以将待测物体定位放置在所述平衡杆的中心上方，计算待测物体的质心偏心距离时利用定位夹具和待测物体产生的总力矩扣除定位夹具部件产生的力矩。
- 如权利要求11所述的质心测量方法，其特征在于，所述力矩原理公式选用，其中L为待测物体的质心偏心距离，F1为所述两个电子称示数的差值力，L1为所述测量刀口块与支撑刀口块的设定距离，G为待测物体的重力，并且计算待测物体的质心偏心距离时力矩的扣除转化为定位夹具和待测物体产生的所述两个电子称示数的差值力扣除定位夹具部件产生的所述两个电子称示数的差值力。
- 如权利要求11所述的质心测量方法，其特征在于，还包括将待测物体和定位夹具转换至三维坐标系中另两个方向，重复所述测量步骤以分别得到另两个方向维度的待测物体的质心偏心距离。
- 如权利要求9所述的质心测量方法，其特征在于，还包括利用已知质心位置的精度测试块代替待测物体进行测量计算，以验证计算结果的精确度。
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| CN115183939B (zh) * | 2022-06-09 | 2024-04-12 | 江苏省农业机械试验鉴定站 | 一种自走式农业机械质心自动测量装置 |
| CN115165213A (zh) * | 2022-06-30 | 2022-10-11 | 西北工业大学 | 一种基于双平台的组合式质心测量装置及方法 |
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| CN105518428A (zh) | 2016-04-20 |
| CN105518428B (zh) | 2017-09-29 |
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