Large-load high-precision reset type balance automatic calibration system

Abstract

The invention discloses a large-load high-precision reset type balance automatic calibration system. Each automatic loading subsystem drives a weight to ascend and descend through a spiral elevator, the gravity of different weights is transmitted to a steel belt through a suspender and transmitted to a loading head, the loading head transmits a load to a calibrated balance, and loading of the multi-component load of the calibrated balance is achieved. The displacement sensor measures the distance change of each position and converts the distance change to obtain the deformation. And the balance attitude is adjusted and reset through the reset subsystem. Each subsystem is compact in structure and clear in function. The reset subsystem maximizes the utilization of the advanced performance of a servo motor, so that the reset precision of linear displacement can be equal to the motion precision of the servo motor, and the reset precision of angular displacement is also improved to a corresponding degree. The control logic of each subsystem including the reset subsystem, the automatic loading system, the displacement measurement system and the like is simple, integrated control is easy to realize, automatic calibration is realized, and the calibration efficiency is greatly improved while manpower is liberated.

Description

Technical Field

[0001] The present application relates to the technical field of aerospace wind tunnel balance calibration, and in particular to a large-load high-precision reset-type balance automatic calibration system. Background Art

[0002] The main purpose of wind tunnel balance calibration is to determine the relationship between balance readings and loads, that is, to obtain the balance calibration formula. In wind tunnel force measurement tests, the aerodynamic loads can be calculated based on the balance readings collected at different attitudes of the aircraft according to the calibration formula. Therefore, the accuracy level of balance calibration directly determines the accuracy level of wind tunnel test aerodynamic data, and a high-precision balance calibration system is the prerequisite for obtaining a high-precision balance formula.

[0003] In the process of balance calibration, the current mainstream practice is to load according to the balance coordinate system and obtain the balance calibration formula based on the balance coordinate system. However, due to the stiffness of the balance and its support system, the balance will inevitably deform under the load, resulting in the loading coordinate system and the balance coordinate system no longer coinciding. At this time, the balance posture needs to be restored to the state before loading, that is, the balance is reset. The reset mechanism of balance calibration is the core device for realizing balance reset. It is required that the mechanism can simultaneously have the motion ability of linear displacement in three directions and angular displacement in three directions to ensure that the balance posture can be completely reset. The motion accuracy of the reset mechanism directly determines the accuracy of the balance posture, so the high-precision motion mechanism is the core content of the reset mechanism research.

[0004] In addition, the reset of the balance calibration involves the measurement of the balance position and posture, the control of the motion sequence of each degree of freedom of the reset mechanism, and the loading and unloading control of each loading subsystem when loading in a large load environment. The calibration process has many steps. If each link is controlled manually, it is inevitable that operational errors will occur, which may cause the balance to be damaged in serious cases. Therefore, in order to avoid possible errors in the manual control of each link and improve the efficiency of balance calibration, the realization of fully automatic loading is an inevitable trend of the large load reset calibration system, which puts forward higher requirements on the control of the balance calibration system. Summary of the invention

[0005] The present application provides a large-load high-precision reset-type automatic calibration system for a balance, proposes a high-precision reset-type calibration system for a balance with an advanced reset mechanism and a flexible control system, solves the high-precision reset and full-automatic problems of the balance calibration system, and realizes the reset-type high-precision automatic calibration of a large-load balance.

[0006] In the first aspect, a large-load high-precision reset-type balance automatic calibration system is provided, comprising a reset subsystem, 6 automatic loading subsystems, 5 load switching subsystems, a balance installation subsystem, a displacement measurement subsystem, a stand and a control system;

[0007] The reset subsystem is located at the center of the calibration system and is connected to the balance installation subsystem to achieve posture adjustment of the balance installation subsystem;

[0008] The balance installation subsystem is used to set up the balance to be calibrated;

[0009] The six automatic loading subsystems are respectively distributed around the balance installation subsystem along the top, bottom, left, right, front and back; the five load reversing subsystems include a 180° load reversing subsystem, a first 90° load reversing subsystem, a second 90° load reversing subsystem, a third 90° load reversing subsystem and a fourth 90° load reversing subsystem; among them, the downwardly distributed automatic loading subsystem is directly connected to the balance installation subsystem to apply a downward load, and the upwardly distributed automatic loading subsystem is connected to the balance installation subsystem through the 180° load reversing subsystem to apply an upward load. Upper load, the automatic loading subsystem distributed on the left side is connected to the balance installation subsystem through the first 90° load reversing subsystem to apply a horizontal left load, the automatic loading subsystem distributed on the right side is connected to the balance installation subsystem through the second 90° load reversing subsystem to apply a horizontal right load, the automatic loading subsystem distributed on the front side is connected to the balance installation subsystem through the third 90° load reversing subsystem to apply a horizontal forward load, and the automatic loading subsystem distributed on the rear side is connected to the balance installation subsystem through the fourth 90° load reversing subsystem to apply a horizontal backward load;

[0010] The displacement measurement subsystem is used to monitor the posture changes of the balance installation subsystem;

[0011] The stand is used to support the automatic loading subsystem and provide an aerial operating platform for the operator;

[0012] The control system is used to realize parameter measurement and control of each subsystem.

[0013] In combination with the first aspect, in some implementations of the first aspect, the resetting subsystem includes a rolling mechanism, an axial motion mechanism, a pitch and normal motion mechanism, and a yaw and lateral motion mechanism; the rolling mechanism, the axial motion mechanism, the pitch and normal motion mechanism, and the yaw and lateral motion mechanism are connected together in series; from top to bottom, the rolling mechanism is installed on the axial motion mechanism, the bottom of the axial motion mechanism is connected to the pitch and normal motion mechanism, and the pitch and normal motion mechanism is connected to the yaw and lateral motion mechanism through its base;

[0014] The roll angle of the balance to be calibrated is adjusted and reset by the roll mechanism, the axial displacement of the balance to be calibrated is adjusted and reset by the axial motion mechanism, the normal displacement and pitch angle of the balance to be calibrated are adjusted and reset by the pitch and normal motion mechanism, and the lateral displacement and yaw angle of the balance to be calibrated are adjusted and reset by the yaw and lateral motion mechanism.

[0015] In combination with the first aspect, in some implementations of the first aspect, the automatic loading subsystem includes a weight string and a weight lifting mechanism, the weight string is used as the source of load applied when calibrating the balance, the weight string is placed on the weight lifting mechanism as a whole, and the weight lifting mechanism drives the weight string to rise and fall; the weight string includes a steel belt, a suspension rod, weights and a counterweight plate, and the weight lifting mechanism includes a bracket, a tray, a slide rail and a spiral elevator; the counterweight plate is freely suspended at the bottom, connected to the suspension rod above, and the suspension rod is connected to one end of the steel belt; if the automatic loading subsystem is distributed downward If the automatic loading subsystem is an automatic loading subsystem, the other end of the steel belt is connected to the balance installation subsystem; if the automatic loading subsystem is an automatic loading subsystem with upward distribution, left distribution, right distribution, front distribution or rear distribution, the other end of the steel belt is connected to the corresponding load reversing subsystem; the weights include a plurality of weight blocks stacked up and down and distributed up and down along the suspension rod, the tray is under the weights and holds up all the weight blocks, and the tray is connected to the lower part of the bracket through a slide rail; the lower part of the tray is connected to the lead screw of the screw elevator, and the screw elevator is fixed to the bottom of the bracket;

[0016] When the automatic loading subsystem is working, the counterweight plate, suspension rod and steel belt do not move actively. The spiral elevator drives the tray to move up and down, and further drives the weights on the tray to move up and down, so that the weight blocks and the suspension rod produce relative movement; when the tray drives the weights to descend, each weight block of the weights detaches from other weight blocks from top to bottom in turn and is hung on the suspension rod, and further transmits the weight of the weights to the balance installation subsystem through the suspension rod and steel belt to achieve loading; when the tray drives the weights to rise, each weight block detaches from the suspension rod from bottom to top in turn and is stacked together again, and finally stacked on the tray to achieve unloading; the counterweight plate manually suspends the weights separately, and relies on the weight of the weights to straighten the steel belt.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the load switching subsystem includes a stand, a base, a pulley support seat, a pulley and a screw; the stand is a steel frame structure, the lower surface of which is installed on the ground, and the uppermost surface is a reference platform with a slide rail; the base is installed on the reference platform and moves along the slide rail of the reference platform to achieve position adjustment; the pulley support seat is installed on one side of the base; the pulley is installed on the pulley support seat through a bearing and achieves low-friction rotation around the pulley axis; the pulley height is adjusted by a screw, and after adjustment is in place, the pulley support seat is locked to the base by a screw to limit the position of the pulley on the horizontal plane.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the balance mounting subsystem includes a calibration support rod and a loading head; the calibration support rod is mounted on the reset subsystem, the first end of the calibrated balance is mounted on an end of the calibration support rod away from the reset subsystem, and the second end of the calibrated balance is arranged on the loading head;

[0019] The loading head is a sandwich structure, including a split structure of an inner cylinder and a loading head body, wherein the inner cylinder is used to connect the calibrated balance according to the specified interface of the balance, and is sleeved on the outer periphery of the rolling mechanism of the reset subsystem; a plurality of corresponding interfaces for connecting the steel belt of the automatic loading subsystem are arranged on the outer contour of the loading head body, so as to realize the connection with the steel belt; under the traction of the steel belt, the loading head is applied with upward, downward, left, right, front and rear loading forces; the loading head body slides freely forward and backward on the inner cylinder, and after sliding to the specified position, it is tightened and locked by the screws on the clamp, so as to fix the relative position of the loading head body and the inner cylinder, so as to realize the adjustment of the loading center relative to the balance position.

[0020] In combination with the first aspect, in some implementations of the first aspect, the displacement measurement subsystem includes a cross-shaped target plate, a circular target plate, and a laser displacement sensor; wherein the cross-shaped target plate is mounted on the upper surface of the loading head, the circular target plate is mounted on the front end surface of the loading head, and the four ends of the cross-shaped target plate and the circular target plate are respectively used to receive laser displacement sensor signals in different directions; the laser displacement sensor includes displacement sensor No. 1, displacement sensor No. 2, displacement sensor No. 3, displacement sensor No. 4, displacement sensor No. 5, displacement sensor No. 6, and displacement sensor No. 7; the seven laser displacement sensors are mounted on a separate displacement sensor bracket and do not contact the loading head body and the target plate;

[0021] Displacement sensor No. 1 and displacement sensor No. 2 are arranged along the x-axis, and are used to detect the laser reflected by the first plane of the cross-shaped target plate; displacement sensor No. 3 and displacement sensor No. 4 are arranged along the x-axis, and are used to detect the laser reflected by the second plane of the cross-shaped target plate, and the second plane is arranged perpendicular to the first plane; displacement sensor No. 5 and displacement sensor No. 6 are arranged along the y-axis, and are used to detect the laser reflected by the third plane of the cross-shaped target plate, and the third plane is arranged parallel to the first plane; laser displacement sensor No. 7 is arranged at the front end of the cross-shaped target plate in the x-axis direction, and is used to detect the laser reflected by the circular target plate.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the combination of displacement sensor No. 1 and displacement sensor No. 2 realizes the measurement of displacement in the z-axis direction and the rotation angle around the y-axis; the combination of displacement sensor No. 3 and displacement sensor No. 4 realizes the measurement of displacement in the y-axis direction and the rotation angle around the z-axis; the combination of displacement sensor No. 5 and displacement sensor No. 6 realizes the measurement of the rotation angle around the x-axis; and displacement sensor No. 7 realizes the measurement of displacement in the x-axis direction.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the workbench is a three-layer platform-type steel frame structure, the first platform is used to place the reset subsystem, the downwardly distributed automatic loading subsystem, the front-distributed automatic loading subsystem, the rear-distributed automatic loading subsystem, the left-distributed automatic loading subsystem, the right-distributed automatic loading subsystem, the first 90° load reversing subsystem, the second 90° load reversing subsystem, the third 90° load reversing subsystem, the fourth 90° load reversing subsystem, the balance installation subsystem, the displacement measurement subsystem, the workbench and the control system, the second platform is used to place the upwardly distributed automatic loading subsystem, and the third platform is used to install and place the 180° load reversing subsystem that is compatible with the upwardly distributed automatic loading subsystem; the workbench also includes stairs from the first platform to the second and third platforms to facilitate the up and down movement of operators.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the workflow of the control system includes: after the control system receives the loading instruction, first read the six-component load of the load point, then distribute the loading load of each loading subsystem according to the positional relationship of each loading subsystem, and execute the loading of each loading subsystem; after the loading is completed, the displacement of each laser displacement sensor is measured by the displacement measurement subsystem, and the linear displacement and angular displacement changes of the balance installation subsystem, as well as the attitude difference with the zero position are calculated; according to the difference in attitude, the reset program is started, and the reset subsystem resets the roll angle, pitch angle, yaw angle, X-direction linear displacement, Y-direction linear displacement and Z-direction linear displacement in sequence by controlling the movement of each motion mechanism, and then a round of reset program is completed; after each round of reset program is completed, the reading of each laser displacement sensor is re-read and the attitude difference with the zero position is recalculated. If it is greater than the threshold requirement, the reset program is started again, and if it is less than the threshold requirement, the balance reading collection function is started; when collecting the balance reading, it is determined whether there is vibration in the system accessories that causes the balance reading to oscillate, and the collection is performed after the balance reading is stable; after the balance reading collection is completed, the loading of the load point is completed.

[0025] In a second aspect, a method for using a large-load high-precision reset balance automatic calibration system is provided, wherein the system is a system as described in any one of the implementations of the first aspect above; the method comprises:

[0026] By controlling 6 automatic loading subsystems, under the load conversion action of 5 load switching subsystems, the load is transferred to the balance installation subsystem, and the balance installation subsystem further transfers the load to the calibrated balance;

[0027] The posture change produced by the balance installation subsystem is measured by the displacement sensor of the displacement measurement subsystem;

[0028] The balance posture is adjusted and reset through the reset subsystem.

[0029] Compared with the prior art, the solution provided by this application includes at least the following beneficial technical effects:

[0030] The large-load high-precision reset balance automatic calibration system of the present invention includes a new type of high-precision reset mechanism for balance calibration, which maximizes the use of the advanced performance of the servo motor, simplifies the structure to the maximum extent, and directly drives the actuators such as the lead screw. The reset accuracy of its linear displacement can be equivalent to the motion accuracy of the servo motor, which can reach up to 0.1μm level, and the reset accuracy of the angular displacement can reach 0.1″.

[0031] The large-load high-precision reset-type balance automatic calibration system described in the present invention comprises a reset subsystem, an automatic loading system, a displacement measurement system, etc., each subsystem has a simple control logic, is easy to implement integrated control, has a high reset efficiency, and a short loading time, and can realize automatic calibration, thereby freeing up manpower and greatly improving the calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a stereoscopic diagram of the large-load high-precision reset balance automatic calibration system described in the present invention.

[0033] Figure 2 It is a stereoscopic diagram of the resetting subsystem described in the present invention.

[0034] Figure 3 This is a front view of the automatic loading subsystem described in the present invention.

[0035] Figure 4 This is a front view of the load switching subsystem described in the present invention.

[0036] Figure 5 It is a stereoscopic diagram of the balance mounting subsystem described in the present invention.

[0037] Figure 6 Schematic diagram of the displacement measurement system of the present invention.

[0038] Figure 7 The figure is a flow chart of the control system described in the present invention. DETAILED DESCRIPTION

[0039] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] The present invention mainly aims at the high-precision requirement of the balance calibration system for resetting and the problem of low calibration efficiency in a large-load calibration environment, and proposes a large-load high-precision resetting balance automatic calibration system to achieve high-precision resetting automatic calibration in a large-load environment.

[0041] like Figure 1 As shown, the large-load high-precision reset balance automatic calibration system includes a reset subsystem 1, 6 automatic loading subsystems 2, 5 load switching subsystems 3, a balance installation subsystem 4, a displacement measurement subsystem 5, a stand 6 and a control system 7.

[0042] The reset subsystem 1 is located at the center of the calibration system and is connected to the balance installation subsystem 4 to realize the posture adjustment of the balance installation subsystem 4. The displacement measurement subsystem 5 is located next to the balance installation subsystem 4 to monitor the posture changes of the balance installation subsystem 4. The six automatic loading subsystems 2 are respectively distributed around the balance installation subsystem 4 along the top, bottom, left, right, front and back. The automatic loading subsystem 2 distributed downward is directly connected to the balance installation subsystem 4; the automatic loading subsystems 2 distributed upward, left and right, and front and back are respectively connected to the balance installation subsystem 4 through the corresponding load reversing subsystems 3, and all the automatic loading subsystems 2 work together to realize the loading of the balance installation subsystem 4. The stand 6 is used to support one automatic loading subsystem 2 and provide an aerial operating platform for the operator. The control system 7 is used to realize the parameter measurement and control of each subsystem.

[0043] refer to Figure 2 The resetting subsystem 1 of the present invention comprises a rolling mechanism 11, an axial motion mechanism 12, a pitch and normal motion mechanism 13, and a yaw and lateral motion mechanism 14. The rolling mechanism 11, the axial motion mechanism 12, the pitch and normal motion mechanism 13, and the yaw and lateral motion mechanism 14 are connected together in series. From top to bottom, the rolling mechanism 11 is installed on the axial motion mechanism 12, the bottom of the axial motion mechanism 12 is connected to the pitch and normal motion mechanism 13, and the pitch and normal motion mechanism 13 is connected to the yaw and lateral motion mechanism 14 through its base.

[0044] Preferably, the rolling mechanism 11, the axial motion mechanism 12, the pitch and normal motion mechanism 13, and the yaw and lateral motion mechanism 14 are mainly composed of various types of components such as servo motors, brakes, ball screws, bearings, linear guides, grating scales, etc., and are formed through precise assembly to form a motion mechanism with the ability to move in various degrees of freedom.

[0045] refer to Figure 3The automatic loading subsystem 2 of the present invention includes a weight string and a weight lifting mechanism. The weight string is used as the source of the load applied during the calibration of the balance. The weight string is placed on the weight lifting mechanism as a whole, and the weight lifting mechanism drives the weight string to rise and fall. The weight string includes a steel belt 21, a suspension rod 23, a weight 24 and a counterweight plate 27. The weight lifting mechanism includes a bracket 22, a tray 25, a slide rail 26 and a spiral elevator 28. The counterweight plate 27 is freely suspended at the bottom, and the suspension rod 23 is connected to the top, and the suspension rod 23 is connected to one end of the steel belt 21. If the automatic loading subsystem 2 is an automatic loading subsystem 2 distributed downward, the other end of the steel belt 21 is connected to the balance installation subsystem 4. If the automatic loading subsystem 2 is an automatic loading subsystem 2 distributed upward, on the left, on the right, on the front or on the back, the other end of the steel belt 21 is connected to the corresponding load reversing subsystem 3. The weight 24 includes a plurality of weight blocks stacked up and down and distributed up and down along the suspension rod 23. The tray 25 is below the weight 24 and holds up all the weight blocks. The tray 25 is connected to the lower part of the bracket 22 through a slide rail 26. In addition, the lower part of the tray 25 is connected to the lead screw of the screw elevator 28, and the screw elevator 28 is fixed to the bottom of the bracket 22.

[0046] Preferably, when the automatic loading subsystem 2 is working, the counterweight plate 27, the suspension rod 23, and the steel belt 21 do not actively move, and only the spiral elevator 28 drives the tray 25 to move up and down, and further drives the weights 24 on the tray 25 to move up and down, so that the weight blocks and the suspension rod 23 produce relative movement. When the tray 25 drives the weights 24 to descend, each weight block of the weight 24 is separated from other weight blocks from top to bottom in turn and is suspended on the suspension rod 23, and the weight gravity is further transferred to the balance installation subsystem 4 through the suspension rod 23 and the steel belt 21 to achieve loading. When the tray 25 drives the weight 24 to rise, each weight block is separated from the suspension rod 23 from bottom to top in turn and is stacked together again, and finally stacked on the tray 25 to achieve unloading. In addition, the counterweight plate 27 can manually suspend the weight alone, and the steel belt 21 is straightened by the weight gravity.

[0047] refer to Figure 4 The load reversing subsystem 3 of the present invention includes a reversing frame 31, a base 32, a pulley support seat 33, a pulley 34 and a screw 35. The reversing frame 31 is a steel frame structure, the lower surface of which is installed on the ground, and the uppermost surface is a reference platform with a slide rail. The base 32 is installed on the reference platform and can move along the slide rail of the reference platform to achieve position adjustment. The pulley support seat 33 is installed on one side of the base 32. The pulley 34 is installed on the pulley support seat 33 through a bearing and can achieve low-friction rotation around the pulley shaft. The height of the pulley 34 can be adjusted by the screw 35. After adjustment, the pulley support seat 33 is locked to the base 32 by a screw to limit the position of the pulley 34 on the horizontal plane.

[0048] The load reversing subsystem 3 of the present invention is used to cooperate with the automatic loading subsystem 2. The automatic loading subsystems 2 distributed upward, left and right, and front and back are all equipped with a load reversing subsystem 3. The steel belt 21 of the automatic loading subsystem 2 is directly overlapped on the pulley 34 to achieve reversal. Among them, the steel belt 21 of the automatic loading subsystem 2 distributed upward contacts the upper semicircle of the pulley 34 to achieve 180° reversal of the steel belt, and convert the gravity of the weight 24 into an upward pulling force. The steel belt 21 of the automatic loading subsystem 2 distributed left and right and front and back are all in contact with a quarter circle of the pulley 34 to achieve 90° reversal of the steel belt, and convert the gravity of the weight 24 into horizontal left, horizontal right, horizontal forward and horizontal backward pulling forces respectively.

[0049] refer to Figure 5 The balance mounting subsystem 4 of the present invention comprises a calibration support rod 41 and a loading head 43. The calibration support rod 41 is mounted on the rolling mechanism 11 of the reset subsystem 1, the first end of the calibrated balance 42 is mounted on the end of the calibration support rod 41 away from the reset subsystem 1, and the second end of the calibrated balance 42 is arranged on the loading head 43.

[0050] Preferably, the loading head 43 is a sandwich structure, which can be designed as a split structure including an inner cylinder 431 and a loading head body 432, wherein the inner cylinder 431 is used to connect the calibrated balance 42 according to the designated interface of the balance, and is sleeved on the outer periphery of the rolling mechanism 11 of the reset subsystem 1; the outer contour of the loading head body 432 is provided with a plurality of corresponding interfaces for connecting the steel belt 21 of the automatic loading subsystem 2, which are used to achieve the connection with the steel belt 21. Under the traction of the steel belt 21, the loading head 43 can be applied with upward, downward, left, right, front and rear loading forces. The loading head body 432 can slide freely forward and backward on the inner cylinder 42, and after sliding to the designated position, it is pressed and locked by the screws on the clamp 433, so as to fix the relative position of the loading head body 432 and the inner cylinder 42, so as to achieve the adjustment of the loading center relative to the balance position.

[0051] refer to Figure 6 The displacement measurement subsystem 5 of the present invention is composed of a cross-shaped target plate 51, a circular target plate 52 and a laser displacement sensor. The cross-shaped target plate 51 is installed on the upper surface of the loading head 43, and the circular target plate 52 is installed on the front end surface of the loading head 43, which are used to receive laser displacement sensor signals in different directions in turn. The laser displacement sensor includes displacement sensor No. 1 501, displacement sensor No. 2 502, displacement sensor No. 3 503, displacement sensor No. 4 504, displacement sensor No. 505, displacement sensor No. 6 506, and displacement sensor No. 7 507. The seven laser displacement sensors are installed on a separate displacement sensor bracket and do not contact the loading head body 432 and the target plate.

[0052] The displacement measurement subsystem 5 of the present invention is installed after the balance installation subsystem 4 is installed. Preferably, as Figure 6 As shown, displacement sensor No. 1 501 and displacement sensor No. 2 502 are arranged along the x-axis, and the laser displacement sensor is completely fixed, and the laser is vertically hit downward on one plane of the cross-shaped target plate 51; displacement sensor No. 3 503 and displacement sensor No. 4 504 are arranged along the x-axis, and the laser displacement sensor is completely fixed, and the laser is horizontally hit on another plane of the cross-shaped target plate 51; displacement sensor No. 505 and displacement sensor No. 6 506 are arranged along the y-axis, and the laser displacement sensor is completely fixed, and the laser is vertically hit downward on the cross-shaped target plate 51; laser displacement sensor No. 7 507 is arranged at the front end of the x-axis, and the laser is horizontally hit on the circular target plate 52.

[0053] refer to Figure 1 The platform 6 of the present invention is a three-layer platform steel frame structure. The second-layer platform is used to place the upwardly distributed automatic loading subsystem 2, and the third-layer platform is used to install and place the load reversing subsystem 3 (the load reversing subsystem 3 realizes 180° reversal of the steel belt 21) that matches the upwardly distributed automatic loading subsystem 2. The platform 6 also includes stairs from the ground (corresponding to the first-layer platform) leading to the second-layer platform and the third-layer platform to facilitate the up and down movement of operators.

[0054] The workflow of the control system 7 of the present invention is as follows: Figure 7 As shown. After the control system 7 receives the loading instruction, it first reads the six-component load of the load point, and then distributes the loading load of each loading subsystem according to the positional relationship of each loading subsystem, and executes the loading of each loading subsystem. After the loading is completed, the displacement of each laser displacement sensor is measured by the displacement measurement subsystem 5, and the linear displacement and angular displacement changes of the loading head, as well as the attitude difference with the zero position are calculated. The reset program is started according to the difference in attitude. The reset subsystem 1 resets the roll angle, pitch angle, yaw angle, X-direction linear displacement, Y-direction linear displacement and Z-direction linear displacement in sequence by controlling the movement of each motion mechanism. At this time, a round of reset program is completed. After each round of reset program is completed, the readings of the 7 laser displacement sensors are reread and the attitude difference with the zero position is recalculated. If it is greater than the threshold requirement, the reset program is started again. If it is less than the threshold requirement, the balance reading collection function is started. When collecting the balance reading, it is necessary to determine whether there is vibration in the accessories such as the loading head to cause the balance reading to oscillate. The collection can be performed only after the balance reading is stable. After the balance reading collection is completed, the loading of the load point is completed.

[0055] The working principle of the present invention is as follows:

[0056] During the calibration of the balance, after all subsystems are installed, each automatic loading subsystem 2 drives the weight 24 to rise and fall through the screw elevator 28, so that the gravity of different weights is transferred to the steel belt 21 through the suspension rod 23, and further transferred to the loading head 43. The loading head 43 further transfers the load to the calibrated balance 42, so as to load the multi-component load of the calibrated balance 42. Among them, the loading head 43 is directly connected to the automatic loading subsystem 2 distributed downward through the steel belt 21, and the gravity of the weight is directly transferred to the loading head 43. The loading head 43 is connected to the automatic loading subsystem 2 distributed upward on the second platform of the platform 6, and the upward pulling force corresponding to the gravity of the weight is transferred to the loading head 43 through the 180° reversal of the load reversing subsystem 3 on the third platform. The loading head 43 is connected to the automatic loading subsystem 2 located at different positions around it in front, behind, left and right, and realizes 90° load reversal through the surrounding load reversing subsystem 3, converting the gravity of the weight into horizontal force and transferring it to the loading head 43. Thereby, a load can be applied to the calibrated balance 42 provided on the loading head 43 .

[0057] After the calibrated balance 42 is subjected to the loading load, elastic deformation will occur, including linear displacement in three directions and angular displacement in three directions. After the calibrated balance 42 is elastically deformed, it will drive the loading head 43 and the target plate installed thereon to change their posture. The 7 displacement sensors measure the distance changes at 7 positions and convert them into deformation amounts. Among them, the combination of displacement sensor No. 1 501 and displacement sensor No. 2 502 can realize the measurement of displacement in the z-axis direction and the rotation angle around the y-axis; the combination of displacement sensor No. 3 503 and displacement sensor No. 4 504 can realize the measurement of displacement in the y-axis direction and the rotation angle around the z-axis; the combination of displacement sensor No. 505 and displacement sensor No. 6 506 can realize the measurement of the rotation angle around the x-axis; the displacement sensor No. 7 507 can realize the measurement of displacement in the x-axis direction.

[0058] During the balance calibration process, the balance posture can be adjusted and reset through the reset subsystem 1, specifically including adjusting and resetting the roll angle of the balance to be calibrated through the roll mechanism 11, adjusting and resetting the axial displacement of the balance to be calibrated through the axial motion mechanism 12, adjusting and resetting the normal displacement and pitch angle of the balance to be calibrated through the pitch and normal motion mechanism 13, and adjusting and resetting the lateral displacement and yaw angle of the balance to be calibrated through the yaw and lateral motion mechanism 14.

[0059] In summary, the present invention provides a large-load, high-precision reset-type balance automatic calibration system, each subsystem has a compact structure and clear functions. The reset subsystem maximizes the use of the advanced performance of the servo motor, so that the reset accuracy of the linear displacement can be equivalent to the motion accuracy of the servo motor, and the reset accuracy of the angular displacement is also improved to a corresponding degree. In addition, the control logic of each subsystem including the reset subsystem, automatic loading system and displacement measurement system is concise, and it is easy to realize integrated control, realizing automatic calibration, while freeing up manpower and greatly improving the calibration efficiency.

[0060] Although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A large-load high-precision reset balance automatic calibration system, characterized in that: It includes a reset subsystem (1), six automatic loading subsystems (2), five load switching subsystems (3), a balance installation subsystem (4), a displacement measurement subsystem (5), a stand (6) and a control system (7); The reset subsystem (1) is located at the center of the calibration system and is connected to the balance installation subsystem (4) to achieve posture adjustment of the balance installation subsystem (4); The balance installation subsystem (4) is used to set up the calibrated balance (42); The six automatic loading subsystems (2) are respectively distributed around the balance installation subsystem (4) along the top, bottom, left, right, front and back; The five load reversing subsystems (3) include a 180° load reversing subsystem, a first 90° load reversing subsystem, a second 90° load reversing subsystem, a third 90° load reversing subsystem, and a fourth 90° load reversing subsystem; wherein the downwardly distributed automatic loading subsystem is directly connected to the balance installation subsystem (4) to apply a downward load, the upwardly distributed automatic loading subsystem is connected to the balance installation subsystem (4) via the 180° load reversing subsystem to apply an upward load, and the left-side distributed automatic loading subsystem is connected to the balance installation subsystem (4) via the first The 90° load reversing subsystem is connected to the balance installation subsystem (4) to apply a horizontal leftward load, the automatic loading subsystem distributed on the right side is connected to the balance installation subsystem (4) through a second 90° load reversing subsystem to apply a horizontal rightward load, the automatic loading subsystem distributed on the front side is connected to the balance installation subsystem (4) through a third 90° load reversing subsystem to apply a horizontal forward load, and the automatic loading subsystem distributed on the rear side is connected to the balance installation subsystem (4) through a fourth 90° load reversing subsystem to apply a horizontal backward load; The displacement measurement subsystem (5) is used to monitor the posture change of the balance installation subsystem (4); The stand (6) is used to support the automatic loading subsystem (2) and provide an aerial operating platform for the operator; The control system (7) is used to realize parameter measurement and control of each subsystem.

2. The system according to claim 1, characterized in that The resetting subsystem (1) comprises a rolling mechanism (11), an axial motion mechanism (12), a pitch and normal motion mechanism (13), and a yaw and lateral motion mechanism (14); the rolling mechanism (11), the axial motion mechanism (12), the pitch and normal motion mechanism (13), and the yaw and lateral motion mechanism (14) are connected together in series; from top to bottom, the rolling mechanism (11) is installed on the axial motion mechanism (12), the bottom of the axial motion mechanism (12) is connected to the pitch and normal motion mechanism (13), and the pitch and normal motion mechanism (13) is connected to the yaw and lateral motion mechanism (14) through its base; The roll angle of the balance to be calibrated is adjusted and reset by a roll mechanism (11), the axial displacement of the balance to be calibrated is adjusted and reset by an axial motion mechanism (12), the normal displacement and the pitch angle of the balance to be calibrated are adjusted and reset by a pitch and normal motion mechanism (13), and the lateral displacement and the yaw angle of the balance to be calibrated are adjusted and reset by a yaw and lateral motion mechanism (14).

3. The system according to claim 1, characterized in that The automatic loading subsystem (2) comprises a weight string and a weight lifting mechanism. The weight string is used as a source of load applied during balance calibration. The weight string is placed on the weight lifting mechanism as a whole, and the weight lifting mechanism drives the weight string to rise and fall. The weight string comprises a steel belt (21), a suspension rod (23), a weight (24) and a counterweight plate (27). The weight lifting mechanism comprises a bracket (22), a tray (25), a slide rail (26) and a spiral lifter (28). The counterweight plate (27) is freely suspended at the bottom and connected to the suspension rod (23) at the top. The suspension rod (23) is connected to one end of the steel belt (21). If the automatic loading subsystem (2) is a downwardly distributed automatic loading subsystem, the other end of the steel belt (21) is The end of the steel belt (21) is connected to the balance installation subsystem (4); if the automatic loading subsystem (2) is an automatic loading subsystem distributed upward, left, right, front or rear, the other end of the steel belt (21) is connected to the corresponding load reversing subsystem (3); the weight (24) includes a plurality of weights (24) stacked up and down, and distributed up and down along the suspension rod (23); the tray (25) is below the weight (24) and supports all the weights (24); the tray (25) is connected to the lower part of the bracket (22) through a slide rail (26); the lower part of the tray (25) is connected to the lead screw of the screw elevator (28), and the screw elevator (28) is fixed to the bottom of the bracket (22); When the automatic loading subsystem (2) is working, the counterweight plate (27), the suspension rod (23) and the steel belt (21) do not move actively, and the screw elevator (28) drives the tray (25) to move up and down, and further drives the weights (24) on the tray (25) to move up and down, so that the weights (24) and the suspension rod (23) produce relative movement; when the tray (25) drives the weights (24) to descend, each weight (24) of the weights (24) is separated from other weights (24) from top to bottom and is suspended The weight (24) is placed on the suspension rod (23), and the weight (24) is further transferred to the balance installation subsystem (4) through the suspension rod (23) and the steel belt (21) to realize loading; when the tray (25) drives the weight (24) to rise, each weight (24) is separated from the suspension rod (23) from bottom to top and stacked together again, and finally stacked on the tray (25) to realize unloading; the counterweight plate (27) manually suspends the weight (24) alone, and relies on the weight of the weight (24) to straighten the steel belt (21).

4. The system according to claim 1, characterized in that The load reversing subsystem (3) comprises a reversing frame (31), a base (32), a pulley support seat (33), a pulley (34) and a screw (35); the reversing frame (31) is a steel frame structure, the lower surface of which is installed on the ground, and the uppermost surface is a reference platform with a slide rail (26); the base (32) is installed on the reference platform and moves along the slide rail (26) of the reference platform to achieve position adjustment; the pulley support seat (33) is installed on one side of the base (32); the pulley (34) is installed on the pulley support seat (33) through a bearing and achieves low-friction rotation around the axis of the pulley (34); the height of the pulley (34) is adjusted by the screw (35), and after adjustment is in place, the pulley support seat (33) is locked to the base (32) by a screw to limit the position of the pulley (34) on the horizontal plane.

5. The system according to claim 1, characterized in that The balance installation subsystem (4) comprises a calibration support rod (41) and a loading head (43); the calibration support rod (41) is installed on the reset subsystem (1), the first end of the calibrated balance (42) is installed on the end of the calibration support rod (41) away from the reset subsystem (1), and the second end of the calibrated balance (42) is arranged on the loading head (43); The loading head (43) is a sandwich structure, comprising a split structure of an inner cylinder (431) and a loading head body (432), wherein the inner cylinder (431) is used to connect to a calibrated balance (42) according to a designated interface of the balance, and is sleeved on the outer periphery of a rolling mechanism (11) of a resetting subsystem (1); a plurality of corresponding interfaces for connecting to a steel belt (21) of an automatic loading subsystem (2) are arranged on the outer contour of the loading head body (432), so as to realize connection with the steel belt (21); under the traction of the steel belt (21), an upward, downward, left, right, front and rear loading force is applied to the loading head (43); the loading head body (432) slides freely forward and backward on the inner cylinder (431), and after sliding to a designated position, it is pressed and locked by a screw on a clamp (433), so as to fix the relative position of the loading head body (432) and the inner cylinder (431), so as to realize adjustment of the position of the loading center relative to the balance.

6. The system according to claim 1, characterized in that The displacement measurement subsystem (5) comprises a cross-shaped target plate (51), a circular target plate (52) and a laser displacement sensor; wherein the cross-shaped target plate (51) is mounted on the upper surface of the loading head (43), the circular target plate (52) is mounted on the front end surface of the loading head (43), and the four ends of the cross-shaped target plate (51) and the circular target plate (52) are respectively used to receive laser displacement sensor signals in different directions; the laser displacement sensor comprises a No. 1 displacement sensor (501), a No. 2 displacement sensor (502), a No. 3 displacement sensor (503), a No. 4 displacement sensor (504), a No. 5 displacement sensor (505), a No. 6 displacement sensor (506), and a No. 7 displacement sensor (507); the seven laser displacement sensors are mounted on a separate displacement sensor bracket (22) and do not come into contact with the loading head body (432) and the target plate; Displacement sensor No. 1 (501) and displacement sensor No. 2 (502) are arranged along the x-axis and are used to detect laser light reflected from a first plane of a cross-shaped target plate (51); displacement sensor No. 3 (503) and displacement sensor No. 4 (504) are arranged along the x-axis and are used to detect laser light reflected from a second plane of a cross-shaped target plate (51), the second plane being arranged perpendicular to the first plane; displacement sensor No. 5 (505) and displacement sensor No. 6 (506) are arranged along the y-axis and are used to detect laser light reflected from a third plane of a cross-shaped target plate (51), the third plane being arranged parallel to the first plane; laser displacement sensor No. 7 is arranged at the front end of the cross-shaped target plate (51) in the x-axis direction and is used to detect laser light reflected from a circular target plate (52).

7. The system according to claim 6, characterized in that The combination of displacement sensor No. 1 (501) and displacement sensor No. 2 (502) realizes the measurement of displacement in the z-axis direction and the rotation angle around the y-axis; the combination of displacement sensor No. 3 (503) and displacement sensor No. 4 (504) realizes the measurement of displacement in the y-axis direction and the rotation angle around the z-axis; the combination of displacement sensor No. 5 (505) and displacement sensor No. 6 (506) realizes the measurement of the rotation angle around the x-axis; and displacement sensor No. 7 (507) realizes the measurement of displacement in the x-axis direction.

8. The system according to claim 1, characterized in that The platform (6) is a three-layer platform-type steel frame structure, wherein the first layer platform is used to place the reset subsystem (1), the automatic loading subsystem distributed downward, the automatic loading subsystem distributed at the front side, the automatic loading subsystem distributed at the rear side, the automatic loading subsystem distributed at the left side, the automatic loading subsystem distributed at the right side, the first 90° load reversing subsystem, the second 90° load reversing subsystem, the third 90° load reversing subsystem, the fourth 90° load reversing subsystem, the balance installation subsystem (4), the displacement measurement subsystem (5), the platform (6) and the control system (7), the second layer platform is used to place the automatic loading subsystem distributed upward, and the third layer platform is used to install and place the 180° load reversing subsystem matched with the automatic loading subsystem distributed upward; the platform (6) also includes stairs from the first layer platform to the second layer platform and the third layer platform to facilitate the up and down movement of operators.

9. The system according to claim 1, characterized in that The working process of the control system (7) includes: after the control system (7) receives the loading instruction, firstly read the six-component load of the load point, then distribute the loading load of each loading subsystem according to the positional relationship of each loading subsystem, and execute the loading of each loading subsystem; after the loading is completed, the displacement of each laser displacement sensor is measured by the displacement measurement subsystem (5), and the linear displacement and angular displacement change of the balance installation subsystem (4), as well as the attitude difference with the zero position are calculated; according to the attitude difference, the reset program is started, and the reset subsystem (1) resets the roll angle, pitch angle, yaw angle, X-direction linear displacement, Y-direction linear displacement and Z-direction linear displacement in sequence by controlling the movement of each motion mechanism, and then a round of reset program is completed; after each round of reset program is completed, the reading of each laser displacement sensor is re-read and the attitude difference with the zero position is re-calculated, if it is greater than the threshold requirement, the reset program is started again, if it is less than the threshold requirement, the balance reading collection function is started; when collecting the balance reading, it is determined whether there is vibration in the system accessories causing the balance reading oscillation, and the collection is performed after the balance reading is stable; after the balance reading collection is completed, the loading of the load point is completed.

10. A method for using a large-load high-precision reset balance automatic calibration system, characterized in that: The system is a system according to any one of claims 1 to 9; the method comprises: By controlling the six automatic loading subsystems (2), under the load conversion action of the five load switching subsystems (3), the load is transferred to the balance installation subsystem (4), and the balance installation subsystem (4) further transfers the load to the calibrated balance (42); Measuring the posture change generated by the balance installation subsystem (4) through the displacement sensor of the displacement measurement subsystem (5); The balance posture is adjusted and reset through the reset subsystem (1).

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