CN108750645A - A kind of steering engine handling device and method suitable for Flying by wire system test - Google Patents
A kind of steering engine handling device and method suitable for Flying by wire system test Download PDFInfo
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- CN108750645A CN108750645A CN201810540309.8A CN201810540309A CN108750645A CN 108750645 A CN108750645 A CN 108750645A CN 201810540309 A CN201810540309 A CN 201810540309A CN 108750645 A CN108750645 A CN 108750645A
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- steering engine
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- motor
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- 230000003028 elevating Effects 0.000 claims abstract description 27
- 230000001737 promoting Effects 0.000 claims description 3
- 238000000034 methods Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 6
- 239000000203 mixtures Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagrams Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000002360 preparation methods Methods 0.000 description 2
- 280000905708 Amber companies 0.000 description 1
- 206010022114 Injuries Diseases 0.000 description 1
- 210000002356 Skeleton Anatomy 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229920002892 ambers Polymers 0.000 description 1
- 230000037147 athletic performance Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reactions Methods 0.000 description 1
- 230000003014 reinforcing Effects 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
- 239000011257 shell materials Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Abstract
Description
Technical field
The invention belongs to handling device field, be related to a kind of steering engine handling device suitable for Flying by wire system test and Method.
Technical background
Flying by wire system is an important component of aircraft, and safety is provided in entire flight envelope for pilot And the means of aircraft are efficiently controlled, Flying by wire security of system and reliability directly determine the flight safety of aircraft.? In the development test process of Flying by wire system, and it is installed in the test process before aircraft and is required to by largely trying It tests, the stability and reliability of safeguards system.Flying by wire system is mainly by the sensor of perceptive object state, real time data The servo of the airborne computer and primary control surface movement of reason and execution control function executes system composition, and steering engine is executed as servo The main component part of system.
It needs multiple steering engines being mounted on test platform during Flying by wire system test, at present the peace of steering engine Dress is most of to be carried or is manually installed using the easy crane in part and being aided with using artificial, and the degree of automation is low, and In artificial installation process, since steering engine weight is larger, to steering engine appearance and body caused by avoid during the installation process Damage cause that artificial intensity is big, repeatability is strong and is also easy to produce so need the cautious installation of two people or more people or more Injury to carrying personnel and the damage to steering engine generation lack the handling device of automation at present, to improve working efficiency, The less damage to being generated in installation personnel and steering engine handling process, develop high degree of automation, it is easy to operation use from Dynamicization steering engine handling device is imperative.
Invention content
The present invention in view of the above-mentioned problems, integrated use Photoelectric Detection, data acquisition and analyzing processing, servo control, The technologies such as human-computer interaction and its machine driving, provide a kind of handling efficiency height, and good reliability, simple operation is fast and efficiently answered Steering engine handling device and method for Flying by wire system test.
In order to achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of steering engine handling device suitable for Flying by wire system test, including supporting table, rotating mechanism, electric rotating Machine, translation motor, elevating mechanism, lifting motor, hoisting mechanism, promotes motor, grasping mechanism, crawl motor, examination at translation mechanism Test platform, steering engine, electrical control cabinet, detection switch, indicator light, operating case, column indicator light.
It is driven equipped with controller and the rotating servo driver being connected with controller, translation servo in the electrical control cabinet Dynamic device, lift servo driver promote servo-driver, crawl servo-driver, operation button, detection switch.The column Shape indicator light is mounted on electrical control cabinet.The rotating mechanism, translation mechanism, elevating mechanism, hoisting mechanism, grasping mechanism It is placed on electrical control cabinet nearby in supporting table, and by test platform, supporting table, whole remove is formed with electrical control cabinet Shipping unit.
Rotating mechanism is installed in the supporting table, drives the movement of rotating mechanism to drive entire carry by electric rotating machine Device makees left-right rotation；Elevating mechanism and translation mechanism are installed on rotating mechanism, elevating mechanism is driven by lifting motor Movement drive entire handling device to make the grand movement of short transverse, pass through the movement band that translation motor drives translation mechanism It moves entire handling device and makees horizontal side-to-side movement；Hoisting mechanism is installed on translation mechanism, hoisting mechanism is driven by promoting motor Movement drive entire handling device to make the small range movement of short transverse；Grasping mechanism is installed on hoisting mechanism, passes through crawl The movement that steering engine is picked up and put down by the movement of motor driving grasping mechanism；Eventually by forward and reverse movement of grasping mechanism It realizes the crawl to steering engine and puts down, i.e., steering engine is placed on test platform by each structure in supporting table.
Rotating servo driver in the electrical control cabinet is connect with the electric rotating machine outside controller and switch board, is put down Servo-driver is connect with controller and translation motor, lift servo driver connect with controller and lifting motor, promoted for shifting It servo-driver and controller and promotes motor and connect, captures servo-driver and controller and capture motor and connect.Described Controller is connect with the column indicator light on switch board, is indicated control device energization by indicator light, is referred to by column Show that lamp carries out acousto-optic instruction to the running status and fault status of system.The controller also connects with the operating case outside switch board It connects, touch screen is equipped in operating case, touch screen is formed using operating case and is protected, the rotation to handling device is realized by touch screen Turn, lifting, translation, promoted, crawl speed and direction be configured, the display to system mode and its operation information, and Whole motion control is carried out to handling device by touch screen.The controller is also connect with operation button, detection switch, The detection switch, which is mounted on, to be rotated forward and reverse extreme position, lifting high-low limit position, horizontal translation extreme position, is promoted High-low limit position and crawl aperture extreme position and closed limit, controller are connect with detection switch, to limit position It sets and is detected, the system of offer is effectively protected and is detected to each dead-center position.The controller is PLC controller.
The application method of the above-mentioned steering engine handling device suitable for Flying by wire system test includes：The rudder that needs are carried Machine is placed near test platform, operating personnel's hand-held box, and speed and the position of each motion are carried in setting first Parameter, selection is using carrying or automatic transporting manually, driving rotating mechanism, translation mechanism, elevating mechanism, hoisting mechanism, crawl Steering engine is carried on telex system Control experiment platform by the movement of mechanism；After carrying, by rotating mechanism, translation mechanism, Elevating mechanism, hoisting mechanism, grasping mechanism leave test platform trial zone, complete the operation of whole system.
Compared with prior art, the beneficial effects of the present invention are：Using automatic technology and simple device, change It is conventionally employed manually to carry cumbersome inconvenient mode；The automated handling to steering engine is realized by control device, is improved pair The quality and working efficiency that steering engine is carried, while the efficiency of Flying by wire system test is also improved, ensure the production of aircraft Progress.And have high degree of automation, stability is good, easy to operate, it is adaptable the features such as.Pass through SERVO CONTROL side simultaneously Formula improves steering engine in carrying and its positioning accuracy of installation process, improves the precision and reliability of carrying.
Description of the drawings
Fig. 1 is the architecture system block diagram of the invention.
Fig. 2 is the work flow diagram of the device.
Specific implementation mode
Patent of invention is further described With reference to embodiment, referring to attached drawing 1.
The control device is by supporting table, rotating mechanism, electric rotating machine, translation mechanism, translation motor, elevating mechanism, lifting Motor, hoisting mechanism promote motor, grasping mechanism, crawl motor, test platform, steering engine, electrical control cabinet, controller, rotation Servo controller, lift servo controller, promotes servo controller, crawl servo controller, detects and open translation servo controller The compositions such as pass, operation button, indicator light, operating case, column indicator light.
Entire handling device is divided into two parts of handling machinery structure and control system, and the steering engine maximum tonnage of carrying is about 100KG.Mechanical structure includes supporting table, rotating mechanism, translation mechanism, elevating mechanism, hoisting mechanism, grasping mechanism, tests and put down The compositions such as platform.Wherein support platform of the supporting table as whole device forms skeleton using the welding for steel structure of four legs support, and According to intensity requirement, it is designed with reinforcing rib at the position of four legs and seating surface, so that support platform is connected into an organic whole, is The structure on support platform top provides strong support, and has the characteristics that stability is good.Rotating mechanism and support platform are subjected to machine Tool connects, and rotating mechanism is connect with electric rotating machine, rotating mechanism rotation is driven by the movement of motor, by elevating mechanism and rotation Mechanism connects, and elevating mechanism uses ball-screw-transmission mode, and translation mechanism is mounted on elevating mechanism top by lifting motor It is connect with lead screw, drives guide screw movement, the works carry out elevating movement such as driving top translation mechanism to put down using the movement of lifting motor Telephone-moving structure is connect with hoisting mechanism, and translation mechanism uses ball-screw-transmission mode, and translation is driven by the movement of translation motor The leading screw of mechanism, and hoisting mechanism is driven to carry out translational motion.It is connect with grasping mechanism by hoisting mechanism simultaneously, utilizes promotion The movement of motor drives grasping mechanism to make lifter motion by a small margin, and grasping mechanism uses the mechanical structure of wafer type, using grabbing Forward and reverse movement of motor is taken to realize to steering engine is effectively captured and put down.
Control system includes electrical control cabinet, controller, rotating servo controller, translation servo controller, lift servo Controller promotes servo controller, crawl servo controller, detection switch, operation button, indicator light, operating case, column instruction The compositions such as lamp.By controller, rotating servo controller, translation servo controller, lift servo controller, promote SERVO CONTROL The electric components such as device, crawl servo controller are mounted in electrical control cabinet, electrical control cabinet internal components and external behaviour Make box, rotating mechanism, electric rotating machine, translation mechanism, translation motor, elevating mechanism, lifting motor etc. are connected by inserting terminal, Easy to disassemble and maintenance.
Steering engine, test platform, handling device supporting table be individually positioned in from switch board nearby, with electrical control cabinet shape Integral handling device.Indicator light, control button are mounted on the panel of switch board, personnel easy to operation are used, are provided Easily mode of operation.
The steering engine carried will be needed to be placed near test platform, operating personnel's hand-held box, first setting are carried each The speed and location parameter of a motion, selection using manually carry or automatic transporting, driving rotating mechanism, translation mechanism, Steering engine is carried on telex system Control experiment platform by the movement of elevating mechanism, hoisting mechanism, grasping mechanism, and carrying terminates Afterwards, rotating mechanism, translation mechanism, elevating mechanism, hoisting mechanism, grasping mechanism are left into test platform trial zone, completed entire The operation of system.
Controller distinguishes rotating servo controller, translation servo controller, lift servo controller, promotes SERVO CONTROL Device, crawl servo controller, detection switch, operation button, indicator light, operating case, the connection of column indicator light.Controller is configured with CAN bus communication module is convenient for and rotating servo controller, translation servo controller, lift servo controller, promotion servo control Device processed, crawl servo controller are attached.RS232 interface of the controller equipped with RS232 interface and touch screen connects simultaneously, into Row data exchange.And input/output module is configured on the right side of controller, and meet the input and output points needs of system, it is real The acquisition and control of existing system.Controller selects Delta SX2 Series Controllers.
The controller in touch screen and electrical control cabinet on operating case is attached, and operating case uses plastic shell side Formula forms effective protection to touch screen.Touch screen carries out power supply supply using direct current 24V, is responsible for sending out the rotation for carrying steering engine Rotating motor, the positive and negative rotation for lifting motor, promoting motor, capturing motor, starts stopping control command and operation at translation motor The parameter settings such as speed, position, the speed of service to motor, position and operating status, wherein whole system status display.Match Have with RS232 communication interfaces, convenient for being connect into row bus with controller and the interaction of data.Booting is respectively set on the touchscreen Start picture, parameter setting operation screen are manually operated control flow, are automatically brought into operation control flow, status display operator control panel, warning message Equal pictures.Touch screen selects the refreshed TPC series in the Kunlun.
Control button is mounted on the panel of switch board, includes mainly manual/auto state switching, system electrification, system Power-off, emergency stop etc. complete whole control function together with touch screen.
The top of column indicator light and switch board is attached with the controller in switch board, including red, green, Huang Colored lights and its buzzer, red colored lamp light be stopped for handling device, green light is lighted etc. represent handling device be currently running, Amber light, which is lighted etc., to be represented handling device and is in standby, and buzzer call indicates that the handling device is carried in malfunction Show.
Rotating servo controller, lift servo controller, promotes servo controller, crawl servo at translation servo controller The for use CAN interface of controller, is attached with the CAN bus module of controller, receives the operation of the transmission of controller Command information, while rotating servo controller, translation servo controller, lift servo controller, promotion servo controller, crawl Servo controller is attached with electric rotating machine, translation motor, lifting motor, promotion motor, crawl motor respectively, is realized to each The effective exercise of a motor controls.
Detection switch is inductance type detection switch, is separately mounted to forward and reverse extreme position, the elevating mechanism of rotating mechanism Lifting high-low limit position, the horizontal translation extreme position of horizontal mechanism, the promotion high-low limit position of hoisting mechanism and In the limit and the closure limit of the crawl aperture of grasping mechanism, while detection switch is attached with controller, to location information It is acquired；Multiple zero testing switches are installed simultaneously, to elevating mechanism, horizontal mechanism, hoisting mechanism grasping mechanism, whirler The initial zero position of structure is detected.
The application method of the above-mentioned steering engine handling device suitable for Flying by wire system test is：
The course of work of steering engine handling device includes mainly：Preparation, mode of transport selection, manual operation crawl, Promoted, translation, lifting, rotation action, be automatically brought into operation carrying multiple processes such as in place.Workflow is as shown in Figure 2：
(1) preparation before carrying：Including checking whether normal, cable has non-loosening, inspection to handling machinery structure motion Look into mechanical limit switch position whether safely, check for alarm condition, and confirm control system whether normal use etc..
(2) selection of mode of transport：Selection is automatic first, first simulates and automatically tries steering engine from ground handling to telex system The process of platform is tested, and steering engine is moved away from the process of test platform by simulation, guarantee system is securely and reliably carried, finally according to reality Border situation selection is using carrying or automatic transporting manually.
(3) it carries manually：Selection manually carry after, by operate box panel on touch screen button control realize crawl or It puts down steering engine, small range lifting steering engine, left and right translation steering engine, lift the action that steering engine and more steering engines are rotated on a large scale.
(4) automatic transporting：After selecting automatic transporting, start by the way that the button selection on touch screen is automatic.Automatic lifting packet Include that steering engine brings up to test platform and its steering engine moves away from out test platform operation.Selection steering engine brings up to test platform program, then carries Device is automatically moved to from system zero places steering engine position to be tested, and grasping mechanism first is opened, and is clamped steering engine later, is carried Rising mechanism operation makes steering engine be lifted up, then elevating mechanism rises on a large scale, and translation mechanism translation, then rotary motion, arrival refer to Fixed test platform rear lifting mechanism declines, hoisting mechanism declines, and grasping mechanism is opened, and grasping mechanism is slowly opened, until complete Until full release steering engine to designated position.Steering engine moves away from out test platform operation and brings up to the test platform course of work substantially with steering engine It is identical, and the steering engine completed will be tested and first capture, promoted again, translating, rotating again, until putting down steering engine.
(5) action terminates：Steering engine it is all remove athletic performance after the completion of, press the back to zero position button on touch screen, wait removing Grasping mechanism, hoisting mechanism, translation mechanism, elevating mechanism, the rotating mechanism of shipping unit terminate after returning to zero-bit.
Embodiments of the present invention above described embodiment only expresses, but therefore can not be interpreted as special to the present invention The limitation of the range of profit, it is noted that for those skilled in the art, without departing from the inventive concept of the premise, Various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540309.8A CN108750645A (en) | 2018-05-30 | 2018-05-30 | A kind of steering engine handling device and method suitable for Flying by wire system test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540309.8A CN108750645A (en) | 2018-05-30 | 2018-05-30 | A kind of steering engine handling device and method suitable for Flying by wire system test |
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| CN108750645A true CN108750645A (en) | 2018-11-06 |
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| CN201810540309.8A CN108750645A (en) | 2018-05-30 | 2018-05-30 | A kind of steering engine handling device and method suitable for Flying by wire system test |
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| CN107585555A (en) * | 2017-08-16 | 2018-01-16 | 洛阳理工学院 | A kind of material carrying machine hand for production line |
| CN207046718U (en) * | 2017-05-31 | 2018-02-27 | 新昌县大市聚镇洪聚机械厂 | A kind of industrial lifting device |
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2018
- 2018-05-30 CN CN201810540309.8A patent/CN108750645A/en not_active Application Discontinuation
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| CN101973033A (en) * | 2010-09-07 | 2011-02-16 | 广州市万世德包装机械有限公司 | Single-arm palletizing robot control system and method |
| CN203003897U (en) * | 2011-12-11 | 2013-06-19 | 东风汽车车轮有限公司 | Triaxial numerical control material-sorting manipulator for wheel spoke |
| CN204954831U (en) * | 2015-09-17 | 2016-01-13 | 黄河科技学院 | Servo manipulator |
| CN206705224U (en) * | 2017-01-22 | 2017-12-05 | 安徽臣诺机器人科技有限公司 | A kind of intelligent conveying robot |
| CN106945060A (en) * | 2017-04-27 | 2017-07-14 | 沈阳飞机工业（集团）有限公司 | A kind of parts handler tool hand control device |
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Application publication date: 20181106 |