Unmanned aerial vehicle online automatic test platform system

Abstract

The invention relates to the technical field of unmanned aerial vehicle testing, and discloses an unmanned aerial vehicle on-line automatic testing platform system which comprises a testing conveying table, a tool plate, a power transmission assembly, a testing rack assembly, a jacking assembly, a control system and a testing system.The testing conveying table is of a hollow structure, the tool plate is arranged on the testing conveying table, and the power transmission assembly is arranged on the testing rack assembly. The lower portion of the tool plate is connected with the test bench assembly, the lower portion of the test bench assembly is connected with the jacking assembly, and the test conveying table is further provided with the power transmission assembly and the control system. According to the on-line automatic test platform system for the unmanned aerial vehicle, the multi-degree-of-freedom test sensor and the data acquisition module are used for testing and acquiring power of the unmanned aerial vehicle in an automatic loading state, simulated flight tests of all stages are completed through automatic control of the system, and the system is equipped with a power transmission assembly and is in butt joint with an assembly line, so that automatic positioning and clamping are realized; and after the test process is finished, automatic release is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle testing, and in particular to an unmanned aerial vehicle online automatic testing platform system. Background Art

[0002] UAV is the abbreviation of unmanned aircraft, which is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device.

[0003] In the prior art, during the development and testing of UAVs, it is necessary to test a series of functional parameters of the UAV, such as the rotational torque of the power system, the tensile and compressive forces of the power system, etc., and corresponding testing devices or systems are set up for testing the above parameters.

[0004] The current testing method is a simple universal joint form, which simulates the functional detection of the UAV during the test to verify that the UAV control system is in a working state. However, some existing UAV test platforms often have a low degree of freedom and cannot adapt to the different flight postures of the UAV to measure lift data. It is also impossible to evaluate the consistency of the UAV leaving the factory and the data information of the factory products, etc., and the test after assembly is a separate operation that requires manual handling. Summary of the invention

[0005] The purpose of the present invention is to provide a drone online automatic testing platform system to solve the defects mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, an unmanned aerial vehicle online automatic test platform system is provided, comprising: a test conveying platform, a tooling plate, a power transmission component, a test bench component, a lifting component, a control system and a test system, wherein the test conveying platform is a hollow structure, the tooling plate is arranged on the test conveying platform, the lower part of the tooling plate is connected to the test bench component, the lower part of the test bench component is connected to the lifting component, and the power transmission component and the control system are also arranged on the test conveying platform;

[0007] The test bench assembly comprises: a test bench bracket, a support plate, a six-dimensional force sensor and a rotary clamping cylinder, the rotary clamping cylinder is fixedly installed at both ends of the support plate, the six-dimensional force sensor is fixedly installed below the support plate, and the test bench bracket is fixedly connected below the six-dimensional force sensor;

[0008] The six-dimensional force sensor collects the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part, and sends the collected data to the test system;

[0009] The control system is PLC controlled and realizes signal connection with the test system;

[0010] The sensor of the test system is connected to the six-dimensional force sensor through a cable. The test system includes: measurement and control software of the upper computer and power test software of the lower computer, which are written based on LABVIEW, and simultaneously display the actual values ​​of the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part, and set the set value of each force in the power test software. The test system obtains consistency judgment based on the comparison between the measured value and the set value.

[0011] Furthermore, a plurality of toggle clamps are provided on the tooling plate for fixing the drone.

[0012] Furthermore, a plurality of positioning copper sleeves are arranged on the tooling plate for positioning the test bench assembly.

[0013] Furthermore, the power transmission assembly includes: a roller line body, a blocking cylinder, a capacitive proximity switch, a motor and a transmission roller. The two roller lines are respectively arranged on two vertical brackets on the same side of the test conveying platform. The motor, the blocking cylinder and the capacitive proximity switch are fixedly installed in sequence below the upper surface of the test conveying platform close to the roller line body side. The transmission roller is installed on the test conveying platform, and the motor is connected to the transmission roller.

[0014] Furthermore, a diamond-shaped positioning pin and a cylindrical positioning pin are fixedly mounted on the support plate.

[0015] Furthermore, the lifting assembly includes: a servo electric cylinder, a base plate, a movable plate, a guide column, a floating joint and a contour column. The base plate is fixedly installed inside the test conveyor platform through the crossbeam of the test conveyor platform, the servo electric cylinder is fixedly installed below the base plate, the guide columns are symmetrically installed on the upper surface of the base plate, the movable plate is fixedly installed on the top of the guide columns, the contour columns are symmetrically installed on the upper surface of the movable plate, and the two ends of the floating joint are respectively connected to the movable plate and the servo electric cylinder; the test bench bracket is fixedly installed on the movable plate.

[0016] Furthermore, a linear bearing is arranged between the guide column and the base plate.

[0017] Furthermore, a hydraulic damping buffer is provided at the top end of the equal-height column.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Use multi-degree-of-freedom test sensors and data acquisition modules to test and collect the power of the drone under automatic loading state, and complete the simulated flight test at each stage through the automatic control of the system. The test platform has a damping protection device that can adjust the buffer to prevent sensor damage. The buffer device can adjust the support force through the digital display;

[0020] 2. Use servo electric cylinder for stroke control of lifting and positioning and use servo motor brake to complete self-locking of transmission screw to ensure the stability of the test platform during the test, and complete positioning through positioning copper sleeve;

[0021] 3. After placing the drone on the tooling board, use the elbow clamp quick clamp to clamp the drone landing gear to ensure the stability of the drone during the test;

[0022] 4. It is equipped with a power roller line body, which is connected to the assembly line to achieve automatic positioning and clamping, and automatically release after the test process is completed to achieve automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of the UAV online automatic test platform system of the present invention;

[0024] Figure 2 It is a schematic top view of the structure of the online automatic test platform system for unmanned aerial vehicles of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the online automatic test platform system for unmanned aerial vehicles of the present invention;

[0026] Figure 4 It is a schematic diagram of the front view of the structural test bench assembly structure of the present invention;

[0027] Figure 5 It is a schematic front view of the structure of the jacking assembly of the present invention.

[0028] Numbers in the figure: 1. Test conveyor platform; 2. Tooling plate; 21. Toggle clamp quick clamp; 22. Positioning copper sleeve; 3. Power transmission assembly; 31. Roller line; 32. Blocking cylinder; 33. Capacitive proximity switch; 34. Motor; 35. Transmission roller; 4. Test bench assembly; 41. Test bench bracket; 42. Support plate; 43. Six-dimensional force sensor; 44. Rotary clamping cylinder; 45. Diamond locating pin; 46. Cylindrical locating pin; 5. Lifting assembly; 51. Servo electric cylinder; 52. Bottom plate; 53. Movable plate; 54. Guide column; 55. Floating joint; 56. Equal height column; 57. Linear bearing; 58. Hydraulic damping buffer; 6. Control system. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 2 The present invention provides an online automatic test platform system for a UAV, comprising: a test conveying platform 1, a tooling plate 2, a power transmission component 3, a test bench component 4, a lifting component 5, a control system 6 and a test system. The test conveying platform 1 is a hollow structure, a tooling plate 2 is arranged on the test conveying platform 1, four toggle clamp quick clamps 21 are symmetrically arranged on the tooling plate 2 for fixing the UAV, four positioning copper sleeves 22 are symmetrically arranged on the tooling plate 2, two of which fit the diamond positioning pins 45, and two of which fit the cylindrical positioning pins 46.

[0031] The lower part of the tooling plate 2 is connected to a test bench assembly 4 , the lower part of the test bench assembly 4 is connected to a jacking assembly 5 , and a power transmission assembly 3 and a control system 6 are also arranged on the test conveying platform 1 .

[0032] The control system 6 is controlled by PLC and realizes signal connection with the test system, and finally realizes the control of the whole system.

[0033] The sensor of the test system is connected to the six-dimensional force sensor 43 through a cable. The test system includes: the measurement and control software of the host computer and the power test software of the lower computer, which are written based on LABVIEW, and display the actual values ​​of the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part at the same time, and set the set value of each force in the power test software. The test system obtains consistency judgment based on the comparison between the measured value and the set value. Connecting the test bench can realize data display, storage, analysis, and manual or programmed speed control of the power system. The modular design adopts a three-axis force and three-axis torque of the whole machine as an acquisition module, and the three forces, three torques, power electric power and speed of the power part are each a module. All modules are finally connected to the data summary to the test system. The system can easily expand the acquisition of multiple sets of power parameters. The sampling rate of a single module is 10000HZ, and 5000HZ when multiple modules are in parallel, which can meet the large-scale whole machine / power response test.

[0034] like Figure 3As shown, the power transmission component 3 includes: a roller line body 31, a blocking cylinder 32, a capacitive proximity switch 33, a motor 34 and a transmission roller 35. The two roller lines 31 are respectively arranged on two vertical brackets on the same side of the test conveying platform 1. The motor 34, the blocking cylinder 32 and the capacitive proximity switch 33 are fixedly installed in sequence below the upper surface of the test conveying platform 1 close to the roller line body 31. The transmission roller 35 is installed on the test conveying platform 1, and the motor 34 is connected to the transmission roller 35.

[0035] like Figure 4 As shown, the test bench assembly 4 includes: a test bench bracket 41, a support plate 42, a six-dimensional force sensor 43 and a rotary clamping cylinder 44. The rotary clamping cylinder 44 is fixedly installed at both ends of the support plate 42, and the six-dimensional force sensor 43 is fixedly installed below the support plate 42. The six-dimensional force sensor 43 is fixedly connected to the test bench bracket 41 below. Two diamond-shaped positioning pins 45 and two cylindrical positioning pins 46 are also fixedly installed on the support plate 42.

[0036] The six-dimensional force sensor 43 collects the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part, and sends the collected data to the test system.

[0037] like Figure 5 As shown, the lifting assembly 5 includes: a servo electric cylinder 51, a base plate 52, a movable plate 53, a guide column 54, a floating joint 55 and an equal-height column 56. The base plate 52 is fixedly installed inside the test conveyor platform 1 through the crossbeam of the test conveyor platform 1. The servo electric cylinder 51 is fixedly installed below the base plate 52. Four guide columns 54 are symmetrically installed on the upper surface of the base plate 52. The movable plate 53 is fixedly installed on the top of the guide columns 54. A linear bearing 57 is arranged between the guide columns 54 and the base plate 52. Four equal-height columns 56 are symmetrically installed on the upper surface of the movable plate 53. A hydraulic damping buffer 58 is arranged on the top of the equal-height columns 56. The two ends of the floating joint 55 are respectively connected to the movable plate 53 and the servo electric cylinder 51.

[0038] The test bench bracket 41 is fixedly mounted on the movable plate 53 to complete the fixed connection between the lifting assembly 5 and the test bench assembly 4 .

[0039] In this embodiment, the test conveyor platform 1 , the test bench assembly 4 and the roller line body 31 are all made of aluminum material.

[0040] Before the test, the UAV is loaded on the tooling plate 2 , and the four toggle clamps 21 press the grounding rod of the UAV to fix the UAV and the tooling plate 2 .

[0041] After the drone is fixed, the power transmission component 3 is started, and the tooling plate 2 moves forward on the transmission roller 35 connected to the motor 34. When it is transported to the predetermined position, the blocking cylinder 32 blocks the tooling plate 2, and the tooling plate 2 stops moving forward, completing the pre-positioning of the tooling plate 2. At this time, the tooling plate 2 is above the capacitive proximity switch 33. When the capacitive proximity switch 33 detects the tooling plate 2, the motor 34 stops rotating through the control of the control system 6.

[0042] The signal is transmitted to the servo electric cylinder 51 through the control of the control system 6. The servo electric cylinder 51 pushes the movable plate 53 of the lifting assembly 5 upward, and utilizes the guiding effect of the linear bearing to prevent the lifting assembly from tilting during movement. The diamond positioning pin 45 and a cylindrical positioning pin 46 of the test bench assembly 4 are embedded in the positioning copper sleeve 22 to complete the precise positioning of the tooling plate 2. Then the servo electric cylinder 51 continues to push upward. When the tooling plate 2 is separated from the transmission roller 35, the servo motor 34 stops working.

[0043] The control system 6 sends a signal to the rotary pressing cylinder 44, and the rotary pressing cylinder 44 acts to press the tooling plate 2. After the induction switch detects that the pressing is in place, the control signal is transmitted to the bench automatic test system.

[0044] The test system performs automatic testing and simultaneously collects the six-dimensional force of the whole machine, two six-dimensional forces of power, rotation speed, and voltage and current parameters through the rotation of the floating joint 55.

[0045] The test bench assembly 4 is equipped with a six-dimensional force sensor 43 and its system for collecting real-time data of the UAV in various postures. At the same time, there are four hydraulic damping buffers 58 for solving sensor damage caused by test anomalies.

[0046] After the test system completes the automatic test, it transmits the test end signal to the control system 6, and the control system 6 controls the automatic reset. After the reset is completed, the control system 6 sends a signal to the motor 34, and the motor 34 drives the transmission roller 35 to transfer the tooling plate 2 to the next station.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A UAV online automatic test platform system, include: A test conveyor platform (1), a tooling plate (2), a power transmission component (3), a test bench assembly (4), a lifting component (5), a control system (6), and a test system, characterized in that: the test conveyor platform (1) is a hollow structure, the tooling plate (2) is arranged on the test conveyor platform (1), the lower part of the tooling plate (2) is connected to the test bench assembly (4), the lower part of the test bench assembly (4) is connected to the lifting component (5), and the power transmission component (3) and the control system (6) are also arranged on the test conveyor platform (1); The test bench assembly (4) comprises: a test bench bracket (41), a support plate (42), a six-dimensional force sensor (43) and a rotary pressing cylinder (44); the rotary pressing cylinder (44) is fixedly mounted at both ends of the support plate (42); the six-dimensional force sensor (43) is fixedly mounted below the support plate (42); and the six-dimensional force sensor (43) is fixedly connected to the test bench bracket (41) below; The six-dimensional force sensor (43) collects the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part, and sends the collected data to the test system; The control system (6) is PLC controlled and realizes signal connection with the test system; The sensor of the test system is connected to the six-dimensional force sensor (43) via a cable. The test system comprises: measurement and control software of the upper computer and power test software of the lower computer, which are written based on LABVIEW and simultaneously display the actual values ​​of the three-axis force of the whole machine, the three-axis torque of the whole machine, the three forces of the power part, the three torques of the power part, the power power and the speed of the power part, and set the set value of each force in the power test software. The test system obtains consistency judgment based on the comparison between the measured value and the set value.

2. According to claim 1, a drone online automatic test platform system, Features: A plurality of toggle clamp quick clamps (21) are arranged on the tooling plate (2) and are used to fix the drone.

3. The unmanned aerial vehicle online automatic testing platform system according to claim 1, Features: A plurality of positioning copper sleeves (22) are arranged on the tooling plate (2) and are used to position the test bench assembly (4).

4. The unmanned aerial vehicle online automatic testing platform system according to claim 1, Features: The power transmission assembly (3) comprises: a roller line body (31), a blocking cylinder (32), a capacitive proximity switch (33), a motor (34) and a transmission roller (35); the two roller line bodies (31) are respectively arranged on two vertical brackets on the same side of the test conveying platform (1); the motor (34), the blocking cylinder (32) and the capacitive proximity switch (33) are fixedly installed in sequence below the upper table of the test conveying platform (1) close to the roller line body (31); the transmission roller (35) is installed on the test conveying platform (1); and the motor (34) is connected to the transmission roller (35).

5. The unmanned aerial vehicle online automatic testing platform system according to claim 1, Features: A rhombus-shaped positioning pin (45) and a cylindrical positioning pin (46) are also fixedly mounted on the support plate (42).

6. The unmanned aerial vehicle online automatic testing platform system according to claim 1, Features: The lifting assembly (5) comprises: a servo electric cylinder (51), a base plate (52), a movable plate (53), a guide column (54), a floating joint (55) and a height-equalizing column (56); the base plate (52) is fixedly mounted inside the test conveying platform (1) via a crossbeam of the test conveying platform (1); the servo electric cylinder (51) is fixedly mounted below the base plate (52); the guide columns (54) are symmetrically mounted on the upper surface of the base plate (52); the movable plate (53) is fixedly mounted at the top of the guide columns (54); the height-equalizing columns (56) are symmetrically mounted on the upper surface of the movable plate (53); and the two ends of the floating joint (55) are respectively connected to the movable plate (53) and the servo electric cylinder (51); and the test bench bracket (41) is fixedly mounted on the movable plate (53).

7. The unmanned aerial vehicle online automatic testing platform system according to claim 6, Features: A linear bearing (57) is provided between the guide column (54) and the base plate (52).

8. The unmanned aerial vehicle online automatic testing platform system according to claim 6, Features: A hydraulic damping buffer (58) is provided at the top end of the equal-height column (56).

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