技术领域technical field
本发明涉及调试测试平台领域，具体地，涉及一种多功能调试平台，用于调试无人机、机载云台、机械臂、机器人等。The invention relates to the field of debugging and testing platforms, in particular to a multifunctional debugging platform for debugging unmanned aerial vehicles, airborne pan-tilts, mechanical arms, robots and the like.
背景技术Background technique
目前我国的测试设备存在一些突出问题，如缺乏统一的规划、功能单一化，标准化、系列化和通用化程度低等。特别是大多数调试平台功能单一，成本较高。这就要求一种适合现代化的多功能测试系统能够满足更全面的试验需要。At present, there are some outstanding problems in my country's test equipment, such as lack of unified planning, single function, low standardization, serialization and generalization, etc. In particular, most debugging platforms have single functions and high costs. This requires a modern multifunctional test system that can meet more comprehensive test needs.
比如适合无人机的调试平台，在无人机研制阶段，调试检测阶段以及事后故障分析，都需要一种功能丰富的调试平台能够对无人机飞行控制率进行有效的检测和评估，可以对飞行控制系统进行方便及全面的功能性检测。飞机机载多轴云台是无人机非常重要的组成部分，其广泛应用于无人机的航拍测量中。机载云台的测试同样需要测试平台来完成。还有机器人，机械臂等进行测试，需要一个能精确测量位移及角度的调试平台去测试及收集数据。For example, a debugging platform suitable for UAVs, in the UAV development stage, debugging and detection stage, and after-event fault analysis, requires a multi-function debugging platform that can effectively detect and evaluate the flight control rate of UAVs. Convenient and comprehensive functional testing of the flight control system. Aircraft onboard multi-axis gimbal is a very important part of UAV, and it is widely used in aerial photography measurement of UAV. The test of the airborne gimbal also needs a test platform to complete. There are also robots, mechanical arms, etc. for testing, and a debugging platform that can accurately measure displacement and angle is needed to test and collect data.
现有的调试平台方案存在调试平台使用对象单一化，成本较高。调试平台只能功能单一的调试与测量。In the existing debugging platform solution, the objects used in the debugging platform are simplistic, and the cost is relatively high. The debugging platform can only debug and measure with a single function.
经检索：Searched:
一种多旋翼无人机飞控调试保护装置(201510210148.2)，本发明是一种多旋翼无人机飞控调试保护装置，用于对多旋翼无人机飞控系统的自稳性能进行调试，同时确保试验安全。该发明基于多旋翼无人机飞行的刚体动力学原理，包括一个三脚架和4种可更换的飞控调试模块，通过由机械结构限定多旋翼无人机的运动形式，可以对无人机飞控分别进行滚转、俯仰和航向三个单自由度的独立调试，以及三自由度的综合调试；通过观察多旋翼无人机在保护装置不同模块上运行时的控制响应，明确无人机采用的新技术、新方法的实际性能；既能对飞控的自稳进行功能划分、方便研发的工程管理，又能对无人机的调试进行保护、避免盲目试飞可能造成的财产损失，降低研发的风险和难度，促进多旋翼无人机产业的发展。A multi-rotor UAV flight control debugging protection device (201510210148.2), the invention is a multi-rotor UAV flight control debugging protection device, which is used to debug the self-stabilization performance of the multi-rotor UAV flight control system, At the same time to ensure the safety of the test. The invention is based on the rigid body dynamics principle of multi-rotor UAV flight, including a tripod and 4 kinds of replaceable flight control debugging modules. Perform independent debugging of three single degrees of freedom of roll, pitch and heading, and comprehensive debugging of three degrees of freedom; by observing the control response of the multi-rotor UAV when it is running on different modules of the protection device, it is clear what the UAV adopts. The actual performance of new technologies and new methods; it can not only divide the functions of the self-stabilization of the flight control, facilitate the engineering management of research and development, but also protect the debugging of UAVs, avoid property losses that may be caused by blind test flights, and reduce the cost of research and development. Risks and difficulties promote the development of the multi-rotor UAV industry.
一种外置边框的无人机姿态控制测试装置(201510719090.4)，本发明提供一种外置边框的无人机姿态控制测试装置，包括底座，第一、第二、第三转动副，第一、第二转动装置，安装模块和无人机模块；其中：底座固定于地面或桌面等固定表面；第一转动装置与底座通过第一转动副连接；第二转动装置与第一转动装置通过第二转动副来连接；安装模块与第二转动装置之间通过第三转动副进行连接；无人机模块安装于安装模块上。本发明基于机械六自由度机械结构设计原理，通过将无人机模块固定在装置的安装模块来实现机身的俯仰、偏航、滚转三个旋转自由度的全向飞行姿态的综合仿真。该发明空间使用非常小，可进行无人机的室内调试，避免了室外调试的复杂流程，并避免调试过程中对人群和无人机造成的不安全因素。A UAV attitude control test device with an external frame (201510719090.4), the present invention provides a UAV attitude control test device with an external frame, including a base, a first, a second, a third rotating pair, a first , the second rotating device, the installation module and the UAV module; wherein: the base is fixed on a fixed surface such as the ground or a desktop; the first rotating device and the base are connected through the first rotating pair; the second rotating device and the first rotating device are connected through the second rotating device The two rotating pairs are connected; the installation module and the second rotating device are connected through the third rotating pair; the UAV module is installed on the installation module. The present invention is based on the design principle of the mechanical six-degree-of-freedom mechanical structure, and realizes the comprehensive simulation of the omnidirectional flight attitude of the pitch, yaw, and roll three rotational degrees of freedom of the fuselage by fixing the UAV module on the installation module of the device. The invention uses a very small space, and can carry out indoor debugging of drones, avoiding the complicated process of outdoor debugging, and avoiding unsafe factors caused to crowds and drones during the debugging process.
一种机械手测试平台(201610424576.X)，本发明提供一种应用于机械手设备领域的机械手测试平台，所述的机械手测试平台的测试机械手的测试本体部上活动安装测试手臂，测试手臂由多节手臂关节组成，测试手臂与控制主机连接，测试平台上设置刻度板，刻度板上设置X轴向刻度和Y轴向刻度，测试平台上还安装有高度尺，本发明的机械手测试平台，结构简单，加工方便，能快捷准确地读取机械手的空间位移变化数值，方便与目标位置数值对比，提高机械手精度，最终提高了机械手加工产品的质量。A manipulator test platform (201610424576.X), the present invention provides a manipulator test platform applied in the field of manipulator equipment, a test arm is movably installed on the test body part of the test manipulator of the manipulator test platform, and the test arm consists of a multi-section Composed of arm joints, the test arm is connected to the control host, a scale plate is set on the test platform, the X-axis scale and the Y-axis scale are set on the scale plate, and a height gauge is also installed on the test platform. The manipulator test platform of the present invention has a simple structure , easy to process, can quickly and accurately read the spatial displacement change value of the manipulator, facilitate the comparison with the target position value, improve the precision of the manipulator, and finally improve the quality of the manipulator's processed products.
一种无人机机载多轴云台调试平台(201610519358.4)，提供一种无人机机载多轴云台调试平台，其特征在于，包括平台：包括桌面、桌腿和电机，所述电机包括设于桌面上的X轴电机和Y轴电机，X轴电机和Y轴电机的轴心相互垂直，所述桌腿安装于桌面的四个拐角处，所述桌面的中心处设有用于安装被测云台的开口，所述开口内设有X平台和Y平台，X平台上设有用于容纳Y平台的通孔，X平台在X方向上与开口的侧面通过转轴转动连接，Y平台在Y方向上与通孔的侧面通过转轴转动连接，X轴电机和Y轴电机分别与位于X平台和Y平台侧面的转轴轴连接；调试系统：包括主控模块、电压电流检测电路、无线图像回传模块、无线数据收发模块，电机通过电机驱动电路与主控模块连接，主控模块分别与电压电流检测电路、无线图像回传模块和无线数据收发模块连接，电压电流检测电路还通过通信/供电接口与被测云台连接；供电模块：包括供电电路，所述供电电路分别与被测云台和调试系统电连接。A UAV airborne multi-axis cloud platform debugging platform (201610519358.4), providing a UAV airborne multi-axis cloud platform debugging platform, characterized in that it includes a platform: including a desktop, a table leg and a motor, and the motor It includes an X-axis motor and a Y-axis motor arranged on the desktop, the axis centers of the X-axis motor and the Y-axis motor are perpendicular to each other, the table legs are installed at the four corners of the desktop, and the center of the desktop is equipped with a The opening of the pan-tilt to be tested is provided with an X platform and a Y platform in the opening. The X platform is provided with a through hole for accommodating the Y platform. The X platform is connected to the side of the opening in the X direction through a rotating shaft. The Y platform is in the In the Y direction, it is connected to the side of the through hole through the rotating shaft, and the X-axis motor and the Y-axis motor are respectively connected to the rotating shafts on the side of the X platform and the Y platform; the debugging system: including the main control module, voltage and current detection circuit, wireless image feedback transmission module, wireless data transceiver module, the motor is connected to the main control module through the motor drive circuit, the main control module is respectively connected to the voltage and current detection circuit, the wireless image return module and the wireless data transmission and reception module, and the voltage and current detection circuit is also connected to the The interface is connected with the platform under test; the power supply module: includes a power supply circuit, and the power supply circuit is electrically connected with the platform under test and the debugging system respectively.
缺点1：上述两个无人机调试平台的专利所涉及的调试装置都是基于无人机底部连接的调试平台，由于通常无人机底部需要装多种传感器(比如：超声波传感器，视觉传感器)。超声波传感器用于测量无人机高度，如果下方有连接装置，可能会影响超声波测量结果。下视的视觉传感器是安装在无人机底部的一种摄像头，基于图像识别技术测量无人机参数，若其视野内有连接装置，可能会影响视觉传感器测量结果。调试装置均不包含平台导轨。水平方向的导轨能够增大无人机调试水平移动范围，这是以上两种装置所不具备的。垂直方向的导轨能够增大无人机调试垂直方向移动范围，以上两种专利所涉及的调试装置的方法是连接杆的上下方向移动，杆的长度限制无人机的调试范围；若增加过长的杆可能影响无人机正常运行。无人机机载云台专利所涉及的调试平台只能测试X、Y两个方向，无人机在实际运动中的运动轨迹是较为复杂的，缺少竖直方向的测量可能会影响测试结果的准确性；机械手测试平台专利所测量的范围略小，且竖直方向不能移动。Disadvantage 1: The debugging devices involved in the patents of the above two UAV debugging platforms are all based on the debugging platform connected to the bottom of the UAV, because usually the bottom of the UAV needs to install a variety of sensors (such as ultrasonic sensors, visual sensors) . The ultrasonic sensor is used to measure the height of the drone, if there is a connection device underneath, it may affect the ultrasonic measurement results. The downward-looking visual sensor is a camera installed at the bottom of the drone. It measures the parameters of the drone based on image recognition technology. If there is a connecting device in its field of view, it may affect the measurement results of the visual sensor. None of the commissioning units include platform rails. The guide rail in the horizontal direction can increase the horizontal movement range of the UAV debugging, which is not available in the above two devices. The guide rail in the vertical direction can increase the vertical movement range of the UAV debugging. The method of debugging the device involved in the above two patents is to move the connecting rod up and down, and the length of the rod limits the debugging range of the UAV; if it is too long The pole may affect the normal operation of the drone. The debugging platform involved in the UAV airborne gimbal patent can only test the two directions of X and Y. The trajectory of the UAV in actual movement is relatively complicated, and the lack of vertical measurement may affect the test results. Accuracy; the range measured by the manipulator test platform patent is slightly smaller, and the vertical direction cannot be moved.
缺点2：以上四种专利所涉及的调试平台所能测试的对象都是单一的，应用范围小；且调试平台的功能较小，测试范围受到限制。Disadvantage 2: The debugging platforms involved in the above four patents can test only one object, and the scope of application is small; and the functions of the debugging platform are small, and the testing scope is limited.
发明内容Contents of the invention
本发明针对提出了一种多功能调试平台，该调试平台能够多种设备进行测试，包括无人机、无人机机载云台、机器人、机械臂等；应用该调试平台能够测量多种数据，具有完备的调试功能，同时还能够实时测量设备的位置信息。解决了当前调试平台测试对象单一，调试功能不足的缺点。The present invention proposes a multi-functional debugging platform, which can test various devices, including unmanned aerial vehicle, unmanned aerial vehicle platform, robot, mechanical arm, etc.; using the debugging platform can measure various data , has a complete debugging function, and can also measure the location information of the device in real time. It solves the shortcomings of single test object and insufficient debugging function of the current debugging platform.
为实现以上目的，本发明提供一种多功能调试平台，包括：顶部固定板、X轴滚轮、X轴导轨、Y轴滚轮、Y轴封闭导轨、基座、Z轴高精度伸缩杆，以及4自由度连接装置；其中：In order to achieve the above purpose, the present invention provides a multi-functional debugging platform, including: top fixed plate, X-axis roller, X-axis guide rail, Y-axis roller, Y-axis closed guide rail, base, Z-axis high-precision telescopic rod, and 4 Degree of freedom connection device; where:
所述顶部固定板的两侧分别安装有若干所述X轴滚轮，所述X轴滚轮与所述X轴导轨配合，所述X轴滚轮沿所述X轴导轨水平移动，从而带动所述顶部固定板实现沿X轴方向的水平移动；所述X轴导轨的两端分别安装有所述Y轴滚轮，所述Y轴滚轮嵌入在所述Y轴封闭导轨内，所述Y轴滚轮沿所述Y轴封闭导轨水平移动，从而带动所述顶部固定板实现沿Y轴方向的水平移动；所述Y轴封闭导轨的两端固定在所述基座上；所述顶部固定板的上部连接有所述4自由度连接装置，所述Z轴高精度伸缩杆固定于所述4自由度连接装置中，所述Z轴高精度伸缩杆的下方安装有球头关节轴承并通过所述球头关节轴承连接固定被调试设备，所述4自由度连接装置用于调试被调试设备在前、后、左、右4个方向的移动，所述Z轴高精度伸缩杆用于被调试设备在上、下2个方向的移动。The two sides of the top fixing plate are respectively equipped with a plurality of X-axis rollers, the X-axis rollers cooperate with the X-axis guide rails, and the X-axis rollers move horizontally along the X-axis guide rails, thereby driving the top The fixed plate realizes horizontal movement along the X-axis direction; the two ends of the X-axis guide rail are respectively equipped with the Y-axis rollers, the Y-axis rollers are embedded in the Y-axis closed guide rail, and the Y-axis rollers move along the Y-axis The Y-axis closed guide rail moves horizontally, thereby driving the top fixed plate to realize horizontal movement along the Y-axis direction; the two ends of the Y-axis closed guide rail are fixed on the base; the upper part of the top fixed plate is connected with The 4-degree-of-freedom connection device, the Z-axis high-precision telescopic rod is fixed in the 4-degree-of-freedom connection device, a ball joint bearing is installed under the Z-axis high-precision telescopic rod and passes through the ball joint The bearing is connected to fix the equipment to be debugged. The 4-DOF connection device is used to debug the movement of the equipment to be debugged in four directions: front, back, left and right. The Z-axis high-precision telescopic rod is used to move the equipment to be debugged in Movement in the next 2 directions.
优选地，所述4自由度连接装置包括：X轴轴承、X轴角度编码器、Y轴轴承、Y轴角度编码器、Z轴直线轴承、固定基座，以及4自由度连接装置骨架；其中：Preferably, the 4-DOF connection device includes: X-axis bearings, X-axis angle encoders, Y-axis bearings, Y-axis angle encoders, Z-axis linear bearings, a fixed base, and a 4-DOF connection device skeleton; wherein :
所述固定基座固定在所述顶部固定板的上部；所述X轴轴承的两端固定在所述固定基座上；所述4自由度连接装置骨架连接固定在所述X轴轴承的中部位置；所述X轴角度编码器连接固定于所述X轴轴承的一端；所述4自由度连接装置骨架上固定有所述Y轴轴承、所述Y轴角度编码器和所述Z轴直线轴承，且所述Z轴高精度伸缩杆嵌入在所述Z轴直线轴承中；The fixed base is fixed on the upper part of the top fixed plate; the two ends of the X-axis bearing are fixed on the fixed base; the skeleton connection of the 4-DOF connection device is fixed on the middle part of the X-axis bearing position; the X-axis angle encoder is connected and fixed to one end of the X-axis bearing; the Y-axis bearing, the Y-axis angle encoder and the Z-axis linear are fixed on the skeleton of the 4-DOF connection device bearing, and the Z-axis high-precision telescopic rod is embedded in the Z-axis linear bearing;
所述4自由的连接装置骨架上固定有X轴轴承、X轴角度编码器、Y轴轴承和Y轴角度编码器，其中：通过被调试设备的自身运动带动X轴轴承和Y轴轴承的转动，从而实现调试被调试设备在前、后、左、右4个方向的移动，同时通过X轴角度编码器和Y轴角度编码器的测量得出Z轴高精度伸缩杆的偏转位姿；所述Z轴直线轴承中嵌入Z轴高精度伸缩杆，Z轴高精度伸缩杆的伸缩运动，带动通过球头关节轴承固定在Z轴高精度伸缩杆下方的被调试设备实现上、下2个方向的移动；所述调试平台与被调试设备的连接位置在根据具体被调试设备而定。The X-axis bearing, the X-axis angle encoder, the Y-axis bearing and the Y-axis angle encoder are fixed on the framework of the four free connecting devices, wherein: the rotation of the X-axis bearing and the Y-axis bearing is driven by the self-motion of the equipment being debugged , so as to realize the movement of the debugged equipment in the four directions of front, back, left and right, and at the same time obtain the deflection pose of the Z-axis high-precision telescopic rod through the measurement of the X-axis angle encoder and the Y-axis angle encoder; The Z-axis high-precision telescopic rod is embedded in the Z-axis linear bearing, and the telescopic movement of the Z-axis high-precision telescopic rod drives the debugged equipment fixed under the Z-axis high-precision telescopic rod through the ball joint bearing to realize the up and down directions The movement; the connection position between the debugging platform and the device to be debugged depends on the specific device to be debugged.
优选地，所述X轴滚轮的数量不少于四个并对称设置于所述顶部固定板的两侧边沿位置。Preferably, the number of the X-axis rollers is not less than four, and they are arranged symmetrically on both side edges of the top fixing plate.
优选地，所述X轴导轨安装有位置编码器，用于测量被调试设备在X轴方向上的位移和位置。Preferably, the X-axis guide rail is equipped with a position encoder for measuring the displacement and position of the debugged device in the X-axis direction.
更优选地，所述位置编码器采用磁栅式位置编码器，所述磁栅式位置编码器具有精度高、成本低且便于安装和使用的特点。More preferably, the position encoder adopts a magnetic grid position encoder, which has the characteristics of high precision, low cost, and easy installation and use.
更优选地，所述X轴导轨的数量不少于两条并平行设置。More preferably, the number of the X-axis guide rails is not less than two and arranged in parallel.
优选地，所述Y轴导轨上安装有位置编码器，用于测量Y轴导轨在Y轴方向上的位置和位移，也即被调试设备在Y轴方向上的位置和位移。Preferably, a position encoder is installed on the Y-axis guide rail for measuring the position and displacement of the Y-axis guide rail in the Y-axis direction, that is, the position and displacement of the debugged device in the Y-axis direction.
更优选地，所述位置编码器采用磁栅式位置编码器，所述磁栅式位置编码器具有精度高、成本低且便于安装和使用的特点。More preferably, the position encoder adopts a magnetic grid position encoder, which has the characteristics of high precision, low cost, and easy installation and use.
更优选地，所述Y轴导轨的数量不少于两条并平行设置，Y轴滚轮的设置位置视Y轴导轨的数量和位置确定。More preferably, the number of the Y-axis guide rails is not less than two and arranged in parallel, and the setting position of the Y-axis rollers depends on the number and position of the Y-axis guide rails.
本发明中，通过增加所述Y轴导轨、X轴滚轮、Y轴滚轮的数量，能够有效提高所述调试平台的稳定性和载荷。In the present invention, by increasing the number of the Y-axis guide rails, X-axis rollers, and Y-axis rollers, the stability and load of the debugging platform can be effectively improved.
优选地，所述Z轴高精度伸缩杆有长度限制，从而使被调试设备在限位范围内自由移动。Preferably, the Z-axis high-precision telescopic rod has a length limit, so that the debugged device can move freely within the limit range.
优选地，所述Z轴高精度伸缩杆上还设置有位置编码器和惯性测量模块，其中：Preferably, the Z-axis high-precision telescopic rod is also provided with a position encoder and an inertial measurement module, wherein:
所述位置编码器用于测量被调试设备在Z轴方向上的位置和位移；The position encoder is used to measure the position and displacement of the debugged device in the Z-axis direction;
所述惯性测量模块用于测量所述Z轴高精度伸缩杆的姿态。The inertial measurement module is used to measure the posture of the Z-axis high-precision telescopic rod.
优选地，所述基座设有底部支撑架，底部支撑架分别设置于所述Y轴导轨的两端；Preferably, the base is provided with a bottom support frame, and the bottom support frame is respectively arranged at both ends of the Y-axis guide rail;
优选地，所述调试平台还设置有参与被调试设备调试的上位机，所述上位机与被调试设备之间进行有线或者无线数据通讯，其中：Preferably, the debugging platform is also provided with a host computer participating in the debugging of the debugged device, and wired or wireless data communication is performed between the host computer and the debugged device, wherein:
有线数据通讯的方式，是指：通过设置数据线连接上位机与被调试设备，通过数据线实现上位机与被调试设备之间的有线数据通讯；The way of wired data communication refers to: connect the host computer and the device to be debugged by setting the data line, and realize the wired data communication between the host computer and the device to be debugged through the data line;
无线数据通讯的方式，是指：分别在上位机、被调试设备上设置无线电台，通过无线电台实现上位机与被调试设备之间的无线数据通讯。The way of wireless data communication refers to: set up wireless stations on the host computer and the device to be debugged respectively, and realize the wireless data communication between the host computer and the device to be debugged through the radio station.
本发明通过Z轴高精度伸缩杆有长度伸缩限制使被调试装备在限位范围内自由移动，同时所述调试平台与被调试装备的连接位置在应视具体被调试设备决定。所述调试平台在运行时，通过X轴角度编码器和Y轴角度编码器的测量得出Z轴高精度伸缩杆的偏转位姿；所述调试平台自动控制顶部固定板沿着X轴导轨水平移动和X轴导轨沿着Y轴导轨水平移动，从而使得Z轴高精度伸缩杆趋于竖直状态。In the present invention, the length of the high-precision telescopic rod of the Z axis is limited so that the equipment to be debugged can move freely within the limit range, and at the same time, the connection position between the debugging platform and the equipment to be debugged should be determined according to the specific equipment to be debugged. When the debugging platform is running, 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 fixed plate to be horizontal along the X-axis guide rail. The movement and the X-axis guide rail move horizontally along the Y-axis guide rail, so that the Z-axis high-precision telescopic rod tends to a vertical state.
与现有技术相比，本发明具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明能够在调试被调试设备时，对被调试设备起到有效保护作用，减少被调试设备控制系统不完善对设备盲目调试造成的损失；本发明能够对被调试设备的部分参数进行测量和采集，辅助验证被调试设备控制系统参数测量的准确性；在使用本发明进行设备调试时，可以使用本发明的对被调试设备的测量结果参与对被调试设备的控制，使得在测量系统不完备时调试者仍然有可能完成被调试设备控制算法的验证工作。The present invention can effectively protect the debugged equipment when debugging the debugged equipment, and reduce the loss caused by the imperfect control system of the debugged equipment caused by blind debugging of the equipment; the invention can measure and collect some parameters of the debugged equipment , to assist in verifying the accuracy of the parameter measurement of the debugged equipment control system; when using the present invention to debug equipment, the measurement results of the present invention to the debugged equipment can be used to participate in the control of the debugged equipment, so that when the measurement system is not complete It is still possible for the debugger to complete the verification of the control algorithm of the device being debugged.
本发明所具有的平台导轨，可以有效增大设备的调试范围，水平方向的导轨即X轴导轨、Y轴封闭导轨能够增大设备调试水平移动范围，垂直方向的导轨即Z轴高精度伸缩杆能够增大设备调试垂直方向移动范围。本发明所述的调试平台较之传统功能单一的调试平台，具有丰富的功能，能在该平台上对被调试设备进行较为全面的调试。The platform guide rail of the present invention can effectively increase the debugging range of the equipment. The horizontal guide rail is the X-axis guide rail and the Y-axis closed guide rail can increase the horizontal movement range of equipment debugging. The vertical guide rail is the Z-axis high-precision telescopic rod. It can increase the vertical movement range of equipment debugging. Compared with the traditional single-function debugging platform, the debugging platform of the present invention has rich functions, and can perform more comprehensive debugging on the debugged equipment on the platform.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1为本发明一优选实施例的整体结构示意图；Fig. 1 is the overall structure schematic diagram of a preferred embodiment of the present invention;
图2为本发明一优选实施例的4自由度连接装置结构示意图；Fig. 2 is a schematic structural diagram of a 4-DOF connection device in a preferred embodiment of the present invention;
图3为本发明一优选实施例的有线通讯方式示意图；Fig. 3 is a schematic diagram of a wired communication mode in a preferred embodiment of the present invention;
图4为本发明一优选实施例的无线通讯方式示意图；FIG. 4 is a schematic diagram of a wireless communication method in a preferred embodiment of the present invention;
图中：In the picture:
顶部固定板1，X轴滚轮2，X轴导轨3，Y轴滚轮4，Y轴封闭导轨5，基座6，Z轴高精度伸缩杆7，4自由度连接装置8，球头关节轴承9，被调试设备10，惯性测量模块11，X轴轴承12，X轴角度编码器13，Y轴轴承14，Y轴角度编码器15，Z轴直线轴承16，固定基座17，4自由度连接装置骨架18，上位机19，数据线20，无线电台21。Top fixed plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis roller 4, Y-axis closed guide rail 5, base 6, Z-axis high-precision telescopic rod 7, 4-degree-of-freedom connection device 8, ball joint bearing 9 , debugged equipment 10, inertial measurement module 11, X-axis bearing 12, X-axis angle encoder 13, Y-axis bearing 14, Y-axis angle encoder 15, Z-axis linear bearing 16, fixed base 17, 4 degrees of freedom connection Device skeleton 18, host computer 19, data line 20, radio station 21.
具体实施方式Detailed ways
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
如图1所示，一种多功能调试平台，包括：顶部固定板1，X轴滚轮2，X轴导轨3，Y轴滚轮4，Y轴封闭导轨5，高架基座6，Z轴高精度伸缩杆7，4自由度连接装置8，球头关节轴承9，被调试设备10，惯性测量模块11；其中：As shown in Figure 1, a multi-functional debugging platform, including: top fixed plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis roller 4, Y-axis closed guide rail 5, elevated base 6, Z-axis high precision Telescopic rod 7, 4-DOF connection device 8, ball joint bearing 9, debugged equipment 10, inertial measurement module 11; where:
顶部固定板1的两侧安装有若干X轴滚轮2，若干X轴滚轮2对称设置于顶部固定板1的两侧；X轴导轨3为两条平行导轨，X轴滚轮2可沿X轴导轨3水平移动；X轴导轨3的两端固定有若干Y轴滚轮4，若干Y轴滚轮4对称设置于两条平行的X轴导轨3的下方；Y轴封闭导轨5为两条平行导轨，Y轴滚轮4可沿Y轴封闭导轨5水平移动；两条Y轴封闭导轨5的两端分别固定在基座6上；顶部固定板1上固定有4自由度连接装置8；Z轴高精度伸缩杆7固定在4自由度连接装置8中，Z轴固定板7的下方通过球头关节轴承9连接固定被调试设备10；Z轴高精度伸缩杆7上安装惯性测量模块11，用于测量所述Z轴高精度伸缩杆7的姿态。Several X-axis rollers 2 are installed on both sides of the top fixed plate 1, and several X-axis rollers 2 are symmetrically arranged on both sides of the top fixed plate 1; the X-axis guide rail 3 is two parallel guide rails, and the X-axis roller 2 can move along the X-axis guide rail. 3 Horizontal movement; two ends of the X-axis guide rail 3 are fixed with a number of Y-axis rollers 4, and several Y-axis rollers 4 are symmetrically arranged below the two parallel X-axis guide rails 3; the Y-axis closed guide rail 5 is two parallel guide rails, Y The axis roller 4 can move horizontally along the Y-axis closed guide rail 5; the two ends of the two Y-axis closed guide rails 5 are respectively fixed on the base 6; the top fixed plate 1 is fixed with a 4-degree-of-freedom connection device 8; the Z-axis is stretchable with high precision The rod 7 is fixed in the 4-DOF connection device 8, and the bottom of the Z-axis fixed plate 7 is connected and fixed to the debugged equipment 10 through the ball joint bearing 9; the inertial measurement module 11 is installed on the Z-axis high-precision telescopic rod 7 for measuring the Describe the posture of the Z-axis high-precision telescopic rod 7.
如图2所示，作为一优选的实施方式，所述4自由度连接装置8包括：X轴轴承12，X轴角度编码器13，Y轴轴承14，Y轴角度编码器15，Z轴直线轴承16，固定基座17，4自由度连接装置骨架18；其中：As shown in Figure 2, as a preferred embodiment, the 4-DOF connecting device 8 includes: X-axis bearing 12, X-axis angle encoder 13, Y-axis bearing 14, Y-axis angle encoder 15, Z-axis linear Bearing 16, fixed base 17, 4-DOF connecting device skeleton 18; wherein:
X轴轴承12的两端分别固定在固定基座17上；所述固定基座17固定在所述顶部固定板1的上部；X轴角度编码器13设置在X轴轴承12的一端；4自由度连接装置骨架18固定在X轴轴承12的中部位置；4自由度连接装置骨架18上固定有Y轴轴承14、Y轴角度编码器15、Z轴直线轴承16，且Z轴高精度伸缩杆7嵌入Z轴直线轴承16中。The two ends of the X-axis bearing 12 are respectively fixed on the fixed base 17; the fixed base 17 is fixed on the top of the top fixed plate 1; the X-axis angle encoder 13 is arranged on one end of the X-axis bearing 12; 4 free The 4-degree-of-freedom connection device frame 18 is fixed at the middle of the X-axis bearing 12; the 4-degree-of-freedom connection device frame 18 is fixed with a Y-axis bearing 14, a Y-axis angle encoder 15, and a Z-axis linear bearing 16, and the Z-axis high-precision telescopic rod 7 is embedded in the Z-axis linear bearing 16.
所述4自由的连接装置骨架18上固定有X轴轴承12、X轴角度编码器13、Y轴轴承14和Y轴角度编码器15，其中：通过被调试设备10的自身运动带动X轴轴承12和Y轴轴承13的转动，从而实现调试被调试设备10在前、后、左、右4个方向的移动，同时通过X轴角度编码器13和Y轴角度编码器15的测量得出Z轴高精度伸缩杆7的偏转位姿。The X-axis bearing 12, the X-axis angle encoder 13, the Y-axis bearing 14 and the Y-axis angle encoder 15 are fixed on the skeleton 18 of the four free connecting devices, wherein: the X-axis bearing is driven by the self-motion of the debugged device 10 12 and the rotation of the Y-axis bearing 13, so as to realize the movement of the debugged equipment 10 in the four directions of front, back, left and right, and at the same time obtain Z through the measurement of the X-axis angle encoder 13 and the Y-axis angle encoder 15. The deflection pose of the axis high-precision telescopic rod 7.
所述Z轴直线轴承16中嵌入Z轴高精度伸缩杆7，Z轴高精度伸缩杆7固定在4自由度连接装置8中，Z轴高精度伸缩杆7下方通过球头关节轴承9固定被调试设备10，Z轴高精度伸缩杆7的伸缩运动，带动被调试设备10实现在上、下2个方向的移动。The Z-axis high-precision telescopic rod 7 is embedded in the Z-axis linear bearing 16, and the Z-axis high-precision telescopic rod 7 is fixed in the 4-degree-of-freedom connection device 8. The bottom of the Z-axis high-precision telescopic rod 7 is fixed by the ball joint bearing 9. In the debugging equipment 10, the telescopic movement of the Z-axis high-precision telescopic rod 7 drives the equipment 10 to be debugged to move in two directions, up and down.
作为一优选的实施方式，所述X轴滚轮2的数量不少于四个。As a preferred embodiment, the number of the X-axis rollers 2 is not less than four.
作为一优选的实施方式，每条所述X轴导轨3的下方至少设置有两个Y轴滚轮4。As a preferred embodiment, at least two Y-axis rollers 4 are arranged under each of the X-axis guide rails 3 .
通过增加X轴导轨3、Y轴封闭导轨5、X轴滚轮2、Y轴滚轮4的数量，能够有效提高所述调试平台的稳定性和载荷。By increasing the number of X-axis guide rails 3, Y-axis closed guide rails 5, X-axis rollers 2, and Y-axis rollers 4, the stability and load of the debugging platform can be effectively improved.
作为一优选的实施方式，在所述X轴导轨3上安装位置编码器，用于测量顶部固定板1在X轴方向上的位置。As a preferred embodiment, a position encoder is installed on the X-axis guide rail 3 for measuring the position of the top fixing plate 1 in the X-axis direction.
作为一优选的实施方式，在所述Y轴封闭导轨5上安装位置编码器，用于测量Y轴封闭导轨5在Y轴方向上的位置，也即顶部固定板1在Y轴方向上的位置。As a preferred embodiment, a position encoder is installed on the Y-axis closed guide rail 5 for measuring the position of the Y-axis closed guide rail 5 in the Y-axis direction, that is, the position of the top fixing plate 1 in the Y-axis direction .
作为优选的，所述位置编码器采用磁栅式位置编码器，所述磁栅式位置编码器具有精度高、成本低且便于安装和使用的特点。Preferably, the position encoder adopts a magnetic grid position encoder, which has the characteristics of high precision, low cost and easy installation and use.
如图3所示，作为一优选的实施方式，所述多功能调试平台还设置有上位机19参与调试，所述上位机19与被调试设备10进行数据通讯；其中：As shown in Figure 3, as a preferred embodiment, the multifunctional debugging platform is also provided with a host computer 19 to participate in debugging, and the host computer 19 performs data communication with the debugged device 10; wherein:
所述上位机19与被调试设备10采用有线的方式通讯，即所述上位机19通过数据线20与被调试设备10连接，通过数据线20实现上位机19与被调试设备10之间的数据通讯；The host computer 19 communicates with the debugged device 10 in a wired manner, that is, the host computer 19 is connected to the debugged device 10 through the data line 20, and the data exchange between the host computer 19 and the debugged device 10 is realized through the data line 20. communication;
如图4所示，作为一优选的实施方式，所述上位机19与被调试设备10采用无线的方式通讯，即分别在所述上位机19、被调试设备10上设置无线电台21，通过无线电台21实现上位机19与被调试设备10之间的数据通讯。As shown in Figure 4, as a preferred embodiment, the host computer 19 communicates with the device 10 to be debugged in a wireless manner, that is, a radio station 21 is set on the host computer 19 and the device 10 to be debugged respectively, and the The platform 21 realizes the data communication between the upper computer 19 and the device 10 to be debugged.
所述调试平台可以使被调试设备10在限位范围内自由移动，使用所述调试平台调试被调试设备10时，对于被调试设备10性能参数来说，使用所述调试平台仅相当于在被调试设备10上加了一个Z轴高精度伸缩杆7的负重，其他结构在不超出限位范围时均不会对被调试设备10产生作用力。The debugging platform can make the device 10 to be debugged move freely within the limit range. When using the debugging platform to debug the device 10 to be debugged, for the performance parameters of the device 10 to be debugged, using the debugging platform is only equivalent to The load of a Z-axis high-precision telescopic rod 7 is added to the debugging device 10, and other structures will not exert force on the device 10 to be debugged when they do not exceed the limit range.
所述调试平台在运行时，通过X轴角度编码器13和Y轴角度编码器15的测量得出Z轴高精度伸缩杆7的偏转位姿；所述调试平台自动控制顶部固定板1沿着X轴导轨3水平移动，和X轴导轨3沿着Y轴分别导轨5水平移动，从而使得Z轴高精度伸缩杆7趋于竖直状态。When the debugging platform is in operation, 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 fixed plate 1 along the The X-axis guide rail 3 moves horizontally, and the X-axis guide rail 3 moves horizontally along the Y-axis guide rail 5 respectively, so that the Z-axis high-precision telescopic rod 7 tends to a vertical state.
在其他实施例里，可以缺省X轴角度编码器13和Y轴角度编码器15。另外，可以增加X轴导轨3或Y轴封闭导轨5数量。这些可以根据实际需要设置，对于本发明的实质没有影响。In other embodiments, the X-axis angle encoder 13 and the Y-axis angle encoder 15 can be omitted. In addition, the number of X-axis guide rails 3 or Y-axis closed guide rails 5 can be increased. These can be set according to actual needs, and have no influence on the essence of the present invention.
本发明能够安全方便的对调试设备的自稳定性能和运动性能进行调试；本发明解决了现有调试平台安装方案影响被测设备传感器、设备在调试平台上调试运动范围小等问题；本发明在保护被调试设备安全的同时还能够实时测量设备的位置信息。The invention can safely and conveniently debug the self-stabilizing performance and motion performance of the debugging equipment; the invention solves the problems that the installation scheme of the existing debugging platform affects the sensor of the equipment under test, and the equipment has a small debugging motion range on the debugging platform; While protecting the safety of the debugged device, it can also measure the location information of the device in real time.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本发明的实质内容。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710287394.7ACN107036795B (en) | 2017-04-27 | 2017-04-27 | Multifunctional debugging platform |
| Application Number | Priority Date | Filing Date | Title |
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| CN201710287394.7ACN107036795B (en) | 2017-04-27 | 2017-04-27 | Multifunctional debugging platform |
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| CN107036795A CN107036795A (en) | 2017-08-11 |
| CN107036795Btrue CN107036795B (en) | 2023-08-25 |
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| CN201710287394.7AActiveCN107036795B (en) | 2017-04-27 | 2017-04-27 | Multifunctional debugging platform |
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