CN204694484U - Civilian steering engine for unmanned plane automatic tester for performance - Google Patents

Abstract

The utility model relates to an automatic test device for the performance of a civil unmanned aerial vehicle steering gear. The utility model is provided with a fixture for clamping the steering gear to be tested on the working platform, and an industrial camera is installed directly above the steering gear to be tested. A linear slide rail is installed under the working platform. The linear slide block is installed in the linear slide rail. The pressure sensor is fixed on the linear slide block. A connecting piece is fixed at the suspended end of the working platform, and the connecting piece passes through the working platform for applying torque to the steering gear. The utility model can realize the parallel test of the static and dynamic performance of the steering gear, and can automatically test the performance parameters of the steering gear more quickly, efficiently, accurately and without contact, which can effectively improve the testing efficiency of the steering gear and reduce the risk of unmanned aerial vehicles. Maintenance time.

Description

Automatic test device for civil UAV steering gear performance

technical field

The utility model belongs to the field of automatic testing, in particular to an automatic testing device for the performance of a civil unmanned aerial vehicle steering gear based on machine vision technology.

Background technique

The steering gear is a very important part of the civilian UAV. As a servo mechanism in the UAV flight control system, it receives the control signal from the aircraft control system and drives the deflection of the rudder surface to control the UAV's flight attitude and route. Therefore, the performance of the steering gear system has an extremely important impact on the performance of the flight control system and flight safety. Any tiny failure of the steering gear system may lead to devastating results for the drone. Therefore, it is an indispensable and important link to measure the relevant parameters of the steering gear and conduct static and dynamic performance tests.

The traditional steering gear test is relatively backward in test methods, outdated test equipment, and low in automation. The recording and processing of test data are even completely done manually. It is difficult to perform comprehensive statistical analysis on the recorded results, and the test process is time-consuming and labor-intensive. Very low, the parameters of the test are not comprehensive, and the test accuracy is low.

Machine vision technology mainly uses computers to simulate human visual functions, extracts information from images of objective things, processes and understands them, and finally uses them in actual detection, measurement and control. It combines the rapidity, flexibility and reproducibility of computers with the high intelligence and abstract understanding ability of human vision, which greatly improves the flexibility and automation of production, measurement and monitoring. Its biggest feature is fast speed, large amount of information, and many functions.

Utility model content

The utility model aims at the deficiencies of the test of the transmission steering gear, and provides an automatic testing device for the performance of the civil unmanned aerial vehicle steering gear for machine vision, which utilizes the characteristics of non-contact, fast speed, large amount of information, and many functions of the machine vision , designed an automatic test device for civilian UAV steering gear based on machine vision, which can quickly, efficiently, accurately, and contactlessly test the performance parameters of the steering gear, including centering error, full rudder angle, torque, and rotation speed , the minimum rotation dead zone and the test of the non-linear parameters of the steering gear.

The technical scheme of the utility model comprises:

The utility model comprises an industrial camera, a fixture, a connector, a pressure sensor, a decelerating motor, a non-elastic rope, a linear slider, an elastic rope, a linear slide rail and a working platform.

A fixture for clamping the steering gear to be tested is arranged on the working platform, and an industrial camera is installed directly above the steering gear to be tested for image acquisition of the steering gear to be tested.

A linear slide rail is installed below the working platform, the linear slide block is installed in the linear slide rail, the pressure sensor is fixed on the linear slide block, one end of the linear slide block is connected with one end of the elastic cord, and The other end is fixed under the working platform, the other end of the linear slider is connected to one end of the non-elastic rope, and the other end of the non-elastic rope is wound on the output shaft of the deceleration motor, and the rotation of the deceleration motor drives the linear slider on the linear slide. Translational movement on the rail; a connecting piece is fixed at the suspended end of the pressure sensor, and the connecting piece passes through the working platform for applying torque to the steering gear.

The utility model realizes the parallel test of the static and dynamic performance of the steering gear, can automatically test the performance parameters of the steering gear more quickly, efficiently, accurately and without contact, can effectively improve the testing efficiency of the steering gear, and reduce the maintenance of the drone time.

Description of drawings

Fig. 1 is a schematic diagram of the system composition of the present utility model;

Fig. 2 is a structural representation of the utility model;

Fig. 3 is a side view of the utility model;

Figure 4 is a front view of the utility model;

Fig. 5 is a detailed view of the steering gear of the present utility model;

Figure 6 is a detailed view of the moment loading module of the present invention.

In the figure, 1. Industrial camera, 2. Fixture, 3. Servo under test, 4. Partition, 5. Connector, 6. Pressure sensor, 7. Geared motor, 8. Elastic rope, 9. Linear slider , 10. Elastic rope, 11. Linear slide rail, 12. Aluminum profile.

Detailed ways

As shown in FIG. 1 , this embodiment is mainly divided into two parts: a control processing system and an execution feedback mechanism. The control processing system includes a computer and MCU; the execution feedback mechanism includes an image acquisition module, a torque loading module and a working platform. The computer is connected with the image acquisition module, controls it to acquire images and acquires the acquired images. At the same time, the computer controls the torque loading module through the MCU, and obtains real-time torque output data through the MCU.

As shown in Fig. 2 to Fig. 6, the frame of the working platform is constructed by aluminum profiles 12, and a partition 4 is installed thereon to form a working surface. Fixtures 2 are installed on the partition 4 to fix the steering gear 3 to be tested. An industrial camera 1 is installed directly above the steering gear 3 to be tested for image acquisition of the steering gear 3 to be tested. Under the partition 4, the linear slide rail 11 is fixed on the aluminum profile 12, the linear slide block 9 is installed in the linear slide rail 11, the pressure sensor 6 is fixed on the linear slide block 9, and connected with the deceleration motor 7 by an elastic rope 8 , Connect with the aluminum profile 12 at the other end with the elastic cord 10 . The reduction motor 7 is fixed on the aluminum profile 12 on one side, and the reduction motor 7 rotates to pull the linear slider 9 . One end of the connecting piece 5 is fixed on the pressure sensor, and the other end passes through the gap in the partition 4 .

The image acquisition module includes an industrial camera 1, the moment loading module includes a connector 5, a pressure sensor 6, a gear motor 7, an elastic cord 8, a linear slider 9, an elastic cord 10, and a linear slide rail 11, and the rest are working platforms.

Several parameters that can be tested by the utility model include testing of centering error, full rudder angle, torsion force, rotation rate, minimum rotation dead zone and non-linear parameters of steering gear. The utility model mainly has two kinds of working modes: one, when the centering error of the test steering gear, full rudder angle, rotation speed, minimum rotation dead zone etc. are irrelevant to the torsion, the linear slider 9 stops at the leftmost end. 2. When testing the torque, the linear slider 9 slowly moves to the right under the pulling force of the deceleration steering gear 7, and the connecting piece 5 contacts the steering gear 3 to be tested, and applies force to the rocker arm of the steering gear 3 to be tested.

The specific concept of each parameter and the specific test plan are as follows:

Back-to-center error: the angle error when the servo rocker arm returns to the middle position each time. Test plan: MCU sends control commands to the steering gear 3 to be tested, so that the rocker arm of the steering gear 3 to be tested is switched repeatedly from the three states of left full rudder, neutral position, and right full rudder, and the industrial camera 1 is tested. Image acquisition, after image processing, the angle when returning to the middle position of the rocker arm of the steering gear is obtained, and the final result is obtained through calculation.

Full rudder angle: the specific angle when the rocker arm of the servo is at full rudder. Test plan: While testing the centering error, you can use the industrial camera 1 to record the current angle of the steering gear rocker arm when the steering gear 3 is fully ruddered.

Rotation rate: the rotational angular velocity of the rocker arm when the servo is working. Test plan: set the frame rate of industrial camera 1, collect images when the rocker arm of the steering gear rotates, and obtain the rotational angular velocity of the steering gear according to the angle difference between the two frames of images.

Minimum rotation dead zone: the maximum change area where the control signal does not make the rocker arm of the servo move. Test plan: The control signal is slightly changed through the MCU, and the industrial camera 1 records the angle of the rocker arm of the steering gear 3 to be tested. When the angle is greater than a certain value, the change of the control signal is the minimum dead zone.

Torque: When the steering gear is at rest, the external force moves the rocker arm of the steering gear at a place 1CM away from the center of the steering gear turntable. Test plan: under the action of the geared motor 7 of the moment loading module, the connecting piece 5 slowly moves to the right, and exerts force on the rocker arm of the steering gear 3 to be tested, and the pressure sensor 6 of the moment loading module can feed back the real-time pressure data value MCU. At the same time, the industrial camera 1 records the angle of the rocker arm of the steering gear 3 to be tested, and when the angle change is greater than the set value, the torque of the steering gear is obtained.

Non-linear curve parameters: Refers to the curve graph that changes another parameter when a certain parameter is changed, such as the relationship between pulse width and steering gear rotation angle, voltage and torque, voltage and rotation speed, etc. Test plan: Change the value of a certain test parameter and record the change of another parameter.

Claims (1)

1. civilian steering engine for unmanned plane automatic tester for performance, comprises industrial camera, fixture, web member, pressure transducer, reducing motor, inelastic rope, linear slider, stretch cord, line slide rail and workbench, it is characterized in that:

Workbench is provided with the fixture for clamping steering wheel to be measured, mounting industrial camera directly over described steering wheel to be measured, in order to carry out image acquisition to steering wheel to be measured;

Below workbench, line slide rail is installed, linear slider is arranged in line slide rail, described pressure transducer is fixed in described linear slider, one end of described linear slider is connected with one end of stretch cord, the other end of stretch cord is fixed on below workbench, the other end of linear slider is connected with one end of inelastic rope, and the other end of inelastic rope is wrapped on the output shaft of reducing motor, and the rotation of reducing motor drives linear slider translation on described line slide rail; Be fixed with web member at the free end of described pressure transducer, described web member is used for applying moment to steering wheel through workbench.