技术领域technical field
本实用新型属于精密机械工程技术领域，具体涉及一种质心测量系统。The utility model belongs to the technical field of precision mechanical engineering, in particular to a centroid measurement system.
背景技术Background technique
空间高速运动机构对转子的质心配平精度要求较高，而高精度的质心测量是基础。常见的卫星上姿控飞轮的输出力矩0.15Nm，允许的外界力矩干扰一般不超过1/5，即0.03Nm，对于200kg转动负载，在100°/s旋转时，对应的质心偏差要求优于24μm，否则在空间微重力环境下，高速转子质量偏心造成的不平衡力矩可能导致航天器姿态角产生周期性进动失稳。The high-speed movement mechanism in space has high requirements on the trimming accuracy of the center of mass of the rotor, and the high-precision center of mass measurement is the basis. The output torque of the attitude control flywheel on a common satellite is 0.15Nm, and the allowable external torque interference generally does not exceed 1/5, that is, 0.03Nm. For a 200kg rotating load, when rotating at 100°/s, the corresponding centroid deviation requirement is better than 24μm , otherwise, in the space microgravity environment, the unbalanced moment caused by the mass eccentricity of the high-speed rotor may cause periodic precession instability of the attitude angle of the spacecraft.
大负载高速转子在地面重力环境下会经历长达数月的调试测试阶段，同样存在问题，其质心偏心在重力作用下会造成偏心力矩，常规地面上基于称重的质心测量仪的质心测试精度在毫米量级，200kg 负载偏心1mm，对应的偏心重力矩达到19.6Nm。The large-load high-speed rotor will go through several months of debugging and testing under the gravity environment of the ground, and there are also problems. The eccentricity of its center of mass will cause eccentric moment under the action of gravity. On the order of millimeters, the 200kg load is eccentric by 1mm, and the corresponding eccentric gravity moment reaches 19.6Nm.
一方面地面长时间测试调试阶段对支撑轴系的高精度运转极易造成损害，影响轴系寿命；On the one hand, the long-term testing and debugging stage on the ground can easily cause damage to the high-precision operation of the supporting shafting system and affect the life of the shafting system;
另一方面，地面调试阶段存在的额外19.6Nm干扰力矩，在卫星发射入轨后微重力环境下将大幅减小，地面调试阶段设计优化的控制参数有可能不再适用空间运行环境，带来隐患。On the other hand, the additional 19.6Nm interference torque in the ground commissioning stage will be greatly reduced in the microgravity environment after the satellite is launched into orbit, and the optimized control parameters designed in the ground commissioning stage may no longer be applicable to the space operating environment, bringing hidden dangers .
更高精度的质心测量与配平可基于动平衡机完成，通过布置在动平衡机转轴上的压力传感器进行高精度动平衡测量。动平衡机达到的转速越高，理论上测试精度越高，60rmp转速下的残余静不平衡量可达3kgmm，测试精度可以满足，但对被测产品的要求较高。该方法适用与规则形状的小部件测试。而对于较大部件：一方面对动平衡机的承载能力、运动空间包络要求高；另一方面高速旋转情况下的部件产生的大气风阻产生的粘滞阻力对测试结果影响严重。Higher-precision center-of-mass measurement and trimming can be done based on a dynamic balancing machine, and high-precision dynamic balancing measurement is performed through a pressure sensor arranged on the shaft of the dynamic balancing machine. The higher the speed achieved by the dynamic balancing machine, the higher the test accuracy in theory, the residual static unbalance at 60rmp speed can reach 3kgmm, the test accuracy can be satisfied, but the requirements for the tested products are higher. This method is suitable for testing widgets with regular shapes. For larger components: On the one hand, the requirements for the load-carrying capacity and motion space envelope of the dynamic balancing machine are high; on the other hand, the viscous resistance generated by the atmospheric wind resistance generated by the components in the case of high-speed rotation has a serious impact on the test results.
针对该问题现有技术还提出了低气压舱高精度质心测量的解决方案，但产品测试流程复杂，高速旋转对产品自身可能造成安全隐患。To solve this problem, the existing technology also proposes a solution for high-precision centroid measurement in a low-pressure chamber, but the product testing process is complicated, and high-speed rotation may cause safety hazards to the product itself.
经检索，中国专利，专利申请号为201510655822.8，公开了一种名称为三轴气浮台质心调平衡方法及装置，在该实用新型采用的技术方案是：以气浮状态下的台面激光跟踪仪测试的角度反馈和激光陀螺测试的角速度反馈，以安装在三个方向的飞轮为控制单元进行系统质心调平。该技术方案存在以下缺陷：After searching, the Chinese patent, the patent application number is 201510655822.8, discloses a method and device for adjusting the center of mass of a three-axis air-floating table. The angle feedback of the test and the angular velocity feedback of the laser gyro test are used to balance the center of mass of the system with the flywheel installed in three directions as the control unit. There are following defects in this technical scheme:
1、浮空状态下气浮台六个自由度均无约束，常见飞轮的最大输出力矩不超过0.15Nm，距离回转中心1m处15g的质量偏心即可使飞轮转速饱和，在粗调平过程台面极易倾覆，调试过程需要多次反复，操作繁琐；1. There are no restrictions on the six degrees of freedom of the air bearing table in the floating state. The maximum output torque of the common flywheel does not exceed 0.15Nm, and the 15g mass eccentricity at a distance of 1m from the center of rotation can saturate the flywheel speed. During the rough leveling process of the table It is easy to overturn, the debugging process needs to be repeated many times, and the operation is cumbersome;
2、该方法通过测试飞轮的转速进行微分，再乘以惯量间接进行力矩测试，飞轮转速的反馈又依赖于激光跟踪仪的测试精度和控制反馈，计算过程繁琐、复杂；2. This method differentiates the rotational speed of the flywheel, and then multiplies it by the inertia to test the torque indirectly. The feedback of the rotational speed of the flywheel depends on the test accuracy and control feedback of the laser tracker, and the calculation process is cumbersome and complicated;
3、该测试方法只能进行被测试件一种固定状态下的质心测试。3. This test method can only perform the centroid test of the tested piece in a fixed state.
实用新型内容Utility model content
为了解决背景技术中的问题，本实用新型一种结构紧凑可靠且能够测试任意状态下被测试件质心的质心测量系统。In order to solve the problems in the background technology, the utility model provides a centroid measuring system with a compact and reliable structure and capable of testing the centroid of a test piece in any state.
本实用新型的基本设计原理是：The basic design principle of the utility model is:
三轴气浮力矩测试台由气浮轴承支撑气浮平台台面，通过XYZ三个轴向固定安装的力传感器将气浮台面的六个自由度全部约束固定。三轴气浮力矩测试台上安装二维转动机构，被测试件安装在二维转动机构的载物平板上，二维转动机构上安装三个方向的自动重力平衡调节机构；在重力作用下，质心不在回转中心的被测试件将使三个方向的的力传感器的示数产生变化，通过精细调整三个方向的自动重力平衡调节机构将被测件质心调回系统回转中心，根据不同自动重力平衡调节机构的调节量和调节负载质量可以精确计算被测试件的质心偏差。进一步可通过二维转动载物台将试件转向不同角度测试系统质心。The three-axis air flotation moment test bench is supported by air bearings on the air flotation platform table, and all six degrees of freedom of the air flotation table are constrained and fixed by the force sensors fixedly installed in the XYZ three axial directions. A two-dimensional rotating mechanism is installed on the three-axis air buoyancy moment test bench, and the test piece is installed on the loading plate of the two-dimensional rotating mechanism, and an automatic gravity balance adjustment mechanism in three directions is installed on the two-dimensional rotating mechanism; under the action of gravity, The test piece whose center of mass is not in the center of rotation will change the readings of the force sensors in three directions. By finely adjusting the automatic gravity balance adjustment mechanism in the three directions, the center of mass of the test piece will be adjusted back to the center of rotation of the system. The adjustment amount of the balance adjustment mechanism and the adjustment load quality can accurately calculate the deviation of the center of mass of the tested piece. Further, the center of mass of the system can be tested at different angles by turning the specimen to different angles through the two-dimensional rotating stage.
本实用新型的技术解决方案是：The technical solution of the utility model is:
本实用新型提供了一种质心测量系统包括三轴气浮力矩测试台、二维转动机构、第一质心调节机构以及第二质心调节机构；The utility model provides a center-of-mass measurement system comprising a three-axis air buoyancy moment test bench, a two-dimensional rotating mechanism, a first center-of-mass adjustment mechanism and a second center-of-mass adjustment mechanism;
三轴气浮力矩测试台包括支座、气浮轴承、气浮平台台面、重力平衡调节机构以及力传感器组件；The three-axis air flotation moment test bench includes a support, an air flotation bearing, an air flotation platform table, a gravity balance adjustment mechanism and a force sensor assembly;
气浮轴承安装在所述支座内，气浮轴承上安装气浮平台台面；气浮平台台面下表面安装有用于调节X、Y、Z三个方向的重力平衡调节机构以及用于测量X、Y、Z三个方向受力情况的力传感器组件；The air bearing is installed in the support, and the air bearing platform is installed on the air bearing; the lower surface of the air bearing is installed with a gravity balance adjustment mechanism for adjusting the three directions of X, Y, and Z, and for measuring X, Force sensor components in the three directions of Y and Z;
二维转动机构安装在气浮平台台面的上表面，二维转动机构包括方位部分以及安装在方位部分上的俯仰部分；俯仰部分的载物平板下表面安装第一质心调节机构，俯仰部分的载物平板上表面放置被测试件；二维转动机构的方位部分安装第二质心调节机构。The two-dimensional rotating mechanism is installed on the upper surface of the air bearing platform. The two-dimensional rotating mechanism includes an azimuth part and a pitch part installed on the azimuth part; The object to be tested is placed on the upper surface of the flat object; the azimuth part of the two-dimensional rotating mechanism is equipped with a second centroid adjustment mechanism.
进一步地，所述重力平衡调节机构为三个，一个沿X方向安装、一个沿Y方向安装、一个沿Z方向安装；每个重力平衡调节机构均包括丝杠电机、标准质量块以及丝杠电机转接板；丝杠电机的固定端通过丝杠电机转接板与气浮平台台面连接，丝杠电机的活动端安装标准质量块；丝杠电机驱动标准质量块往复移动，使标准质量块远离或靠近气浮轴承回转中心，实现气浮平台台面的重力平衡。Further, there are three gravity balance adjustment mechanisms, one is installed along the X direction, one is installed along the Y direction, and one is installed along the Z direction; each gravity balance adjustment mechanism includes a lead screw motor, a standard mass and a lead screw motor Adapter plate; the fixed end of the lead screw motor is connected to the table top of the air flotation platform through the lead screw motor adapter plate, and the standard mass block is installed on the movable end of the lead screw motor; the lead screw motor drives the standard mass block to move back and forth, so that the standard mass block is far away from the Or close to the center of rotation of the air bearing to realize the gravity balance of the air bearing platform.
进一步地，所述力传感器组件包括三个，一个沿X方向安装、一个沿Y方向安装、一个沿Z方向安装；力传感器组件包括传感器、锁紧钢丝以及传感器转接板；所述传感器一端设置在支座上，另一端与锁紧钢丝连接；传感器转接板一端安装锁紧钢丝，另一端安装在气浮平台台面上。Further, the force sensor assembly includes three, one is installed along the X direction, one is installed along the Y direction, and one is installed along the Z direction; the force sensor assembly includes a sensor, a locking wire and a sensor adapter plate; one end of the sensor is provided On the support, the other end is connected with the locking steel wire; one end of the sensor adapter plate is installed with the locking steel wire, and the other end is installed on the table top of the air flotation platform.
进一步地，所述第一质心调节机构包括两个重力平衡调节机构，一个重力平衡调节机构沿X方向安装在载物平板下表面，另一个重力平衡调节机构沿Z方向安装在载物平板下表面；Further, the first center-of-mass adjustment mechanism includes two gravity balance adjustment mechanisms, one gravity balance adjustment mechanism is installed on the lower surface of the loading plate along the X direction, and the other gravity balance adjustment mechanism is installed on the lower surface of the loading plate along the Z direction ;
所述第二质心调节机构包括相互叠装的两个重力平衡调节机构；其中一个重力平衡调节机构沿X方向放置，另一个重力平衡调节机构沿Y方向放置。The second center-of-mass adjustment mechanism includes two gravity balance adjustment mechanisms stacked on each other; one of the gravity balance adjustment mechanisms is placed along the X direction, and the other gravity balance adjustment mechanism is placed along the Y direction.
本实用新型的有益效果是：The beneficial effects of the utility model are:
1、结构安全可靠。本实用新型采用的三轴气浮力矩测试台中气浮平台台面通过力传感器与气浮轴承固定，将台面的六个自由度完全约束，之后再进行粗调平，操作过程气浮平台台面不会倾覆，可保证产品安全。1. The structure is safe and reliable. In the three-axis air flotation moment test platform adopted by the utility model, the air flotation platform table is fixed by the force sensor and the air bearing, and the six degrees of freedom of the table are completely restrained, and then rough leveling is performed, and the air flotation platform table will not Overturning, product safety can be guaranteed.
2、测试干扰误差小。气浮轴承与气浮平台台面之间靠气膜支撑，摩擦力矩小于0.003Nm，力传感器精度优于0.4mN，距离回转轴0.5m 安装时力矩测量精度优于0.2mNm，力矩直接测量输出，且可利用标准砝码进行标定，标定方法简单可靠；2. The test interference error is small. The air bearing and the air bearing platform are supported by an air film, the friction torque is less than 0.003Nm, the force sensor accuracy is better than 0.4mN, and the torque measurement accuracy is better than 0.2mNm when installed at a distance of 0.5m from the rotary shaft, and the torque is directly measured and output, and Standard weights can be used for calibration, and the calibration method is simple and reliable;
3、易于操作。本实用新型的装置与采用动平衡机进行高精度质心测量的方法相比，无需进行高速旋转，无大气风阻等影响，仅需二维转动机构带动载物平板进行几个固定角度的步进转动即可。3. Easy to operate. Compared with the method of using a dynamic balancing machine for high-precision centroid measurement, the device of the present utility model does not need to perform high-speed rotation, has no influence of atmospheric wind resistance, etc., and only needs a two-dimensional rotating mechanism to drive the loading plate to perform several fixed-angle step-by-step rotations That's it.
4、本实用新型装置通过将被测试件进行一次安装、两个方向的测量，即可实现被测试件质心的三维坐标高精度测量，适用于一维旋转负载和具有二维转动自由度的旋转负载；4. The device of the utility model can realize the high-precision measurement of the three-dimensional coordinates of the centroid of the tested piece by installing the tested piece once and measuring in two directions. It is suitable for one-dimensional rotating loads and rotations with two-dimensional rotational degrees of freedom. load;
附图说明Description of drawings
图1为本实用新型测量装置的结构示意图；Fig. 1 is the structural representation of the utility model measuring device;
图2为三个重力平衡调节机构和三个力传感器组件在气浮平台台面上的布局图；Fig. 2 is a layout diagram of three gravity balance adjustment mechanisms and three force sensor assemblies on the table top of the air flotation platform;
图3为重力平衡调节机构的结构示意图；Fig. 3 is a structural schematic diagram of a gravity balance adjustment mechanism;
图4为力传感器组件的结构示意图；Fig. 4 is a structural schematic diagram of a force sensor assembly;
图5为第二质心机构在二维转动机构方位部分的布局图；Fig. 5 is a layout diagram of the azimuth part of the second center-of-mass mechanism in the two-dimensional rotating mechanism;
图6为本实用新型测量方法的流程框图。Fig. 6 is a flow chart of the measurement method of the utility model.
图7为绕Y轴旋转部分垂直面内的质心变化示意图；Fig. 7 is a schematic diagram of the center of mass change in the vertical plane of the rotation around the Y axis;
图8为绕Z轴旋转部分水平面内的质心变化示意图；Fig. 8 is a schematic diagram of the center of mass change in the horizontal plane of the part rotating around the Z axis;
附图标记如下：The reference signs are as follows:
1-三轴气浮力矩测试台、11-支座、12-气浮轴承、13-气浮平台台面、14-重力平衡调节机构、141-丝杠电机、142-标准质量块、143- 丝杠电机转接板、15-力传感器组件、151-传感器、152-锁紧钢丝、 153-传感器转接板、2-二维转动机构、21-方位部分、22-俯仰部分、221-载物平板、3-第一质心调节机构、4-第二质心调节机构。1-Three-axis air bearing moment test bench, 11-support, 12-air bearing, 13-air bearing platform, 14-gravity balance adjustment mechanism, 141-screw motor, 142-standard mass, 143-wire Bar motor adapter plate, 15-force sensor assembly, 151-sensor, 152-locking steel wire, 153-sensor adapter plate, 2-two-dimensional rotation mechanism, 21-azimuth part, 22-pitch part, 221-load Flat plate, 3-the first center-of-mass adjustment mechanism, 4-the second center-of-mass adjustment mechanism.
具体实施方式Detailed ways
下面结合附图对本实用新型的测量系统做进一步的介绍：Below in conjunction with accompanying drawing, measuring system of the present utility model is further introduced:
测量系统组成Measuring system composition
如图1所示，一种质心测量系统，包括三轴气浮力矩测试台1、二维转动机构2、第一质心调节机构3以及第二质心调节机构4；As shown in Figure 1, a centroid measurement system includes a three-axis air buoyancy moment test bench 1, a two-dimensional rotating mechanism 2, a first centroid adjustment mechanism 3 and a second centroid adjustment mechanism 4;
三轴气浮力矩测试台1包括支座11、气浮轴承12、气浮平台台面13、重力平衡调节机构14以及力传感器组件15；气浮轴承12同轴安装在所述支座11内，气浮轴承12上安装气浮平台台面13；气浮平台台面13下表面安装有用于调节X、Y、Z三个方向的重力平衡调节机构14以及用于测量X、Y、Z三个方向受力情况的力传感器组件15；The three-axis air bearing moment test bench 1 includes a support 11, an air bearing 12, an air bearing platform 13, a gravity balance adjustment mechanism 14, and a force sensor assembly 15; the air bearing 12 is coaxially installed in the support 11, The air bearing 12 is equipped with an air floating platform table 13; the lower surface of the air floating platform table 13 is equipped with a gravity balance adjustment mechanism 14 for adjusting the three directions of X, Y, and Z, and for measuring the three directions of X, Y, and Z. The force sensor assembly 15 of the force situation;
支座11与气浮轴承12之间靠气膜支撑，摩擦力矩小于0.003Nm，传感器精度优于0.4mN，距离回转轴0.5m安装时力矩测量精度优于 0.2mNm，力矩直接测量输出。The support 11 and the air bearing 12 are supported by an air film, the friction torque is less than 0.003Nm, the sensor accuracy is better than 0.4mN, and the torque measurement accuracy is better than 0.2mNm when installed at a distance of 0.5m from the rotary shaft, and the torque is directly measured and output.
二维转动机构2安装在气浮平台台面13上表面，二维转动机构包括方位部分21以及安装在方位部分21的俯仰部分22；俯仰部分 22的载物平板下表面安装第一质心调节机构211，俯仰部分22的载物平板上表面放置被测试件；二维转动机构2的方位部分21安装第二质心调节机221。The two-dimensional rotating mechanism 2 is installed on the upper surface of the air bearing platform table 13. The two-dimensional rotating mechanism includes an azimuth part 21 and a pitch part 22 installed on the azimuth part 21; The object under test is placed on the upper surface of the loading plate of the pitching part 22; the azimuth part 21 of the two-dimensional rotating mechanism 2 is equipped with a second centroid adjustment machine 221.
二维转动机构俯仰部分22用于驱动安装在其上方的物体做俯仰运动；方位部分21用于驱动俯仰部分22以及安装在俯仰部分22上方的物体做旋转运动。若参考上述X、Y、Z三个方向，即就是方位部分沿Z方向旋转，俯仰部分沿X方向或Y方向小幅度旋转。The pitching part 22 of the two-dimensional rotation mechanism is used to drive the object installed above it to make a pitching motion; the azimuth part 21 is used to drive the pitching part 22 and the object mounted above the pitching part 22 to make a rotating motion. If referring to the above-mentioned three directions of X, Y, and Z, that is, the azimuth part rotates along the Z direction, and the pitch part rotates along the X direction or the Y direction in a small range.
如图2和图3所示，其中，重力平衡调节机构14为三个，一个沿X方向安装、一个沿Y方向安装、一个沿Z方向安装；每个重力平衡调节机构14均包括丝杠电机141、标准质量块142以及丝杠电机转接板143；丝杠电机141的固定端通过丝杠电机转接板143与气浮平台台面13连接，丝杠电机141的活动端安装标准质量块142；丝杠电机驱动标准质量块往复移动，使标准质量块远离或靠近气浮轴承回转中心，实现气浮平台台面的重力平衡。As shown in Figure 2 and Figure 3, wherein, there are three gravity balance adjustment mechanisms 14, one is installed along the X direction, one is installed along the Y direction, and one is installed along the Z direction; each gravity balance adjustment mechanism 14 includes a lead screw motor 141, the standard mass block 142 and the lead screw motor adapter plate 143; the fixed end of the lead screw motor 141 is connected with the air flotation platform table 13 through the lead screw motor adapter plate 143, and the standard mass block 142 is installed on the movable end of the lead screw motor 141 ; The lead screw motor drives the standard mass block to move back and forth, so that the standard mass block is far away from or close to the center of rotation of the air bearing, and the gravity balance of the air bearing platform is realized.
如图2和图4所示，力传感器组件15包括三个，一个沿X方向安装、一个沿Y方向安装、一个沿Z方向安装；力传感器组件15包括传感器151、锁紧钢丝152以及传感器转接板153；传感器151一端设置在支座11上，另一端与锁紧钢丝152连接；传感器转接板153 一端安装锁紧钢丝152，另一端安装在气浮平台台面13上。As shown in Figures 2 and 4, the force sensor assembly 15 includes three, one is installed along the X direction, one is installed along the Y direction, and one is installed along the Z direction; the force sensor assembly 15 includes a sensor 151, a locking wire 152 and a sensor rotating Connecting plate 153; one end of sensor 151 is arranged on support 11, and the other end is connected with locking steel wire 152;
如图2和图5所示，所述第一质心调节机构3包括两个重力平衡调节机构14，一个重力平衡调节机构14沿X方向安装在俯仰部分22 载物平板下表面，另一个重力平衡调节机构14沿Z方向安装在俯仰部分22载物平板下表面；第二质心调节机构4包括相互叠装的两个重力平衡调节机构14；其中一个重力平衡调节机构14沿X方向放置，另一个重力平衡调节机构14沿Y方向放置。As shown in Figures 2 and 5, the first center-of-mass adjustment mechanism 3 includes two gravity balance adjustment mechanisms 14, one gravity balance adjustment mechanism 14 is installed on the lower surface of the pitching part 22 loading plate along the X direction, and the other gravity balance The adjustment mechanism 14 is installed on the lower surface of the pitching part 22 loading plate along the Z direction; the second center of mass adjustment mechanism 4 includes two gravity balance adjustment mechanisms 14 stacked on each other; one of the gravity balance adjustment mechanisms 14 is placed along the X direction, and the other The gravity balance adjustment mechanism 14 is placed along the Y direction.
基于上述对测量装置结构的描述，现对采用该测量装置进行质心测量的方法进行描述：如图6所示，包括以下具体实施步骤：Based on the above description of the structure of the measuring device, the method for measuring the center of mass using the measuring device is now described: as shown in Figure 6, it includes the following specific implementation steps:
【1】将被测试件固定安装载物平板上，使二维转动转动机构的两个轴初始位置分别与三轴气浮力矩测试台的X轴和Z轴平行；[1] Fix the test piece on the loading plate, so that the initial positions of the two axes of the two-dimensional rotating mechanism are parallel to the X-axis and Z-axis of the three-axis air buoyancy moment test bench;
其中，X轴与Y轴组成的平面与水平面平行，Z轴垂直于X轴与 Y轴组成的平面；Wherein, the plane formed by the X axis and the Y axis is parallel to the horizontal plane, and the Z axis is perpendicular to the plane formed by the X axis and the Y axis;
【2】对三轴气浮力矩测试台进行初始调平；【2】Initial leveling of the three-axis air flotation moment test bench;
使气浮平台台面气浮，通过调节三个重力平衡调节机构实现三轴气浮力矩测试台的初始调平，此时三个力传感器均处于零位状态；Make the surface of the air flotation platform float, and realize the initial leveling of the three-axis air flotation moment test bench by adjusting the three gravity balance adjustment mechanisms. At this time, the three force sensors are all in the zero state;
【3】垂直面内的质心测量；【3】Center of mass measurement in the vertical plane;
设力传感器在零位状态下，被测试件的质心坐标为(x01,y01,z01)，载物平板绕Y轴旋转θy角时(如图7所示)，被测试件质心的坐标为 (x11,y01,z11)，根据坐标旋转定义，可推导出：Assuming that the force sensor is in the zero state, the coordinates of the center of mass of the tested piece are (x01 , y01 , z01 ), and when the loading plate rotates around the Y axis by an angle θy (as shown in Figure 7), the center of mass of the tested piece The coordinates of are (x11 ,y01 ,z11 ), according to the definition of coordinate rotation, it can be deduced that:
由上式可以看出，二维转动结构的俯仰部分连同被测试件在俯仰方向转动时，被测试件质心在X和Z方向产生了变化，其中，X方向的质心变化会引入三轴气浮力矩测试台绕Y轴的干扰力矩变化：It can be seen from the above formula that when the pitch part of the two-dimensional rotating structure and the tested piece rotate in the pitch direction, the center of mass of the tested piece changes in the X and Z directions, and the change of the center of mass in the X direction will introduce three-axis air buoyancy The disturbance moment change of the moment test bench around the Y axis:
Ty1＝mg(x11-x01) (2)Ty1 =mg(x11 -x01 ) (2)
上式中，Ty1为三轴气浮力矩测试台绕Y轴干扰力矩，力传感器可直接读出；m为绕Y轴第一活动部件质量，第一活动部件包括被测试件、二维载物台俯仰部分以及第一质心调节机构；g为重力加速度；In the above formula, Ty1 is the disturbance torque around the Y-axis of the three-axis air buoyancy moment test bench, which can be read directly by the force sensor; m is the mass of the first moving part around the Y-axis, the first moving part includes the test piece, the two-dimensional load The pitching part of the object stage and the first center-of-mass adjustment mechanism; g is the acceleration of gravity;
将式(1)带入式(2)，化简，得：Bring formula (1) into formula (2) and simplify to get:
上式中，Xm01＝mx01为绕Y轴第一活动部分在X方向的静不平衡量； Zm01＝mz01为绕Y轴第一活动部分在Z方向的静不平衡量；In the above formula, Xm01 = mx01 is the static unbalance of the first movable part around the Y axis in the X direction; Zm01 = mz01 is the static unbalance of the first movable part around the Y axis in the Z direction;
从上式可以看出，绕Y轴第一活动部分转动到一个位置，可以得出一个方程；It can be seen from the above formula that the first movable part around the Y axis rotates to a position, and an equation can be obtained;
绕Y轴活动部分转动多个角度位置，经过多次测量，将测量结果带入式(3)，得：Rotate multiple angular positions around the Y-axis movable part, after several measurements, bring the measurement results into formula (3), get:
其中，θ1为第一次测试时载物平板的转角；θn为第n次测试时载物平板的转角；Ty1为第一次测试时绕Y轴的干扰力矩；Tyn为第n次测试时绕Y轴的干扰力矩；Among them, θ1 is the rotation angle of the object-loading plate in the first test; θn is the rotation angle of the object-loading plate in the nth test; Ty1 is the disturbance torque around the Y axis in the first test;Ty yn is the nth test The disturbance moment around the Y axis during the first test;
通过最小二乘迭代，对式(4)进行求解，可得：Through the least squares iteration, formula (4) is solved, and it can be obtained:
根据上式可测量出绕Y轴活动部分的静不平衡量Xm0和Zm0；由于二维转动机构的俯仰部分和第一质心调节机构初始质心在绕Y旋转的回转轴上，因此该两部分垂直面内的旋转过程不会引入质心变化，垂直面内旋转过程只有被测试件的质心可能发生变化；分别用Xm01和 Zm01除以被测试件的质量得到垂直面内的被测试件质心位置；According to the above formula, the static unbalance Xm0 and Zm0 of the movable part around the Y-axis can be measured; since the pitch part of the two-dimensional rotating mechanism and the initial center of mass of the first center-of-mass adjustment mechanism are on the rotation axis around the Y-axis, the two parts The rotation process in the vertical plane will not introduce a change in the center of mass, and only the center of mass of the tested piece may change during the rotation process in the vertical plane; divide Xm01 and Zm01 by the mass of the tested piece to obtain the center of mass of the tested piece in the vertical plane Location;
【4】质心调节；【4】Center of mass adjustment;
通过调节二维转动台内布置的第一质心调节机构产生-Xm01和 -Zm01的偏移量，将被测试件的质心调整至绕Y轴的轴线上；Adjust the center of mass of the test piece to the axis around the Y axis by adjusting the first centroid adjustment mechanism arranged in the two-dimensional rotating table to generate the offsets of -Xm01 and -Zm01 ;
【5】重力平衡调节；【5】Gravity balance adjustment;
重新调节重力平衡机构，使三个力传感器输出恢复为零；Readjust the gravity balance mechanism to restore the output of the three force sensors to zero;
【6】水平面内被测试件质心测量[6] Measurement of the center of mass of the test piece in the horizontal plane
水平面内的质心测量与调整依靠二维转动载物台的方位转动，即绕Z轴转动实现；The measurement and adjustment of the center of mass in the horizontal plane is realized by the azimuth rotation of the two-dimensional rotating stage, that is, the rotation around the Z axis;
被测试件连同二维转动机构的质心坐标为(x02,y02,z02)，第一质心调节机构调节后x02＝0mm，当二维转动机构绕Z轴旋转θz角时，如图8所示，被测试件连同二维转动机构的质心的坐标为(x12,y12, z02)，根据坐标旋转定义，可推导出：The coordinates of the center of mass of the tested object and the two-dimensional rotating mechanism are (x02 , y02 ,z02 ), after the adjustment of the first center of mass adjustment mechanism, x02 = 0mm. As shown in Figure 8, the coordinates of the center of mass of the tested object and the two-dimensional rotating mechanism are (x12 , y12 , z02 ). According to the definition of coordinate rotation, it can be deduced that:
有上式可以看出，二维转动机构角转动时，质心在X和Y方向产生了变化，会引入三轴气浮力矩测试台Y方向和X方向的干扰力矩：From the above formula, it can be seen that when the two-dimensional rotating mechanism rotates angularly, the center of mass changes in the X and Y directions, which will introduce disturbance moments in the Y and X directions of the three-axis air buoyancy moment test bench:
上式中，Tx2和Ty2分别为三轴气浮力矩测试台X和Y方向干扰力矩，由力矩传感器直接读出；m'为第二活动部件的质量，第二活动部件包括被测试件、二维转动机构、第一质心调节机构以及第二质心调节机构；g为重力加速度；In the above formula, Tx2 and Ty2 are the disturbance torques in the X and Y directions of the three-axis air buoyancy torque test bench, which are directly read by the torque sensor; m' is the mass of the second movable part, which includes the tested object , the two-dimensional rotating mechanism, the first center-of-mass adjustment mechanism and the second center-of-mass adjustment mechanism; g is the acceleration of gravity;
将式(6)带入式(7)，得：Put formula (6) into formula (7), get:
上式中，Ym02＝m'y02为Y方向静不平衡量；In the above formula, Ym02 = m'y02 is the static unbalance in the Y direction;
二维转动机构绕Z轴转动多个角度位置，经过多次测量，将测量结果带入式(8)，得：The two-dimensional rotating mechanism rotates multiple angular positions around the Z axis. After several measurements, the measurement results are brought into formula (8), and we get:
上式中,θz1为第一次测试时二维动机构绕Z轴的转角；θzn为第n次测试时二维动机构绕Z轴的转角；Tx12为第一次测试时的X方向干扰力矩；Ty12为第一次测试时的Y方向干扰力矩；Txn2为第n次测试时的X方向干扰力矩；Tyn2为第n次测试时的Y方向干扰力矩；In the above formula, θz1 is the rotation angle of the two-dimensional moving mechanism around the Z axis in the first test; θzn is the rotation angle of the two-dimensional moving mechanism around the Z axis in the nth test; Tx12 is the X in the first test directional disturbance torque; Ty12 is the disturbance torque in the Y direction during the first test; Txn2 is the disturbance torque in the X direction during the nth test;Ty yn2 is the disturbance torque in the Y direction during the nth test;
通过最小二乘迭代，对式(9)进行求解，可得：Through the least squares iteration, formula (9) is solved, and it can be obtained:
根据式(10)可测量出二维动机构的静不平衡量Ym02。由于二维载物台及第二质心调节机构在初始状态下使二维载物台和第二质心调节机构的总质心在绕Z旋转的回转轴上，因此该两部分水平面内的旋转过程不会引入质心变化，水平面内旋转过程只有被测试件的质心可能发生变化。用Ym02除以被测试件的质量得到水平面内的被测试件质心位置偏差y02。According to formula (10), the static unbalance Ym02 of the two-dimensional dynamic mechanism can be measured. Since the two-dimensional object stage and the second center of mass adjustment mechanism make the total center of mass of the two-dimensional object stage and the second center of mass adjustment mechanism on the rotation axis around Z in the initial state, the rotation process of the two parts in the horizontal plane is not A change in the center of mass will be introduced, and only the center of mass of the tested piece may change during the rotation process in the horizontal plane. Divide Ym02 by the mass of the tested piece to obtain the position deviation y02 of the center of mass of the tested piece in the horizontal plane.
通过本实用新型的测量装置和和方法可实现被测试件三维方向上的质心测量，对于一维旋转的负载，根据在二维转动载物台上的安装方式，仅需进行俯仰或方位一个方向的测量即可完成质心测量。The measurement device and method of the utility model can realize the measurement of the center of mass of the tested piece in the three-dimensional direction. For a one-dimensional rotating load, according to the installation method on the two-dimensional rotating stage, only one direction of pitch or azimuth is required. The measurement of the center of mass can be completed.
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| CN120003741A (en)* | 2025-04-22 | 2025-05-16 | 湖南揽月机电科技有限公司 | A three-axis rotating air flotation platform and attitude control simulation air flotation test system |
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| 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 |
| CN120003741A (en)* | 2025-04-22 | 2025-05-16 | 湖南揽月机电科技有限公司 | A three-axis rotating air flotation platform and attitude control simulation air flotation test system |
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