On-line calibration device and calibration method for compatible torque sensor

Abstract

The invention discloses an online calibration device and calibration method for a compatible torque sensor. Two calibration arm parts are symmetrically and detachably connected to the circumferential direction of a calibration arm mounting flange; the loading device is arranged corresponding to the lower end of one calibration arm pull rod; the first force sensor is connected to the upper surface of the output end of the loading device. The compatibility of the on-line calibration device for the compatible torque sensor is reflected in that when different torque sensors are calibrated, corresponding calibration arm mounting flanges are replaced. The invention further provides a compatible torque sensor online calibration method, different loading forces are applied through the loading device, and then the torque value T calibration value and the torque sensor output value T output value variation are calculated and calibrated, so that the linearity and the repetition precision of the torque sensor are calibrated.

Description

Technical Field

[0001] The invention relates to the field of torque sensor calibration, and in particular to an online calibration device and a calibration method for a compatible torque sensor. Background Art

[0002] When testing automobile gearboxes, drive axles, powertrain systems, etc., some test items require measuring the torque at the input and output ends of the test piece. The measurement accuracy of the torque sensor directly affects the accuracy of the test results. However, with the use of the test bench, the measurement accuracy of the torque sensor will gradually decrease, so it is necessary to calibrate the torque sensor regularly to ensure accurate and effective measurement results.

[0003] At present, torque sensor calibration generally uses weight calibration or professional calibration equipment for offline calibration or hydraulic cylinders and other devices for online calibration. Weight calibration requires special weights and other equipment, which is costly, inefficient, and cannot meet the calibration requirements of large-range torque sensors; professional calibration equipment offline calibration requires the torque sensor to be removed from the test bench first, and the torque sensor is sent to a professional calibration agency for operation, which is inconvenient, time-consuming, and costly. At the same time, it is also out of the working environment of the torque sensor, which will cause errors in the calibration results, and the measurement accuracy of the torque sensor cannot be guaranteed. Online calibration is performed using hydraulic cylinders and other devices (such as CN114264405A A large torque sensor calibration device and calibration method), and continuous loading is achieved by adjusting the oil pressure. The hydraulic station is adjusted to apply pressure P to the cylinder, thereby calculating the calibration torque T 标定值 The value T corresponding to the output of the torque sensor 输出值 The error is calculated by comparison and the torque sensor is calibrated. Since the force F calculated by adjusting the oil pressure cannot be accurately calculated to the target F value, the calibration accuracy is low and it is not compatible with the calibration requirements of other torque sensors. Summary of the invention

[0004] The main purpose of the present invention is to provide an online calibration device and calibration method for a compatible torque sensor, aiming to solve the problems of poor compatibility, high cost and low precision of torque sensor calibration equipment.

[0005] In order to achieve the above object, the present invention provides an online calibration device for a compatible torque sensor, wherein the torque sensor comprises a rotating part and a torque sensing part, including:

[0006] A calibration arm mounting flange, used for detachably fixing with the rotating part;

[0007] Two calibration arm parts are symmetrically and detachably connected to the circumference of the calibration arm mounting flange, the calibration arm part comprises a calibration arm and a line contact connection part connected to the calibration arm away from the calibration arm mounting flange, and a calibration arm pull rod extending vertically downward is installed at the lower end of the line contact connection part;

[0008] A loading device, arranged corresponding to the lower end of a pull rod of the calibration arm;

[0009] The first force sensor is connected to the upper surface of the output end of the loading device.

[0010] Furthermore, the online calibration device also includes two second force sensors and two connecting sleeves, the calibration arm pull rod includes a rod body connected to the calibration arm and a disk body connected to the bottom end of the rod body, the second force sensor is sleeved on the rod body and arranged on the upper surface of the disk body; the upper end of the connecting sleeve is sleeved on the calibration arm pull rod and buckled on the upper surface of the second force sensor, and the lower end of the connecting sleeve is detachably connected to the output end of the loading device.

[0011] Furthermore, the online calibration device of the compatible torque sensor also includes a locking device connected to the external fixed structure, and the locking device is used to lock the rotating shaft system.

[0012] Furthermore, the locking device is provided with a position sensor and an alarm. The position sensor is set corresponding to the locking device. After calibration is completed, when the equipment runs other tests, the software detects the status of the position sensor. If the position sensor loses the signal of the locking device, the alarm sends an alarm to remind the staff that the shaft system is still in a locked state to prevent damage to the shaft system due to misoperation.

[0013] Furthermore, a level is provided on the calibration arm mounting flange and / or the calibration arm portion.

[0014] Furthermore, a movable counterweight is provided corresponding to the calibration arm.

[0015] Furthermore, the line contact connection portion and the calibration arm are matched with each other in a conical surface, which is a line contact mode.

[0016] Furthermore, the loading center axis of the calibration arm is flush with the center of the torque sensor flange surface.

[0017] The present invention also provides a calibration method, using the above-mentioned online calibration device of the compatible torque sensor, comprising:

[0018] S1, installing the calibration arm mounting flange on the rotating part of the torque sensor;

[0019] S2, installing one of the calibration arm parts on the calibration arm mounting flange, and adjusting the level of the calibration arm mounting flange;

[0020] S3, locking the rotation of the shaft system connected to the torque sensor, and recording the current output value of the torque sensing unit as the initial torque;

[0021] S4. If the initial torque falls within a preset range, installing another calibration arm portion on the calibration arm mounting flange;

[0022] S5, installing the loading device below one of the calibration arm pull rods;

[0023] S6, adjusting the loading device to provide a lifting output, and calculating at least one calibrated torque value T according to the sensor signal obtained by the first force sensor 标定值 ;

[0024] S7, record corresponding to each T 标定值 The output value T of the torque sensing unit 输出值 ;

[0025] S8. According to T 标定值 With T 输出值 Determine the operation of the torque sensor.

[0026] Furthermore, the step of S6 includes:

[0027] According to the sensing signal obtained by the first force sensor, the loading device is adjusted to provide at least four incremental outputs to obtain multiple calibrated torque values ​​T 标定值 ;

[0028] The step of S8 comprises:

[0029] Calculate Δx and Δy, and use the formula K = Δy / Δx to calculate the linearity of the torque sensor, where Δx is T 标定值 With two adjacent T 标定值 Δy is the difference between T 输出值 With two adjacent T 输出值 The difference between .

[0030] Furthermore, the step S8 includes:

[0031] The loading device is disassembled and installed under another calibration arm pull rod, and steps S6 to S8 are repeated.

[0032] Further, the online calibration device also includes two second force sensors and two connecting sleeves, the calibration arm pull rod includes a rod body connected to the calibration arm and a disc body connected to the bottom end of the rod body, the second force sensor is sleeved on the rod body and arranged on the upper surface of the disc body; the upper end of the connecting sleeve is sleeved on the calibration arm pull rod and buckled on the upper surface of the second force sensor, the lower end of the connecting sleeve is detachably connected to the output end of the loading device, in the step S5, the connecting sleeve and the loading device are in a released state, and after the step S8, the following is included:

[0033] The connecting sleeve is connected to the loading device, the loading device is adjusted to provide a pull-down output, and at least one calibrated torque value T is calculated based on the sensor signal obtained by the second force sensor. 标 Constant value 1;

[0034] Record corresponding to each T 标定值1 The output value T of the torque sensing unit 输出值1 ;

[0035] According to T 标定值1 With T 输出值1 Determine the operation of the torque sensor.

[0036] The online calibration device and calibration method of the compatible torque sensor provided by the present invention are assembled between the calibration arm mounting flange and the calibration arm part. When calibrating different torque sensors, the corresponding calibration arm mounting flange can be replaced. The first force sensor is connected to the upper surface of the output end of the loading device. At this time, the force provided by the output end of the loading device when it is pushed up can be combined with the force arm to calculate the torque. The cooperation between the first force sensor and the loading device achieves the advantages of cost reduction and accurate results. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a front schematic diagram of an online calibration device for a compatible torque sensor according to a first embodiment of the present invention;

[0038] Figure 2 It is a top schematic diagram of an online calibration device for a compatible torque sensor according to a first embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the axial side of the online calibration device of the compatible torque sensor according to the first embodiment of the present invention;

[0040] Figure 4 It is an application schematic diagram of an online calibration device for a compatible torque sensor according to a first embodiment of the present invention;

[0041] Figure 5 yes Figure 4 Local magnification in

[0042] Figure 6 1 is a front view schematic diagram of an online calibration device for a compatible torque sensor according to a second embodiment of the present invention (the connecting sleeve is hidden);

[0043] Figure 7 It is a front view schematic diagram of an online calibration device for a compatible torque sensor according to a second embodiment of the present invention (with a connecting sleeve installed);

[0044] Figure 8 It is a schematic diagram of the steps of the calibration method of the third embodiment of the present invention.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0047] Those skilled in the art will appreciate that, unless expressly stated otherwise, the singular forms "a", "an", "said", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements, units, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0048] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0049] Reference Figures 1 to 7 In one embodiment of the present invention, an online calibration device for a compatible torque sensor is provided, wherein the torque sensor 030 includes a rotating part and a torque sensing part, including:

[0050] The calibration arm mounting flange 100 is used to form a detachable fixation with the rotating part;

[0051] Two calibration arm parts are symmetrically and detachably connected to the circumference of the calibration arm mounting flange 100, and the calibration arm parts include a calibration arm 210 and a line contact connection part 700 connected to the calibration arm 210 away from the calibration arm mounting flange 100, and a calibration arm pull rod (220) extending vertically downward is installed at the lower end of the line contact connection part 700;

[0052] A loading device 300 is provided corresponding to the lower end of one of the calibration arm pull rods 220;

[0053] The first force sensor 400 is connected to the upper surface of the output end of the loading device 300 .

[0054] In the prior art, various calibration processes for torque sensors have problems such as poor compatibility, complexity, inconvenience and high cost.

[0055] In the present invention, when the online calibration device is in use, the up and down directions are fixed, so a certain direction indication is performed in an up and down manner. The main shaft 010 is connected to the torque sensor 030 through the coupling 020. Since the calibration arm mounting flange 100 and the calibration arm part are assembled, when calibrating different torque sensors 030, the corresponding calibration arm mounting flange 100 can be replaced.

[0056] The calibration arm portion includes a calibration arm 210 and a line contact connection portion 700 connected to the calibration arm 210 away from the calibration arm mounting flange 100, and a calibration arm pull rod 220 extending vertically downward is installed at the lower end of the line contact connection portion 700. The calibration arm pull rod 220 provides a basis for the stable operation of the subsequent loading device 300. The line contact connection portion 700 and the calibration arm 210 adopt a conical surface matching method, and are in a line contact state during operation to reduce the friction of the contact surface, compensate for the micro-deformation of the calibration arm 210 during the loading process, and improve the calibration accuracy. The connection method between the calibration arm pull rod 220 and the line contact connection portion 700 can be snap-on, hinged or plug-in.

[0057] The loading center axis of the calibration arm 210 (extending along the length direction of the calibration arm 210) is aligned with the center of the thickness direction of the flange surface of the torque sensor 030 to avoid additional axial bending moment during loading that affects the measurement result.

[0058] The loading device 300 can be in various forms, such as hydraulic, pneumatic, motor or even manual. It is set corresponding to the lower end of the calibration arm pull rod 220. When the output end of the loading device 300 is pushed up, the calibration arm tends to rotate, and torque is generated at the rotating part of the torque sensor 030. The first force sensor 400 is connected to the upper surface of the output end of the loading device 300. At this time, the force provided when the output end of the loading device 300 is pushed up can calculate the accurate torque in combination with the force arm. The cooperation of the first force sensor 400 and the loading device 300 achieves the advantages of cost reduction and accurate results. During the calibration process, the shaft system needs to be restricted from rotating. During use, when the rotating part can rotate freely, adjust the level of the calibration arm mounting flange 100 and the calibration arm. Use the loading device 300 to provide a loading force. At this time, the first force sensor 400 obtains the sensing signal and calculates it as the applied force F, which is multiplied by the length of the force arm L, which is the calibration torque value T. 标定值 The output value of the torque sensor in the torque sensor 030 is T 输出值 Take the loading points of 10%, 30%, 50%, 70%, and 100% of the rated torque respectively, and record the calibrated torque value T 标定值 The output value T of the torque sensor 030 输出值 In the past, the torque sensor 030 calibration method, such as the Chinese patent CN114264405A, a large torque sensor calibration device and its calibration method, achieves continuous loading by adjusting the oil pressure, and applies pressure P to the cylinder by adjusting the hydraulic station, thereby calculating the calibration torque T 标定值 The value T corresponding to the output of the torque sensor 030 输出值 The comparison is performed to calculate the error and calibrate the torque sensor 030. Since the force F calculated by adjusting the oil pressure cannot accurately reach the target F value, the calibration accuracy is low.

[0059] Calculate the input change (Δx) and output change (Δy). The input change is the calibrated torque T. 标定值 The corresponding two adjacent calibration torques T 标定值 The output change is the output value T of the torque sensor 030 输出值 The difference between the two corresponding adjacent output torque values ​​is finally used to calculate the linearity of the torque sensor 030 using the formula K=Δy / Δx.

[0060] Calculate the repeatability of the torque sensor 030 at 50% of the rated torque. Specifically, calibrate 10 sets of output values ​​T of the torque sensor 030 at 50% of the rated torque. 输出值 , the calculation formula is

[0061] Calculate the repeatability of the torque sensor 030 under 100% rated torque. Specifically, calibrate 10 sets of output values ​​T of the torque sensor 030 under 100% rated torque. 输出值 , the calculation formula is

[0062] In summary, since the calibration arm mounting flange 100 and the calibration arm are assembled, when calibrating different torque sensors 030, the corresponding calibration arm mounting flange 100 can be replaced. The first force sensor 400 is connected to the upper surface of the output end of the loading device 300. At this time, the force provided by the output end of the loading device 300 when it is pushed up can be combined with the force arm to calculate the torque. The cooperation between the first force sensor 400 and the loading device 300 achieves the advantages of cost reduction and accurate results.

[0063] Reference Figures 6 to 7 In one embodiment, the online calibration device also includes two second force sensors 410 and two connecting sleeves 420, the calibration arm pull rod 220 includes a rod body 211 connected to the calibration arm 210 and a disk body 212 connected to the bottom end of the rod body 211, the second force sensor 410 is sleeved on the rod body 211 and arranged on the upper surface of the disk body 212; the upper end of the connecting sleeve 420 is sleeved on the calibration arm pull rod 220 and buckled on the upper surface of the second force sensor 410, and the lower end of the connecting sleeve 420 is detachably connected to the output end of the loading device 300.

[0064] In the aforementioned embodiment, the upward thrust provided by the loading device 300 is obtained by the first force sensor 400. In this embodiment, the shape of the calibration arm pull rod 220 is restricted, thereby providing a basis for the installation of the second force sensor 410. During use, the second force sensor 410 is on the upper surface of the disk body 212. The connecting sleeve 420 is introduced to apply the pulling force of the loading device 300 to the calibration arm pull rod 220. When the loading device 300 pulls down the calibration arm pull rod 220 through the connecting sleeve 420, the second force sensor 410 obtains relevant sensing data, and then the applied force can be obtained. It should be particularly noted that in order to balance the torque of the two calibration arms, two second force sensors 410 and two connecting sleeves 420 are equipped, that is, a second force sensor 410 and a connecting sleeve 420 are also set on the non-use side (the side without the loading device 300). It is particularly noted that when the loading device 300 is used for pulling down, since the second force sensor 410 is arranged on the output end of the loading device 300, the second force sensor 410 will not cause abnormal influence on the torque; when the loading device 300 is used for pushing up, if the calibration result is to be accurate, it is necessary to disconnect the connection between the output end of the loading device 300 and the connecting sleeve 420 to avoid the disappearance of the torque generated by the connecting sleeve 420.

[0065] In one embodiment, the lower end of the connecting sleeve 420 is pin-connected to the output end of the loading device 300 .

[0066] In this embodiment, a simple method for connecting the connecting sleeve 420 to the loading device 300 is provided, which has the advantages of being reliable and simple. When the loading device 300 is used for the pull-down action, the pin connection between the connecting sleeve 420 and the loading device 300 is completed. Since the second force sensor 410 is arranged on the output end of the loading device 300, the second force sensor 410 will not cause abnormal influence on the torque; when the loading device 300 is used for the push-up action, the pin connection between the connecting sleeve 420 and the loading device 300 is released. At this time, the connecting sleeve 420 will not be separated from the calibration arm pull rod 220 along with the push-up of the output end of the loading device 300, thereby ensuring the accuracy of the calibration process.

[0067] Reference Figures 4 to 5 In one embodiment, the online calibration device of the compatible torque sensor further includes a locking device 500 connected to the external fixed structure, and the locking device 500 is used to lock the external shaft system.

[0068] In this embodiment, the external shaft system is locked by the locking device 500 to provide a basis for torque calibration, so the locking device 500 needs to be connected to an external fixed structure (such as an external base). The specific type of the locking device 500 structure can be various, such as a compression type or a clamping type, which is based on the ability to complete the rotation restriction.

[0069] Reference Figures 4 to 5 In one embodiment, the locking device 500 is provided with a position sensor 510 and an alarm. The position sensor 510 is set corresponding to the locking device 500. When the calibration is completed, when the equipment runs other tests, the software detects the state of the position sensor 510. If the position sensor 510 loses the signal of the locking device 500, the alarm sends an alarm to remind the staff that the shaft system is still in a locked state to prevent damage to the shaft system due to misoperation.

[0070] In this embodiment, the locking device 500 is used to lock the shaft system. In order to ensure the accuracy of the calibration result, the locking device 500 must be installed independently of the calibration arm mounting flange 100, the calibration arm and the loading device 300. Therefore, after the calibration is completed, the locking device 500 may be forgotten to be disassembled, which poses a safety hazard to the operation of the spindle 010. Through the cooperation of the position sensor 510 and the alarm, when the equipment runs other tests after the calibration is completed, the software detects the state of the position sensor 510. If the position sensor 510 loses the signal of the locking device 500, the alarm sends an alarm to remind the staff that the shaft system is still in a locked state and the locking device 500 needs to be loosened and moved back. When the position sensor 510 detects the signal of the locking device 500, the shaft system is in an unlocked state and the test can continue.

[0071] In one embodiment, the line contact connection portion 700 and the calibration arm 210 are matched with a conical surface (not shown in the figure), which is a line contact method.

[0072] Reference Figure 1 In one embodiment, a level 600 is provided on the calibration arm mounting flange 100 and / or the calibration arm portion.

[0073] In this embodiment, the level 600 is provided to provide guidance in the process of adjusting the level of the calibration arm mounting flange 100 and the calibration arm to form a structural whole, eliminating the need for the introduction of an external level 600. The number of level 600s can be provided on the calibration arm mounting flange 100 or the calibration arm. If the calibration arm mounting flange 100 and the calibration arm are both provided, the overall leveling effect and the connection effect of the calibration arm can be evaluated.

[0074] In one embodiment, a movable counterweight 230 is provided corresponding to the calibration arm.

[0075] In this embodiment, by introducing the counterweight 230 and adjusting the position of the counterweight 230, the weight inconsistency of the calibration arms on both sides caused by the machining error of the calibration arm and the unevenness of the material is compensated, so that the initial reading of the torque sensor is zero. The specific form of the counterweight can be various, for example, it can slide in the length direction of the calibration arm, and the specific form is based on the ability to achieve fine adjustment of the overall torque, referring to the existing conventional technology.

[0076] The present invention also provides a calibration method, which is applied to the online calibration device of the above-mentioned compatible torque sensor, comprising:

[0077] S1, installing the calibration arm mounting flange 100 on the rotating part of the torque sensor 030;

[0078] S2, installing one of the calibration arm parts on the calibration arm mounting flange 100, and adjusting the level of the calibration arm mounting flange 100;

[0079] S3, locking the rotation of the shaft system connected to the torque sensor 030, and recording the current output value of the torque sensing unit as the initial torque;

[0080] S4, if the initial torque falls within the preset range, installing another calibration arm portion on the calibration arm mounting flange 100;

[0081] S5, installing the loading device 300 below one of the calibration arm pull rods 220;

[0082] S6, adjusting the loading device 300 to provide a lifting output, and calculating at least one calibrated torque value T according to the sensor signal obtained by the first force sensor 400 标定值 ;

[0083] S7, record corresponding to each T 标定值 The output value T of the torque sensing unit 输出值 ;

[0084] S8. According to T 标定值 With T 输出值 Determine the operation of the torque sensor 030.

[0085] In the present invention, in step S1, the calibration arm mounting flange 100 is mounted on the rotating part of the torque sensor 030. The calibration arm mounting flange 100 may be connected by flange connection or clamping, etc.

[0086] In step S2, a calibration arm is mounted on the calibration arm mounting flange 100, and the level of the calibration arm mounting flange 100 is adjusted. Only when the calibration arm mounting flange 100 is level, the torque provided by the torque sensor 030 will be accurate.

[0087] In step S3, the rotation of the shaft system connected to the torque sensor 030 is locked, and the output value of the current torque sensing unit is recorded as the initial torque. By using a calibration arm as the basis for providing the torque, the need for adding weights for calibration is eliminated. By using the torque provided by the calibration arm, it is determined whether the calibration torque sensing unit works normally, thereby avoiding the subsequent loading device 300 from making an incorrect judgment on the working state of the torque sensing unit.

[0088] In step S4, if the initial torque falls within the preset range, another calibration arm is installed on the calibration arm mounting flange 100. In this step, if the initial torque is not close to zero, the positions of the two counterweights are adjusted to make the initial torque close to zero.

[0089] In step S5 , the loading device 300 is installed below a calibration arm tie rod 220 .

[0090] In step S6, the loading device 300 is adjusted to provide a lifting output, and at least one calibrated torque value T is calculated based on the sensing signal obtained by the first force sensor 400. 标定值 For example, 10%, 30%, 50%, 70%, and 100% of the rated torque are used as loading references, thus obtaining five stages of T 标定值 .

[0091] In step S7, record the corresponding T 标定值 The output value T of the torque sensor 输出值 .

[0092] In step S8, according to T 标定值 With T 输出值 Determine the operation of the torque sensor 030. There are many ways to determine the operation of the torque sensor 030, and all the determinations are based on T 标定值 And the corresponding T 输出值 For example, calculate Δx, Δy, Δx as the input change, and the input change is the calibration torque T 标定值 The corresponding two adjacent calibration torques T 标定值 Δy is the output change, which is the output value T of the torque sensor 030. 输出值 The difference between two adjacent output torque values ​​is used to calculate the linearity of the torque sensor 030 by the formula K=Δy / Δx. For example, under the condition of 50% rated torque, 10 sets of output values ​​T of the torque sensor 030 under the condition of 50% rated torque are calibrated. 输出值 , calculate the repeatability of torque sensor 030 at 50% rated torque, the calculation formula is For example, under the condition of 100% rated torque, calibrate 10 sets of torque sensor 030 output values ​​T under the condition of 100% rated torque. 输出值 , calculate the repeatability of torque sensor 030 at 100% rated torque. The calculation formula is

[0093] In one embodiment, the step of S6 includes:

[0094] According to the sensing signal obtained by the first force sensor 400, the loading device 300 is adjusted to provide at least four incremental outputs to obtain multiple calibrated torque values ​​T 标定值 ;

[0095] The step of S8 comprises:

[0096] Calculate Δx and Δy, and calculate the linearity of the torque sensor 030 by the formula K=Δy / Δx, where Δx is T标定值 With two adjacent T 标定值 Δy is the difference between T 输出值 With two adjacent T 输出值 The difference between .

[0097] In this embodiment, a linearity calculation method is provided to provide a basis for evaluating the operation of the torque sensor 030 under conditions provided by different applied torques.

[0098] In one embodiment, the step S8 includes:

[0099] The loading device 300 is disassembled and installed under another calibration arm pull rod 220, and steps S6 to S8 are repeated.

[0100] In this embodiment, clockwise and counterclockwise torque calibration is achieved by changing the position of the loading device 300 .

[0101] In one embodiment, the online calibration device further includes two second force sensors 410 and two connecting sleeves 420. The calibration arm pull rod 220 includes a rod body 211 connected to the calibration arm 210 and a disc body 212 connected to the bottom end of the rod body 211. The second force sensor 410 is sleeved on the rod body 211 and arranged on the upper surface of the disc body 212. The upper end of the connecting sleeve 420 is sleeved on the calibration arm pull rod 220 and buckled on the upper surface of the second force sensor 410. The lower end of the connecting sleeve 420 is detachably connected to the output end of the loading device 300. In the step S5, the connecting sleeve 420 and the loading device 300 are in a released state. After the step S8, the following steps are included:

[0102] The connecting sleeve 420 is connected to the loading device 300, the loading device 300 is adjusted to provide a pull-down output, and at least one calibrated torque value T is calculated based on the sensor signal obtained by the second force sensor 410. 标定值1 ;

[0103] Record corresponding to each T 标定值1 The output value T of the torque sensing unit 输出值1 ;

[0104] According to T 标定值1 With T 输出值1 Determine the operation of the torque sensor 030.

[0105] In this embodiment, the shape of the calibration arm pull rod 220 is restricted, thereby providing a basis for the installation of the second force sensor 410. During use, the second force sensor 410 is on the upper surface of the disk body 212, and the first force sensor 400 is on the upper surface of the disk body 212. The connecting sleeve 420 is introduced to apply the pulling force of the loading device 300 to the calibration arm pull rod 220. When the loading device 300 pulls down the calibration arm pull rod 220 through the connecting sleeve 420, the second force sensor 410 obtains relevant sensing data, and then can obtain the applied force. When the loading device 300 is used for the pulling-down action, since the second force sensor 410 is set on the output end of the loading device 300, the second force sensor 410 will not cause abnormal influence on the torque; when the loading device 300 is used for the pushing action, if the calibration result is to be accurate, it is necessary to disconnect the connection between the output end of the loading device 300 and the connecting sleeve 420 to avoid the disappearance of the torque generated by the connecting sleeve 420. By adjusting the state of the connecting sleeve 420, clockwise and counterclockwise torque calibration is achieved.

[0106] In summary, the online calibration device and calibration method of the compatible torque sensor provided by the present invention, since the calibration arm mounting flange 100 and the calibration arm are assembled, when calibrating different torque sensors 030, the corresponding calibration arm mounting flange 100 can be replaced. The first force sensor 400 is connected to the upper surface of the output end of the loading device 300. At this time, the force provided by the output end of the loading device 300 when it is pushed up can be combined with the force arm to calculate the torque. The cooperation of the first force sensor 400 and the loading device 300 achieves the advantages of cost reduction and accurate results.

[0107] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An online calibration device for a compatible torque sensor, wherein the torque sensor (030) comprises a rotating part and a torque sensing part, characterized in that: include: A calibration arm mounting flange (100) for detachably fixing with the rotating part; Two calibration arm parts are symmetrically and detachably connected to the circumference of the calibration arm mounting flange (100), the calibration arm part comprises a calibration arm (210) and a line contact connection part (700) connected to the calibration arm (210) away from the calibration arm mounting flange (100), and the lower end of the line contact connection part (700) is provided with a calibration arm pull rod (220) extending vertically downward; A loading device (300) is disposed corresponding to the lower end of one of the calibration arm pull rods (220); The first force sensor (400) is connected to the upper surface of the output end of the loading device (300).

2. The online calibration device for a compatible torque sensor according to claim 1, characterized in that: The online calibration device also includes two second force sensors (410) and two connecting sleeves (420); the calibration arm pull rod (220) includes a rod body (211) connected to the calibration arm (210) and a disk body (212) connected to the bottom end of the rod body (211); the second force sensor (410) is sleeved on the rod body (211) and arranged on the upper surface of the disk body (212); the upper end of the connecting sleeve (420) is sleeved on the calibration arm pull rod (220) and buckled on the upper surface of the second force sensor (410); the lower end of the connecting sleeve (420) is detachably connected to the output end of the loading device (300).

3. The online calibration device for a compatible torque sensor according to claim 1, characterized in that: The online calibration device for a compatible torque sensor further comprises a locking device (500) connected to an external fixed structure, wherein the locking device (500) is used to lock an external shaft system.

4. The online calibration device for a compatible torque sensor according to claim 3, characterized in that: The locking device (500) is provided with a position sensor (510) and an alarm. The position sensor (510) is provided corresponding to the locking device (500). When calibration is completed and the equipment runs other tests, the software detects the state of the position sensor (510). If the position sensor (510) loses the signal of the locking device (500), the alarm sends an alarm to remind the staff that the shaft system is still in a locked state, so as to prevent the shaft system from being damaged by misoperation.

5. The online calibration device for a compatible torque sensor according to claim 1, characterized in that: The line contact connection portion (700) and the calibration arm (210) are matched with each other in a conical surface, which is a line contact mode.

6. The online calibration device for a compatible torque sensor according to claim 1, characterized in that: The loading center axis of the calibration arm (210) is flush with the center of the flange surface of the torque sensor (030).

7. A calibration method, applied to the online calibration device of the compatible torque sensor according to any one of claims 1 to 6, characterized in that: include: S1. Installing the calibration arm mounting flange (100) on the rotating part of the torque sensor (030); S2, installing one of the calibration arm parts on the calibration arm mounting flange (100), and adjusting the level of the calibration arm mounting flange (100); S3, locking the rotation of the shaft system connected to the torque sensor (030), and recording the current output value of the torque sensing unit as the initial torque; S4. If the initial torque falls within a preset range, installing another calibration arm portion on the calibration arm mounting flange (100); S5, installing the loading device (300) below one of the calibration arm pull rods (220); S6, adjusting the loading device (300) to provide a lifting output, and calculating at least one calibrated torque value as a T calibration value according to the sensing signal obtained by the first force sensor (400); S7, record corresponding to each T 标定值 The output value T of the torque sensing unit 输出值 ; S8. Determine the operation of the torque sensor (030) according to the T calibration value and the T output value.

8. The calibration method according to claim 7, characterized in that: The step of S6 comprises: According to the sensing signal obtained by the first force sensor (400), the loading device (300) is adjusted to provide at least four incremental outputs to obtain a plurality of calibrated torque values ​​T 标定值 ; The step of S8 comprises: Calculate Δx and Δy, and calculate the linearity of the torque sensor (030) by the formula K=Δy / Δx, where Δx is T 标定值 With two adjacent T 标定值 The difference between the two, Δy is T 输出值 With two adjacent T 输出值 The difference between .

9. The calibration method according to claim 7, characterized in that: The step of S8 then includes: The loading device (300) is disassembled and installed below another calibration arm pull rod (220), and steps S6 to S8 are repeated.

10. The calibration method according to claim 7, characterized in that: The online calibration device further comprises two second force sensors (410) and two connecting sleeves (420); the calibration arm pull rod (220) comprises a rod body (211) connected to the calibration arm (210) and a disk body (212) connected to the bottom end of the rod body (211); the second force sensor (410) is sleeved on the rod body (211) and arranged on the upper surface of the disk body (212); the upper end of the connecting sleeve (420) is sleeved on the calibration arm pull rod (220) and buckled on the upper surface of the second force sensor (410); the lower end of the connecting sleeve (420) is detachably connected to the output end of the loading device (300); in the step S5, the connecting sleeve (420) and the loading device (300) are in a released state; after the step S8, the following steps are included: The connecting sleeve (420) is connected to the loading device (300), the loading device (300) is adjusted to provide a pull-down output, and at least one calibrated torque value T is calculated based on the sensing signal obtained by the second force sensor (410). 标定值1 ; Record corresponding to each T 标定值1 The output value T of the torque sensing unit 输出值1 ; The operation of the torque sensor (030) is determined according to the T calibration value 1 and the T output value 1.

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