CN209214836U - Centroid measurement system - Google Patents
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- CN209214836U CN209214836U CN201821888746.0U CN201821888746U CN209214836U CN 209214836 U CN209214836 U CN 209214836U CN 201821888746 U CN201821888746 U CN 201821888746U CN 209214836 U CN209214836 U CN 209214836U
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Abstract
The utility model relates to a quality center measurement system. The system is compact and reliable in structure and can test the mass center of a tested piece in any state. The method has simple calculation process and high calculation precision. The system mainly comprises a three-axis air-bearing torque test board, a two-dimensional rotating mechanism, a first mass center adjusting mechanism and a second mass center adjusting mechanism; the three-axis air buoyancy moment test bench comprises a support, an air bearing, an air floating platform table surface, a gravity balance adjusting mechanism and a force sensor assembly; the lower surface of the air floating platform table surface is provided with a gravity balance adjusting mechanism for adjusting X, Y, Z in three directions and a force sensor assembly for measuring X, Y, Z stress conditions in three directions; the two-dimensional rotating mechanism is arranged on the upper surface of the table top of the air floatation platform, the lower surface of a carrying flat plate of the pitching part in the two-dimensional rotating mechanism is provided with a first mass center adjusting mechanism, and a tested piece is placed on the upper surface; the direction part of the two-dimensional rotating mechanism is provided with a second mass center adjusting mechanism.
Description
Technical field
The utility model belongs to precision machinery field of engineering technology, and in particular to a kind of centroid measurement system.
Background technique
Space mechanism with high speed motion is higher to the mass center trim required precision of rotor, and high-precision centroid measurement is base
Plinth.The extraneous torque interference of the output torque 0.15Nm of attitude control flywheel on common satellite, permission are usually no more than 1/5, i.e.,
0.03Nm rotates 200kg and loads, and in 100 °/s rotation, corresponding mass center deviation requirement is better than 24 μm, otherwise in space
Under microgravity environment, unbalanced moments caused by high speed rotor mass eccentricity may cause spacecraft attitude angle generate periodically into
Dynamic unstability.
Heavy load high speed rotor can undergo the debugging test phase up to the several months under ground gravity environment, equally exist and ask
Topic, mass center bias will cause eccentric moment under the effect of gravity, the mass center of the centroid measurement instrument based on weighing in conventional ground
For measuring accuracy in millimeter magnitude, 200kg loads bias 1mm, and corresponding bias gravitational moment reaches 19.6Nm.
The one side ground long-time test and debugging stage easily damages the running at high precision of support shafting, influences axis
It is the service life；
On the other hand, additional 19.6Nm disturbance torque, the microgravity after satellite launch is entered the orbit existing for the ground debugging stage
To substantially it reduce under environment, the control parameter of ground debugging stage design optimization is possible to no longer application space running environment, band
Carry out hidden danger.
The centroid measurement of higher precision and trim can be completed based on dynamic balancing machine, by being arranged in dynamic balancing machine shaft
Pressure sensor carries out high-precision dynamic balancing measurement.The revolving speed that dynamic balancing machine reaches is higher, and theoretically measuring accuracy is higher,
Remaining static-unbalance under 60rmp revolving speed is up to 3kgmm, and measuring accuracy can satisfy, but to the more demanding of test product.
This method is applicable in tests with the widget of regular shape.And for larger part: on the one hand to the bearing capacity of dynamic balancing machine, fortune
Dynamic space envelope requires high；The viscosity resistance that the atmosphere windage that component in the case of another aspect high speed rotation generates generates is to survey
Test result influences serious.
For this problem prior art also teaches the solution of low pressure cabin high-precision centroid measurement, but product test
Process is complicated, and high speed rotation may cause security risk to product itself.
Through retrieving, Chinese patent, number of patent application 201510655822.8 discloses a kind of entitled three-axis air-bearing table
Mass center balancing method and device, in the utility model the technical solution adopted is that: under air bearing state table top laser tracking
The angle feed-back of instrument test and the angular speed feedback of laser gyro test, using be mounted on the flywheel in three directions as control unit into
The leveling of row system mass center.The technical solution has the following deficiencies:
1, without constraint, the maximum output torque of common flywheel is no more than air floating table six-freedom degree under floating state
0.15Nm, the mass eccentricity of 15g can be such that Speed of Reaction Wheels is saturated at centre of gyration 1m, easily incline in the flat process table top of coarse adjustment
It covers, debugging process needs repeatedly repeatedly, cumbersome；
2, this method carries out differential by the revolving speed of test flywheel, carries out torque test indirectly multiplied by inertia, flywheel turns
The feedback of speed again relies on the measuring accuracy of laser tracker and control is fed back, and calculating process is cumbersome, complicated；
3, the test method can only carry out the test of the mass center under a kind of stationary state of test specimen.
Utility model content
In order to solve the problems in background technique, the utility model is a kind of compact-sized reliable and can test free position
The centroid measurement system of lower test specimen mass center.
The design fundamentals of the utility model are:
Three axis air bearing moment test boards support air floating platform table top by air-bearing, pass through tri- axial restraint installations of XYZ
Force snesor the six-freedom degree of air bearing table top all constrained fix.Two-dimensional rotary is installed on three axis air bearing moment test boards
Mechanism, test specimen are mounted on the loading plate of two-dimensional rotation mechanism, and the automatic of three directions is installed on two-dimensional rotation mechanism
Gravitational equilibrium adjusting mechanism；Under the effect of gravity, mass center passes the power in three directions in the test specimen of the centre of gyration
The registration of sensor generates variation, is recalled to measured piece mass center by the automatic gravitational equilibrium adjusting mechanism in three directions of intense adjustment
The system centre of gyration, according to the regulated quantitys of different automatic gravitational equilibrium adjusting mechanisms and adjust load quality can accurately calculate by
The mass center deviation of test block.Further test specimen can be turned into different angle test macro mass center by two-dimensional rotary objective table.
The technical solution of the utility model is:
The utility model provide a kind of centroid measurement system include three axis air bearing moment test boards, two-dimensional rotation mechanism,
First centroid adjustment mechanism and the second centroid adjustment mechanism；
Three axis air bearing moment test boards include support, air-bearing, air floating platform table top, gravitational equilibrium adjusting mechanism and
Force sensor module；
Air-bearing is mounted in the support, and air floating platform table top is installed on air-bearing；Air floating platform table top following table
Face is equipped with gravitational equilibrium adjusting mechanism for adjusting tri- directions X, Y, Z and for measuring tri- direction stress of X, Y, Z
The force sensor module of situation；
Two-dimensional rotation mechanism is mounted on the upper surface of air floating platform table top, and two-dimensional rotation mechanism includes azimuthal section and peace
Pitching part on azimuthal section；The loading plate lower surface of pitching part is installed by the first centroid adjustment mechanism, pitching portion
Place test specimen in the loading plate upper surface divided；The azimuthal section of two-dimensional rotation mechanism installs the second centroid adjustment mechanism.
Further, the gravitational equilibrium adjusting mechanism be three, one in X direction installation, one along Y-direction installation,
One is installed along Z-direction；Each gravitational equilibrium adjusting mechanism includes spindle motor, standard quality block and spindle motor switching
Plate；The fixing end of spindle motor is connect by spindle motor pinboard with air floating platform table top, the movable end installation of spindle motor
Standard quality block；Spindle motor drives standard quality block to move back and forth, and turns round standard quality block far from or close to air-bearing
The gravitational equilibrium of air floating platform table top is realized at center.
Further, the force sensor module include three, one in X direction installation, one along Y-direction installation, one
It is a to be installed along Z-direction；Force sensor module includes sensor, locking steel wire and sensor pinboard；Described sensor one end
On the support, the other end is connect with locking steel wire for setting；Sensor pinboard one end installation locking steel wire, the other end are mounted on gas
In floating tabletop of platform.
Further, first centroid adjustment mechanism includes two gravitational equilibrium adjusting mechanisms, a gravitational equilibrium tune
Section mechanism is mounted on loading plate lower surface in X direction, another gravitational equilibrium adjusting mechanism is mounted on loading plate along Z-direction
Lower surface；
Second centroid adjustment mechanism includes two gravitational equilibrium adjusting mechanisms of mutual closed assembly；One of gravity is flat
Weighing apparatus regulating mechanism is placed in X direction, another gravitational equilibrium adjusting mechanism is placed along Y-direction.
The beneficial effects of the utility model are:
1, structure is safe and reliable.Air floating platform table top passes through power in the three axis air bearing moment test boards that the utility model uses
Sensor is fixed with air-bearing, by the six-freedom degree Complete Bind of table top, is carried out coarse adjustment again later and is put down, operating process air bearing
Tabletop of platform will not topple, it is ensured that product safety.
2, test mushing error is small.It is supported between air-bearing and air floating platform table top by air film, moment of friction is less than
0.003Nm, force snesor precision are better than 0.4mN, and torgue measurement precision is better than 0.2mNm, power when apart from rotating shaft 0.5m installation
Square directly measures output, and is demarcated using standard test weight, and scaling method is simple and reliable；
3, easily operated.The device of the utility model and the method phase that high-precision centroid measurement is carried out using dynamic balancing machine
Than without carrying out high speed rotation, no atmosphere windage etc. influences, it is only necessary to which two-dimensional rotation mechanism drives loading plate to carry out several fixations
The stepping of angle rotates.
4, utility model device by by test specimen carry out once mounting, both direction measurement, can be realized by
The three-dimensional coordinate high-acruracy survey of test block mass center, suitable for one-dimensional rotary load and the rotation with two-dimensional rotary freedom degree is negative
It carries；
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model measuring device；
Fig. 2 is the layout of three gravitational equilibrium adjusting mechanisms and three force sensor modules on air floating platform table top；
Fig. 3 is the structural schematic diagram of gravitational equilibrium adjusting mechanism；
Fig. 4 is the structural schematic diagram of force sensor module；
Fig. 5 is layout of the second mass center mechanism in two-dimensional rotation mechanism azimuthal section；
Fig. 6 is the flow diagram of the utility model measurement method.
Fig. 7 is that the mass center in Y-axis rotating part vertical plane changes schematic diagram；
Fig. 8 changes schematic diagram for the mass center in rotating part horizontal plane about the z axis；
Appended drawing reference is as follows:
Tri- axis air bearing moment test board of 1-, 11- support, 12- air-bearing, 13- air floating platform table top, 14- gravitational equilibrium
Regulating mechanism, 141- spindle motor, 142- standard quality block, 143- spindle motor pinboard, 15- force sensor module, 151-
Sensor, 152- locking steel wire, 153- sensor pinboard, 2- two-dimensional rotation mechanism, 21- azimuthal section, 22- pitching part,
221- loading plate, the first centroid adjustment of 3- mechanism, the second centroid adjustment of 4- mechanism.
Specific embodiment
The measuring system of the utility model is described further with reference to the accompanying drawing:
Measuring system composition
As shown in Figure 1, a kind of centroid measurement system, including three axis air bearing moment test boards 1, two-dimensional rotation mechanism 2, first
Centroid adjustment mechanism 3 and the second centroid adjustment mechanism 4；
Three axis air bearing moment test boards 1 include support 11, air-bearing 12, air floating platform table top 13, gravitational equilibrium adjusting
Mechanism 14 and force sensor module 15；Air-bearing 12 is coaxially mounted in the support 11, installs gas on air-bearing 12
Floating tabletop of platform 13；13 lower surface of air floating platform table top is equipped with the gravitational equilibrium for adjusting tri- directions X, Y, Z and adjusts machine
Structure 14 and force sensor module 15 for measuring tri- direction stress conditions of X, Y, Z；
It is supported between support 11 and air-bearing 12 by air film, moment of friction is less than 0.003Nm, and sensor accuracy is better than
0.4mN, torgue measurement precision is better than 0.2mNm when apart from rotating shaft 0.5m installation, and torque directly measures output.
Two-dimensional rotation mechanism 2 is mounted on 13 upper surface of air floating platform table top, two-dimensional rotation mechanism include azimuthal section 21 with
And it is mounted on the pitching part 22 of azimuthal section 21；The loading plate lower surface of pitching part 22 is installed by the first centroid adjustment machine
Place test specimen in the loading plate upper surface of structure 211, pitching part 22；The installation of azimuthal section 21 the of two-dimensional rotation mechanism 2
Two centroid adjustment machines 221.
Two-dimensional rotation mechanism pitching part 22 is for driving the object of side mounted thereto to do pitching movement；Azimuthal section 21
Object for driving pitching part 22 and be mounted on 22 top of pitching part makes rotating motion.If with reference to above-mentioned X, Y, Z tri-
A direction is exactly that azimuthal section is rotated along Z-direction, pitching part is in X direction or Y-direction rotates by a small margin.
As shown in Figures 2 and 3, wherein gravitational equilibrium adjusting mechanism 14 is three, one in X direction installation, one along Y
Direction installation, one along Z-direction install；Each gravitational equilibrium adjusting mechanism 14 includes spindle motor 141, standard quality block
142 and spindle motor pinboard 143；The fixing end of spindle motor 141 passes through spindle motor pinboard 143 and air floating platform platform
Face 13 connects, and the movable end of spindle motor 141 installs standard quality block 142；Spindle motor drives standard quality block to move back and forth,
Keep standard quality block separate or close to the air-bearing centre of gyration, realizes the gravitational equilibrium of air floating platform table top.
As shown in Figure 2 and Figure 4, force sensor module 15 include three, one in X direction installation, one along Y-direction pacify
Dress, one along Z-direction install；Force sensor module 15 includes sensor 151, locking steel wire 152 and sensor pinboard
153；151 one end of sensor is arranged on support 11, and the other end is connect with locking steel wire 152；153 one end of sensor pinboard
Installation locking steel wire 152, the other end are mounted on air floating platform table top 13.
As shown in Figure 2 and Figure 5, first centroid adjustment mechanism 3 includes two gravitational equilibrium adjusting mechanisms 14, a weight
Dynamic balance regulating mechanism 14 is mounted on 22 loading plate lower surface of pitching part, another gravitational equilibrium adjusting mechanism in X direction
14 are mounted on 22 loading plate lower surface of pitching part along Z-direction；Second centroid adjustment mechanism 4 includes two weights of mutual closed assembly
Dynamic balance regulating mechanism 14；One of gravitational equilibrium adjusting mechanism 14 is placed in X direction, another gravitational equilibrium adjusting mechanism
14 place along Y-direction.
Based on the above-mentioned description to measuring device structure, now the method that centroid measurement is carried out using the measuring device is carried out
Description: as shown in fig. 6, including implementation steps in detail below:
[1] test specimen is fixedly mounted on loading plate, makes two axis initial positions point of two-dimensional rotary rotating mechanism
It is not parallel with the X-axis of three axis air bearing moment test boards and Z axis；
Wherein, the plane that X-axis is formed with Y-axis is parallel to the horizontal plane, plane of the Z axis perpendicular to X-axis and Y-axis composition；
[2] three axis air bearing moment test boards are initially leveled；
Make air floating platform table top air bearing, realizes three axis air bearing moment test boards by adjusting three gravitational equilibrium adjusting mechanisms
Initial leveling, three force snesors are in zero-bit state at this time；
[3] centroid measurement in vertical plane；
If force snesor, under zero-bit state, the center-of-mass coordinate of test specimen is (x01,y01,z01), loading plate is around Y-axis
Rotate θyWhen angle (as shown in Figure 7), the coordinate of test specimen mass center is (x11,y01,z11), it is rotated and is defined according to coordinate, can pushed away
Export:
As can be seen from the above equation, the pitching part of two-dimensional rotary structure together with test specimen pitch orientation rotate when, quilt
Test block mass center produces variation in X and Z-direction, wherein the variation of the mass center of X-direction can introduce three axis air bearing moment test boards around
The disturbance torque of Y-axis changes:
Ty1=mg (x11-x01) (2)
In above formula, Ty1It is three axis air bearing moment test boards around Y-axis disturbance torque, force snesor can directly be read；M is around Y
Axis the first movable part quality, the first movable part include test specimen, two-dimentional objective table pitching part and the first mass center tune
Save mechanism；G is acceleration of gravity；
Bring formula (1) into formula (2), abbreviation obtains:
In above formula, Xm01=mx01For around the first movable part of Y-axis X-direction static-unbalance； Zm01=mz01For around Y
Static-unbalance of the first movable part of axis in Z-direction；
As can be seen from the above equation, a position is turned to around the first movable part of Y-axis, it can be deduced that an equation；
Multiple angle positions are rotated around Y-axis movable part to bring measurement result into formula (3) by repeatedly measuring, obtain:
Wherein, θ1The corner of loading plate when to test for the first time；θnThe corner of loading plate when being tested for n-th；Ty1
Around the disturbance torque of Y-axis when to test for the first time；TynAround the disturbance torque of Y-axis when being tested for n-th；
By least-squares iteration, formula (4) is solved, can be obtained:
It can measure the static-unbalance X around Y-axis movable part according to above formulam0And Zm0；Due to bowing for two-dimensional rotation mechanism
Part and the first initial mass center of centroid adjustment mechanism are faced upward in the rotation on the rotating shaft that Y rotates, therefore in two parts vertical plane
It turns over Cheng Buhui and introduces mass center variation, rotary course only has the mass center of test specimen that may change in vertical plane；It uses respectively
Xm01And Zm01The test specimen centroid position in vertical plane is obtained divided by the quality of test specimen；
[4] centroid adjustment；
By adjusting the first centroid adjustment mechanism generation-X arranged in two-dimensional rotary platformm01With-Zm01Offset, will
The mass center of test specimen is adjusted on the axis of Y-axis；
[5] gravitational equilibrium is adjusted；
Gravitational equilibrium mechanism is readjusted, three force snesor outputs is made to revert to zero；
[6] test specimen centroid measurement in horizontal plane
Centroid measurement and adjustment in horizontal plane are rotated by the orientation of two-dimensional rotary objective table, that is, turn about the Z axis realization；
Test specimen is (x together with the center-of-mass coordinate of two-dimensional rotation mechanism02,y02,z02), the first centroid adjustment mechanism is adjusted
X afterwards02=0mm, when two-dimensional rotation mechanism rotates θ about the z axiszWhen angle, as shown in figure 8, test specimen is together with two-dimensional rotation mechanism
The coordinate of mass center is (x12,y12, z02), it is rotated and is defined according to coordinate, can derived:
When having above formula to can be seen that the rotation of two-dimensional rotation mechanism angle, mass center produces variation in X and Y-direction, can introduce three
The disturbance torque of axis air bearing moment test board Y-direction and X-direction:
In above formula, Tx2And Ty2Respectively three axis air bearing moment test board X and Y-direction disturbance torque are straight by torque sensor
Connect reading；M' is the quality of the second movable part, and the second movable part includes test specimen, two-dimensional rotation mechanism, the first mass center
Regulating mechanism and the second centroid adjustment mechanism；G is acceleration of gravity；
It brings formula (6) into formula (7), obtains:
In above formula, Ym02=m'y02For Y-direction static-unbalance；
Two-dimensional rotation mechanism turns about the Z axis multiple angle positions, by repeatedly measuring, brings measurement result into formula (8),
:
In above formula, θz1The corner of two dimension motivation structure about the z axis when to test for the first time；θznTwo dimension motivation when being tested for n-th
The corner of structure about the z axis；Tx12X-direction disturbance torque when to test for the first time；Ty12Y-direction perturbed force when to test for the first time
Square；Txn2X-direction disturbance torque when being tested for n-th；Tyn2Y-direction disturbance torque when being tested for n-th；
By least-squares iteration, formula (9) is solved, can be obtained:
It can measure the static-unbalance Y of two-dimentional motivation structure according to formula (10)m02.Due to two-dimentional objective table and the second mass center
Regulating mechanism makes two-dimentional objective table and total mass center of the second centroid adjustment mechanism in the rotating shaft rotated around Z in the initial state
On, therefore the rotary course in two parts horizontal plane will not introduce mass center variation, rotary course is only tested in horizontal plane
The mass center of part may change.Use Ym02It is inclined that the test specimen centroid position in horizontal plane is obtained divided by the quality of test specimen
Poor y02。
The centroid measurement on test specimen three-dimensional can be realized by the measuring device of the utility model and with method, it is right
In the load of one-dimensional rotation, according to the mounting means on two-dimensional rotary objective table, it is only necessary to carry out pitching or one, orientation direction
Measurement centroid measurement can be completed.
Claims (4)
1. a kind of centroid measurement system, it is characterised in that:
Including three axis air bearing moment test boards, two-dimensional rotation mechanism, the first centroid adjustment mechanism and the second centroid adjustment mechanism；
Three axis air bearing moment test boards include that support, air-bearing, air floating platform table top, gravitational equilibrium adjusting mechanism and power pass
Sensor component；
Air-bearing is mounted in the support, and air floating platform table top is installed on air-bearing；Air floating platform table top lower surface peace
Equipped with the gravitational equilibrium adjusting mechanism for adjusting tri- directions X, Y, Z and for measuring tri- direction stress conditions of X, Y, Z
Force sensor module；
Two-dimensional rotation mechanism is mounted on the upper surface of air floating platform table top, and two-dimensional rotation mechanism includes azimuthal section and is mounted on
Pitching part on azimuthal section；The first centroid adjustment mechanism is installed in the loading plate lower surface of pitching part, pitching part
Place test specimen in loading plate upper surface；The azimuthal section of two-dimensional rotation mechanism installs the second centroid adjustment mechanism.
2. centroid measurement system according to claim 1, it is characterised in that:
The gravitational equilibrium adjusting mechanism be three, one in X direction installation, one along Y-direction installation, one along Z-direction pacify
Dress；Each gravitational equilibrium adjusting mechanism includes spindle motor, standard quality block and spindle motor pinboard；Spindle motor
Fixing end is connect by spindle motor pinboard with air floating platform table top, and the movable end of spindle motor installs standard quality block.
3. centroid measurement system according to claim 1, it is characterised in that:
The force sensor module include three, one in X direction installation, one along Y-direction installation, one along Z-direction install；
Force sensor module includes sensor, locking steel wire and sensor pinboard；Described sensor one end is arranged on the support, separately
One end is connect with locking steel wire；Sensor pinboard one end installation locking steel wire, the other end are mounted on air floating platform table top.
4. centroid measurement system according to claim 1, it is characterised in that: first centroid adjustment mechanism includes two
Gravitational equilibrium adjusting mechanism, a gravitational equilibrium adjusting mechanism are mounted on loading plate lower surface in X direction, another gravity is flat
Weighing apparatus regulating mechanism is mounted on loading plate lower surface along Z-direction；
Second centroid adjustment mechanism includes two gravitational equilibrium adjusting mechanisms of mutual closed assembly；One of gravitational equilibrium tune
Section mechanism is placed in X direction, another gravitational equilibrium adjusting mechanism is placed along Y-direction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109406049A (en) * | 2018-11-16 | 2019-03-01 | 中国科学院西安光学精密机械研究所 | Centroid measuring system and centroid measuring method |
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Cited By (2)
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| CN109406049A (en) * | 2018-11-16 | 2019-03-01 | 中国科学院西安光学精密机械研究所 | Centroid measuring system and centroid measuring method |
| CN109406049B (en) * | 2018-11-16 | 2023-12-08 | 中国科学院西安光学精密机械研究所 | Centroid measuring system and measuring method |
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