Two-axis motion aircraft testing device, testing method and fully automatic workstation

Abstract

The invention discloses a two-axis motion aircraft test device, a test method and a fully automatic workstation, which relate to the field of aircraft testing. The technical scheme thereof includes: comprising a slewing mechanism, a swinging mechanism, a workpiece fixing seat and a control module; the workpiece fixing seat is fixedly mounted on the swinging mechanism, and the swinging mechanism is mounted on the slewing mechanism; the swing axis of the swinging mechanism and the rotation axis of the slewing mechanism are mutually perpendicular in three-dimensional space; the control module is used to: control the opening and closing of the slewing mechanism and / or the swinging mechanism according to the input test instruction; parse the test instruction into a test reference line of the corresponding test parameter changing with time; collect the angle parameters during the operation of the slewing mechanism and / or the swinging mechanism, and generate a test response line; compare and analyze the test response line with the test reference line to obtain the test result of the aircraft. The invention can not only accurately test the stability of the aircraft response, but also accurately test the abnormal conditions of the internal components of the aircraft.

Description

Technical Field

[0001] The present invention relates to the field of aircraft testing, and more particularly to a two-axis motion aircraft testing device, a testing method and a full-automatic workstation. Background Art

[0002] The yaw, roll and pitch tests of aircraft are important steps to ensure the stability and controllability of aircraft. When performing these tests, the attitude angles of the aircraft include yaw, pitch and roll, which respectively describe the rotation state of the aircraft relative to the ground coordinate system.

[0003] Aircraft tests in the prior art are mostly carried out using multi-axis test devices such as three-axis motion devices or five-axis motion devices. As the number of axes increases, the noise interference of the test device becomes more complex and changeable, making it difficult to accurately identify the performance parameters of the aircraft. In addition, the transmission during the aircraft test will also affect the test of response delay, which will also affect the accuracy of the aircraft's performance parameter test.

[0004] Therefore, how to research and design a two-axis motion aircraft test device, test method and fully automatic workstation that can overcome the above-mentioned defects is a problem that we urgently need to solve. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the purpose of the present invention is to provide a two-axis motion aircraft testing device, a testing method and a fully automatic workstation. The aircraft test is realized by a two-axis testing device. It is relatively simple to generate a test response line based on angle parameters in which the corresponding test parameters change over time, and then compare and analyze the test response line with the test baseline line. This can not only accurately test the stability of the aircraft response, but also accurately test the abnormal conditions of the internal components of the aircraft.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In a first aspect, a two-axis motion aircraft test device is provided, comprising a slewing mechanism, a swing mechanism, a workpiece fixing seat and a control module;

[0008] The workpiece fixing seat is fixedly mounted on the swing mechanism, and the swing mechanism is mounted on the rotary mechanism;

[0009] The swing axis of the swing mechanism and the rotation axis of the rotation mechanism are perpendicular to each other in three-dimensional space;

[0010] The control module is electrically connected to the swing mechanism and the rotary mechanism, and is used for:

[0011] Control the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instructions;

[0012] Parsing the test instructions into a test baseline of corresponding test parameters changing over time;

[0013] Collecting angle parameters during the operation of the rotary mechanism and / or the swing mechanism, and generating a test response line of the corresponding test parameters changing with time based on the angle parameters;

[0014] The test result of the aircraft is obtained by comparing and analyzing the test response line with the test reference line.

[0015] Furthermore, the rotary mechanism includes a rotary servo motor, a rotary turbine worm shaft and a first U-shaped seat;

[0016] The swing mechanism is installed on the inner side of the first U-shaped seat;

[0017] Wherein, after responding to the test instruction, the rotary servo motor drives the first U-shaped seat to rotate around the rotary axis through the rotary turbine worm gear, so as to realize the driving of the swing mechanism to rotate as a whole.

[0018] Furthermore, the swing mechanism includes a swing servo motor, a swing turbine worm shaft and a second U-shaped seat;

[0019] The workpiece fixing seat is installed on the inner bottom surface of the second U-shaped seat;

[0020] Wherein, after responding to the test instruction, the swing servo motor drives the second U-shaped seat to rotate around the swing axis by swinging the turbine worm gear, so as to drive the workpiece fixing seat to rotate as a whole.

[0021] In a second aspect, a testing method for a two-axis motion aircraft testing device as described in any one of the first aspects is provided, comprising the following steps:

[0022] S1: Fix the workpiece to be tested on the workpiece fixing seat;

[0023] S2: Input the test instruction to the control module, and the control module controls the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instruction;

[0024] S3: parsing the test instructions into a test baseline of corresponding test parameters changing over time;

[0025] S4: collecting angle parameters during the operation of the rotary mechanism and / or the swing mechanism, and generating a test response line of the corresponding test parameters changing with time based on the angle parameters;

[0026] S5: The test result of the aircraft is obtained by comparing and analyzing the test response line with the test reference line.

[0027] Further, the test parameter is any combination of yaw, pitch, roll, and X plus table.

[0028] Furthermore, the process of generating a test response line of a corresponding test parameter changing with time based on the angle parameter is specifically as follows:

[0029] Establish a preliminary response line with the angle parameter as the ordinate and time as the abscissa;

[0030] The test response line is obtained after denoising the preliminary response line.

[0031] Furthermore, the process of denoising the preliminary response line is specifically as follows:

[0032] Detecting a noise segment in the preliminary response line, the detection condition of the noise segment includes: taking a line between two end points of the noise segment as a trend line, the intersection of the noise segment and the trend line forms a peak feature and a trough feature, and the difference between a first cumulative deviation absolute value of the peak feature relative to the trend line and a second cumulative deviation absolute value of the trough feature relative to the trend line is less than a set threshold;

[0033] The trend line is used to replace the noise segment to achieve preliminary response line denoising.

[0034] Furthermore, the process of comparing and analyzing the test response line with the test reference line is specifically as follows:

[0035] Calculate the time delay between the test response line and the test reference line at different angle values;

[0036] A common time delay with the largest proportion among all time delays is selected as the test delay between the test response line and the test reference line, and the maximum proportion is not less than the set proportion; if the maximum proportion is less than the set proportion, the test result is unqualified;

[0037] Determine whether the test delays corresponding to the multiple test parameters are consistent; if they are consistent, the test result is qualified; if they are inconsistent, the test result is unqualified.

[0038] Furthermore, the method also includes:

[0039] Detect whether there are abnormal features in the test response line, and the abnormal features are divided into convex features and concave features;

[0040] If there are abnormal characteristics, the test result will be unqualified.

[0041] In a third aspect, a fully automatic workstation is provided, comprising a material conveying line, a robot, and a two-axis motion aircraft testing device as described in any one of the first aspects;

[0042] The material conveying line includes an incoming material conveying line, a qualified product conveying line, and a temporary storage station for unqualified products;

[0043] Among them, the incoming material conveyor line first conveys the workpiece pallet with the workpiece to be tested to the camera photo position. After the camera takes the photo, the incoming material conveyor line continues to convey the workpiece pallet with the workpiece to be tested to the robot grasping position. At the same time, the camera takes the photo and transmits the photo to the software analysis system. The software analysis system analyzes whether there is a workpiece to be tested on the workpiece pallet, whether the appearance of the workpiece to be tested is qualified, and the specifications, models and numbers of the workpiece to be tested based on the photo;

[0044] When there is no workpiece to be tested on the workpiece pallet or the appearance of the workpiece to be tested is unqualified, the robot directly places the workpiece pallet without the workpiece to be tested or the workpiece to be tested with unqualified appearance on the unqualified product temporary storage table; when there is a workpiece to be tested with qualified appearance on the workpiece pallet and there is no workpiece pallet on the aircraft test device, the robot places the workpiece pallet on the aircraft test device;

[0045] The robot puts the products that have been tested by the aircraft testing device and judged to be qualified by the software analysis system into the qualified product conveying line, and the qualified product conveying line inputs the products into the next process.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. A two-axis motion aircraft test device provided by the present invention realizes the aircraft test through the two-axis test device. It is relatively simple to generate the noise interference in the test response line of the corresponding test parameter changing with time based on the angle parameter. Then, the test response line is compared and analyzed with the test reference line, which can not only accurately test the stability of the aircraft response, but also accurately test the abnormal conditions of the internal components of the aircraft.

[0048] 2. The present invention installs the swing mechanism on the inner side of the first U-shaped seat, and the workpiece fixing seat on the inner bottom surface of the second U-shaped seat, which can reduce the occupied space of the entire testing device;

[0049] 3. The present invention determines the consistency of the test delays corresponding to multiple test parameters, and the test process does not need to consider the impact of transmission delay on test accuracy;

[0050] 4. The present invention uses the line between the two end points of the noise segment as the trend line. The noise segment and the trend line intersect to form a peak feature and a trough feature. The difference between the first cumulative deviation absolute value of the peak feature relative to the trend line and the second cumulative deviation absolute value of the trough feature relative to the trend line is less than a set threshold to check the noise segment. This can ensure the accuracy of the obtained test response line and avoid the situation where data fluctuations caused by abnormal situations are eliminated because they are regarded as noise, thereby effectively improving the reliability of the obtained test response line. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0052] Figure 1 is a schematic structural diagram of a two-axis motion aircraft testing device in Embodiment 1 of the present invention;

[0053] Figure 2 is a test flow chart in Embodiment 2 of the present invention;

[0054] Figure 3 is a test schematic diagram of the test parameter of yaw in embodiment 2 of the present invention;

[0055] Figure 4 is a test schematic diagram of pitch in Example 2 of the present invention;

[0056] Figure 5 is a test schematic diagram of a test parameter of rolling in Embodiment 2 of the present invention;

[0057] Figure 6 is a test schematic diagram of the test parameter of Example 2 of the present invention being the addition of a standard;

[0058] Figure 7 is a schematic diagram of an unqualified test in which the test parameter is rolling in Example 2 of the present invention;

[0059] Figure 8 It is a structural schematic diagram of a fully automatic workstation in Example 3 of the present invention.

[0060] Marks and corresponding parts names in the attached drawings:

[0061] 1. Rotary servo motor; 2. Rotary turbine worm rod; 3. First U-shaped seat; 4. Swinging servo motor; 5. Swinging turbine worm rod; 6. Second U-shaped seat; 7. Workpiece fixing seat; 8. Robot; 9. Incoming material conveyor line; 10. Qualified product conveyor line; 11. Temporary storage table for unqualified products; 12. Camera. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0063] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0064] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0066] Embodiment 1: A two-axis motion aircraft testing device, such as Figure 1 As shown, it includes a rotary mechanism, a swing mechanism, a workpiece fixing seat 7 and a control module. The workpiece fixing seat 7 is fixedly mounted on the swing mechanism, and the swing mechanism is mounted on the rotary mechanism; the swing axis of the swing mechanism and the rotation axis of the rotary mechanism are perpendicular to each other in three-dimensional space; the control module is electrically connected to the swing mechanism and the rotary mechanism.

[0067] The control module realizes the following functions: controlling the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instructions; parsing the test instructions into a test baseline in which the corresponding test parameters change over time; collecting the angle parameters during the operation of the rotary mechanism and / or the swing mechanism, and generating a test response line in which the corresponding test parameters change over time based on the angle parameters; and obtaining the test results of the aircraft after comparing and analyzing the test response line with the test baseline.

[0068] The rotary mechanism includes a rotary servo motor 1, a rotary turbine worm 2 and a first U-shaped seat 3; the swing mechanism is installed on the inner side of the first U-shaped seat 3; wherein, after the rotary servo motor 1 responds to the test instruction, it drives the first U-shaped seat 3 to rotate around the rotary axis through the rotary turbine worm 2, so as to realize the driving of the swing mechanism to rotate as a whole.

[0069] The swing mechanism includes a swing servo motor 4, a swing turbine vortex rod 5 and a second U-shaped seat 6; the workpiece fixing seat 7 is installed on the inner bottom surface of the second U-shaped seat 6; wherein, after the swing servo motor 4 responds to the test instruction, it drives the second U-shaped seat 6 to rotate around the swing axis through the swing turbine vortex rod 5, so as to realize the driving of the workpiece fixing seat 7 to rotate as a whole.

[0070] The above-mentioned testing device occupies a small space as a whole and is convenient for placing the workpiece to be tested.

[0071] Embodiment 2: A testing method for a two-axis motion aircraft testing device as described in Embodiment 1, such as Figure 2 As shown, the following steps are included:

[0072] S1: The workpiece to be tested is fixedly mounted on the workpiece fixing seat 7;

[0073] S2: Input the test instruction to the control module, and the control module controls the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instruction;

[0074] S3: parsing the test instructions into a test baseline of corresponding test parameters changing over time;

[0075] S4: collecting angle parameters during the operation of the rotary mechanism and / or the swing mechanism, and generating a test response line of the corresponding test parameters changing with time based on the angle parameters;

[0076] S5: The test result of the aircraft is obtained by comparing and analyzing the test response line with the test reference line.

[0077] The test parameters are any combination of yaw, pitch, roll, and X plus the table. Different test items require different test instructions.

[0078] The process of generating a test response line of the corresponding test parameter changing with time based on the angle parameter is specifically as follows: establishing a preliminary response line with the angle parameter as the ordinate and time as the abscissa; and obtaining the test response line after denoising the preliminary response line.

[0079] The specific process of denoising the preliminary response line is as follows: detecting the noise segment in the preliminary response line, the detection conditions of the noise segment include: taking the line between the two end points of the noise segment as the trend line, the intersection of the noise segment and the trend line constitutes a peak feature and a trough feature, and the difference between the absolute value of the first cumulative deviation of the peak feature relative to the trend line and the absolute value of the second cumulative deviation of the trough feature relative to the trend line is less than a set threshold; replacing the noise segment with the trend line to realize the denoising of the preliminary response line.

[0080] The present invention can ensure the accuracy of the obtained test response line, and at the same time can avoid the situation where data fluctuations caused by abnormal situations are eliminated because they are regarded as noise, thereby effectively improving the reliability of the obtained test response line.

[0081] The specific process of comparing and analyzing the test response line with the test reference line is as follows: calculating the time delay between the test response line and the test reference line at different angle values; selecting the common time delay with the largest proportion among all time delays as the test delay between the test response line and the test reference line, and the maximum proportion is not less than the set proportion; if the maximum proportion is lower than the set proportion, the test result is unqualified; determining whether the test delays corresponding to multiple test parameters are consistent; if they are consistent, the test result is qualified; if not, the test result is unqualified.

[0082] The present invention determines the consistency of the test delays corresponding to the multiple test parameters, and the test process does not need to consider the influence of the transmission delay on the test accuracy.

[0083] like Figure 3-Figure 6 As shown, the test delays corresponding to the yaw, pitch, roll, and X-add tables are all the same, indicating that the test results are qualified.

[0084] In addition, the test method described in the present invention also includes the following steps: detecting whether there are abnormal features in the test response line, and the abnormal features are divided into convex features and concave features; if there are abnormal features, the test result is unqualified.

[0085] like Figure 7 As shown, although the test delay is consistent, there are concave and convex features in the test response line, indicating that there are defects in the internal components of the aircraft and the test results are unqualified.

[0086] Embodiment 3: A fully automatic workstation, such as Figure 8 As shown, it includes a material conveying line, a robot 8 and a two-axis motion aircraft testing device as described in Example 1. The material conveying line includes an incoming material conveying line 9, a qualified product conveying line 10, and an unqualified product temporary storage table 11; wherein, the incoming material conveying line 9 first conveys the workpiece pallet with the workpiece to be tested to the camera 12 photo position, and after the camera 12 takes the photo, the incoming material conveying line 9 continues to convey the workpiece pallet with the workpiece to be tested to the robot 8 grabbing position, and at the same time, the camera 12 takes the photo and transmits the photo to the software analysis system, and the software analysis system analyzes whether there is a workpiece to be tested on the workpiece pallet, whether the appearance of the workpiece to be tested is qualified, and the specifications, models and numbers of the workpiece to be tested according to the photo;

[0087] When there is no workpiece to be tested on the workpiece pallet or the appearance of the workpiece to be tested is unqualified, the robot 8 directly places the workpiece pallet without the workpiece to be tested or the workpiece to be tested with unqualified appearance on the unqualified product temporary storage table 11; when there is a workpiece to be tested with qualified appearance on the workpiece pallet and there is no workpiece pallet on the aircraft test device, the robot 8 places the workpiece pallet on the aircraft test device;

[0088] The robot 8 puts the products that have been tested by the aircraft testing device and judged to be qualified by the software analysis system into the qualified product conveying line 10, and the qualified product conveying line 10 inputs the products into the next process.

[0089] The robot 8 is composed of a machine body, a machine control cabinet, a machine base, a gripper and a material detection system. The robot 8 works according to a preset path. The robot 8 control system interacts with the electrical control system and the software analysis system to plan the operation path. The robot 8 path includes a return to origin path, an empty pallet placement path, a placement path for products with unqualified appearance, a placement path for products with qualified appearance to be inspected, a placement path for unqualified products, and a placement path for qualified products. The return to origin path of the robot 8 is a path for the robot 8 to return to an initial reasonable posture after the work is completed; the empty pallet placement path, when the camera 12 takes a photo at the photo position and there is no workpiece in the pallet, the camera 12 system analyzes and processes the result and exchanges it with the electrical control system, and the electrical control system exchanges it with the robot 8, and the robot 8 executes the empty pallet placement path; the unqualified appearance product placement path, when the camera 12 takes a photo at the photo position and the workpiece in the pallet is unqualified in appearance, the camera 12 system analyzes and processes the result and exchanges it with the electrical control system, and the electrical control system exchanges it with the robot 8, and the robot 8 executes the unqualified appearance product placement path; the qualified ... 12 When the appearance of the workpiece in the tray is qualified in the photo taken at the photo position, the camera 12 system analyzes and processes the result and exchanges it with the electrical control system, and the electrical control system exchanges it with the robot 8. The robot 8 executes the placement path of the products with qualified appearance to be inspected; detects the placement path of unqualified products. After the aircraft test device completes the test program, the software analysis system analyzes the collected data and generates lines. If the set conditions are not met, the robot 8 executes the placement path of unqualified products; detects the placement path of qualified products. After the aircraft test device completes the test program, the software analysis system analyzes the collected data and generates lines. If the set conditions are met, the robot 8 executes the placement path of qualified products.

[0090] The aircraft test device can be operated manually by a single machine, automatically by a single machine, or automatically online. The manual operation of the single machine means manually and individually operating the yaw, pitch, roll, X-add-table and other actions; the automatic operation of the single machine means automatically operating the yaw and pitch actions halfway according to preset parameters, or automatically operating the yaw, pitch, roll, and X-add-table actions throughout the entire process; the online automatic operation means that the camera 12 takes a photo to analyze the product model, and the system calls out the formula of the preset automatic operation parameters of the product. After the robot 8 puts the workpiece to be tested, the aircraft test device automatically operates the preset automatic operation parameters of the product, and transmits the test data to the software analysis system in real time. After the automatic operation of the aircraft test device ends and the software analysis system determines the result, the robot 8 automatically takes the workpiece out of the aircraft test device and puts it into the corresponding position according to the determination result.

[0091] The electrical control system includes high-performance programmable controller, network router, rotary motor servo driver, swing motor servo driver, feed conveyor inverter, discharge conveyor inverter, human-machine interface, peripheral input / output devices, industrial camera 12, industrial computer, industrial robot 8 control cabinet and other units. The programmable controller serves as the central control unit, connecting various functional modules into an organic whole. The programmable controller controls the rotary and swing servo motor 4 drivers through the network router to achieve precise positioning control of the rotary mechanism and swing mechanism of the aircraft test device and realize a variety of complex automatic actions; the programmable controller controls the feed and discharge frequency conversion motor drivers through the network router to achieve automatic operation of the material conveying line and complete the automatic conveying of the materials to be tested and qualified products; the programmable controller communicates with the human-machine interface through the network router, and the automatic operation parameters, recipes, manual parameters, operation actions, etc. set by the user on the human-machine interface are transmitted to the programmable controller for processing and execution. The programmable controller returns the processing execution process and results, alarm information and other data to the human-machine interface for display; the programmable controller communicates with the industrial computer through the network router, and the industrial computer transmits the conclusions obtained from the data analysis and processing collected by the tested object and the industrial camera 12 to the programmable controller; the programmable controller communicates with the industrial robot 8 through the network router, and transmits the operation path calculated by the programmable controller to the industrial robot 8 for execution, and feeds the execution results back to the programmable controller. The recipe parameters in the human-machine interface include: full-range and half-range selection, positive yaw angle, negative yaw angle, positive pitch angle, negative pitch angle, positive roll angle, negative roll angle, X plus table 1 angle, X plus table 2 angle, swing motor speed, slew motor speed, positive yaw delay, positive yaw return to zero delay, negative yaw delay, negative yaw return to zero delay, positive pitch delay, positive pitch return to zero delay, negative pitch delay, negative pitch return to zero delay, positive roll delay, positive roll return to zero delay, negative roll delay, negative roll return to zero delay, X plus table 1 delay, X plus table 2 delay, X plus table 2 return to zero delay, etc.

[0092] The workstation automatically runs the process. In the first step, the incoming material conveyor line conveys the workpiece pallet to the camera 12 to take a photo. After taking the photo, it is transmitted to the industrial computer for analysis, and three conclusions are drawn: an empty pallet, a product with unqualified appearance, and a workpiece to be tested. In the second step, the workpiece pallet after taking the photo is conveyed to the workpiece grabbing position. In the third step, the robot 8 runs the empty pallet placement path according to the result of the industrial computer analysis and judgment. If it is an empty pallet, it puts it on the unqualified product temporary storage table 11 to be taken away manually, and returns to the first step to re-feed. If it is an unqualified product in appearance, it runs the unqualified product placement path, puts it on the unqualified product temporary storage table 11 to be taken away manually, and returns to the first step to re-feed. If it is a workpiece to be tested, the workpiece placement path to be tested is run to put it into the automatic testing device; in the fourth step, the automatic testing device calls the corresponding formula parameters according to the product model analyzed by the photo to complete the automatic test, and transmits the test data to the software analysis system for analysis, and draws two conclusions: qualified product and unqualified product; in the fifth step, the robot 8 runs the unqualified product placement path according to the conclusion drawn by the software analysis system, if it is an unqualified product, puts it into the unqualified product temporary storage table 11, waits for manual removal, and returns to the first step to re-feed; if it is a qualified product, the qualified product placement path is run, puts it into the discharging conveyor line to be transported to the next process, and returns to the first step to re-feed.

[0093] When the test device is automatically running, the product specifications and models are analyzed based on the photos taken by the industrial camera 12, and the system automatically calls the preset recipe parameters of the corresponding product specifications and models and executes them. The swing and rotation mechanisms return to zero. After returning to zero, yaw starts, and the swing motor rotates forward at the recipe speed. The positive yaw stops at the recipe positive yaw angle. The positive yaw delay starts. After the delay is over, the swing motor reverses at the recipe speed. The positive yaw returns to zero and stops at zero degrees. The positive yaw returns to zero delay starts. After the delay is over, the swing motor reverses at the recipe speed. The negative yaw stops at the recipe negative yaw angle. The negative yaw delay starts. After the delay is over, the swing motor rotates forward at the recipe speed. Forward rotation, negative yaw returns to zero and stops at zero degree, negative yaw returns to zero delay starts, after the delay is over, the yaw action is completed; pitch starts, the rotary motor rotates forward 90 degrees at the formula speed, after it is in place, the swing motor rotates forward at the formula speed, the positive pitch reaches the formula positive pitch angle and stops, the positive pitch delay starts, after the delay is over, the swing motor reverses at the formula speed, the positive pitch returns to zero and stops at zero degree, the positive pitch returns to zero delay starts, after the delay is over, the swing motor reverses at the formula speed, the negative pitch reaches the formula negative pitch angle and stops, the negative pitch delay starts, after the delay is over, the swing motor rotates forward at the formula speed, the negative pitch returns to zero and stops at zero degree, the negative The pitch return to zero delay starts. After the delay is over, the rotary motor reverses 90 degrees at the formula speed. When it is in place, the pitch action is completed; the roll starts, the rotary motor rotates forward at the formula speed, and the positive roll stops at the formula positive roll angle. The positive roll delay starts. After the delay is over, the rotary motor reverses at the formula speed, and the positive roll returns to zero and stops at zero degrees. The positive roll return to zero delay starts. After the delay is over, the rotary motor reverses at the formula speed, and the negative roll stops at the formula negative roll angle. The negative roll delay starts. After the delay is over, the rotary motor rotates forward at the formula speed, and the negative roll returns to zero and stops at zero degrees. The negative roll return to zero delay starts. After the delay is over, the roll The action is completed; X plus table starts, the swing motor rotates forward at the formula speed, stops at the formula X plus table one angle, X plus table one delay starts, after the delay is over, the swing motor continues to rotate forward at the formula speed, stops at the formula X plus table two angle, X plus table two delay starts, after the delay is over, the swing motor reverses at the formula speed, stops at zero degree, X plus table return to zero delay starts, delay is over, X plus table action is completed, automatic test is completed, during the test process, the product test data is transmitted to the industrial computer in real time, the industrial computer analyzes whether the product is qualified, and communicates the result to the programmable controller for controlling the execution path of the industrial robot 8.

[0094] Some calculation formulas in the programmable controller are: if the turbine worm speed ratio is i, and P pulses are needed for one rotation of the motor, we can calculate that the corresponding angle of rotation of the rotating or swinging mechanism for one rotation of the motor is 360 / i degrees, that is, the mechanism angle D=360 / i for one rotation of the motor; the number of pulses corresponding to one degree of mechanism rotation E=(P*i) / 360; the correspondence between the motor speed r and the rotation or swing angular velocity is 360r / i degrees / second, that is, the mechanism angular velocity S=360r / i degrees / second; when the mechanism angular velocity is S, the pulse frequency required by the motor is 360P / i.

[0095] The software analysis system includes two parts: industrial camera 12 data analysis and measured data analysis. The industrial camera 12 data analysis is to compare the photos collected by the camera 12 with the standard pictures to determine whether there are workpieces in the tray, whether the appearance of the workpieces is qualified, and the specifications and product numbers of the workpieces in the current tray. The specifications are determined according to the size and shape of the workpieces in the photos, and the numbers are identified according to the barcode or QR code on the product; the measured data analysis is to compare the collected measured data with the benchmark data. If the comparison result is within the deviation setting range, the product is qualified, otherwise the product is unqualified. Data comparison can also compare the current angle with the time axis as the benchmark to see the deviation value between the current angle and the benchmark angle. The user can customize the minimum resolution of the comparison time, such as 0.1ms, 1ms, 10ms, 50ms, etc. The collected measured data is stored in correspondence with the product number. By entering the product number in the system, the test data can be called up and the test curve can be generated, providing a basis for subsequent product failure analysis and problem handling.

[0096] Working principle: The aircraft test is realized through a two-axis test device. It is relatively simple to generate the noise interference in the test response line based on the angle parameter, in which the corresponding test parameter changes with time. Then the test response line is compared and analyzed with the test baseline line. It can not only accurately test the stability of the aircraft response, but also accurately test the abnormal conditions of the internal components of the aircraft.

[0097] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A two-axis motion aircraft test device, characterized in that: It includes a rotating mechanism, a swinging mechanism, a workpiece fixing seat (7) and a control module; The workpiece fixing seat (7) is fixedly mounted on the swing mechanism, and the swing mechanism is mounted on the rotary mechanism; The swing axis of the swing mechanism and the rotation axis of the rotation mechanism are perpendicular to each other in three-dimensional space; The control module is electrically connected to the swing mechanism and the rotary mechanism, and is used for: Control the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instructions; Parsing the test instructions into a test baseline of corresponding test parameters changing over time; The angle parameters of the rotary mechanism and / or the swing mechanism are collected during operation, and a test response line of the corresponding test parameters varying with time is generated based on the angle parameters; the process of generating the test response line of the corresponding test parameters varying with time based on the angle parameters is specifically as follows: Establish a preliminary response line with the angle parameter as the ordinate and time as the abscissa; After the preliminary response line is denoised, the test response line is obtained; the process of denoising the preliminary response line is specifically as follows: Detecting a noise segment in the preliminary response line, the detection condition of the noise segment includes: taking a line between two end points of the noise segment as a trend line, the intersection of the noise segment and the trend line forms a peak feature and a trough feature, and the difference between a first cumulative deviation absolute value of the peak feature relative to the trend line and a second cumulative deviation absolute value of the trough feature relative to the trend line is less than a set threshold; The trend line is used to replace the noise segment to achieve preliminary response line denoising; The test response line is compared and analyzed with the test reference line to obtain the test result of the aircraft; the process of comparing and analyzing the test response line with the test reference line is specifically as follows: Calculate the time delay between the test response line and the test reference line at different angle values; A common time delay with the largest proportion among all time delays is selected as the test delay between the test response line and the test reference line, and the maximum proportion is not less than the set proportion; if the maximum proportion is less than the set proportion, the test result is unqualified; Determine whether the test delays corresponding to the multiple test parameters are consistent; if they are consistent, the test result is qualified; if they are inconsistent, the test result is unqualified.

2. A two-axis motion aircraft testing device according to claim 1, characterized in that: The rotary mechanism comprises a rotary servo motor (1), a rotary turbine worm shaft (2) and a first U-shaped seat (3); The swing mechanism is installed on the inner side of the first U-shaped seat (3); Wherein, after responding to the test instruction, the rotary servo motor (1) drives the first U-shaped seat (3) to rotate around the rotary axis through the rotary turbine worm (2), so as to realize the driving of the swing mechanism to rotate as a whole.

3. A two-axis motion aircraft testing device according to claim 1, characterized in that: The swing mechanism comprises a swing servo motor (4), a swing turbine worm shaft (5) and a second U-shaped seat (6); The workpiece fixing seat (7) is installed on the inner bottom surface of the second U-shaped seat (6); Wherein, after responding to the test instruction, the swing servo motor (4) drives the second U-shaped seat (6) to rotate around the swing axis by swinging the turbine worm gear (5), so as to realize driving the workpiece fixing seat (7) to rotate as a whole.

4. A testing method for a two-axis motion aircraft testing device as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: S1: Fixing the workpiece to be tested on the workpiece fixing seat (7); S2: Input the test instruction to the control module, and the control module controls the opening and closing of the rotary mechanism and / or the swing mechanism according to the input test instruction; S3: parsing the test instructions into a test baseline of corresponding test parameters changing over time; S4: collecting angle parameters during the operation of the rotary mechanism and / or the swing mechanism, and generating a test response line of the corresponding test parameters changing with time based on the angle parameters; S5: The test result of the aircraft is obtained by comparing and analyzing the test response line with the test reference line.

5. The testing method of a two-axis motion aircraft testing device according to claim 4, characterized in that: The test parameters are any combination of yaw, pitch, roll, and X plus table.

6. The testing method of a two-axis motion aircraft testing device according to claim 4, characterized in that: The method further includes: Detect whether there are abnormal features in the test response line, and the abnormal features are divided into convex features and concave features; If there are abnormal characteristics, the test result will be unqualified.

7. A fully automatic workstation, characterized in that: It comprises a material conveying line, a robot (8) and a two-axis motion aircraft testing device as described in any one of claims 1 to 3; The material conveying line comprises an incoming material conveying line (9), a qualified product conveying line (10), and a temporary storage platform for unqualified products (11); The incoming material conveying line (9) first conveys the workpiece pallet with the workpiece to be tested to the camera (12) photographing position. After the camera (12) takes the photograph, the incoming material conveying line (9) continues to convey the workpiece pallet with the workpiece to be tested to the robot (8) grasping position. At the same time, the camera (12) transmits the photograph to the software analysis system after taking the photograph. The software analysis system analyzes whether there is a workpiece to be tested on the workpiece pallet, whether the appearance of the workpiece to be tested is qualified, and the specification, model and number of the workpiece to be tested based on the photograph. When there is no workpiece to be tested on the workpiece pallet or the appearance of the workpiece to be tested is unqualified, the robot (8) directly places the workpiece pallet without the workpiece to be tested or the workpiece to be tested with unqualified appearance on the unqualified product temporary storage table (11); when there is a workpiece to be tested with qualified appearance on the workpiece pallet and there is no workpiece pallet on the aircraft test device, the robot (8) places the workpiece pallet on the aircraft test device; The robot (8) places the products that have been tested by the aircraft testing device and judged to be qualified by the software analysis system into the qualified product conveying line (10), and the qualified product conveying line (10) inputs the products into the next process.

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