CN114486064A - Comparison type multi-component force sensor calibration device and calibration method thereof - Google Patents
Comparison type multi-component force sensor calibration device and calibration method thereof Download PDFInfo
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Abstract
The invention provides a comparison type multi-component force sensor calibration device, which comprises: the hydraulic lifting platform comprises a main base and a main lifting platform arranged on the main base, wherein ten hydraulic force source systems with standard sensors are symmetrically arranged on the periphery of the main lifting platform; the first to sixth hydraulic force source systems and the main lifting platform are respectively provided with a laser displacement sensor; the clamp is arranged on the main lifting platform, and a calibrated sensor is arranged in the middle of the clamp; the loading head is arranged on the clamp; the loading head is provided with a steel cable connected with the first to tenth hydraulic pressure source systems. The invention simplifies and designs the top/bottom clamp, the loading head and the force source system of the calibrating device, can simultaneously realize the combined calibration of a plurality of components, reduces the number of necessary hydraulic force source systems and reduces the requirement of the calibrating device on the installation space.
Description
Technical Field
The invention belongs to the field of mechanical measurement, and particularly relates to a calibration device and a calibration method for a comparison type multi-component force sensor.
Background
Along with the continuous promotion of productivity level, multicomponent force sensor obtains more and more extensive application in fields such as artificial intelligence, robot, aerospace, automotive industry, heavy machinery, intelligent manufacturing, advanced medical treatment, and the quantity value problem of tracing to multicomponent force sensor also emerges thereupon: when the traditional force standard machine is used for calibration, a special clamp needs to be customized to limit the displacement of a calibrated sensor in a test component direction, and the problems of repeated installation, limited positioning precision, incapability of testing coupling errors, complex operation process and the like exist. Therefore, it is necessary to design a dedicated calibration device for the technical features of the multicomponent force sensor.
The calibration device is classified according to comparison standards, and the calibration device for the multi-component force sensor of the mainstream at home and abroad can be divided into the following steps: 1. a calibration device which takes the weight gravity as a comparison standard; 2. a calibration device which takes the single component standard dynamometer as a comparison standard; 3. and the calibration device takes the multi-component force sensor as a comparison standard. The calibration device using the weight gravity as a comparison standard usually uses a steel cable as a connecting piece between a loading head and a force source. For guaranteeing the measuring accuracy, receive the restriction of weight volume simultaneously, calibrating device is great to the requirement of installation space, so its measurement upper limit generally does not exceed 400kN, can't satisfy the calibration demand of big power value sensor, and this type of device can only carry out hierarchical loading. The single component standard dynamometer is used as a calibration device for comparison and comparison standards, the selection range of the force source is relatively wider, the test range can be greatly improved, meanwhile, a smaller installation space is ensured, and the operation is more convenient. However, since the force value is generally transmitted from the force source system to the calibrated sensor through the rigid structural member, a large error is generated due to additional frictional resistance when the coupling error is tested. The calibration device takes the multi-component force sensor as a comparison standard, and the calibration is carried out by directly comparing the output of the multi-component force sensor of the calibrated sensor and the output of the multi-component force sensor of the device. However, since the geometric centers of the two sensors cannot coincide in at least two orthogonal directions, the direct measurement results inherently have systematic errors due to geometric configuration. And the multi-component force sensor also has the defect of difficult traceability, and can generate adverse effect on the subsequent maintenance work of the device.
In summary, in view of the above, how to reduce the space volume occupied by the calibration device for multi-component force sensor and improve the flexibility of the subsequent tracing of the device as much as possible on the premise of improving the measurement range and the measurement accuracy of the coupling error is an urgent technical problem to be solved by the calibration device.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a comparison type multi-component force sensor calibration device and a calibration method thereof, which can ensure the independent accurate loading, pairwise combined loading and continuous loading of multi-component force, simplify the structure of the device, reduce the using number of a force source system, add a laser displacement sensor for detecting the z-direction deformation of a calibrated sensor and a loading head, and provide a corresponding calibration method and a method for improving the precision of compensation according to the deformation to meet the requirements of users.
In order to achieve the above object, the present invention provides a calibration device for a comparative multicomponent force sensor, comprising: a main base provided on the ground; the main lifting platform is arranged on a main base, ten hydraulic force source systems which are installed with standard sensors in series are symmetrically arranged on the periphery of the main lifting platform, the standard sensors are installed in series with the hydraulic force source systems and used for accurately measuring and controlling force values, the force sources are respectively controlled and cooperatively operated, and synchronous loading and calibration of multiple components of vector force are achieved.
On the horizontal plane (xoy plane) of the device force coordinate system, a total of 6 hydraulic force source systems are arranged for realizing two forces Fx and Fy in the horizontal direction and a moment Mz moment around the vertical direction. The two force loading units in the x direction are respectively configured with 2 hydraulic force source systems, and the two force loading units in the y direction are respectively configured with 1 hydraulic force source system. The hydraulic force source system is arranged in the following mode: the first hydraulic type force source system, the second hydraulic type force source system, the third hydraulic type force source system and the fourth hydraulic type force source system are symmetrically arranged in front of and behind the main lifting platform, and the fifth hydraulic type force source system and the sixth hydraulic type force source system are symmetrically arranged on the left and right of the main lifting platform.
4 force sources are arranged on the force loading unit in the vertical direction (z direction) of the force vector coordinate system, and are used for measuring pressing force Fz in the vertical direction and moments Mx and My acting on a horizontal plane, seventh to tenth hydraulic force source systems are respectively arranged at four corners of the main base, and the seventh to tenth hydraulic force source systems are respectively symmetrical about an x-direction symmetrical axis b and a y-direction symmetrical axis a.
The clamp is detachably arranged on the main lifting table, and a calibrated sensor is arranged in the middle of the clamp; the loading head is of a plate-shaped structure and is detachably arranged on the clamp; the loading head is horizontally provided with a steel cable connected with the first to sixth hydraulic force source systems, and is vertically provided with a steel cable connected with the seventh to tenth hydraulic force source systems.
The first to sixth hydraulic force source systems and the main lifting platform are respectively provided with a laser displacement sensor which is suitable for compensating the component force caused by the z-direction deformation of the calibrated sensor or the loading head or any other component.
Preferably, the method comprises the following steps: the universal steel cable connectors are respectively arranged at the two ends of the steel cable, and when each hydraulic force source system is loaded, if the calibrated sensor or the loading head or any other part is in an ideal working state without deformation, the universal steel cable connectors at the two ends of the steel cable are coaxially arranged.
Preferably, the method comprises the following steps: anchor clamps are including top anchor clamps and the bottom anchor clamps that set up in opposite directions, and top anchor clamps inlay in the fore-set of loading head bottom and connect in the lower flat board of fore-set bottom including inserting, and bottom anchor clamps inlay in the foundation of main lift platform upper surface and connect in the last flat board at foundation top including inserting. The calibrated sensor is respectively connected with the upper flat plate and the lower flat plate through bolts.
Preferably, the method comprises the following steps: the four corners of the main lifting platform are respectively provided with a threaded column, and the threaded columns are fixedly connected with the main base or integrally formed. The threaded columns are arranged, so that the main lifting platform has a certain distance from the main base, and the space requirements for mounting the seventh to tenth hydraulic force source systems are met.
Preferably, the method comprises the following steps: the first hydraulic force source system, the second hydraulic force source system, the third hydraulic force source system, the fourth hydraulic force source system and the fourth hydraulic force source system respectively comprise a base, threaded columns fixedly connected or integrally formed at four corners of the base, a lifting platform connected to the threaded columns, a pull-direction hydraulic oil cylinder horizontally arranged on the lifting platform and a standard sensor arranged at one end, facing the loading head, of the pull-direction hydraulic oil cylinder. The laser displacement sensor is arranged on the support, and the support is respectively sleeved on the corresponding threaded column of the hydraulic force source system and the threaded column of the main lifting platform. The support is including the sleeve and the cantilever beam of fixed connection on the sleeve of cover on locating the screw thread post, and laser displacement sensor locates on the cantilever beam.
Preferably, the following steps: each hydraulic force source system is internally provided with a servo motor, a transmission mechanism and an internal thread sleeve which is in threaded fit with the threaded column; the servo motor is a power source and drives the internal thread sleeve through the transmission mechanism, and the internal thread sleeve drives the lifting platform to move up and down relative to the threaded column.
Preferably, the method comprises the following steps: the seventh hydraulic force source system to the tenth hydraulic force source system respectively comprise a base, a pull-in hydraulic oil cylinder vertically arranged on the base and a standard sensor arranged on one end, facing the loading head, of the pull-in hydraulic oil cylinder.
Preferably, the method comprises the following steps: first to tenth universal steel cable connectors connected with the first to tenth hydraulic force source systems are symmetrically arranged on the loading head, and seventh to tenth universal steel cable connectors are arranged around a xoy plane at the bottom of the loading head and are respectively symmetrical about an x-direction symmetrical axis b and a y-direction symmetrical axis a.
Preferably, the method comprises the following steps: a front yoz plane and a rear yoz plane of the loading head are provided with a first universal steel cable connector, a second universal steel cable connector, a third universal steel cable connector, a fourth universal steel cable connector, a first positioning datum auxiliary part, a second positioning datum auxiliary part and a fourth positioning datum auxiliary part, and the front yoz plane and the rear yoz plane of the loading head are respectively symmetrical about a yoz plane passing through a geometric center point of the loading head and a xoz plane; the load head left and right xoz planes are provided with fifth and sixth gimbal cable connectors and fifth and sixth positioning reference aids, respectively, symmetrical about the yoz plane and xoz plane passing through the geometric center point of the load head.
Preferably, the correction device further comprises a control and data acquisition processing system, and the system consists of a servo control system, a standard sensor, a laser displacement sensor and signal amplification system, a signal acquisition and feedback system and data processing software. The computer is used for determining the position, the size and the direction of the load to be applied, reasonably controlling each force loading unit of the host to automatically load, and automatically collecting, processing and analyzing the measurement result. The control and data acquisition processing system needs to automatically test the multi-component force sensor according to a test program specified by the multi-component force sensor calibration method, and the control mode is designed into a full-automatic control mode and a manual control mode.
The invention also provides a calibration method of the comparison type multi-component force sensor calibration device, and the calibration of the positive and negative moments +/-Mx/+/-My in the x direction/y direction comprises the following steps:
I) determining a calibrated upper limit Mx for the x-direction moment MxmaxOr upper calibration limit My of y-direction moment Mymax；
II) calculating the preload FpreComprises the following steps:
in the formula, alpha belongs to { x, y }; when α is taken as x, the subscript i of l is taken as 1; when α is taken as y, the subscript i of l is taken as 2; l1Meanwhile, the y-direction distance is between the x-direction symmetric axis of the universal cable connector connected with the seventh to tenth hydraulic force source systems on the loading head and the x-direction symmetric axis b of the loading head; l2The distance between the y-direction symmetric axis of the universal steel cable connector connected with the seventh to tenth hydraulic force source systems on the loading head and the y-direction symmetric axis a of the loading head is the x-direction distance;
III) the seventh to tenth hydraulic pressure source systems output preloading tension to Fpre；
IV) carrying out zero setting processing on each component force output of the calibrated sensor;
v) selecting proper calibration point M alpha according to the range of the calibrated sensor1，Mα2，……，Mαmax；
VI) calibration point M α1When alpha is taken as x during measurement, the seventh hydraulic pressure source system and the tenth hydraulic pressure source system are enabled to increase the output of delta F, and the eighth hydraulic pressure source system and the ninth hydraulic pressure source system are enabled to decrease the output of delta F; when alpha is taken as y, the seventh hydraulic force source system and the eighth hydraulic force source system are enabled to increase the output of delta F, and the ninth hydraulic force source system and the tenth hydraulic force source system are enabled to decrease the output of delta F; the values of Δ F are:
wherein the subscript j of M α represents the serial number of the current calibration point, and M α0Equal to 0;
VII) recording the output of the x-direction/y-direction moment component of the sensor to be calibrated at the moment as a measurement result;
VIII) for the remaining calibration points M α2，……，MαmaxAnd repeating the steps VI) to VII) until the test is finished.
The invention also provides a method for improving the measurement accuracy of the coupling error of the comparison type multi-component force sensor calibration device, when the main component is any component of 5 components such as negative z-direction positive force-Fz, positive and negative x-direction/y-direction moment +/-Mx/+/-My and the like, and the influence component is any component of 6 components such as positive and negative x-direction/y-direction positive force +/-Fx/+/-Fy, positive and negative z-direction moment +/-Mz and the like, the method comprises the following specific steps:
1) the coupling error calibration scheme for the sensor being calibrated is identified as shown in Table 1, i.e. the principal component C to be tested is identifiedpCalibration point Cp1、Cp2、……、CpmAnd corresponding influence component CaLoad C ofa11、Ca12、……、Ca1n，Ca21、Ca22、……、Ca2n、……、Cam1、Cam2、……、Camn；
TABLE 1 calibration scheme for coupling errors of a multicomponent force sensor
| Principal component calibration points | Influencing component loads |
| Cp1 | Ca11、Ca12、…、Ca1n |
| Cp2 | Ca21、Ca22、…、Ca2n |
| … | … |
| Cpm | Cam1、Cam2、…、Camn |
2) Recording the lower surface (m) of the positioning reference auxiliary member corresponding to the initial time by using the laser displacement sensor1) To the upper surface (m) of the laser displacement sensor2Or m3) Z-direction distance H therebetween1(corresponding to the first to fourth positioning reference aids) and H1' (corresponding to fifth and sixth positioning reference aids);
3) according to the z-direction distance H at the initial moment1Or H1' adjusting the height of the lifting platform corresponding to the first to the sixth hydraulic pressure source systems in the z direction to ensure that the lifting platform positions the lower surface (n) of the reference auxiliary piece2) To the upper surface (n) of the laser displacement sensor3) Z-direction distance H therebetween2Satisfy the following relationships
In the formula, H0And H0' is a z-direction distance compensation constant, H5Is the horizontal symmetry center line (n) of the universal cable connectors of the first through sixth hydraulic force source systems1) To the lower surface (n) of the positioning reference aid2) Z-direction distance between, H6Is the upper surface (n) of the laser displacement sensor3) To the upper surface (n) of the base of the calibrating device4) The z-direction distance between the two,H3is the axial lead (m) of the universal steel cable connector0) To the lower surface (m) of the positioning reference auxiliary member1) Z-direction distance between, H4And H4' is the laser displacement sensor upper surface (m)3Or m2) To the upper surface (m) of the base of the calibrating device4) Z-direction distance therebetween;
4) applying a principal component CpTo a first calibration point Cp1；
5) Re-recording H with laser displacement sensor1(corresponding to the first to fourth positioning reference aids) and H1' (corresponding to fifth and sixth positioning reference aids);
6) the z-direction height of the lifting platform corresponding to the first to the sixth hydraulic force source systems is readjusted to ensure that H is ensured1、H1' and H2Still satisfies the relation H1＝H2+H0(corresponding to the first to fourth hydraulic force source systems), or H1'＝H2+H0' (corresponding to fifth and sixth hydraulic force source systems);
7) according to a calibration scheme on the affected component CaSequentially applying loads C in the directiona11、Ca12、…、Ca1nRecording the output of each component as a measurement result;
8) for the remaining calibration points Cp2，……，CpmAnd repeating the steps 4) to 7) until the test is finished.
The invention has the beneficial effects that:
(1) the calibration method realizes calibration of three forward forces of Fx, Fy and Fz in different ranges by reasonably setting ten force sources in the x direction, the y direction and the z direction, calibrates three moments of Mx, My and Mz, and enables loading of component forces to be not interfered with one another, thereby simultaneously realizing combined calibration of multiple components of Fx, Fy, Fz, Mx, My and Mz, achieving a state of truly reflecting coupling of multiple component forces in real life, and meeting the requirement of a coupling error section of JJF 1560-2016 (multiple component force sensor calibration specification) on component combination.
(2) According to the working principle and the working mode of the multi-component force sensor, the top/bottom clamp, the loading head and the force source system of the calibrating device are designed in a simplified mode, the calibrating method is used for simplifying the calibrating mode of the moment in the x direction and the y direction, the number of necessary hydraulic force source systems is reduced, and the manufacturing cost of the calibrating device and the requirement of the calibrating device on the installation space are reduced.
(3) The steel cable is selected as the connecting piece, and under an ideal working state, the steel cable only provides axial force, so that the problem of parasitic frictional resistance generated when multi-component force is applied due to the combination of single-component force is solved.
(4) The device comprises a laser displacement sensor, a calibrated sensor, a loading head and a compensation device, wherein the laser displacement sensor is arranged to measure the z-direction deformation of the calibrated sensor or the loading head or any other component in the loading process, and then the device carries out compensation processing according to the measured deformation, so that the system errors caused by the axial deformation of the calibrated sensor and the bending deflection of the loading head during the pairwise combined loading of multi-component forces are compensated, the independent accurate loading, pairwise combined loading and continuous loading of the multi-component forces are finally realized, and the purpose of improving the measurement accuracy of coupling errors is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a comparative multi-component force sensor calibration apparatus according to the present invention.
Fig. 2 is a structural split perspective view (right) and a partial enlarged view (left) of a main lifting platform in the comparative multi-component force sensor calibration apparatus provided in the present invention.
Fig. 3 is a schematic structural diagram of a xoy plane at the bottom of a loading head in a comparative multi-component force sensor calibration apparatus provided by the present invention.
Fig. 4 is a schematic structural diagram of a hydraulic force source system in a comparative multi-component force sensor calibration apparatus according to the present invention (the left side is a schematic structural diagram of seventh to tenth hydraulic force source systems, and the right side is a schematic structural diagram of first to sixth hydraulic force source systems).
Fig. 5 is a front view and a sectional view a-a of first through sixth hydraulic force source systems in a comparative multicomponent force sensor calibration apparatus according to the present invention.
Fig. 6 is a front view of a main lifting platform in a comparative multi-component force sensor calibration apparatus provided in the present invention.
Fig. 7 is a schematic structural diagram of a laser displacement sensor and a bracket thereof arranged on a main lifting platform in the comparative multi-component force sensor calibration device provided by the present invention.
FIG. 8 is a schematic view of a yoz plane passing through a geometrical center point and a front and back yoz plane of a loading head in the calibration device for a comparative multi-component force sensor according to the present invention.
Fig. 9 is a schematic view of a plane xoz of a left xoz and a right xoz of a loading head and passing a geometric center point in a comparative multi-component force sensor calibration apparatus provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1 to 6, the working principle of the present invention is that a plurality of forces and moments are synchronously applied to a stressed tool of a calibrated sensor 15, i.e., a loading head 11, in a plurality of directions, and the loading head 11 couples forces in all directions after bearing the plurality of forces and moments and then rigidly transmits the forces to the calibrated sensor 15. In order to ensure the accuracy of the moment parameters, the moment components are realized by applying force at a certain moment arm length position, and the steel cable 30 is used as a connecting piece, so that under an ideal working state, the steel cable 30 only provides axial force, and the problem of parasitic frictional resistance generated when single-component force is combined and applied to form multi-component force is avoided. In addition, in order to prevent the universal cable connectors 19 at the two ends of the cable 30 from generating component force due to different axes caused by the z-direction deformation of the calibrated sensor 15, the loading head 11 or any other part, laser displacement sensors 25 are respectively arranged on the first to sixth hydraulic force source systems 1 to 6 and the main lifting platform 12 in the x-axis and y-axis directions for calibration compensation.
4 hydraulic force source systems are respectively arranged in the x-axis direction and the z-axis direction of a device space coordinate system, 2 hydraulic force source systems are arranged in the y-axis direction, each hydraulic force source system is provided with a pull-direction hydraulic oil cylinder 21, the output head of each pull-direction hydraulic oil cylinder 21 is connected with a standard sensor 22 in series, and the forces in different positions and directions are coordinately loaded on a calibrated sensor 15 fixed on a main lifting platform 12 by carrying out selective control loading on each pull-direction hydraulic oil cylinder 21, so that the independent calibration of each component of a force vector or the synchronous combined loading and calibration of multi-component force can be realized.
As shown in fig. 1-6, a comparative multicomponent force sensor calibration apparatus includes: a main base 18 provided on the ground; the main lifting platform 12 is arranged on the main base 18, ten hydraulic force source systems which are provided with standard sensors 22 in series are symmetrically arranged on the periphery of the main lifting platform 12, the standard force sensors 22 are arranged in series with the hydraulic force source systems and used for accurately measuring and controlling force values, the force sources are respectively controlled and cooperatively operated, and synchronous loading and calibration of a plurality of components of vector force are realized.
On the horizontal plane (xoy plane) of the device force coordinate system, a total of 6 hydraulic force source systems are arranged for realizing two forces Fx and Fy in the horizontal direction and a moment Mz moment around the vertical direction. The two force loading units in the x direction are respectively configured with 2 hydraulic force source systems, and the two force loading units in the y direction are respectively configured with 1 hydraulic force source system. The hydraulic force source system is arranged in the following mode: the first hydraulic force source system 1, the second hydraulic force source system 2, the third hydraulic force source system 3 and the fourth hydraulic force source system 4 are symmetrically arranged at the front and the rear of the main lifting platform 12, and the fifth hydraulic force source system 5 and the sixth hydraulic force source system 6 are symmetrically arranged at the left and the right of the main lifting platform 12.
The force loading unit in the vertical direction (z direction) of the force vector coordinate system is provided with 4 force sources in total and used for measuring a pressing force Fz in the vertical direction and moments Mx and My acting on a horizontal plane, seventh to tenth hydraulic force source systems 7 to 10 are respectively arranged at four corners of the main base, and the seventh to tenth hydraulic force source systems 7 to 10 are respectively symmetrical about an x-direction symmetrical axis b and a y-direction symmetrical axis a.
The clamp is detachably arranged on the main lifting table 12, and a calibrated sensor 15 is arranged in the middle of the clamp; the loading head 11 is of a plate-shaped structure and is detachably arranged on the clamp; a steel cable 30 is horizontally arranged on the loading head 11 and is connected with the first to sixth hydraulic force source systems 1 to 6, and a steel cable 30 is vertically arranged on the loading head 11 and is connected with the seventh to tenth hydraulic force source systems 7 to 10
The first to sixth hydraulic force source systems 1 to 6 and the main lifting platform 12 are respectively provided with a laser displacement sensor 25, which is suitable for compensating the component force caused by the z-direction deformation of the calibrated sensor 15, the loading head 11 or any other component.
In this embodiment, the universal cable connectors 19 are respectively disposed at two ends of the cable 30, and when each hydraulic force source system is loaded, if the calibrated sensor 15, the loading head 11 or any other component is in an ideal working state without deformation, the universal cable connectors 19 at two ends of the cable 30 are coaxially disposed.
In this embodiment, the clamps include a top clamp 13 and a bottom clamp 14 disposed opposite to each other, the top clamp 13 includes a top pillar inserted into the bottom of the loading head 11 and a lower plate connected to the bottom of the top pillar, and the bottom clamp 14 includes a bottom pillar inserted into the upper surface of the main elevating platform 12 and an upper plate connected to the top of the bottom pillar. The calibrated sensor 15 is respectively connected with the upper flat plate and the lower flat plate through bolts.
In this embodiment, the four corners of the main lifting platform 12 are respectively provided with a threaded column 24, and the threaded columns 24 are fixedly connected to or integrally formed with the main base 18. The threaded columns 24 are arranged, so that the main lifting platform has a certain distance from the main base, and the space requirements for mounting the seventh to tenth hydraulic force source systems 7-10 are met. The first to sixth hydraulic force source systems 1 to 6 each include a base 28, threaded columns 24 fixedly connected or integrally formed at four corners of the base, a lifting platform 23 connected to the threaded columns 24 in a threaded manner, a pull-in hydraulic cylinder 21 horizontally arranged on the lifting platform 23, and a standard sensor 22 arranged at one end of the pull-in hydraulic cylinder 21 facing the loading head 11. The seventh to tenth hydraulic force source systems 7 to 10 each include a base 28, a pull-in hydraulic cylinder 21 vertically provided on the base 28, and a standard sensor 22 provided on an end of the pull-in hydraulic cylinder 21 facing the loading head 11.
The laser displacement sensor 25 is arranged on a support 26, and the support 26 is respectively sleeved on the corresponding threaded column 24 of the hydraulic force source system and the threaded column 24 of the main lifting platform. As shown in fig. 4, the bracket 26 disposed on the first to sixth hydraulic force source systems 1 to 6 includes a sleeve sleeved on the threaded column 24 and a cantilever beam fixedly connected to the sleeve, and the laser displacement sensor 25 is disposed on the cantilever beam. As shown in fig. 6 and 7, the support 26 disposed on the main lifting platform 12 includes a sleeve sleeved on the threaded column 24, a cantilever beam disposed between the two sleeves, and side wings disposed on one side of the sleeve, respectively, the side wings are fixedly connected with the cantilever beam, and the laser displacement sensor 25 is disposed on the cantilever beam.
Each hydraulic force source system is internally provided with a servo motor, a transmission mechanism and an internal thread sleeve which is in threaded fit with the threaded column; the servo motor is a power source and drives the internal thread sleeve through the transmission mechanism, and the internal thread sleeve drives the lifting platform to move up and down relative to the threaded column.
The laser displacement sensor 25 arranged on the first to sixth hydraulic force source systems 1-6 measures the vertical distance H from the laser displacement sensor to the positioning reference auxiliary 27 at the bottom of the lifting platform 232The laser displacement sensor 25 provided on the main elevating platform 12 measures a vertical distance H thereof to the positioning reference auxiliary disposed on the loading head 111And the control system controls each hydraulic force source system to move up and down the lifting platform 23 according to the difference between the two measured distances, so that the force application point of each force source system and the force application point of the loading head 11 are ensured to be on the same horizontal plane, and the aim of improving the measurement precision of the coupling error is fulfilled by removing component force.
In the embodiment, first to tenth universal cable connectors 1901 to 1910 connected with the first to tenth hydraulic force source systems 1 to 10 are symmetrically arranged on the loading head 11, and seventh to tenth universal cable connectors 1907 to 1910 are arranged around the bottom xoy plane of the loading head and are respectively symmetrical about an x-direction symmetry axis b and a y-direction symmetry axis a.
As shown in FIGS. 4 and 7, the loading head 11 is provided with first to fourth universal cable connectors 1901 to 1904 and first to fourth positioning reference aids 2001 to 2004 on the front yoz plane 231 and the rear yoz plane 232, respectively, which are symmetrical with respect to the middle yoz plane 233 and the middle xoz plane 133 passing through the geometric center point of the loading head; the left xoz plane 131 and the right xoz plane 132 of the loading head 11 are arranged with fifth and sixth gimbal cable connectors 1905-1906 and fifth and sixth positioning reference aids 2005-2006, respectively, symmetrical about the mid yoz plane 233 and the mid xoz plane 133, respectively, passing through the geometric center point of the loading head.
In some other embodiments, the calibration device further comprises a control and data acquisition processing system, which is composed of a servo control system, a standard sensor, a laser displacement sensor and signal amplification system, a signal acquisition and feedback system and data processing software. The computer is used for determining the position, the size and the direction of the load to be applied, reasonably controlling each force loading unit of the host to automatically load, and automatically collecting, processing and analyzing the measurement result. The control and data acquisition processing system needs to automatically test the multi-component force sensor according to a test program specified by the multi-component force sensor calibration method, and the control mode is designed into a full-automatic control mode and a manual control mode.
The invention also provides a calibration method of the comparison type multi-component force sensor calibration device, which comprises the following steps of:
(1) positive x-direction positive force + Fx is generated by the first hydraulic pressure source system 1 and the second hydraulic pressure source system 2, and the + Fx and the pulling force F generated by the first hydraulic pressure source system and the second hydraulic pressure source system respectively1And F2The following relationship exists in numerical values:
Fx＝F1+F2,F1＝F2＝0.5Fx
(2) negative x-direction positive force-Fx is formed by third hydraulic pressureThe hydraulic force source system 3 and the fourth hydraulic force source system 4 generate a pulling force F generated by-Fx and the third and the fourth hydraulic force source systems respectively3And F4The following relationship exists in numerical values:
-Fx＝F3+F4,F3＝F4＝-0.5Fx
(3) positive y-direction positive force + Fy is generated by fifth hydraulic pressure source system 5, and + Fy and pull force F generated by fifth hydraulic pressure source system5The following relationship exists in numerical values:
Fy＝F5
(4) negative y-direction positive force-Fy is generated by a sixth hydraulic pressure source system 6, and the-Fy and the pulling force F generated by the sixth hydraulic pressure source system6The following relationship exists in numerical values:
-Fy＝F6
(5) negative z-direction positive force-Fz is generated by seventh to tenth hydraulic force source systems 7-10, and pulling force F generated by the Fz and the seventh to tenth hydraulic force source systems respectively7～F10The following relationship exists in numerical values:
-Fz＝F7+F8+F9+F10,F7＝F8＝F9＝F10＝-0.25Fz
(6) the positive z-direction moment + Mz is generated by the first hydraulic pressure source system 1 and the third hydraulic pressure source system 3; + Mz, the y-direction distance l between the axial leads of the first to fourth universal cable connectors 1901-1904 and the x-direction symmetry axis b of the loading head1And the pulling force F generated by the first hydraulic pressure source system and the third hydraulic pressure source system respectively1、F3The following relationship exists in numerical values:
Mz＝F1l1+(-F3l1),F1＝-F3＝0.5Mz/l1
(7) the negative z-direction moment-Mz is generated by the second hydraulic pressure type force source system 2 and the fourth hydraulic pressure type force source system 4; -Mz, the y-direction distance l between the axial line of the first through fourth universal wire rope connectors 1901-1904 and the x-direction symmetry axis b of the loading head1And the forces F generated by the second and fourth hydraulic force source systems respectively2、F4The following relationship exists in numerical values:
-Mz＝(-F2l1)+F4l1,-F2＝F4＝-0.5Mz/l1
calibrating the x-direction/y-direction positive and negative moments +/-Mx/+/-My comprises the following steps:
I) determining a calibrated upper limit Mx for the x-direction moment MxmaxOr upper calibration limit My of y-direction moment MymaxIs 5 kNm;
II) when l1/l2At 1m, calculate the preload FpreComprises the following steps:
III) the seventh to tenth hydraulic pressure source systems output preloading tension to Fpre；
IV) carrying out zero setting processing on each component force output of the calibrated sensor 15;
v) selecting calibration points of 1kNm, 2kNm, 3kNm, 4kNm and 5kNm according to the measuring range of the sensor 15 to be calibrated;
VI) calibration point M α1When alpha is taken as x during measurement, the seventh hydraulic pressure source system and the tenth hydraulic pressure source system are enabled to increase the output of delta F, and the eighth hydraulic pressure source system and the ninth hydraulic pressure source system are enabled to decrease the output of delta F; when alpha is taken as y, the seventh hydraulic force source system and the eighth hydraulic force source system are enabled to increase the output of delta F, and the ninth hydraulic force source system and the tenth hydraulic force source system are enabled to decrease the output of delta F; the values of Δ F are:
VII) recording the output of the x-direction/y-direction moment component of the sensor 15 being calibrated at that time as a measurement;
VIII) repeating steps VI) to VII) for the remaining calibration points of 2kNm to 5kNm until the test is completed.
The invention also provides a method for improving the measurement accuracy of the coupling error of the comparison type multi-component force sensor calibration device, when the main component is any component of 5 components such as negative z-direction positive force-Fz, positive and negative x-direction/y-direction moment +/-Mz/+/-My and the like, and the influence component is any component of 6 components such as positive and negative x-direction/y-direction positive force +/-Fx/+/-Fy, positive and negative z-direction moment +/-Mz and the like, the method comprises the following specific steps:
1) verification of the coupling error calibration scheme of the sensor 15 to be calibrated, i.e. verification of the principal component C to be testedpCalibration point Cp1、Cp2、……、CpmAnd corresponding influence component CaLoad C ofa11、Ca12、……、Ca1n，Ca21、Ca22、……、Ca2n，……，Cam1、Cam2、……、CamnSpecific parameters are shown in table 2;
TABLE 2 calibration scheme for coupling errors of multi-component force sensors
| Principal component calibration points-Fz | Influencing component load-Fy |
| 100kN | 5kN，10kN，15kN，20kN，25kN |
| 200kN | 10kN，20kN，30kN，40kN，50kN |
| 300kN | 15kN，30kN，45kN，60kN，75kN |
| 400kN | 20kN，40kN，60kN，80kN，100kN |
| 500kN | 25kN，50kN，75kN，100kN，125kN |
2) Lower surface m of main lifting platform 12 corresponding to positioning reference auxiliary 2006 at initial moment recorded by laser displacement sensor1To the upper surface m of the laser displacement sensor2Z-direction distance H therebetween1'。
3) The laser displacement sensor arranged on the sixth hydraulic force source system 6 is used for recording the lower surface n of the positioning reference auxiliary member 27 at the initial moment2To the upper surface n of the laser displacement sensor3Z-direction distance H therebetween2。
4) According to the z-direction distance H at the initial moment1' the z-direction height of the lifting platform 23 of the sixth hydraulic power source system 6 is adjusted corresponding to the z-direction height of the main lifting platform 12, so that the lower surface n of the lifting platform positioning reference auxiliary 27 is adjusted2To the upper surface n of the laser displacement sensor 253Z-direction distance H therebetween2The following relationship is satisfied:
H1'＝H2+H0'
H0'＝H5+H6–H3–H4'
in the formula, H0' is a z-direction distance compensation constant, H5Is the horizontal symmetry center line n of the universal cable connector on the sixth hydraulic force source system 61To the lower surface n of the positioning reference auxiliary member 272Z-direction distance between, H6Is the upper surface n of the laser displacement sensor 253To the upper surface n of the base of the calibration device4Z-direction distance between, H3Is the axis line m of the universal steel cable connector0To the lower surface m of the positioning reference assistant 20061Z-direction distance between, H4' is the upper surface m of the laser displacement sensor 252To the upper surface m of the base of the calibrating device4Z-direction distance therebetween;
5) applying the principal component-Fz to a first calibration point of 100 kN;
6) re-recording of H with laser displacement sensor 251'；
7) The z-direction height of the lifting platform 23 corresponding to the sixth hydraulic power source system 6 is readjusted to ensure that H is ensured1' and H2Still satisfies the relation H1'＝H2+H0'；
8) According to a calibration scheme on the affected component CaSequentially applying loads of 5 kN-25 kN in the direction, and recording the output of each component as a measurement result;
9) and repeating the steps 4) to 8) for the remaining calibration points of 200kN to 500kN until the test is finished.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (10)
1. A comparative multicomponent force sensor calibration device, comprising: a main base provided on the ground;
the main lifting platform is arranged on the main base, and ten hydraulic force source systems which are installed with standard sensors in series are symmetrically arranged on the periphery of the main lifting platform; the hydraulic force source system is arranged in the following mode: the first hydraulic force source system, the second hydraulic force source system, the third hydraulic force source system, the fourth hydraulic force source system, the fifth hydraulic force source system, the sixth hydraulic force source system, the seventh hydraulic force source system, the tenth hydraulic force source system, the sixth hydraulic force source system, the seventh hydraulic force source system, the tenth hydraulic force source system, the seventh hydraulic force source system, the tenth hydraulic force source system, the sixth hydraulic force source system, the seventh hydraulic force source system, the tenth hydraulic force source system, the sixth hydraulic force source system, the seventh hydraulic force source system, the sixth hydraulic force source system, the seventh hydraulic force source system, the sixth hydraulic force source system, the second hydraulic force source system, the sixth hydraulic force source system, the second hydraulic force source system, the sixth hydraulic force source system, the second hydraulic force source system, the third hydraulic force source system, the second hydraulic force system, the third hydraulic force system, the second hydraulic force source system, the third hydraulic force system, the second hydraulic force system, the third hydraulic force source system, the second hydraulic force system, the third hydraulic force system, the third;
the clamp is detachably arranged on the main lifting table, and a calibrated sensor is arranged in the middle of the clamp;
the loading head is of a plate-shaped structure and is detachably arranged on the clamp; the loading head is horizontally provided with a steel cable connected with the first to sixth hydraulic force source systems, and the loading head is vertically provided with a steel cable connected with the seventh to tenth hydraulic force source systems;
the first hydraulic force source system, the second hydraulic force source system, the third hydraulic force source system, the fourth hydraulic force source system, the fifth hydraulic force source system, the sixth hydraulic force source system and the main lifting platform are respectively provided with a laser displacement sensor which is suitable for compensating component force caused by z-direction deformation of a calibrated sensor or a loading head or any other component.
2. A comparative multicomponent force transducer calibration apparatus according to claim 1, wherein the two ends of the steel cable are respectively provided with a universal steel cable connector, and when each hydraulic force source system is loaded, if the calibrated sensor or the loading head or any other component is in an ideal working state without deformation, the universal steel cable connectors at the two ends of the steel cable are coaxially arranged.
3. The calibration device of claim 2, wherein the clamps comprise a top clamp and a bottom clamp, the top clamp and the bottom clamp are oppositely arranged, the top clamp comprises a top pillar inserted into the bottom of the loading head and a lower plate connected to the bottom of the top pillar, the bottom clamp comprises a bottom pillar inserted into the upper surface of the main lifting platform and an upper plate connected to the top of the bottom pillar; the calibrated sensor is respectively connected with the upper flat plate and the lower flat plate through bolts.
4. The calibration device of claim 1, wherein threaded columns are respectively disposed at four corners of the main elevating platform, and the threaded columns are fixedly connected to or integrally formed with the main base.
5. The calibration device of claim 4, wherein the first to sixth hydraulic force source systems each comprise a base, threaded columns fixedly connected or integrally formed at four corners of the base, a lifting platform connected to the threaded columns, a pull-in hydraulic cylinder horizontally arranged on the lifting platform, and a standard sensor arranged at an end of the pull-in hydraulic cylinder facing the loading head; the laser displacement sensor is arranged on a support, and the support is respectively sleeved on a corresponding threaded column of the hydraulic force source system and a corresponding threaded column of the main lifting platform.
6. A comparative multicomponent force sensor calibration apparatus according to claim 5 wherein the seventh through tenth hydraulic force source systems each comprise a base, a pull-on hydraulic ram disposed vertically on the base, and a calibration sensor disposed on an end of the pull-on hydraulic ram facing the loading head.
7. The calibration device of claim 6, wherein the loading head is symmetrically provided with first to tenth universal cable connectors connected to the first to tenth hydraulic force source systems, and the seventh to tenth universal cable connectors are disposed around the xoy plane at the bottom of the loading head and are respectively symmetrical with respect to the x-axis b and the y-axis a.
8. A comparative multicomponent force sensor calibration device according to claim 7 wherein said loading head front and rear yoz planes are provided with first to fourth universal cable connectors and first to fourth alignment reference aids, respectively symmetrical about the yoz plane passing through the geometric center point of the loading head and the xoz plane; the load head left and right xoz planes are provided with fifth and sixth gimbal cable connectors and fifth and sixth positioning reference aids, respectively, symmetrical about the yoz plane and xoz plane passing through the geometric center point of the load head.
9. A method of calibrating a calibration device for a comparative multicomponent force sensor according to any of claims 1-8, wherein calibrating the x/y positive and negative moments ± Mx/± My comprises the steps of:
I) determining a calibrated upper limit Mx for the x-direction moment MxmaxOr upper calibration limit My of y-direction moment Mymax；
II) calculating the preload FpreComprises the following steps:
in the formula, alpha belongs to { x, y }; when α is taken as x, the subscript i of l is taken as 1; when α is taken as y, the subscript i of l is taken as 2; l1Meanwhile, the y-direction distance is between the x-direction symmetric axis of the universal cable connector connected with the seventh to tenth hydraulic force source systems on the loading head and the x-direction symmetric axis b of the loading head; l2The distance between the y-direction symmetric axis of the universal steel cable connector connected with the seventh to tenth hydraulic force source systems on the loading head and the y-direction symmetric axis a of the loading head is the x-direction distance;
III) the seventh to tenth hydraulic pressure source systems output preloading tension to Fpre；
IV) carrying out zero setting processing on each component force output of the calibrated sensor;
v) selecting a proper calibration point M alpha according to the range of the calibrated sensor1，Mα2，……，Mαmax；
VI) calibration point M α1When alpha is taken as x during measurement, the seventh hydraulic pressure source system and the tenth hydraulic pressure source system are enabled to increase the output of delta F, and the eighth hydraulic pressure source system and the ninth hydraulic pressure source system are enabled to decrease the output of delta F; when alpha is taken as y, the seventh hydraulic force source system and the eighth hydraulic force source system are enabled to increase the output of delta F, and the ninth hydraulic force source system and the tenth hydraulic force source system are enabled to decrease the output of delta F; the values of Δ F are:
wherein the subscript j of M α represents the serial number of the current calibration point, and M α0Equal to 0;
VII) recording the output of the x-direction/y-direction moment component of the sensor to be calibrated at the moment as a measurement result;
VIII) for the remaining calibration points M α2，……，MαmaxAnd repeating the steps VI) to VII) until the test is finished.
10. The method for improving the accuracy of coupling error measurement of an alignment-based multi-component force sensor calibration device of any one of claims 1-8, wherein when the principal component is any of 5 components such as negative z-direction positive force-Fz, positive and negative x-direction/y-direction moment ± Mx/± My, and the influencing component is any of 6 components such as positive and negative x-direction/y-direction positive force ± Fx/± Fy, positive and negative z-direction moment ± Mz, the specific steps are as follows:
1) verification of the coupling error calibration scheme of the sensor to be calibrated, i.e. verification of the principal component C to be testedpCalibration point Cp1、Cp2、……、CpmAnd corresponding influence component CaLoad C ofa11、Ca12、……、Ca1n，Ca21、Ca22、……、Ca2n，……，Cam1、Cam2、……、Camn；
2) The lower surface (m) of the positioning reference auxiliary part corresponding to the initial moment is recorded by using a laser displacement sensor1) To the upper surface (m) of the laser displacement sensor2Or m3) Z-direction distance H therebetween1(corresponding to the first to fourth positioning reference aids) and H1' (corresponding to fifth and sixth positioning reference aids);
3) according to the z-direction distance H at the initial moment1Or H1' adjusting the height of the lifting platform corresponding to the first to the sixth hydraulic pressure source systems in the z direction to ensure that the lifting platform positions the lower surface (n) of the reference auxiliary piece2) To the upper surface (n) of the laser displacement sensor3) Z-direction distance H therebetween2Satisfy the following relationships
In the formula, H0And H0' is a z-direction distance compensation constant, H5Is the horizontal symmetry center line (n) of the universal cable connectors of the first through sixth hydraulic force source systems1) To the lower surface (n) of the positioning reference aid2) Z-direction distance between, H6Is the upper surface (n) of the laser displacement sensor3) To the upper surface (n) of the base of the calibrating device4) Z-direction distance between, H3Is the axial lead (m) of the universal steel cable connector0) To the lower surface (m) of the positioning reference auxiliary member1) Z-direction distance between, H4And H4' is the laser displacement sensor upper surface (m)3Or m2) To the upper surface (m) of the base of the calibrating device4) Z-direction distance therebetween;
4) applying a principal component CpTo a first calibration point Cp1；
5) Re-recording H with laser displacement sensor1(corresponding to the first to fourth positioning reference aids) and H1' (corresponding to the fifth and sixth positioning reference aids);
6) the z-direction height of the lifting platform corresponding to the first to the sixth hydraulic force source systems is readjusted to ensure that H is ensured1、H1' and H2Still satisfies the relation H1＝H2+H0(corresponding to the first to fourth hydraulic pressure source systems), or H1'＝H2+H0' (corresponding to fifth and sixth hydraulic force source systems);
7) according to a calibration scheme on the affected component CaSequentially applying loads C in the directiona11、Ca12、…、Ca1nRecording the output of each component as a measurement;
8) for the remaining calibration points Cp2，……，CpmAnd repeating the steps 4) to 7) until the test is finished.
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