Torque sensor calibration method and device for high and low temperature environments

Abstract

The present invention discloses a method and device for calibrating a torque sensor in a high and low temperature environment. The device in the present invention includes a host computer module, a drive module, a torque limiting module, a high and low temperature environment control module, a standard torque measurement module, a load module, a transmission connection module, a test bench and a support frame module. During the calibration process, a laser alignment instrument is used to measure the coaxiality of the torque sensor to be tested and the initial position of the transmission shaft. The function polynomial between the coaxiality and the temperature obtained by simulation research is used to predict the coaxiality at any temperature within the range of ±100°C, thereby calculating the impact of the coaxiality change on the torque measurement, and correcting the final measurement error. The present invention can calibrate the torque sensor in a high and low temperature environment, and trace the measurement results of the torque sensor in the high and low temperature environment to the national torque benchmark.

Description

Technical Field

[0001] The invention relates to a torque sensor calibration device, and in particular to a high and low temperature environment torque sensor calibration method and device. Background Art

[0002] With the rapid development of my country's shipbuilding and aerospace industries, the application environment of more and more precision and complex instruments and mechanisms has expanded from room temperature to high and low temperature environments. In order to ensure the reliability and stability of the mechanism, it is necessary to conduct multiple performance tests on assembly accuracy, transmission efficiency, vibration, force and torque, stiffness, and electrical performance parameters. Since torque has an important impact on the safe operation and service life of the device, torque sensors are increasingly widely used in high and low temperature environments.

[0003] At present, the calibration of torque sensors in China is mainly based on JJG 557-2011 "Standard Torque Meter Calibration Procedure", using a torque standard (base) machine or a loading device to calibrate the torque sensor. When using a torque standard (base) device or a loading device to calibrate the accuracy of the torque sensor, the torque device must be preheated on the workbench at least isothermally (20℃) for 0.5h to 1h before calibration.

[0004] In summary, the current torque sensor calibration method in my country can only calibrate the torque sensor at 20°C, and cannot complete the calibration of the torque sensor in high and low temperature environments. Summary of the invention

[0005] In view of the shortcomings of the background technology, an object of the present invention is to provide a method and device for calibrating a torque sensor in high and low temperature environments.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A high and low temperature environment torque sensor calibration device comprises a host computer module, a drive module, a torque limit module, a high and low temperature environment control module, a standard torque measurement module, a load module, a transmission connection module, a test bench and a support frame module. The host computer module is electrically connected to the drive module, the torque limit module, the standard torque measurement module and the load module respectively. The drive module and the transmission connection module are connected through the torque limit module. The drive module, the torque limit module, the high and low temperature environment control module, the standard torque measurement module, the load module and the transmission connection module are all supported on the test bench and the support frame module.

[0008] The host computer module is used for precise control of the high and low temperature environment torque sensor calibration device, torque measurement value display and data recording and processing;

[0009] The driving module is composed of a servo motor and a reducer, the servo motor is connected to the reducer, the servo motor provides a driving source for the high and low temperature environment torque sensor calibration device, and the reducer amplifies the output torque to achieve the range of the high and low temperature environment torque sensor calibration device;

[0010] The transmission connection module is composed of a coupling and a transmission shaft, and the transmission shaft is arranged on the coupling; wherein the transmission shaft is a rigid transmission shaft made of Invar alloy material, which is used for torque transmission; and the coupling is a rigid coupling;

[0011] The torque limiting module is composed of a torque limiter and a limit switch, and the limit switch is arranged on the torque limiter; when the output torque of the servo motor exceeds the load of the torque limiter, the torque limiter disconnects the servo motor and the transmission shaft, and at the same time, the limit switch generates a high potential signal and feeds it back to the host computer module so that the host computer module controls the servo motor to stop loading, so as to achieve the purpose of protecting the torque calibration device in high and low temperature environments; the use of the torque limiter ensures that the device will not be damaged in the case of misoperation, which greatly improves the safety and service life of the torque standard device;

[0012] The high and low temperature environment control module is provided with a torque sensor to be tested, and the torque sensor to be tested is connected to the transmission shaft through a coupling; the high and low temperature environment control module provides a high and low temperature environment for the torque sensor to be tested and performs temperature control on the torque sensor to be tested;

[0013] The standard torque measurement module is connected to the transmission connection module, and the standard torque measurement module is connected to the transmission shaft through a coupling; the standard torque measurement module adopts a standard torque sensor, which is used to measure the torque of the torque sensor calibration device in high and low temperature environments;

[0014] The load module is connected to the transmission shaft, and the load module provides a load for the high and low temperature environment torque sensor calibration device.

[0015] Preferably, the high and low temperature is composed of a high and low temperature environmental test box, an airtight bearing and a heat protection cover. The high and low temperature environmental test box can provide a simulated high and low temperature test environment in the ground test of the torque sensor to be tested; the high and low temperature environmental test box is installed on the test bench and the support frame module, and the airtight bearing is installed on the box wall where the drive shaft enters and exits the high and low temperature environmental test box to prevent the heat of the external environment from diffusing into the box; the heat protection cover covers the torque sensor to be tested, and the heat protection cover can effectively ensure that the torque sensor to be tested itself can operate within a suitable temperature range, while other parts are still in a high and low temperature environment; the use of airtight bearings can effectively prevent the heat of the external environment from diffusing into the high and low temperature environmental test box, thereby ensuring the stability of the internal temperature of the high and low temperature environmental test box, and also has the advantages of energy saving and environmental protection.

[0016] Preferably, the load module is composed of a brake and an L-shaped support plate, the transmission shaft is arranged on the brake, the brake is fixed on the L-shaped support plate, and the L-shaped support plate is fixed on the test bench and the support frame module; the brake locks the transmission shaft by cutting off the power supply, providing a load for the high and low temperature environment torque sensor calibration device. The setting of the L-shaped support plate not only improves the stability, reliability and balance of the brake, test bench, support frame module and the overall structure of the device, but also improves the convenience of installation, disassembly, replacement, maintenance and other operations.

[0017] Preferably, the experimental table and support frame module is composed of a porous working platform, a base and a support frame. The base, the high and low temperature environment test box and the L-shaped support plate are all installed on the porous working platform. The support frame is fixed on the base, and the servo motor and the reducer are supported on the support frame. The experimental table and support frame module composed of a porous working platform, a base and a support frame not only improves the stability, reliability and balance of the overall structure of the device, but also improves the convenience of installation, disassembly, replacement, maintenance and other operations.

[0018] In the present invention, the host computer module is arranged in the host computer control cabinet, and all cables are connected to the host computer control cabinet from the high and low temperature environment torque sensor calibration device.

[0019] The calibration method of torque sensor in high and low temperature environment includes the following specific contents:

[0020] First, connect the power cord of the torque sensor to be tested, the standard torque sensor, the computer, and the connecting cables, and ensure that the power cord is grounded, debug the function of the entire measurement and control system, and ensure that the entire measurement and control system works normally; after setting the initial temperature, use the laser alignment instrument to measure the initial coaxiality between the torque sensor to be tested and the transmission shaft, and obtain the functional relationship between the coaxiality and the temperature change through simulation analysis method;

[0021] Then, at several temperature measurement points, the servo motor is controlled to output torque calibration points corresponding to several temperature measurement points, and the torque value output by the torque sensor to be tested and the torque value of the standard torque sensor are recorded; the torque value obtained by the torque sensor to be tested is subtracted from the torque value of the standard torque sensor to obtain the indication error of the torque sensor to be tested at several temperature measurement points, and the influence of the coaxiality and high and low temperature environment on the measurement result is calculated by the derived functional relationship between coaxiality and temperature, and the final measurement error is compensated to complete the calibration of the torque sensor to be tested.

[0022] Specifically, the measurement result of the torque sensor to be tested can be traced back to the national torque standard.

[0023] Preferably, by measuring the initial coaxiality of the torque sensor to be tested and the transmission shaft, a simulation analysis method is used to obtain the coaxiality at any temperature within the range of ±100°C, which is used to compensate for the measurement error and correct the final measurement result.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. A high and low temperature environment torque sensor calibration device in the present invention can calibrate the torque sensor to be tested with a measurement range of (0 to 500) Nm in a high and low temperature environment of (-100 to 100) °C, and trace the measurement results of the torque sensor to be tested in the high and low temperature environment to the national torque standard.

[0026] 2. The high and low temperature environment torque sensor calibration method of the present invention can effectively predict and evaluate the coaxiality of the rigid shaft at any temperature, analyze the influence of the coaxiality on the measurement result at any temperature within the range of ±100°C, and correct the final measurement result.

[0027] 3. The torque limiter in the present invention can effectively protect the torque calibration device in high and low temperature environments, ensuring that the device will not be damaged in the event of misoperation, thereby greatly improving the service life of the torque calibration device in high and low temperature environments.

[0028] 4. The high and low temperature environment test box in the present invention adopts an airtight bearing to prevent the heat in the external environment from diffusing into the high and low temperature environment test box, thereby ensuring the stability of the environment in the test box while being energy-saving and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the high and low temperature environment torque sensor calibration device of the present invention;

[0030] Figure 2 is a structural schematic diagram of a torque limiting module of the present invention;

[0031] Figure 3 is a schematic structural diagram of the airtight bearing of the present invention;

[0032] Figure 4 It is a structural schematic diagram of the host computer control cabinet of the present invention;

[0033] Figure 5 It is the torque parameter traceability and traceability transfer diagram of the present invention;

[0034] Figure 6 It is a working flow chart of the high and low temperature environment torque sensor calibration device of the present invention;

[0035] In the figure: 1. heat protection cover; 2. high and low temperature environment test box; 3. airtight bearing; 4. transmission shaft; 5. reducer; 6. servo motor; 7. support frame; 8. base; 9. coupling; 10. torque sensor to be tested; 11. porous workbench; 12. L support plate; 13. brake; 14. standard torque sensor; 15. torque limiter; 16. limit switch; 17. upper computer control cabinet; DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] High and low temperature environment torque sensor calibration device, such as Figure 1-6 As shown, it includes a host computer module, a drive module, a torque limiting module, a high and low temperature environment control module, a standard torque measurement module, a load module, a transmission connection module, a test bench and a support frame module. The host computer module is electrically connected to the drive module, the torque limiting module, the standard torque measurement module and the load module respectively. The drive module and the transmission connection module are connected through the torque limiting module. The drive module, the torque limiting module, the high and low temperature environment control module, the standard torque measurement module, the load module and the transmission connection module are all supported on the test bench and the support frame module.

[0038] The host computer module is used for precise control of the torque sensor calibration device in high and low temperature environments, display of torque measurement values, and data recording and processing;

[0039] The driving module is composed of a servo motor 6 and a reducer 5. The servo motor 6 is connected to the reducer 5. The servo motor provides a driving source for the high and low temperature environment torque sensor calibration device. The reducer amplifies the output torque to reach the range of the high and low temperature environment torque sensor calibration device.

[0040] The transmission connection module is composed of a coupling 9 and a transmission shaft 4, and the transmission shaft 4 is arranged on the coupling 9;

[0041] The torque limiting module is composed of a torque limiter 15 and a limit switch 16, and the limit switch 16 is arranged on the torque limiter 15; when the output torque of the servo motor 6 exceeds the load of the torque limiter 15, the torque limiter 15 disconnects the servo motor 6 and the transmission shaft 4, and at the same time, the limit switch 16 generates a high potential signal and feeds it back to the upper computer module so that the upper computer module controls the servo motor 6 to stop loading;

[0042] The high and low temperature environment control module is provided with a torque sensor 10 to be tested, and the torque sensor 10 to be tested is connected to the transmission shaft 4 through a coupling 9; the high and low temperature environment control module provides a high and low temperature environment for the torque sensor 10 to be tested and performs temperature control on the torque sensor 10 to be tested;

[0043] The standard torque measurement module is connected to the transmission connection module, and the standard torque measurement module is connected to the transmission shaft 4 through a coupling 9; the standard torque measurement module adopts a standard torque sensor, which is used to measure the torque of the high and low temperature environment torque sensor calibration device;

[0044] The load module is connected to the transmission shaft 4, and the load module provides a load for the high and low temperature environment torque sensor calibration device.

[0045] In this embodiment, the high and low temperature environment control module is composed of a high and low temperature environment test box 2, an airtight bearing 3 and a thermal protection cover 1. The high and low temperature environment test box 2 can provide a simulated high and low temperature test environment in the ground test of the torque sensor 10 to be tested; the high and low temperature environment test box 2 is installed on the test bench and the support frame module, the airtight bearing 3 is installed on the box wall where the transmission shaft 4 enters and exits the high and low temperature environment test box 2, and the thermal protection cover 1 covers the torque sensor 10 to be tested. The thermal protection cover 1 can effectively ensure that the torque sensor 10 to be tested can operate within a suitable temperature range, while other parts are still in a high and low temperature environment.

[0046] In this embodiment, the load module is composed of a brake 13 and an L-shaped support plate 12. The transmission shaft 4 is arranged on the brake 13, and the brake 13 is fixed on the L-shaped support plate 12. The L-shaped support plate 12 is fixed on the experimental table and the support frame module; the brake 13 fixes and locks the transmission shaft 4 by cutting off the power, thereby providing a load for the high and low temperature environment torque sensor calibration device.

[0047] In this embodiment, the experimental bench and support frame module are composed of a porous working platform 11, a base 8 and a support frame 7. The base 8, the high and low temperature environment test box 2, and the L-shaped support plate 12 are all installed on the porous working platform 11. The support frame 7 is fixed on the base 8, and the servo motor 6 and the reducer 5 are both supported on the support frame 7.

[0048] Specifically, the base 8 is fixed on the porous workbench 11, and the support frame 7 is fixed on the base 8, which is used to support the servo motor 6, the reducer 5, and the standard torque sensor 14; the servo motor 6 and the reducer 5 are connected together to form a drive module, and the reducer 5 and the transmission shaft 4 are connected together through a torque limiter 15, and the torque limiter 15 is equipped with a limit switch 16; the transmission shaft 4 passes through the high and low temperature environment test box 2 through the airtight bearing 3; the high and low temperature environment test box 2 is fixed on the porous workbench 11; the transmission shaft 4 is connected to the torque sensor 10 to be tested through the coupling 9, and then connected to the transmission shaft 4 through the coupling 9; the transmission shaft 4 passes through the high and low temperature environment test box 2 through the airtight bearing 3; the coupling 9 and the torque sensor 10 to be tested are installed inside the heat protection cover 1; the transmission shaft 4 is connected to the standard torque sensor 14 through the coupling 9; the transmission shaft 4 extends into the brake 13; the brake 13 is fixed to the L-shaped support plate 12 by bolts.

[0049] In this embodiment, the host computer module is arranged in the host computer control cabinet 17, and all cables are connected from the high and low temperature environment torque sensor calibration device to the host computer control cabinet 17, such as Figure 4 shown.

[0050] Torque sensor calibration method in high and low temperature environments, such as Figure 1-6 As shown, including the following specific contents:

[0051] First, connect the power cord of the torque sensor to be tested, the standard torque sensor, the computer, and the connecting cables, and ensure that the power cord is grounded, debug the function of the entire measurement and control system, and ensure that the entire measurement and control system works normally; after setting the initial temperature, use the laser alignment instrument to measure the initial coaxiality between the torque sensor to be tested and the transmission shaft, and obtain the functional relationship between the coaxiality and the temperature change through simulation analysis method;

[0052] Then, at several temperature measurement points, the servo motor is controlled to output torque calibration points corresponding to several temperature measurement points, and the torque value output by the torque sensor to be tested and the torque value of the standard torque sensor are recorded; the torque value obtained by the torque sensor to be tested is subtracted from the torque value of the standard torque sensor to obtain the indication error of the torque sensor to be tested at several temperature measurement points, and the influence of the coaxiality and high and low temperature environment on the measurement result is calculated by the derived functional relationship between coaxiality and temperature, and the final measurement error is compensated to complete the calibration of the torque sensor to be tested.

[0053] In this embodiment, by measuring the initial coaxiality between the torque sensor to be tested and the transmission shaft, a simulation analysis method is used to obtain the coaxiality at any temperature within the range of ±100° C., which is used to compensate for the measurement error.

[0054] In this embodiment, a laser alignment instrument is used to measure the initial coaxiality of the connecting shaft under normal temperature, and then the coaxiality error under high and low temperature environment is evaluated and predicted by a simulation analysis method, and compensation is performed. In the present invention, the simulation analysis method uses COMSOL Multiphysics software to simulate and analyze the coaxiality error, and obtains the relationship between coaxiality and temperature and the range of initial coaxiality control. The specific contents of the simulation analysis method are as follows:

[0055] In COMSOL Multiphysics software, the initial coaxiality is controlled to be constant, and the change in coaxiality caused by environmental changes under different temperature conditions is simulated and analyzed to obtain the relationship between coaxiality and temperature under the current coaxiality; then the input value of the initial coaxiality is changed, and the change in coaxiality caused by environmental changes under different temperature conditions is continued to be simulated and analyzed. By continuously changing the value of the initial coaxiality, the range of control required for the initial coaxiality is finally obtained.

[0056] In this embodiment, the initial coaxiality is measured by a laser alignment instrument and the predicted coaxiality value data obtained by simulation analysis that changes with temperature is used to predict the relationship between coaxiality and temperature using a support vector machine (SVM). SVM can be used not only for classification, but also for regression prediction analysis. For the training sample set (xi, yi) (where i = 1, 2, ..., n; xi∈Rn, is the input variable; yi∈R, is the corresponding output value), the basic idea of ​​the support vector machine regression theory is to find a nonlinear mapping from the input space to the output space. Through this nonlinear mapping, the data x is mapped to a high-dimensional feature space F, and linear regression is performed in the feature space using the following estimation function:

[0057]

[0058] Where b is the threshold. The function approximation problem is equivalent to the following function:

[0059]

[0060] Where R reg (f)——objective function;

[0061] S——sample size;

[0062] C——error penalty factor;

[0063] λ——adjustment constant;

[0064] ||ω|| 2 ——Reflects the complexity of f being flat in high-dimensional space.

[0065] Considering that the linear ε-insensitive loss function has good sparsity, the following loss function can be obtained:

[0066] |yf(x)| ε =max{0,|yf(x)-ε|} (3)

[0067] The empirical risk function is:

[0068]

[0069] According to statistical theory, the support vector machine minimizes the following objective function to determine the regression function:

[0070]

[0071]

[0072] Where C is the weight parameter used to balance the model complexity term and the training error term;

[0073] ξ i ——relaxation factor;

[0074] ε——Insensitive loss function.

[0075] This problem can be transformed into the following dual problem:

[0076]

[0077]

[0078] Solving the above problem, we can get the support vector machine regression function:

[0079]

[0080] According to the regression theory of support vector machine, a suitable support vector machine toolbox is selected to analyze and predict the measurement data obtained from the coaxiality measurement experiment, and the relationship between coaxiality and temperature is obtained. The coaxiality at any temperature within the range of ±100℃ can be predicted. By calculating the relative error of coaxiality, the error ΔM caused by coaxiality on torque measurement at any temperature within the range of ±100℃ is obtained by multiplying the range and the relative error. t :

[0081]

[0082] Where Δd is the predicted coaxiality;

[0083] d——coupling radius;

[0084] M——currently measured torque value;

[0085] The final torque value measured by the torque sensor to be tested is M1, and the torque value measured by the standard torque sensor is M2. The final measured error value ΔM is:

[0086] ΔM=M1-M2+ΔM t (9)

[0087] like Figure 5 As shown, the present invention traces the measurement results of the torque sensor to be tested in high and low temperature environments to the national torque standard.

[0088] In this embodiment, Figure 6 As shown, the specific implementation steps of the working process of the high and low temperature environment torque sensor calibration device are as follows:

[0089] 1) Set the temperature of the laboratory and the high and low temperature environment test box to 20℃. After the temperature in the high and low temperature environment test box stabilizes at 20℃, connect the torque sensor to be tested and the standard torque sensor as required to ensure the normal operation of the entire measurement and control system;

[0090] 2) The coaxiality between the torque sensor and the transmission shaft is measured by a laser alignment instrument. Based on the functional relationship between coaxiality and torque obtained by simulation analysis and formula (8), the influence of coaxiality on the torque measurement result at the current temperature is predicted. After the heat transfer of the transmission shaft is stable, the servo motor is started to rotate the transmission shaft in one direction (such as clockwise or counterclockwise), and the corresponding torque value is output. The reading value M of the standard torque sensor is recorded in turn. 10 and the reading value M of the torque sensor being tested 20 ;

[0091] 4) Slowly rotate the transmission shaft in steps of 50 Nm and record the readings of the standard torque sensor M in sequence. 1j , the reading value M of the torque sensor being tested 2j , where j is the temperature number of the high and low temperature environment test chamber;

[0092] 5) After completing the data measurement of all torque calibration points, start the cooling program of the high and low temperature environment test box, cool the high and low temperature environment test box to room temperature, and put the transmission shaft back to the measurement origin;

[0093] 6) With a step length of 20°C, raise or lower the temperature of the high and low temperature environment test box to 40°C, 60°C, 80°C, 100°C, 0°C, -20°C, -40°C, -60°C, -80°C, and -100°C in sequence, and repeat steps 2) to 4) until all data measurements are completed;

[0094] 7) After completing calibration in one direction, follow the same steps to calibrate in the opposite direction.

[0095] At this point, by analyzing and compensating the errors at different positions, the performance parameters such as the indication error and stability of the torque sensor to be tested are obtained, the calibration of the torque sensor to be tested in high and low temperature environments is completed, and the traceability of the torque parameters in high and low temperature environments is achieved.

[0096] The above description is only a preferred implementation case of the present invention and does not impose any limitation on the present invention. Any simple modification, change and equivalent structural change made to the above embodiments based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. High and low temperature environment torque sensor calibration method, characterized by: It includes a host computer module, a drive module, a torque limit module, a high and low temperature environment control module, a standard torque measurement module, a load module, a transmission connection module, a test bench and a support frame module. The host computer module is electrically connected to the drive module, the torque limit module, the standard torque measurement module and the load module respectively. The drive module and the transmission connection module are connected through the torque limit module. The drive module, the torque limit module, the high and low temperature environment control module, the standard torque measurement module, the load module and the transmission connection module are all supported on the test bench and the support frame module. The host computer module is used for precise control of the high and low temperature environment torque sensor calibration device, torque measurement value display and data recording and processing; The driving module is composed of a servo motor and a reducer, the servo motor is connected to the reducer, the servo motor provides a driving source for the high and low temperature environment torque sensor calibration device, and the reducer amplifies the output torque to achieve the range of the high and low temperature environment torque sensor calibration device; The transmission connection module is composed of a coupling and a transmission shaft, and the transmission shaft is arranged on the coupling; The torque limiting module is composed of a torque limiter and a limit switch, and the limit switch is arranged on the torque limiter; when the output torque of the servo motor exceeds the load of the torque limiter, the torque limiter disconnects the servo motor and the transmission shaft, and at the same time, the limit switch generates a high potential signal and feeds it back to the upper computer module so that the upper computer module controls the servo motor to stop loading; The high and low temperature environment control module is provided with a torque sensor to be tested, and the torque sensor to be tested is connected to the transmission shaft through a coupling; the high and low temperature environment control module is a high and low temperature environment test box, which can provide a simulated high and low temperature test environment in the ground test of the torque sensor to be tested and perform temperature control on the torque sensor to be tested; The standard torque measurement module is connected to the transmission connection module, and the standard torque measurement module is connected to the transmission shaft through a coupling; the standard torque measurement module adopts a standard torque sensor, which is used to measure the torque of the torque sensor calibration device in high and low temperature environments; The load module is connected to the transmission shaft, and the load module provides a load for the high and low temperature environment torque sensor calibration device; The high and low temperature environment control module is composed of a high and low temperature environment test box, an airtight bearing and a heat protection cover. The high and low temperature environment test box can provide a simulated high and low temperature test environment in the ground test of the torque sensor to be tested; the high and low temperature environment test box is installed on the test bench and the support frame module, the airtight bearing is installed on the box wall where the transmission shaft enters and exits the high and low temperature environment test box, and the heat protection cover covers the torque sensor to be tested; The load module is composed of a brake and an L-shaped support plate. The transmission shaft is arranged on the brake, and the brake is fixed on the L-shaped support plate. The L-shaped support plate is fixed on the experimental table and the support frame module. The brake locks the transmission shaft by cutting off the power, providing a load for the high and low temperature environment torque sensor calibration device. The experimental table and support frame module is composed of a porous working platform, a base and a support frame. The base, the high and low temperature environment test box, and the L-shaped support plate are all installed on the porous working platform. The support frame is fixed on the base, and the servo motor and the reducer are supported on the support frame. The calibration method of torque sensor in high and low temperature environment includes the following specific contents: First, connect the power cord of the torque sensor to be tested, the standard torque sensor, the computer, and the connecting cables, and ensure that the power cord is grounded, debug the function of the entire measurement and control system, and ensure that the entire measurement and control system works normally; after setting the initial temperature, use the laser alignment instrument to measure the initial coaxiality between the torque sensor to be tested and the transmission shaft, and obtain the functional relationship between the coaxiality and the temperature change through simulation analysis method; Then, at several temperature measurement points, the servo motor is controlled to output torque calibration points corresponding to several temperature measurement points, and the torque value output by the torque sensor to be tested and the torque value of the standard torque sensor are recorded; the torque value obtained by the torque sensor to be tested is subtracted from the torque value of the standard torque sensor to obtain the indication error of the torque sensor to be tested at several temperature measurement points, and the influence of the coaxiality and high and low temperature environment on the measurement result is calculated by the derived functional relationship between coaxiality and temperature, and the final measurement error is compensated to complete the calibration of the torque sensor to be tested.

2. The method for calibrating a torque sensor in high and low temperature environments according to claim 1 is characterized in that: by measuring the initial coaxiality of the torque sensor to be tested and the transmission shaft, a simulation analysis method is used to obtain the coaxiality at any temperature within the range of ±100°C to compensate for the measurement error.

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