CN107036795B - Multifunctional debugging platform - Google Patents
Multifunctional debugging platform Download PDFInfo
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- CN107036795B CN107036795B CN201710287394.7A CN201710287394A CN107036795B CN 107036795 B CN107036795 B CN 107036795B CN 201710287394 A CN201710287394 A CN 201710287394A CN 107036795 B CN107036795 B CN 107036795B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a multifunctional debugging platform which comprises a top fixing plate, X-axis rollers, X-axis guide rails, Y-axis rollers, Y-axis seal closing guide rails, a base, a Z-axis high-precision telescopic rod and a 4-degree-of-freedom connecting device, wherein the X-axis rollers are arranged on two sides of the top fixing plate and move horizontally along the X-axis guide rails to realize horizontal movement of the top fixing plate in the X-axis direction; y-axis rollers are arranged at two ends of the X-axis guide rail and embedded in the Y-axis sealing guide rail, so that the top fixing plate horizontally moves along the Y-axis direction; two ends of the Y shaft sealing guide rail are fixed on the base; the upper part of the top fixing plate is connected with a 4-degree-of-freedom connecting device; the Z-axis high-precision telescopic rod is fixed in the 4-degree-of-freedom connecting device; and a ball joint bearing is arranged below the Z-axis high-precision telescopic rod and is connected and fixed with the debugged equipment through the ball joint bearing. The invention is used for debugging the self-stability performance and the motion performance of various devices such as unmanned aerial vehicles, airborne cloud platforms, mechanical arms and the like, and simultaneously ensures the test safety.
Description
Technical Field
The invention relates to the field of debugging test platforms, in particular to a multifunctional debugging platform which is used for debugging unmanned aerial vehicles, airborne cloud platforms, mechanical arms, robots and the like.
Background
At present, the test equipment in China has some outstanding problems such as lack of unified planning, single function, low standardization, serialization and universalization degrees and the like. Especially, most debugging platforms have single functions and high cost. This requires a multi-functional test system that is suitable for modernization to meet more comprehensive test needs.
For example, the debugging platform suitable for the unmanned aerial vehicle is required to be used for effectively detecting and evaluating the flight control rate of the unmanned aerial vehicle in the development stage, the debugging detection stage and the post fault analysis of the unmanned aerial vehicle, and the flight control system can be conveniently and comprehensively functionally detected. The airborne multi-axis cradle head of the airplane is an important component of the unmanned aerial vehicle and is widely applied to aerial photographing measurement of the unmanned aerial vehicle. The test of the airborne cradle head also needs a test platform to be completed. And a robot, a mechanical arm and the like are used for testing, and a debugging platform capable of accurately measuring displacement and angle is needed for testing and collecting data.
The existing debugging platform scheme has the defect that the use object of the debugging platform is single, and the cost is high. The debugging platform can only be used for single-function debugging and measurement.
And (3) searching:
the invention discloses a multi-rotor unmanned aerial vehicle flight control debugging and protecting device (201510210148.2), which is used for debugging the self-stability performance of a multi-rotor unmanned aerial vehicle flight control system and ensuring test safety. The invention is based on the rigid body dynamics principle of the flying of the multi-rotor unmanned aerial vehicle, and comprises a tripod and 4 changeable flying control debugging modules, wherein the flying control of the unmanned aerial vehicle can be independently debugged in three single degrees of freedom of rolling, pitching and heading and comprehensively debugged in three degrees of freedom by limiting the movement form of the multi-rotor unmanned aerial vehicle by a mechanical structure; the actual performances of a new technology and a new method adopted by the unmanned aerial vehicle are clarified by observing the control response of the multi-rotor unmanned aerial vehicle when running on different modules of the protection device; the unmanned aerial vehicle system can perform function division on self-stabilization of flight control, is convenient to develop engineering management, can protect debugging of the unmanned aerial vehicle, avoids property loss possibly caused by blind test flight, reduces research and development risks and difficulty, and promotes development of multi-rotor unmanned aerial vehicle industry.
The invention provides an unmanned aerial vehicle attitude control testing device (201510719090.4) with an external frame, which comprises a base, a first rotating pair, a second rotating pair, a third rotating pair, a first rotating device, a second rotating device, a mounting module and an unmanned aerial vehicle module, wherein the first rotating pair, the second rotating pair, the third rotating pair, the first rotating device, the second rotating device, the mounting module and the unmanned aerial vehicle module are arranged on the base; wherein: the base is fixed on the fixed surfaces such as the ground or a tabletop; the first rotating device is connected with the base through a first rotating pair; the second rotating device is connected with the first rotating device through a second revolute pair; the installation module is connected with the second rotating device through a third rotating pair; the unmanned aerial vehicle module is installed on the installation module. Based on the mechanical six-degree-of-freedom mechanical structure design principle, the unmanned aerial vehicle module is fixed on the installation module of the device to realize comprehensive simulation of the omnidirectional flight attitude with three degrees of rotational freedom of pitching, yawing and rolling of the fuselage. The space of the invention is very small, the indoor debugging of the unmanned aerial vehicle can be carried out, the complex flow of outdoor debugging is avoided, and unsafe factors to people and the unmanned aerial vehicle in the debugging process are avoided.
The invention provides a manipulator test platform (201604274576. X), which is applied to the field of manipulator equipment, wherein a test arm is movably arranged on a test body part of a test manipulator of the manipulator test platform, the test arm consists of a plurality of sections of arm joints, the test arm is connected with a control host, a scale plate is arranged on the test platform, an X-axis scale and a Y-axis scale are arranged on the scale plate, and a height ruler is further arranged on the test platform.
An unmanned aerial vehicle airborne multiaxis cloud platform debugging platform (201610519358.4) provides an unmanned aerial vehicle airborne multiaxis cloud platform debugging platform, its characterized in that includes the platform: the X-axis motor and the Y-axis motor are arranged on the tabletop, the axes of the X-axis motor and the Y-axis motor are perpendicular to each other, the table legs are arranged at four corners of the tabletop, an opening for installing a tested tripod head is arranged in the center of the tabletop, an X platform and a Y platform are arranged in the opening, a through hole for accommodating the Y platform is formed in the X platform, the X platform is rotationally connected with the side face of the opening in the X direction through a rotating shaft, the Y platform is rotationally connected with the side face of the through hole in the Y direction through a rotating shaft, and the X-axis motor and the Y-axis motor are respectively connected with the rotating shafts on the side faces of the X platform and the Y platform; debugging system: the device comprises a main control module, a voltage and current detection circuit, a wireless image return module and a wireless data receiving and transmitting module, wherein a motor is connected with the main control module through a motor driving circuit, the main control module is respectively connected with the voltage and current detection circuit, the wireless image return module and the wireless data receiving and transmitting module, and the voltage and current detection circuit is also connected with a tested holder through a communication/power supply interface; and a power supply module: the power supply circuit is electrically connected with the tested cradle head and the debugging system respectively.
Disadvantage 1: the debugging devices related to the two unmanned aerial vehicle debugging platforms are all debugging platforms based on unmanned aerial vehicle bottom connection, and various sensors (such as ultrasonic sensors and visual sensors) are usually required to be installed at the unmanned aerial vehicle bottom. The ultrasonic sensor is used for measuring the height of the unmanned aerial vehicle, and if a connecting device is arranged below the ultrasonic sensor, the ultrasonic measurement result can be influenced. The visual sensor of looking down is a camera of installing in unmanned aerial vehicle bottom, based on image recognition technique measurement unmanned aerial vehicle parameter, if there is connecting device in its field of vision, can influence visual sensor measuring result. None of the debugging devices includes a platform rail. The guide rail in the horizontal direction can enlarge the debugging horizontal movement range of the unmanned aerial vehicle, which is not possessed by the two devices. The guide rail in the vertical direction can enlarge the debugging vertical direction moving range of the unmanned aerial vehicle, the method of the debugging device related to the two patents is that the connecting rod moves in the up-down direction, and the length of the connecting rod limits the debugging range of the unmanned aerial vehicle; if too long a pole is added, the normal operation of the unmanned aerial vehicle can be affected. The debugging platform related to the unmanned aerial vehicle-mounted cradle head patent can only test X, Y in two directions, the motion trail of the unmanned aerial vehicle in actual motion is complex, and the lack of measurement in the vertical direction can influence the accuracy of a test result; the range measured by the manipulator test platform patent is slightly smaller, and the manipulator test platform patent cannot move in the vertical direction.
Disadvantage 2: the objects which can be tested by the debugging platform related to the four patents are single, and the application range is small; and the debugging platform has smaller functions and limited testing range.
Disclosure of Invention
The invention provides a multifunctional debugging platform which can test various devices, including an unmanned aerial vehicle, an unmanned aerial vehicle-mounted cradle head, a robot, a mechanical arm and the like; the debugging platform can be used for measuring various data, has a complete debugging function, and can also be used for measuring the position information of equipment in real time. The defect that the current debugging platform has single test object and insufficient debugging function is overcome.
To achieve the above object, the present invention provides a multifunctional debug platform, including: the device comprises a top fixing plate, an X-axis roller, an X-axis guide rail, a Y-axis roller, a Y-axis sealing guide rail, a base, a Z-axis high-precision telescopic rod and a 4-degree-of-freedom connecting device; wherein:
a plurality of X-axis rollers are respectively arranged on two sides of the top fixing plate, the X-axis rollers are matched with the X-axis guide rail, and the X-axis rollers horizontally move along the X-axis guide rail, so that the top fixing plate is driven to horizontally move along the X-axis direction; the two ends of the X-axis guide rail are respectively provided with the Y-axis roller, the Y-axis roller is embedded in the Y-axis sealing guide rail, and the Y-axis roller moves horizontally along the Y-axis sealing guide rail, so that the top fixing plate is driven to realize horizontal movement along the Y-axis direction; two ends of the Y-shaft sealing guide rail are fixed on the base; the upper portion of top fixed plate is connected with 4 degree of freedom connecting device, Z axle high accuracy telescopic link is fixed in among the 4 degree of freedom connecting device, ball joint is installed to the below of Z axle high accuracy telescopic link and passes through ball joint connects fixedly by debugging equipment, 4 degree of freedom connecting device is used for debugging and is debugged the removal of equipment in 4 directions in front, back, left and right, Z axle high accuracy telescopic link is used for being debugged the removal of equipment in 2 upper and lower directions.
Preferably, the 4-degree-of-freedom connection device includes: an X-axis bearing, an X-axis angle encoder, a Y-axis bearing, a Y-axis angle encoder, a Z-axis linear bearing, a fixed base and a 4-degree-of-freedom connecting device framework; wherein:
the fixed base is fixed on the upper part of the top fixed plate; two ends of the X-axis bearing are fixed on the fixed base; the framework of the 4-degree-of-freedom connecting device is fixedly connected to the middle position of the X-axis bearing; the X-axis angle encoder is fixedly connected with one end of the X-axis bearing; the Y-axis bearing, the Y-axis angle encoder and the Z-axis linear bearing are fixed on the framework of the 4-degree-of-freedom connecting device, and the Z-axis high-precision telescopic rod is embedded in the Z-axis linear bearing;
an X-axis bearing, an X-axis angle encoder, a Y-axis bearing and a Y-axis angle encoder are fixed on the framework of the 4-freedom connecting device, wherein: the X-axis bearing and the Y-axis bearing are driven to rotate by the self motion of the debugged equipment, so that the motion of the debugged equipment in the front, back, left and right directions is debugged, and meanwhile, the deflection pose of the Z-axis high-precision telescopic rod is obtained by the measurement of the X-axis angle encoder and the Y-axis angle encoder; the Z-axis linear bearing is embedded with a Z-axis high-precision telescopic rod, and the telescopic motion of the Z-axis high-precision telescopic rod drives the debugged equipment fixed below the Z-axis high-precision telescopic rod through the ball joint bearing to realize movement in the up-and-down 2 directions; the connection position of the debugging platform and the debugged equipment is determined according to the specific debugged equipment.
Preferably, the number of the X-axis rollers is not less than four and the X-axis rollers are symmetrically arranged at the two side edge positions of the top fixing plate.
Preferably, the X-axis guide rail is provided with a position encoder for measuring the displacement and position of the device to be debugged in the X-axis direction.
More preferably, the position encoder is a magnetic grid type position encoder, and the magnetic grid type position encoder has the characteristics of high precision, low cost and convenience in installation and use.
More preferably, the number of the X-axis guide rails is not less than two and is arranged in parallel.
Preferably, a position encoder is mounted on the Y-axis guide rail for measuring the position and displacement of the Y-axis guide rail in the Y-axis direction, i.e. the position and displacement of the debugged device in the Y-axis direction.
More preferably, the position encoder is a magnetic grid type position encoder, and the magnetic grid type position encoder has the characteristics of high precision, low cost and convenience in installation and use.
More preferably, the number of the Y-axis guide rails is not less than two and the Y-axis guide rails are arranged in parallel, and the arrangement position of the Y-axis roller is determined according to the number and the position of the Y-axis guide rails.
According to the invention, the stability and load of the debugging platform can be effectively improved by increasing the number of the Y-axis guide rails, the X-axis rollers and the Y-axis rollers.
Preferably, the Z-axis high-precision telescopic rod has a length limitation, so that the debugged equipment can freely move within a limit range.
Preferably, the Z-axis high-precision telescopic rod is further provided with a position encoder and an inertial measurement module, wherein:
the position encoder is used for measuring the position and displacement of the debugged equipment in the Z-axis direction;
the inertial measurement module is used for measuring the gesture of the Z-axis high-precision telescopic link.
Preferably, the base is provided with bottom supporting frames which are respectively arranged at two ends of the Y-axis guide rail;
preferably, the debugging platform is further provided with an upper computer participating in the debugging of the debugged equipment, and wired or wireless data communication is performed between the upper computer and the debugged equipment, wherein:
the wired data communication mode refers to: the upper computer is connected with the debugged equipment through a data line, and wired data communication between the upper computer and the debugged equipment is realized through the data line;
the wireless data communication mode refers to: radio stations are respectively arranged on the upper computer and the debugged equipment, and wireless data communication between the upper computer and the debugged equipment is realized through the radio stations.
According to the invention, the debugged equipment freely moves within the limit range by limiting the length of the Z-axis high-precision telescopic rod, and meanwhile, the connection position of the debugging platform and the debugged equipment is determined according to the specific debugged equipment. When the debugging platform operates, the deflection pose of the Z-axis high-precision telescopic rod is obtained through the measurement of the X-axis angle encoder and the Y-axis angle encoder; the debugging platform automatically controls the top fixing plate to horizontally move along the X-axis guide rail and the X-axis guide rail to horizontally move along the Y-axis guide rail, so that the Z-axis high-precision telescopic rod tends to be in a vertical state.
Compared with the prior art, the invention has the following beneficial effects:
the invention can effectively protect the debugged equipment when debugging the debugged equipment, and reduce the loss caused by imperfect control system of the debugged equipment to blind debugging of the equipment; the invention can measure and collect partial parameters of the debugged equipment, and assist in verifying the accuracy of parameter measurement of a control system of the debugged equipment; when the invention is used for debugging equipment, the measurement result of the debugged equipment can be used for participating in the control of the debugged equipment, so that a debugger still can possibly finish the verification work of the control algorithm of the debugged equipment when the measurement system is incomplete.
The platform guide rail provided by the invention can effectively enlarge the debugging range of equipment, the horizontal guide rail, namely the X-axis guide rail and the Y-axis seal guide rail, can enlarge the debugging horizontal movement range of the equipment, and the vertical guide rail, namely the Z-axis high-precision telescopic rod, can enlarge the debugging vertical movement range of the equipment. Compared with the traditional debugging platform with single function, the debugging platform has rich functions and can comprehensively debug the debugged equipment.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the overall structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a 4-degree-of-freedom linkage according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a wired communication mode according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a wireless communication method according to a preferred embodiment of the present invention;
in the figure:
the device comprises a top fixing plate 1, an X-axis roller 2, an X-axis guide rail 3, a Y-axis roller 4, a Y-axis sealing guide rail 5, a base 6, a Z-axis high-precision telescopic rod 7, a 4-degree-of-freedom connecting device 8, a ball joint bearing 9, debugged equipment 10, an inertial measurement module 11, an X-axis bearing 12, an X-axis angle encoder 13, a Y-axis bearing 14, a Y-axis angle encoder 15, a Z-axis linear bearing 16, a fixing base 17, a 4-degree-of-freedom connecting device framework 18, an upper computer 19, a data wire 20 and a radio station 21.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, a multifunctional debugging platform includes: the device comprises a top fixing plate 1, an X-axis roller 2, an X-axis guide rail 3, a Y-axis roller 4, a Y-axis seal guide rail 5, an overhead base 6, a Z-axis high-precision telescopic rod 7, a 4-degree-of-freedom connecting device 8, a ball joint bearing 9, debugged equipment 10 and an inertia measurement module 11; wherein:
a plurality of X-axis rollers 2 are arranged on two sides of the top fixing plate 1, and the X-axis rollers 2 are symmetrically arranged on two sides of the top fixing plate 1; the X-axis guide rail 3 is two parallel guide rails, and the X-axis roller 2 can horizontally move along the X-axis guide rail 3; a plurality of Y-axis rollers 4 are fixed at two ends of the X-axis guide rail 3, and the Y-axis rollers 4 are symmetrically arranged below the two parallel X-axis guide rails 3; the Y-axis seal guide rail 5 is two parallel guide rails, and the Y-axis roller 4 can horizontally move along the Y-axis seal guide rail 5; two ends of the two Y-shaft sealing guide rails 5 are respectively fixed on the base 6; a 4-degree-of-freedom connecting device 8 is fixed on the top fixing plate 1; the Z-axis high-precision telescopic rod 7 is fixed in the 4-degree-of-freedom connecting device 8, and the debugged equipment 10 is fixedly connected below the Z-axis fixing plate 7 through the ball joint bearing 9; and an inertial measurement module 11 is arranged on the Z-axis high-precision telescopic rod 7 and is used for measuring the posture of the Z-axis high-precision telescopic rod 7.
As shown in fig. 2, as a preferred embodiment, the 4-degree-of-freedom connecting device 8 includes: an X-axis bearing 12, an X-axis angle encoder 13, a Y-axis bearing 14, a Y-axis angle encoder 15, a Z-axis linear bearing 16, a fixed base 17, and a 4-degree-of-freedom connecting device framework 18; wherein:
both ends of the X-axis bearing 12 are respectively fixed on the fixed base 17; the fixed base 17 is fixed at the upper part of the top fixed plate 1; the X-axis angle encoder 13 is provided at one end of the X-axis bearing 12; the 4-degree-of-freedom connecting device framework 18 is fixed at the middle position of the X-axis bearing 12; the Y-axis bearing 14, the Y-axis angle encoder 15 and the Z-axis linear bearing 16 are fixed on the 4-degree-of-freedom connecting device framework 18, and the Z-axis high-precision telescopic rod 7 is embedded into the Z-axis linear bearing 16.
An X-axis bearing 12, an X-axis angle encoder 13, a Y-axis bearing 14 and a Y-axis angle encoder 15 are fixed on the 4-freedom connecting device framework 18, wherein: the X-axis bearing 12 and the Y-axis bearing 13 are driven to rotate by the self motion of the debugged equipment 10, so that the motion of the debugged equipment 10 in the front, back, left and right directions is debugged, and meanwhile, the deflection pose of the Z-axis high-precision telescopic rod 7 is obtained by the measurement of the X-axis angle encoder 13 and the Y-axis angle encoder 15.
The Z-axis linear bearing 16 is embedded with a Z-axis high-precision telescopic rod 7,Z, the Z-axis high-precision telescopic rod 7 is fixed in the 4-degree-of-freedom connecting device 8, the debugged equipment 10 is fixed below the Z-axis high-precision telescopic rod 7 through the ball joint bearing 9, and the telescopic movement of the Z-axis high-precision telescopic rod 7 drives the debugged equipment 10 to move in the upper and lower 2 directions.
As a preferred embodiment, the number of the X-axis rollers 2 is not less than four.
As a preferred embodiment, at least two Y-axis rollers 4 are disposed under each of the X-axis guide rails 3.
The stability and the load of the debugging platform can be effectively improved by increasing the number of the X-axis guide rails 3, the Y-axis sealing guide rails 5, the X-axis rollers 2 and the Y-axis rollers 4.
As a preferred embodiment, a position encoder for measuring the position of the top fixing plate 1 in the X-axis direction is mounted on the X-axis guide 3.
As a preferred embodiment, a position encoder for measuring the position of the Y-axis closing guide 5 in the Y-axis direction, that is, the position of the top fixing plate 1 in the Y-axis direction is mounted on the Y-axis closing guide 5.
Preferably, the position encoder adopts a magnetic grid type position encoder, and the magnetic grid type position encoder has the characteristics of high precision, low cost and convenience in installation and use.
As shown in fig. 3, as a preferred embodiment, the multifunctional debugging platform is further provided with an upper computer 19 for participating in debugging, and the upper computer 19 is in data communication with the debugged device 10; wherein:
the upper computer 19 is in wired communication with the debugged equipment 10, namely, the upper computer 19 is connected with the debugged equipment 10 through a data line 20, and data communication between the upper computer 19 and the debugged equipment 10 is realized through the data line 20;
as shown in fig. 4, as a preferred embodiment, the host computer 19 communicates with the device under debug 10 in a wireless manner, that is, a radio station 21 is respectively provided on the host computer 19 and the device under debug 10, and data communication between the host computer 19 and the device under debug 10 is achieved through the radio station 21.
The debugging platform can enable the debugged equipment 10 to freely move in a limiting range, when the debugged equipment 10 is debugged by using the debugging platform, the performance parameters of the debugged equipment 10 are just equivalent to the weight of the Z-axis high-precision telescopic rod 7 added on the debugged equipment 10, and other structures can not generate acting force on the debugged equipment 10 when the limit range is not exceeded.
When the debugging platform operates, the deflection pose of the Z-axis high-precision telescopic rod 7 is obtained through the measurement of the X-axis angle encoder 13 and the Y-axis angle encoder 15; the debugging platform automatically controls the top fixing plate 1 to horizontally move along the X-axis guide rail 3 and the X-axis guide rail 3 to horizontally move along the Y-axis guide rail 5 respectively, so that the Z-axis high-precision telescopic rod 7 is in a vertical state.
In other embodiments, the X-axis angle encoder 13 and the Y-axis angle encoder 15 may be absent. In addition, the number of X-axis guide rails 3 or Y-axis seal guide rails 5 can be increased. These can be set according to actual needs without affecting the essence of the invention.
The invention can safely and conveniently debug the self-stability performance and the motion performance of the debugging equipment; the invention solves the problems that the existing debugging platform installation scheme influences the sensor of the tested equipment, the small debugging movement range of the equipment on the debugging platform and the like; the invention can protect the safety of the debugged equipment and simultaneously can measure the position information of the equipment in real time.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (8)
1. A multi-functional debug platform, comprising: the device comprises a top fixing plate, an X-axis roller, an X-axis guide rail, a Y-axis roller, a Y-axis sealing guide rail, a base, a Z-axis high-precision telescopic rod and a 4-degree-of-freedom connecting device; wherein:
a plurality of X-axis rollers are respectively arranged on two sides of the top fixing plate, the X-axis rollers are matched with the X-axis guide rail, and the X-axis rollers horizontally move along the X-axis guide rail, so that the top fixing plate is driven to horizontally move along the X-axis direction; the two ends of the X-axis guide rail are respectively provided with the Y-axis roller, the Y-axis roller is embedded in the Y-axis sealing guide rail, and the Y-axis roller moves horizontally along the Y-axis sealing guide rail, so that the top fixing plate is driven to realize horizontal movement along the Y-axis direction; two ends of the Y-shaft sealing guide rail are fixed on the base; the upper part of the top fixing plate is connected with the 4-degree-of-freedom connecting device, the Z-axis high-precision telescopic rod is fixed in the 4-degree-of-freedom connecting device, a ball joint bearing is arranged below the Z-axis high-precision telescopic rod and is connected with and fixed to the debugged equipment through the ball joint bearing, the 4-degree-of-freedom connecting device is used for debugging the movement of the debugged equipment in the front, back, left and right 4 directions, and the Z-axis high-precision telescopic rod is used for the movement of the debugged equipment in the up and down 2 directions;
the 4-degree-of-freedom connection device includes: an X-axis bearing, an X-axis angle encoder, a Y-axis bearing, a Y-axis angle encoder, a Z-axis high-precision telescopic rod, a fixed base and a 4-degree-of-freedom connecting device framework; wherein:
the fixed base is fixed on the upper part of the top fixed plate; two ends of the X-axis bearing are fixed on the fixed base; the framework of the 4-degree-of-freedom connecting device is fixedly connected to the middle position of the X-axis bearing; the X-axis angle encoder is fixedly connected with one end of the X-axis bearing; the Y-axis bearing, the Y-axis angle encoder and the Z-axis linear bearing are fixed on the framework of the 4-degree-of-freedom connecting device, and the Z-axis high-precision telescopic rod is fixed in the Z-axis linear bearing;
an X-axis bearing, an X-axis angle encoder, a Y-axis bearing and a Y-axis angle encoder are fixed on the framework of the 4-freedom connecting device, wherein: the X-axis bearing and the Y-axis bearing are driven to rotate by the self motion of the debugged equipment, so that the motion of the debugged equipment in the front, back, left and right directions is debugged, and meanwhile, the deflection pose of the Z-axis high-precision telescopic rod is obtained by the measurement of the X-axis angle encoder and the Y-axis angle encoder; the Z-axis linear bearing is embedded with a Z-axis high-precision telescopic rod, and the telescopic motion of the Z-axis high-precision telescopic rod drives the debugged equipment fixed below the Z-axis high-precision telescopic rod through the ball joint bearing to realize movement in the up-and-down 2 directions;
the base is provided with a bottom supporting frame, and the bottom supporting frames are respectively arranged at two ends of the Y shaft sealing guide rail.
2. A multi-function debugging platform according to claim 1, wherein the connection position of the debugging platform and the debugged device is determined according to the specific debugged device.
3. The multifunctional debugging platform according to claim 1, wherein the number of the X-axis rollers is not less than four and symmetrically arranged at two side edge positions of the top fixing plate.
4. The multifunctional debugging platform according to claim 1, wherein the X-axis guide rail is provided with a position encoder for measuring the displacement and position of the debugged equipment in the X-axis direction; the position encoder adopts a magnetic grid type position encoder;
the number of the X-axis guide rails is not less than two and the X-axis guide rails are arranged in parallel.
5. The multifunctional debugging platform according to claim 1, wherein the Y-axis sealing guide rail is provided with a position encoder for measuring the position and displacement of the Y-axis sealing guide rail in the Y-axis direction, namely the position and displacement of the debugged equipment in the Y-axis direction; the position encoder adopts a magnetic grid type position encoder;
the number of the Y-axis sealing guide rails is not less than two and the Y-axis sealing guide rails are arranged in parallel, and the arrangement positions of the Y-axis rollers are determined according to the number and the positions of the Y-axis sealing guide rails.
6. The multifunctional debugging platform according to claim 1, wherein the Z-axis high-precision telescopic rod has a length limitation, so that the debugged equipment can freely move within a limit range.
7. The multifunctional debugging platform of claim 6, wherein the Z-axis high-precision telescopic rod is further provided with a position encoder and an inertial measurement module, wherein:
the position encoder is used for measuring the position and displacement of the debugged equipment in the Z-axis direction;
the inertial measurement module is used for measuring the gesture of the Z-axis high-precision telescopic link.
8. The multifunctional debugging platform according to any one of claims 1-7, wherein the debugging platform is further provided with an upper computer participating in the debugging of the debugged device, and wired or wireless data communication is performed between the upper computer and the debugged device; wherein:
the wired data communication means: the upper computer is connected with the debugged equipment through a data line, and wired data communication between the upper computer and the debugged equipment is realized through the data line;
the wireless data communication means: radio stations are respectively arranged on the upper computer and the debugged equipment, and wireless data communication between the upper computer and the debugged equipment is realized through the radio stations.
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| DE102018002815A1 (en) * | 2018-04-06 | 2019-10-10 | Linde Aktiengesellschaft | Homogeneous cooling for welding processes, especially WAAM |
| WO2020013788A1 (en) * | 2018-07-13 | 2020-01-16 | Aselsan Elektroni̇k Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇ | Preflight test platform for rotary wing unmanned air vehicle |
| CN112025675B (en) * | 2019-06-04 | 2021-07-23 | 中国航发商用航空发动机有限责任公司 | Attitude test bed with three rotational degrees of freedom |
| CN113955114B (en) * | 2021-11-23 | 2024-06-11 | 江苏大学 | Linear type unmanned aerial vehicle structure based on focus self-adaptation adjusting device |
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