技术领域technical field
本发明涉及的是一种机械仪表检测领域的技术，具体是一种适用于现场标定的广义力加载多维测力台标定装置及其标定方法。The invention relates to a technology in the field of mechanical instrument detection, in particular to a generalized force-loaded multi-dimensional force plate calibration device and a calibration method suitable for on-site calibration.
背景技术Background technique
多维测力台能够测量三维空间的全力信息即三维力和三维力矩信息，现已广泛应用于运动生物力学、康复医学等领域。多维测力台的测量精度直接影响其应用效果，因此，在出厂前必须对其进行标定。The multi-dimensional force plate can measure the full force information in three-dimensional space, that is, three-dimensional force and three-dimensional torque information, and has been widely used in sports biomechanics, rehabilitation medicine and other fields. The measurement accuracy of the multi-dimensional force plate directly affects its application effect, so it must be calibrated before leaving the factory.
现有的多维测力台标定大多采用单维加载，采用单维力加载时，一次只沿一个分量轴加载力或力矩，故效率较低。为提高效率需要采用广义力标定，即通过加载包含多个力分量的矢量力对多维测力台进行标定。Most of the existing multi-dimensional force plate calibration adopts single-dimensional loading. When single-dimensional force loading is used, the force or moment is only applied along one component axis at a time, so the efficiency is low. In order to improve efficiency, it is necessary to use generalized force calibration, that is, to calibrate the multi-dimensional force plate by loading vector force containing multiple force components.
经过对现有技术的检索发现，中国专利文献号CN101936797A，公开(公告)日2011.01.05，公开了一种多维力传感器的标定装置及其工作方法，所述的标定装置包括标定工作台和带滑轮的支架部件，带滑轮的支架部件包括载荷施加绳、滑轮和砝码。但该技术存在以下缺陷：1)力加载方法繁琐，需要不断更换砝码质量，操作不便；2)在施加Fx和Fy时需要通过调整标定调节板的高度使得施力线保持水平，操作复杂；3)方向角不能调节；4)该装置不适用于需要对多个加载点进行加载的多维测力台标定，也不适合大载荷加载。After searching the prior art, it is found that Chinese patent document number CN101936797A, published (announcement) date 2011.01.05, discloses a multi-dimensional force sensor calibration device and its working method. The calibration device includes a calibration workbench and a belt The bracket part of the pulley, the bracket part with the pulley includes a load application rope, a pulley and a weight. However, this technology has the following defects: 1) The force loading method is cumbersome, and the weight quality needs to be replaced continuously, which is inconvenient to operate; 2) When applying Fx and Fy, it is necessary to adjust the height of the calibration adjustment plate to keep the force line horizontal, and the operation is complicated; 3) The direction angle cannot be adjusted; 4) The device is not suitable for multi-dimensional force plate calibration that needs to load multiple loading points, nor is it suitable for large load loading.
发明内容Contents of the invention
本发明针对现有技术存在的上述不足，提出了一种广义力加载多维测力台标定装置及其标定方法，能够同时施加多个方向上的力、力矩，并实现连续的矢量力加载，有效减小误差。In view of the above-mentioned deficiencies in the prior art, the present invention proposes a generalized force loading multi-dimensional force platform calibration device and its calibration method, which can simultaneously apply forces and moments in multiple directions, and realize continuous vector force loading, effectively Reduce errors.
本发明是通过以下技术方案实现的，The present invention is achieved through the following technical solutions,
本发明涉及一种广义力加载多维测力台标定装置，包括：标定台主架、多维测力台、施力机构、第一钢绳拉索、第二钢绳拉索和传感器件，其中：标定台主架为L形，多维测力台固定在标定台主架一侧并设有加载点，加载点、第一钢绳拉索、传感器件和第二钢绳拉索依次相连，施力机构相对于多维测力台设置并与标定台主架另一侧固定连接；The present invention relates to a generalized force loaded multi-dimensional force measuring platform calibration device, comprising: a main frame of the calibration platform, a multi-dimensional force measuring platform, a force applying mechanism, a first steel cable stay cable, a second steel cable stay cable and a sensor device, wherein: The main frame of the calibration table is L-shaped. The multi-dimensional force measuring table is fixed on one side of the main frame of the calibration table and has a loading point. The loading point, the first steel cable, the sensor and the second steel cable are connected in sequence. The mechanism is set relative to the multi-dimensional force measuring platform and fixedly connected with the other side of the main frame of the calibration platform;
所述的施力机构包括由上至下依次相连的闸阀手轮、第一双向螺杆、连接套筒、第二双向螺杆和牵引盒，其中：第一双向螺杆设有固定盘，固定盘呈倒L形一端与标定台主架固定连接，另一端与牵引盒对应设置，牵引盒底部开槽并设有牵引滑杆，牵引滑杆与第二钢绳拉索一端连接。The force application mechanism includes a gate valve handwheel, a first two-way screw, a connecting sleeve, a second two-way screw and a traction box connected in sequence from top to bottom, wherein: the first two-way screw is provided with a fixed plate, and the fixed plate is inverted. One end of the L-shape is fixedly connected to the main frame of the calibration table, and the other end is set correspondingly to the traction box. The bottom of the traction box is slotted and a traction slide bar is provided, and the traction slide bar is connected to one end of the second steel cable.
所述的标定台主架包括：承载台、标定台立柱、滑杆夹具、调节滑杆、调节螺杆和固定滑杆，其中：承载台一侧设有两根标定台立柱，两标定台立柱通过顶部的横梁相连，两标定台立柱底部之间设有固定滑杆，标定台立柱中部设有矩形滑槽，两个矩形滑槽之间设有调节滑杆，调节滑杆与滑杆夹具固定连接，滑杆夹具与调节螺杆固定连接，调节螺杆与横梁相连并控制调节滑杆的高度，第二钢绳拉索依次绕过调节滑杆、固定滑杆与牵引滑杆连接。The main frame of the calibration platform includes: a bearing platform, a calibration platform column, a slider fixture, an adjusting slider, an adjusting screw and a fixed slider, wherein: one side of the bearing platform is provided with two calibration platform columns, and the two calibration platform columns pass through The beams on the top are connected, a fixed slide bar is installed between the bottom of the two calibration table columns, a rectangular chute is provided in the middle of the calibration table column, and an adjustment slide bar is installed between the two rectangular chute, the adjustment slide bar is fixedly connected with the slide bar fixture , the slide bar clamp is fixedly connected with the adjusting screw, the adjusting screw is connected with the crossbeam and controls the height of the adjusting slide bar, the second steel cable stays around the adjusting slide bar in turn, and the fixed slide bar is connected with the traction slide bar.
所述的传感装置包括：标准测力计和与之相连的倾角传感器。The sensing device includes: a standard force gauge and an inclination sensor connected thereto.
本发明涉及一种基于上述装置的标定方法，在指定的调节滑杆高度下，通过旋转闸阀手轮带动牵引盒向上运动从而将加载力依次通过第二钢绳拉索、传感器件和第一钢绳拉索传递至多维测力台上，在多维测力台上进行分区标定，由采集电路实时记录多维测力台的各组桥路输出结果和传感器件的测量结果，得到各区域的标定系数矩阵和标定误差。The invention relates to a calibration method based on the above-mentioned device. Under the specified height of the adjustment slide bar, the handwheel of the gate valve is rotated to drive the traction box to move upwards, so that the loading force passes through the second steel cable, the sensor device and the first steel cable in sequence. The rope is transmitted to the multi-dimensional force platform, and the multi-dimensional force platform is calibrated on the multi-dimensional force platform. The acquisition circuit records the output results of each group of bridge circuits of the multi-dimensional force platform and the measurement results of the sensor devices in real time, and obtains the calibration coefficient of each area. Matrix and Calibration Errors.
所述的分区标定是指将多维测力台顶板划分为几何中心一致且依次嵌套的若干个区域，在每个区域内分别选取若干个加载点进行标定。The partition calibration refers to dividing the top plate of the multi-dimensional force platform into several regions with the same geometric center and nested in sequence, and selecting several loading points in each region for calibration.
技术效果technical effect
与现有技术相比，本发明采用广义力加载，能同时施加多个方向上的力、力矩；同时采用螺纹副的螺纹旋合及自锁特性，配合标准测力计及倾角传感器，能实现连续的矢量力加载；而采用分区标定的方法能有效减小误差，其最大维间耦合误差为0.82％，最小维间耦合误差为0.05％，较现有的方法解耦更加彻底，完全适用于工业现场、科研单位等多种场合。Compared with the prior art, the present invention adopts generalized force loading, which can apply forces and moments in multiple directions at the same time; at the same time, it adopts the thread screwing and self-locking characteristics of the thread pair, and cooperates with the standard dynamometer and inclination sensor to realize Continuous vector force loading; and the method of partition calibration can effectively reduce the error, the maximum inter-dimensional coupling error is 0.82%, and the minimum inter-dimensional coupling error is 0.05%, which is more thorough in decoupling than the existing method, and is completely suitable for Industrial sites, scientific research units and other occasions.
附图说明Description of drawings
图1为本发明结构示意图；Fig. 1 is a structural representation of the present invention;
图2为图1的右视图；Fig. 2 is the right view of Fig. 1;
图3为本发明中标定台主架结构示意图；Fig. 3 is a schematic structural diagram of the main frame of the calibration station in the present invention;
图4为本发明中施力机构结构示意图；Fig. 4 is a structural schematic diagram of a force applying mechanism in the present invention;
图5为本发明中牵引盒结构示意图；Fig. 5 is the structural representation of traction box in the present invention;
图6为本发明中多维测力台俯视图；Fig. 6 is the plan view of multi-dimensional force plate in the present invention;
图中：标定台主架1、承载台11、标定台立柱12、滑杆夹具13、调节滑杆14、调节螺杆15、固定滑杆16、横梁17、矩形滑槽18、多维测力台2、加载点21、施力机构3、闸阀手轮31、第一双向螺杆32、固定盘33、连接套筒34、第二双向螺杆35、牵引盒36、牵引滑杆37、第一钢绳拉索4、第二钢绳拉索5、传感器件6、中心区域a、第一环形区域b、第二环形区域c。In the figure: the main frame of the calibration table 1, the bearing table 11, the column of the calibration table 12, the slide bar fixture 13, the adjustment slide bar 14, the adjustment screw rod 15, the fixed slide bar 16, the beam 17, the rectangular chute 18, and the multi-dimensional force table 2 , loading point 21, force applying mechanism 3, gate valve hand wheel 31, first two-way screw rod 32, fixed disk 33, connecting sleeve 34, second two-way screw rod 35, traction box 36, traction slide bar 37, first steel rope pull The cable 4, the second steel cable 5, the sensor device 6, the central area a, the first annular area b, and the second annular area c.
具体实施方式Detailed ways
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
实施例1Example 1
如图1和图2所示，本实施例涉及一种广义力加载多维测力台标定装置，包括：标定台主架1、多维测力台2、施力机构3、第一钢绳拉索4、第二钢绳拉索5和传感器件6，其中：标定台主架1为L形，多维测力台2固定在标定台主架1一侧并设有若干加载点21，加载点21、第一钢绳拉索4、传感器件6和第二钢绳拉索5依次相连，施力机构3相对于多维测力台2设置并与标定台主架1另一侧固定连接；As shown in Figures 1 and 2, this embodiment relates to a generalized force-loaded multi-dimensional force platform calibration device, including: the main frame of the calibration platform 1, the multi-dimensional force platform 2, the force applying mechanism 3, and the first steel cable stay 4. The second steel cable cable 5 and the sensor device 6, wherein: the main frame 1 of the calibration table is L-shaped, and the multi-dimensional force table 2 is fixed on one side of the main frame 1 of the calibration table and is provided with several loading points 21, and the loading points 21 , the first steel cable 4, the sensor device 6 and the second steel cable 5 are connected in sequence, and the force applying mechanism 3 is arranged relative to the multidimensional force measuring platform 2 and fixedly connected to the other side of the main frame 1 of the calibration platform;
如图4和图5所示，所述的施力机构3包括由上至下依次相连的闸阀手轮31、第一双向螺杆32、连接套筒34、第二双向螺杆35和牵引盒36，其中：第一双向螺杆32上设有固定盘33，固定盘33呈倒L形一端与标定台主架1固定连接，另一端与牵引盒36对应设置以减少牵引盒36的自由度，使牵引盒36能够上下运动，牵引盒底36底部开槽并设有牵引滑杆37，牵引滑杆37与第二钢绳拉索5一端连接。As shown in Fig. 4 and Fig. 5, the force applying mechanism 3 includes a gate valve hand wheel 31, a first two-way screw 32, a connecting sleeve 34, a second two-way screw 35 and a traction box 36 connected in sequence from top to bottom, Wherein: the first two-way screw 32 is provided with a fixed plate 33, the fixed plate 33 is an inverted L-shaped end fixedly connected with the main frame 1 of the calibration table, and the other end is correspondingly arranged with the traction box 36 to reduce the degree of freedom of the traction box 36, so that the traction Box 36 can move up and down, traction box bottom 36 bottom grooves and be provided with traction sliding bar 37, and traction sliding bar 37 is connected with second steel cable stay cable 5 one ends.
如图6所示，所述的多维测力台2优选地划分为几何中心一致且依次嵌套的中心区域a、第一环形区域b和第二环形区域c，其中：中心区域a优选为矩形区域，其轮廓线与X轴间距为与Y轴间距为第一环形区域b的外侧轮廓线与X轴间距为与Y轴间距为第二环形区域c的外侧轮廓线与X轴间距为与Y轴间距为l1为多维测力台X轴向上两个传感器间的距离，l2为Y轴向上两个传感器间的距离。As shown in Figure 6, the multidimensional force plate 2 is preferably divided into a central area a, a first annular area b, and a second annular area c that have the same geometric center and are sequentially nested, wherein: the central area a is preferably rectangular area, the distance between its contour line and the X-axis is The distance from the Y axis is The distance between the outer contour line of the first annular area b and the X-axis is The distance from the Y axis is The distance between the outer contour line of the second annular area c and the X-axis is The distance from the Y axis is l1 is the distance between the two sensors on the X axis of the multidimensional force plate, and l2 is the distance between the two sensors on the Y axis.
所述的若干加载点21优选为对称地设置于各区域的X轴、Y轴或矩形对角线上。The several loading points 21 are preferably arranged symmetrically on the X-axis, Y-axis or the diagonal of the rectangle in each area.
如图3所示，所述的标定台主架1包括：承载台11、标定台立柱12、滑杆夹具13、调节滑杆14、调节螺杆15和固定滑杆16，其中：承载台11一侧设有两根标定台立柱12，两标定台立柱12通过顶部的横梁17相连，两标定台立柱12底部之间设有固定滑杆16，标定台立柱12中部设有矩形滑槽18，两个矩形滑槽18之间设有调节滑杆14，调节滑杆14与滑杆夹具13固定连接，滑杆夹具13与调节螺杆15固定连接，调节螺杆15与横梁17相连并控制调节滑杆14的高度，第二钢绳拉索5依次绕过调节滑杆14、固定滑杆16与牵引滑杆15固定连接。As shown in Figure 3, the described calibration platform main frame 1 comprises: bearing platform 11, calibration platform column 12, slide bar fixture 13, adjusting slide bar 14, adjusting screw rod 15 and fixing slide bar 16, wherein: bearing platform 11- There are two calibration platform columns 12 on the side, and the two calibration platform columns 12 are connected by a beam 17 at the top. A fixed slide bar 16 is provided between the bottoms of the two calibration platform columns 12, and a rectangular chute 18 is provided in the middle of the calibration platform column 12. Adjustment slide bar 14 is arranged between two rectangular chute 18, and adjustment slide bar 14 is fixedly connected with slide bar clamp 13, and slide bar clamp 13 is fixedly connected with adjustment screw rod 15, and adjustment screw rod 15 links to each other with crossbeam 17 and controls and adjusts slide bar 14 height, the second steel cable stay cable 5 bypasses the adjustment slide bar 14, the fixed slide bar 16 and the traction slide bar 15 and is fixedly connected in turn.
所述的传感器件6包括：标准测力计和与之相连的倾角传感器。The sensor device 6 includes: a standard load cell and an inclination sensor connected thereto.
所述的调节螺杆15在固定盘33左右两侧各设置一根，便于调节和保持调节滑杆14的高度。The adjusting screw rod 15 is provided with one on the left and right sides of the fixed plate 33, which is convenient for adjusting and maintaining the height of the adjusting slide bar 14.
所述的横梁17优选为设置长条孔，便于安装调节螺杆15和固定盘33。The crossbeam 17 is preferably provided with elongated holes to facilitate the installation of the adjusting screw 15 and the fixing plate 33 .
所述的第一双向螺杆32优选为右旋螺纹螺杆，所述的第二双向螺杆35优选为左旋螺纹螺杆。The first two-way screw 32 is preferably a right-hand screw, and the second two-way screw 35 is preferably a left-hand screw.
本实施例涉及利用上述装置进行标定的方法，包括以下步骤：This embodiment relates to a method for calibrating using the above-mentioned device, including the following steps:
S1，连接第一钢绳拉索4和中心区域a中加载点21，调整调节螺杆15从而改变调节滑杆14达到该加载点21的标定高度；在标定高度下，逐步顺时针旋转闸阀手轮31带动牵引盒36向上运动至第一钢绳拉索4和第二钢绳拉索5绷紧，并记录此时刻采集电路输出作为该加载点21的量程初始零点；S1 , connect the first steel cable 4 to the loading point 21 in the central area a, adjust the adjusting screw 15 to change the adjusting slide bar 14 to reach the calibrated height of the loading point 21; at the calibrated height, gradually rotate the gate valve hand clockwise The wheel 31 drives the traction box 36 to move upward until the first steel cable 4 and the second steel cable 5 are tightened, and record the output of the acquisition circuit at this moment as the initial zero point of the range of the loading point 21;
S2，确定初始零点后，继续顺时针旋转闸阀手轮31分多次加载，至多维测力台2达到满量程；然后逆时针旋转闸阀手轮31分多次卸载，至多维测力台2量程回到初始零点，完成中心区域a中该加载点21的标定加载，由采集电路实时记录多维测力台2在标定加载过程中各组桥路输出结果和传感器件6的测量结果；按上述步骤进一步完成中心区域a中其余加载点21的标定加载；S2 , after confirming the initial zero point, continue to rotate the gate valve handwheel clockwise for 31 minutes to load multiple times until the multidimensional force plate 2 reaches the full scale; then turn the gate valve handwheel counterclockwise for 31 minutes to unload for multiple times until the multidimensional force plate 2 The range returns to the initial zero point, and the calibration loading of the loading point 21 in the central area a is completed, and the acquisition circuit records in real time the output results of each group of bridge circuits and the measurement results of the sensor device 6 during the calibration loading process of the multi-dimensional force measuring platform 2; according to the above The step further completes the calibration loading of the remaining loading points 21 in the central area a;
S3，调整第一钢绳拉索4使其与多维测力台2上第一环形区域b和第二环形区域c中各个加载点21分别连接，在确定各个加载点21的量程初始零点后进行标定加载，得到全部加载点21对应的输出结果和测量结果；S3 , adjust the first steel cable 4 so that it is respectively connected to each loading point 21 in the first annular area b and the second annular area c on the multidimensional force platform 2, after determining the initial zero point of the range of each loading point 21 Perform calibration loading to obtain output results and measurement results corresponding to all loading points 21;
S4，根据中心区域a、第一环形区域b和第二环形区域c中各加载点21对应的输出结果和测量结果，计算各区域的标定系数矩阵及标定误差。S4 , according to the output results and measurement results corresponding to the loading points 21 in the central area a, the first annular area b, and the second annular area c, calculate the calibration coefficient matrix and calibration error of each area.
所述的标定系数矩阵为其中：为多维测力台桥路输出电压矩阵，为多维测力台的加载力矢量。The calibration coefficient matrix described is in: is the output voltage matrix of the multi-dimensional force plate bridge circuit, is the loading force vector of the multidimensional force plate.
| Application Number | Priority Date | Filing Date | Title |
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| CN201610105008.3ACN105675206B (en) | 2016-02-25 | 2016-02-25 | Generalized force loads multidimensional ergograph caliberating device and its scaling method |
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| CN201610105008.3ACN105675206B (en) | 2016-02-25 | 2016-02-25 | Generalized force loads multidimensional ergograph caliberating device and its scaling method |
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| CN105675206A CN105675206A (en) | 2016-06-15 |
| CN105675206Btrue CN105675206B (en) | 2018-04-10 |
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| CN201610105008.3AActiveCN105675206B (en) | 2016-02-25 | 2016-02-25 | Generalized force loads multidimensional ergograph caliberating device and its scaling method |
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