Multi-working-condition electromechanical debugging platform and control system

Abstract

The invention relates to a multi-working-condition electromechanical debugging platform and a control system thereof. The multi-working-condition electromechanical debugging platform comprises a base, a rotary assembly, an undercarriage and a servo assembly. The base is arranged below the rotary assembly and used for supporting the rotary assembly, the undercarriage and the servo assembly; the rotary assembly comprises a rotary seat and a rotary body; the rotary body is rotatably arranged in the center of the rotary seat; the undercarriage is arranged on the rotary body in a turnover manner; the servo assembly comprises a rotary servo part and an overturning servo part; the rotary servo part is used for adjusting the rotation angle of the rotary body; the overturning servo part is used for adjusting the overturning angle of the undercarriage. According to the multi-working-condition electromechanical debugging platform, through modular design, key components such as the base, the rotary assembly, the undercarriage and the servo assembly are organically combined to form the debugging platform, automatic debugging can be achieved in a high-precision and high-efficiency mode, and various different electromechanical devices can be carried.

Description

Technical Field

[0001] The invention belongs to the technical field of debugging platforms, and in particular relates to a multi-operating-mode electromechanical debugging platform and a control system. Background Art

[0002] In modern industrial fields, especially in aerospace, fire fighting and other fields, the precision requirements for electromechanical systems are extremely high, and any slight error may lead to serious consequences. Therefore, the debugging platform must be able to accurately adjust the electromechanical system. Moreover, different electromechanical systems may work in various environments, which requires the electromechanical debugging platform equipped with different electromechanical systems to be able to adapt to different electromechanical systems and ensure the reliability of the electromechanical system in practical applications. At the same time, traditional debugging platforms require a lot of manual adjustment and calibration work, which is time-consuming and error-prone.

[0003] Therefore, how to provide an electromechanical debugging platform that can realize automated debugging with high precision and high efficiency and carry various electromechanical equipment is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] In order to solve at least one of the above technical problems, the present invention provides a multi-operating-mode electromechanical debugging platform, comprising: a base, a slewing assembly, a landing gear and a servo assembly;

[0005] A base, disposed below the slewing assembly, for supporting the slewing assembly, the landing gear and the servo assembly;

[0006] The rotary assembly comprises: a rotary seat and a rotary body; the rotary body is rotatably arranged in the center of the rotary seat;

[0007] The landing gear is arranged on the rotating body in a flip manner;

[0008] The servo assembly includes: a rotary servo component and a flip servo component; the rotary servo component is used to adjust the rotation angle of the rotating body; the flip servo component is used to adjust the flip angle of the landing gear.

[0009] Furthermore, the slewing seat includes: a horizontal platform, an inner gear ring arranged in the center of the horizontal platform, and an outer ring rotatably arranged on the outside of the inner gear ring; the bottom side of the inner gear ring is connected to the base; the slewing body is installed on the outer ring, and a slewing gear corresponding to the inner gear ring is arranged on the slewing body, and is meshed with the inner side of the inner gear ring through the slewing gear.

[0010] Further, the rotating body includes: a rotating cavity, a direction component and a height component arranged in the rotating cavity;

[0011] The direction assembly includes: a direction transmission member rotatably arranged on a swivel seat;

[0012] The high-low component includes: a high-low transmission member, and high-low arc teeth arranged corresponding to the high-low transmission member;

[0013] The landing gear can be flipped and set on high and low arc teeth;

[0014] The direction component is connected to the rotary servo component; the height component is connected to the flip servo component.

[0015] Furthermore, the direction assembly further includes: a direction motor, a first electromagnetic clutch, and a first manual transmission member connected in sequence;

[0016] The direction motor is connected with the direction transmission member;

[0017] In the first state, the direction motor is powered on, and the friction disk of the first electromagnetic clutch is disconnected; under the drive of the direction motor, the direction transmission member is driven to rotate;

[0018] In the second state, the steering motor is powered off, the first electromagnetic clutch friction disk remains connected, and the steering motor and the steering transmission member are driven to rotate by the first manual transmission member.

[0019] Furthermore, the high-low assembly further includes: a flip motor, a second electromagnetic clutch, and a second manual transmission member connected in sequence;

[0020] The flip motor is connected to the flip transmission member;

[0021] In the third state, the flip motor is powered on, and the friction disk of the second electromagnetic clutch is disconnected; the flip motor drives the flip transmission member to rotate;

[0022] In the fourth state, the flip motor is powered off, the friction disk of the second electromagnetic clutch remains connected, and the flip motor and the flip transmission member are driven to rotate by the second manual transmission member.

[0023] Furthermore, the rotary body further includes: a manual conversion member;

[0024] The manual conversion part includes: a conversion key, a conversion outer shaft, a direction sprocket and a high and low sprocket arranged on the conversion outer shaft;

[0025] The conversion outer shaft is provided with a conversion slide;

[0026] A direction sprocket is provided with a first keyway corresponding to the conversion slideway and is connected to the first manual transmission member;

[0027] The high and low sprockets are provided with a second keyway corresponding to the conversion slideway and are connected to the second manual transmission member;

[0028] The conversion key is slidably arranged in the conversion slide groove.

[0029] Furthermore, the manual conversion member also includes: a conversion inner shaft;

[0030] A conversion outer shaft is provided with a conversion cavity inside;

[0031] A conversion inner shaft is slidably disposed in the conversion cavity;

[0032] The conversion key is detachably mounted on the conversion inner shaft.

[0033] Furthermore, the rotating cavity is divided into a first cavity, a second cavity and a third cavity by a partition; the second cavity is arranged in the center, and the first cavity and the third cavity are arranged on both sides of the second cavity;

[0034] The high-low component is laterally arranged on the first side of the second cavity, and the flip servo member and the high-low servo member are arranged on the second side of the second cavity;

[0035] The direction component is longitudinally arranged on one side of the third cavity.

[0036] Further, the landing gear includes: a flip platform and a leaf spring torsion balancing machine connected to the high and low components;

[0037] The flip platform is provided with a lifting and lowering positioning member and a lifting and lowering locking member;

[0038] The torque provided by the leaf spring torsion balancing machine is opposite to the weight torque of the landing gear.

[0039] A multi-operating-condition electromechanical debugging platform control system, comprising: an integrated control box, a sensor component and any one of the multi-operating-condition electromechanical debugging platforms described above;

[0040] The integrated control box is used to receive the sensor component signals and issue debugging instructions to the multi-operating condition electromechanical debugging platform.

[0041] In this embodiment, a multi-operating-condition electromechanical debugging platform base is provided as the supporting structure of the entire multi-operating-condition electromechanical debugging platform, which avoids the large vibration and tilt of the slewing assembly and the landing gear during the debugging process, and improves the stability and safety of the platform. The slewing assembly is arranged above the base. Under the drive of the slewing servo component, the rotating body rotates at a predetermined angle on the slewing seat, thereby driving the landing gear to complete the same predetermined angle rotation; at the same time, the landing gear is driven by the flip servo component to flip at a predetermined angle. Under the joint drive of the slewing servo component and the flip servo component, the landing gear can efficiently realize the precise rotation and precise flipping of different predetermined angles, which is suitable for the automated debugging requirements under various working conditions. In summary, the multi-operating-condition electromechanical debugging platform, through modular design, organically combines key components such as the base, slewing assembly, landing gear and servo assembly to form a debugging platform, which can realize automated debugging with high precision and high efficiency, and carry various types of electromechanical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings, the same parts are marked with the same reference numerals. The drawings are not drawn according to the actual scale.

[0043] Figure 1 It is a schematic diagram of an embodiment of a multi-operating-mode electromechanical debugging platform of the present invention;

[0044] Figure 2 A side view of an embodiment of a multi-operating-mode electromechanical debugging platform of the present invention;

[0045] Figure 3 It is a schematic diagram of an embodiment of a swivel seat of a multi-operating-mode electromechanical debugging platform of the present invention;

[0046] Figure 4 It is a partial schematic diagram of an embodiment of a rotary body of a multi-operating-mode electromechanical debugging platform of the present invention;

[0047] Figure 5 A schematic diagram of an embodiment of high and low arc teeth of a multi-operating-mode electromechanical debugging platform of the present invention;

[0048] Figure 6 It is a schematic diagram of an embodiment of a direction component of a multi-operating-mode electromechanical debugging platform of the present invention;

[0049] Figure 7 It is a schematic diagram of an embodiment of a high and low component of a multi-operating-mode electromechanical debugging platform of the present invention;

[0050] Figure 8 It is a schematic diagram of an embodiment of a manual conversion component of a multi-operating-mode electromechanical debugging platform of the present invention;

[0051] Fig. 9 The present invention is a cross-sectional view of an embodiment of a manual conversion component of a multi-operating-mode electromechanical debugging platform according to the present invention. DETAILED DESCRIPTION

[0052] 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.

[0053] It should be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0054] It should also be noted that if the embodiments of the present invention involve directional indications, such as up, down, left, right, front, back, etc., then the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. In addition, if the embodiments of the present invention involve descriptions of "first, second", "S1, S2", "step one, step two", etc., then such descriptions are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features or indicating the execution order of the method, etc. Those skilled in the art can understand that anything that does not violate the gist of the invention under the technical concept of the invention should be included in the protection scope of the present invention.

[0055] The present invention provides a multi-operating-mode electromechanical debugging platform, referring to Figure 1 and Figure 4 , including: a base 1, a slewing assembly 2, a landing gear 3 and a servo assembly 4;

[0056] A base 1 is arranged below the slewing assembly 2 and is used to support the slewing assembly 2, the landing gear 3, and the servo assembly 4;

[0057] The rotary assembly 2 includes a rotary seat 21 and a rotary body 22; the rotary body 22 is rotatably disposed in the center of the rotary seat 21;

[0058] The landing gear 3 is flippably arranged on the rotating body 22;

[0059] The servo assembly 4 includes a rotary servo component 41 and a flip servo component 42 . The rotary servo component 41 is used to adjust the rotation angle of the rotating body 22 ; and the flip servo component 42 is used to adjust the flip angle of the landing gear 3 .

[0060] In this embodiment, a multi-operating-condition electromechanical debugging platform is provided. The base serves as the supporting structure of the entire multi-operating-condition electromechanical debugging platform, which avoids the large vibration and tilt of the slewing assembly and the landing gear during the debugging process, thereby improving the stability and safety of the platform. The slewing assembly is arranged above the base. Under the drive of the slewing servo component, the slewing body rotates at a predetermined angle on the slewing seat, thereby driving the landing gear to complete the same predetermined angle rotation; at the same time, the landing gear is driven by the flip servo component to flip at a predetermined angle. Under the joint drive of the slewing servo component and the flip servo component, the landing gear can efficiently realize the precise rotation and precise flipping of different predetermined angles, which is suitable for the automatic debugging requirements under various working conditions. In addition, the landing gear can be equipped with various types of electromechanical equipment, such as high-pressure water cannon, signal generator, signal receiver and other types of equipment that require angle debugging. Taking the high-pressure water cannon mounted on the frame as an example, under the adjustment of the servo component, the launch port of the high-pressure water cannon can realize the precise rotation and precise flipping of multiple angles within the preset angle range to aim at the fire source, so as to achieve efficient and automatic fire extinguishing. It is worth noting that the flip servo parts and the rotary servo parts may optionally include: a servo motor, a servo controller, a servo sensor and a servo transmission part; the servo transmission part is connected to the rotating body or the landing gear; the servo controller senses the sensor signal of the servo sensor and receives the control command of the servo controller, and according to the sensor signal and the control command, drives the servo motor to rotate according to the preset angle, drives the servo transmission part to drive, and then drives the rotating body or the landing gear to rotate according to the preset angle. Optionally, the servo controller is a device with control function such as a PLC (programmable logic controller), a single-chip microcomputer or an industrial computer; the servo sensor is an angle sensor, which is used to detect the rotation angle of the rotating body and the landing gear, and transmits it to the servo controller; the servo transmission part is a servo screw or a servo gear. In summary, the multi-working condition electromechanical debugging platform, through modular design, organically combines key components such as the base, the rotary assembly, the landing gear and the servo assembly to form a debugging platform, which can realize automatic debugging with high precision and high efficiency, and carry various electromechanical equipment.

[0061] Preferably, reference Figure 1 and Figure 2 A plurality of cavities 11 are arranged below the base 1, and a sliding door 12 is arranged on one side of the cavity.

[0062] In this embodiment, several cavities are added under the base to store various mechanical spare parts and various electronic equipment, further expanding the multi-working condition electromechanical debugging platform. The available space under the base and the sliding door are more conducive to taking and placing spare parts and repairing electronic equipment, greatly improving the flexibility and practicality of the platform. More preferably, heat dissipation holes are set on the sliding door 12 to improve the heat dissipation performance of the electronic equipment. More preferably, refer to Figure 1 and Figure 2A folding ladder 13 is provided on both sides of the base 1 to accommodate different operators and maintenance personnel to enter the top of the base to inspect, replace spare parts and repair the slewing assembly, landing gear and servo assembly. More preferably, refer to Figure 1 and Figure 2 Leveling members 14 are provided on the four legs below the base 1 to achieve leveling of the slewing assembly; more specifically, the leveling member 14 includes: leveling screw holes provided on the legs, leveling screws provided corresponding to the leveling screw holes, and a spirit level provided on the slewing assembly; the operator adjusts the height of the legs flexibly and accurately by coordinating the leveling screws and the leveling screw holes according to the inclination state of the slewing assembly displayed in real time on the spirit level to achieve leveling of the slewing assembly.

[0063] When the frame is rotated and flipped for debugging, the vibration and impact generated can be greatly reduced, and the angle debugging accuracy of the servo component can be improved.

[0064] Preferably, reference Figure 1 The rotating assembly 2 also includes: an operating table 23 arranged on one side of the rotating body 21.

[0065] In this embodiment, an operating table is added on one side of the rotating body, and the operator operates the multi-working-mode electromechanical debugging platform on the operating table. When the rotating body rotates, the operator can rotate with the rotating body, and the viewing angle will not move. The operator does not need to move on the base to adjust the viewing angle, thereby improving the operability of the multi-working-mode electromechanical debugging platform.

[0066] Preferably, Figure 3 As shown, the swivel seat 21 includes: a horizontal platform 211, an inner gear ring 212a arranged in the center of the horizontal platform 211, and an outer ring 212b rotatably arranged on the outside of the inner gear ring 212a; the bottom side 212a of the inner gear ring is connected to the base 1; the swivel body 22 is installed on the outer ring 212b, and a swivel gear corresponding to the inner gear ring 212a is arranged on the swivel body 22, and is meshed with the inner side of the inner gear ring 212a through the swivel gear.

[0067] In this embodiment, the bottom side of the inner gear ring is connected to the base; the rotating body is correspondingly installed on the outside of the outer ring, and the outer ring is rotatably connected to the inner gear ring. Under the drive and regulation of the rotary servo, the rotating body is driven by the servo and combined with the gear transmission method to rotate back and forth along the inner side of the inner gear ring, thereby driving the rotating body and the hair ring to rotate relative to each other, ensuring the accuracy and efficiency of the angle transmission. The gear transmission method can further reduce energy loss and improve the overall operating efficiency of the equipment.

[0068] Preferably, reference Figure 3 , the rotary component 2 also includes: a rotary angle ruler arranged on the rotary component 2, and / or a flip angle ruler arranged on the flip component 2;

[0069] The rotation angle ruler is used to measure the rotation angle of the rotating body 22;

[0070] The tilt angle ruler is used to measure the tilt angle of the rack 3 .

[0071] In this embodiment, the rotary component is additionally provided with a rotary angle scale, or / and a flip angle scale. In some specific cases, such as after a power failure, the servo component loses its zero point (initial position is lost). The rotary angle scale and the flip angle scale can be used to calibrate the zero point (initial position) of the servo component, thereby improving the adaptability of the multi-working-condition electromechanical debugging platform to emergencies. In the manual operation mode described later, the rotary angle scale and the flip angle scale are used to measure and calibrate the rotary angle and the flip angle. More importantly, the rotary angle scale and the flip angle scale measure the angle value, and regularly compare it with the angle value driven by the servo component to verify whether the servo component is in good working condition, thereby improving the accuracy of the angle debugging of the multi-working-condition electromechanical debugging platform.

[0072] Preferably, reference Figure 3 , a first rotation angle limit 214b is set on the rotation seat 21, and / or a first flip angle limit 214a is set on the rotation component 2.

[0073] In this embodiment, a first rotation angle limit is added to the swivel seat to limit the rotation angle of the swivel body; a first flip angle limit is added to the swivel seat to limit the flip angle of the swivel body; in the case of servo component failure or manual operation, excessive rotation of the swivel body or the frame is avoided, which makes it difficult to reset the swivel body, or even causes damage to the platform, thereby improving the safety and reliability of the multi-working condition electromechanical debugging platform. For example, in this solution, the first rotation angle limit on the swivel seat forms a limit angle range with the rotation center of -104° to -106°, or / and +104° to +106°; the first flip angle limit on the swivel seat has an angle limit range of: -1° to -0.6°, or / and +57.5° to 59°; the first rotation angle limit and the first flip angle limit use mechanical limits to limit the rotation angle and flip angle range, thereby improving the safety of the platform. Specifically, the first rotation angle limit and the first flip angle limit are made of a material with elastic buffering function or a mechanical structure, such as a buffer spring or a buffer rubber pad. It is worth noting that the positive and negative signs of the limit angles are only used to distinguish the rotation direction and can be arbitrarily determined by those skilled in the art. Preferably, refer to Figure 4 and Figure 5 The rotating body 22 includes a rotating cavity 221, a direction component 222, and a height component 223;

[0074] The direction assembly 222 includes: a direction transmission member 222a; the direction transmission member 222a is rotatably disposed on the swivel seat 21;

[0075] The height component 223 includes: a height transmission member 223a, and a height arc tooth 223d corresponding to the height transmission member 223a;

[0076] The landing gear 2 is flippably arranged on the high and low arc teeth 223d;

[0077] The direction component 222 is connected to the rotary servo component 41, and the height component 223 is connected to the flip servo component 42;

[0078] The direction component 222 and the height component 223 are disposed in the rotary cavity 221 .

[0079] In this embodiment, the rotating cavity is used as the main structure of the rotating body. The rotating cavity provides the necessary installation space and protection for the direction component and the high-low component, making the entire rotating body structure more compact and stable, able to withstand a large workload, and ensuring the long-term stable operation of the rotating body. The direction component is connected to the rotating servo component, and the rotating servo component accurately and quickly adjusts the rotation angle of the direction transmission component on the rotating seat; the high-low component is connected to the flip servo component, and the flip servo component accurately and quickly adjusts the flip angle of the high-low transmission component. The high-low transmission component cooperates with the high-low arc teeth to accurately and quickly adjust the flip angle of the landing gear. For example, the direction transmission component is provided with a direction gear, which cooperates with the inner gear ring to transmit the rotation angle of the rotating body; the flip transmission component is provided with a flip gear, which cooperates with the high-low arc teeth to transmit the flip angle of the landing gear. A direction gear is added to the direction transmission component, and a flip gear is added to the flip transmission component. Through the combination of gear transmission and servo drive, the rotation and flip angles are accurately and efficiently transmitted. Specifically, the height arc teeth are provided with a trunnion connected to the landing gear, a tooth arc limit pin and a tooth arc limit block. The tooth arc limit pin plays a mechanical limit role. At the maximum elevation angle, it hits the tooth arc limit block to ensure that the elevation angle does not exceed the limit angle. Driven by the height assembly, the landing gear flips within the angle range corresponding to the height arc teeth, which plays a better role in limiting the flip angle.

[0080] Preferably, reference Figure 4 The rotating body 22 further includes: a second rotation angle limit 225, and / or a second flip angle limit 226;

[0081] The second rotation angle limiter 225 is connected to the direction component 222 and is used to limit the rotation angle of the direction component;

[0082] The second flip angle limiter 226 is connected to the high-low component 223 and is used to limit the flip angle of the high-low component.

[0083] In this embodiment, a second rotation angle limiter, or / and a second flip angle limiter are added to the rotating body to further limit the angle range of the rotating body and the angle range of the landing gear flipping, so as to avoid excessive rotation of the rotating body and excessive flipping of the landing gear, and improve the safety of the platform. Among them, the second rotation angle limiter and the second flip angle limiter are structures with angle limiting functions; for example, an angle limiter with an angle limiting function; the angle limiter includes: an angle sensor and an angle controller, the angle sensor and the angle controller are connected to the servo component; the angle sensor is used to collect the rotation angle and transmit it to the servo component and the angle controller; the angle controller cooperates with the servo component to control the angular velocity, rotation direction, start, stop and rotation angle. Specifically, the second rotation angle limiter limits the angle range of the rotating body to: -102°~+102°; the second flip angle limiter limits the flip angle range of the landing gear to: 0°~55°.

[0084] Preferably, reference Figure 4 The rotating cavity 221 is divided into a first cavity 221a, a second cavity 221b and a third cavity 221c by a partition; the second cavity 221b is centrally arranged, and the first cavity 221a and the third cavity 221c are arranged on both sides of the second cavity 221b;

[0085] The high-low component 223 is disposed laterally on the first side of the second cavity 221b, and the flip servo member 41 and the high-low servo member 42 are disposed on the second side of the second cavity 221b;

[0086] The direction component 222 is longitudinally arranged on one side of the third cavity 221c.

[0087] In this embodiment, the rotating cavity is divided into a first cavity, a second cavity and a third cavity by partitions, and the height components, direction components and other accessories are arranged in the corresponding cavities. This can avoid mutual interference during work and make full use of the space of the cavity, making the structure of the rotating body more compact and reasonable.

[0088] Preferably, reference Figure 6 and Figure 8 , the direction assembly 222 also includes: a direction motor 222b, a first electromagnetic clutch 222c, and a first manual transmission member 222d connected in sequence;

[0089] The direction motor 222b is connected to the direction transmission member 222a;

[0090] In the first state, the direction motor 222b is powered on, and the friction disk of the first electromagnetic clutch 222c is disconnected; the direction motor 222b drives the direction transmission member 222a to rotate;

[0091] In the second state, the direction motor 222b is powered off, and the friction disk of the first electromagnetic clutch 222c remains connected, and driven by the first manual transmission member 222d, the direction motor 222b and the direction transmission member 222a are driven to rotate.

[0092] In this embodiment, the direction assembly also includes: a direction motor, a first electromagnetic clutch, and a first manual transmission member; in the first state, the direction motor is powered on and rotated, the friction disk of the first electromagnetic clutch is disconnected, and the direction transmission member rotates under the joint drive of the direction motor and the rotary servo member, thereby realizing the precise angle rotation and automatic control of the rotating body on the rotary seat; in the second state, the direction motor is powered off, the friction disk of the first electromagnetic clutch remains connected, and the manual drive or external force drive is adopted to make the manual transmission member rotate according to the preset angle, drive the direction motor and the direction transmission member to rotate, and then drive the rotating body to rotate according to the preset angle on the rotary seat. The first state can be switched freely with the second state without interfering with each other. Moreover, in the first state, the rotary servo member can be used to gradually and accurately control the rotation angle of the direction transmission member, for example, each rotation of 5°, three rotations, to achieve the purpose of precise rotation of 15°, and realize the semi-automatic drive of the rotating body. It is worth noting that the automation and semi-automation modes in the first state, and the manual debugging mode in the second state, enable the rotary component to achieve automation, semi-automation and manual drive, greatly improving the adaptability of the multi-working condition electromechanical debugging platform under complex working conditions. For example, the first manual transmission member includes: a direction handwheel, a universal joint transmission shaft, and a direction planetary gear set connected in sequence; the direction planetary gear set is connected to the first electromagnetic clutch. In the second state, under manual drive or external force drive, the direction handwheel rotates, thereby driving the universal joint transmission shaft and the direction planetary gear set to rotate, and the friction disk of the first electromagnetic clutch remains connected, so that the direction motor and the direction transmission member rotate, thereby driving the angular rotation of the rotating body on the swivel seat. More preferably, the first manual transmission member cooperates with the swivel angle ruler set on the swivel component to achieve precise control of the rotation angle, and the structure is simple and reliable, which is easy to implement.

[0093] Preferably, reference Figure 7 and Figure 8 , the high-low component 223 also includes: a flip motor 223b, a second electromagnetic clutch 223c, and a second manual transmission member 223e connected in sequence;

[0094] The flip motor 223b is connected to the flip transmission member 223a;

[0095] In the third state, the flip motor 223b is powered on, and the friction disk of the second electromagnetic clutch 223c is disconnected; the flip motor 223b drives the flip transmission member 223a to rotate;

[0096] In the fourth state, the flip motor 223b is powered off, and the friction disk of the second electromagnetic clutch 223c remains connected, and driven by the second manual transmission member 223e, the flip motor 223b and the flip transmission member 223a are driven to rotate.

[0097] In this embodiment, the high-low component also includes: a flip motor, a second electromagnetic clutch, and a second manual transmission member; in the third state, the flip motor is powered on and rotated, and the friction disk of the second electromagnetic clutch is disconnected. Under the joint drive of the flip motor and the flip servo member, the flip transmission member rotates at a preset angle, driving the frame to flip, thereby realizing accurate angle flipping and automatic control of the frame; in the fourth state, the flip motor is powered off, the friction disk of the second electromagnetic clutch remains connected, and the second manual transmission member is manually driven or externally driven, so that the flip motor flips at a preset angle, driving the flip transmission member to flip, thereby driving the frame to flip. The third state can be switched freely with the fourth state without interfering with each other. Moreover, in the third state, the flip servo member can be used to gradually and accurately control the rotation angle of the direction transmission member, for example, rotating 5° each time, performing three rotations, to achieve the purpose of accurate flipping of 15°, and realizing semi-automatic drive of the landing gear. It is worth noting that the automated and semi-automated debugging modes in the third state, and the manual debugging mode in the fourth state, enable the landing gear to achieve automated, semi-automated and manual drive like the rotary assembly, greatly improving the adaptability of the multi-condition electromechanical debugging platform under complex working conditions. For example, the second manual transmission member includes: a flip handwheel, a flip sprocket and a flip planetary gear set connected in sequence; the flip planetary gear set is connected to the second electromagnetic clutch. In the fourth state, the friction disk of the second electromagnetic clutch remains connected, and the flip handwheel is manually driven to rotate the flip motor, thereby driving the landing gear to flip. The second manual transmission member can cooperate with the flip angle ruler set on the rotary assembly to achieve precise control of the flip angle. The structure is simple and reliable, and it is easy to implement.

[0098] Preferably, reference Figure 7 and Figure 8 , the rotating body 22 further includes: a manual conversion member 227;

[0099] The manual conversion member includes: a conversion key 227c, a conversion outer shaft 227a, a direction sprocket 227f and a high and low sprocket 227h arranged on the conversion outer shaft;

[0100] The conversion outer shaft 227a is provided with a conversion slide groove;

[0101] The direction sprocket 227f is provided with a first keyway 227d corresponding to the conversion slideway and is connected to the first manual transmission member 222d;

[0102] The high and low sprocket 227h is provided with a second keyway 227e corresponding to the conversion slideway and is connected to the second manual transmission member 223e;

[0103] The conversion key 227c is slidably disposed in the conversion slide groove.

[0104] In this embodiment, a manual conversion member 227 is added to the rotating body. When the rotating body needs to rotate, the conversion key slides along the conversion slide groove into the first key groove to connect the conversion outer shaft with the direction sprocket; at this time, the conversion outer shaft, under the connection of the conversion key, drives the direction sprocket to rotate, and then drives the first manual transmission member to rotate, so as to realize the rotation of the rotating body. When the landing gear needs to be flipped, the conversion key slides along the conversion slide groove into the second key groove to connect the conversion outer shaft with the high and low sprockets; at this time, the conversion outer shaft, under the connection of the conversion key, drives the high and low sprockets to rotate, and then drives the second manual transmission member to rotate, so as to realize the flipping of the landing gear. The sliding of the conversion key in the conversion slide groove can conveniently realize the conversion of the first manual transmission member and the second manual transmission member. The structure is simple and compact, and it is easy to implement.

[0105] More preferably, the manual conversion member 227 further includes: a conversion inner shaft 227b;

[0106] The conversion outer shaft 227a has a conversion cavity 227j disposed therein;

[0107] The conversion inner shaft 227b is slidably disposed in the conversion cavity 227j;

[0108] The conversion key 227c is detachably mounted on the conversion inner shaft 227b.

[0109] In this embodiment, a conversion shaft is added to the manual conversion member, and the conversion key is detachably mounted on the conversion inner shaft. The conversion inner shaft slides in the conversion cavity of the conversion outer shaft, thereby driving the conversion key to slide in the conversion slide slot to achieve a better transmission effect. For example, corresponding pin holes are provided on the conversion inner shaft and the conversion key, and the conversion inner shaft and the conversion outer shaft are detachably connected by pins; the structure is simple, and it is convenient for operators to implement and maintain.

[0110] More preferably, the rotating body also includes: a manual wheel arranged on the conversion outer shaft, and a folding arm arranged on the manual wheel; the manual wheel is arranged on the conversion outer shaft to better accept manual drive or external force drive from the operator, so that the conversion outer shaft rotates under the drive; the folding arm is arranged on the manual wheel, and when manual drive is required, the manual wheel is folded to reduce the space occupied by the manual wheel and improve the compactness of the structure of the multi-working condition electromechanical debugging platform.

[0111] Preferably, the landing gear 4 further comprises: a flip platform; on the flip platform, a landing positioning member and a landing locking member are arranged.

[0112] In this embodiment, other equipment is installed on the flip platform through the landing positioning member to meet the loading requirements of different equipment. Through the landing locking member, different types of equipment are further fixed on the flip platform to prevent the equipment from falling off and improve the safety of the multi-working condition electromechanical debugging platform. For example, the landing positioning member is a cross slot set on the flip platform, and the electromechanical equipment is positioned and installed at the specified position through the cross slot, with accurate positioning and easy implementation; the landing locking member includes: a clamping cylinder and a locking screw, which fixes the electromechanical equipment on the flip platform through the clamping cylinder and the locking screw, which has a better fastening effect and avoids loosening, thereby improving the accuracy of the rotation angle and flip angle of different electromechanical equipment on the flip platform. More preferably, the landing gear also includes: a leaf spring torsion balancing machine connected to the high and low components; the torque provided by the leaf spring torsion balancing machine is opposite to the gravity torque of the landing gear; so as to reduce the driving force required for the landing gear and the power transmission required for the high and low components.

[0113] The present invention also provides a multi-operating-condition electromechanical debugging platform control system, comprising: an integrated control box, a sensor component and any one of the multi-operating-condition electromechanical debugging platforms described above;

[0114] The integrated control box is used to receive the sensor component signals and issue debugging instructions to the multi-operating condition electromechanical debugging platform.

[0115] In this embodiment, the integrated control box is used to receive the sensor component signal, and issue a debugging instruction to the multi-working condition electromechanical debugging platform, and complete the debugging of the rotation angle and flip angle of the multi-working condition electromechanical debugging platform. Specifically, the integrated control box includes: a power supply box, a position control module, and a multi-working condition operating console; the sensor component includes: a height receiver, an azimuth receiver, a pitch sensor, and a roll sensor; the power supply box is used to provide the control power and power supply of the multi-working condition electromechanical debugging platform, and the multi-working condition operating console is used to input the control instructions for the rotary servo and the roll servo; the position control module is connected to the PC / 104 computer through the I / O port, receives the main command elements issued by the computer, completes the R / D axis angle digital conversion of the height receiver, the azimuth receiver, the pitch attitude sensor, and the roll attitude sensor, completes the error solution and control law calculation through the PC / 104 computer, and completes the height and azimuth D / A conversion through the position control module. The flip servo drives the high and low components to achieve high-precision flip angle adjustment according to the high and low D / A conversion signals, and the rotary servo drives the direction component to achieve high-precision rotation angle adjustment according to the azimuth D / A conversion signals.

[0116] More specifically, the power supply box includes: a box body, an integrated control board, a power supply board, a self-test board, and a filter board. The box body is used to accommodate the integrated control board, the power supply board, the self-test board, and the filter board; the integrated control board is used to issue and receive control instructions; the power supply board is used to provide power supply and control power supply; the self-test board and the filter board are used to complete the circuit self-test and electrical signal filtering of the power supply box. The power supply box is used to provide control power and power supply to the rotary and flip servo parts, complete the orderly power-on control of the rotary servo parts and the flip servo parts, and complete the pump-up voltage discharge on the DC bus. After receiving the servo start signal, the power supply box first provides 24V control power to the rotary servo parts and the flip servo parts, and after completing the self-test, it feeds back the prepared signal to the power supply box, and then the power supply box provides power supply to the rotary servo parts and the flip servo parts. In addition, when the rotary and flip servo parts follow-up system is braking, the discharge circuit inside the power supply box can detect in real time, complete the pump-up discharge control of the power supply bus voltage, and effectively protect the power devices inside the follow-up system.

[0117] The above-mentioned multi-condition electromechanical debugging platform control system is created based on the above-mentioned multi-condition electromechanical debugging platform, and its technical effects and combinations of technical features are not repeated here. The above-mentioned embodiments only express several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present invention, several variations and improvements can be made, which all belong to the protection scope of the present invention.

Claims

1. A multi-operating-condition electromechanical debugging platform, characterized in that: include: Base, slewing assembly, landing gear and servo assembly; A base, disposed below the slewing assembly, for supporting the slewing assembly, the landing gear and the servo assembly; The rotary assembly comprises: a rotary seat and a rotary body; the rotary body is rotatably arranged in the center of the rotary seat; The landing gear is arranged on the rotating body in a flip manner; The servo assembly includes: a rotary servo component and a flip servo component; the rotary servo component is used to adjust the rotation angle of the rotating body; the flip servo component is used to adjust the flip angle of the landing gear.

2. The multi-operating-mode electromechanical debugging platform according to claim 1, characterized in that: The slewing seat comprises: a horizontal platform, an inner gear ring arranged in the center of the horizontal platform, and an outer ring rotatably arranged outside the inner gear ring; the bottom side of the inner gear ring is connected to the base; a slewing body is installed on the outer ring, and a slewing gear corresponding to the inner gear ring is arranged on the slewing body, and meshes with the inner side of the inner gear ring through the slewing gear.

3. The multi-operating-mode electromechanical debugging platform according to claim 1, characterized in that: The rotating body comprises: a rotating cavity, a direction component and a height component arranged in the rotating cavity; The direction assembly includes: a direction transmission member rotatably arranged on a swivel seat; The high-low component includes: a high-low transmission member, and high-low arc teeth arranged corresponding to the high-low transmission member; The landing gear can be flipped and set on high and low arc teeth; The direction component is connected to the rotary servo component; the height component is connected to the flip servo component.

4. The multi-operating-mode electromechanical debugging platform according to claim 3 is characterized in that: The direction assembly also includes: a direction motor, a first electromagnetic clutch, and a first manual transmission member connected in sequence; The direction motor is connected with the direction transmission member; In the first state, the direction motor is powered on, and the friction disk of the first electromagnetic clutch is disconnected; under the drive of the direction motor, the direction transmission member is driven to rotate; In the second state, the steering motor is powered off, the first electromagnetic clutch friction disk remains connected, and the steering motor and the steering transmission member are driven to rotate by the first manual transmission member.

5. The multi-operating-mode electromechanical debugging platform according to claim 4 is characterized in that: The high-low assembly also includes: a flip motor, a second electromagnetic clutch, and a second manual transmission member connected in sequence; The flip motor is connected to the flip transmission member; In the third state, the flip motor is powered on, and the friction disk of the second electromagnetic clutch is disconnected; the flip motor drives the flip transmission member to rotate; In the fourth state, the flip motor is powered off, the friction disk of the second electromagnetic clutch remains connected, and the flip motor and the flip transmission member are driven to rotate by the second manual transmission member.

6. The multi-operating-mode electromechanical debugging platform according to claim 5, characterized in that: The rotary body also includes: a manual conversion member; The manual conversion part includes: a conversion key, a conversion outer shaft, a direction sprocket and a high and low sprocket arranged on the conversion outer shaft; The conversion outer shaft is provided with a conversion slide; A direction sprocket is provided with a first keyway corresponding to the conversion slideway and is connected to the first manual transmission member; The high and low sprockets are provided with a second keyway corresponding to the conversion slideway and are connected to the second manual transmission member; The conversion key is slidably arranged in the conversion slide groove.

7. The multi-operating-mode electromechanical debugging platform according to claim 6, characterized in that: The manual conversion part also includes: a conversion inner shaft; A conversion outer shaft is provided with a conversion cavity inside; A conversion inner shaft is slidably disposed in the conversion cavity; The conversion key is detachably mounted on the conversion inner shaft.

8. The multi-operating-mode electromechanical debugging platform according to claim 3 is characterized in that: The rotary cavity is divided into a first cavity, a second cavity and a third cavity by a partition; the second cavity is arranged in the center, and the first cavity and the third cavity are arranged on both sides of the second cavity; The high-low component is laterally arranged on the first side of the second cavity, and the flip servo member and the high-low servo member are arranged on the second side of the second cavity; The direction component is longitudinally arranged on one side of the third cavity.

9. The multi-operating-mode electromechanical debugging platform according to claim 1, characterized in that: Landing gear, including: a tilting platform and a leaf spring torsion balancing machine connected to the high and low components; The flip platform is provided with a lifting and lowering positioning member and a lifting and lowering locking member; The torque provided by the leaf spring torsion balancing machine is opposite to the weight torque of the landing gear.

10. A multi-operating-mode electromechanical debugging platform control system, characterized in that: include: An integrated control box, a sensor assembly and a multi-operating-mode electromechanical debugging platform as described in any one of claims 1 to 9; The integrated control box is used to receive the sensor component signals and issue debugging instructions to the multi-operating condition electromechanical debugging platform.

Images