Marine telegraph performance test method and test system
By introducing random adjustment of acceleration in the marine vehicle clock performance test method and using preset thresholds and reference motion parameters, the problem that the existing technology is difficult to accurately simulate actual use scenarios is solved, and more accurate and reliable test results are achieved, providing a reliable basis for the design.
Patent Information
- Application Number
- CN202411704025.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-03-28
AI Technical Summary
The prior art is difficult to accurately simulate the dynamic operation of marine vehicle clocks in actual use scenarios, resulting in the test results not being able to fit the real data and it is difficult to provide a reliable design basis.
By introducing randomness into the marine car clock performance test method, the acceleration is allowed to be adjusted during the push-pull action test, so that the motion state of the joystick is closer to the actual use scenario. At the same time, preset thresholds and reference motion parameters are used to ensure the authenticity and credibility of the test parameters.
This method can more accurately simulate the operation of the marine car clock in actual use scenarios, improve the reference and credibility of the test results, and provide a true and credible basis for the improved design of the marine car clock.
Smart Images
Figure CN119714828A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of performance testing, and in particular to a method and system for testing the performance of a ship clock. Background Art
[0002] The ship's engine clock is mainly used for ship control. The engine clock generally has multiple gears. The operator pushes, pulls or rotates the ship's engine clock to transmit the ship's forward, reverse or stop instructions to the engine room to control the movement of the ship.
[0003] The performance of a ship's clock directly affects the ship's control performance. After a period of use, the wear of the internal mechanical structure may lead to inaccurate force transmission, and the damage of the electrical components may lead to delayed signal transmission, which will also affect the control performance of the ship's clock. Therefore, before installation and commissioning, it is necessary to conduct endurance fatigue tests on the ship's clock.
[0004] The operation of marine clocks is complicated, and current testing methods or devices are difficult to obtain relatively accurate test results.
[0005] Application Contents
[0006] The present application provides a method and a system for testing the performance of a ship clock so as to obtain more accurate test results.
[0007] In a first aspect, the present application provides a method for testing the performance of a marine clock, wherein the marine clock comprises a control handle, wherein the control handle has at least a push-pull action of rotating about a first axis, and the method for testing the marine clock comprises:
[0008] Zero adjustment stage: determine the zero position of the joystick;
[0009] Testing stage: Control the joystick to perform multiple push-pull motion tests. Each push-pull motion provides a set of preset motion parameters, including time point, speed, and acceleration. The preset motion parameters are used to determine the motion state of the joystick.
[0010] Evaluation phase: After the testing phase, the performance of the marine clock is evaluated;
[0011] The detection stage also includes: selecting at least one arbitrary push-pull action test process, and adjusting the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations before and after the adjustment of the joystick is greater than a preset threshold.
[0012] In the embodiments of the present application, in some traditional detection processes, motion parameters are given in advance to perform a fixed logic detection process, that is, the motion state of the control handle is solidified, but in actual operation scenarios, for example, when the ship encounters some special situations, the operator's operating habits are different, or the ship's application scenarios are different, the push-pull action of the control handle is not stable and solidified, and in most cases there will even be large fluctuations. If the test is still performed according to the mechanically solidified test logic at this time, it is difficult to simulate the actual use scenario of the ship clock, and the test results are not close enough to the real data. In the embodiments of the present application, any push-pull action process is selected for active intervention and adjustment, so that the detection stage is random, and the actual use scenario of the ship clock can be better simulated. The test results brought by this test method are also more reference and credible, thereby providing a real and credible design basis for the improved design of the ship clock.
[0013] As one of the optional embodiments of the present application, the step of obtaining the preset motion parameters includes:
[0014] In the actual use scenario of the ship clock, the motion parameters of the ship clock's multiple push and pull actions are collected and recorded as reference motion parameters, and multiple groups of reference motion parameters are counted;
[0015] During each push-pull motion test during the detection phase, a set of reference motion parameters is randomly selected as the preset motion parameters for this push-pull motion test of the joystick.
[0016] In the embodiment of the present application, for each push-pull action test of the control handle, the preset motion parameters are collected according to the actual use scenario, which is more in line with the actual operation, and further simulates the actions in the actual use scenario of the ship clock. The test scenario can be more accurately and completely simulated into the actual use scenario. Therefore, the data obtained from the test is more authentic and reliable, and can provide a more accurate theoretical basis for the subsequent design ideas of the ship clock. The above-mentioned setting of adjusting the acceleration tends to simulate the operation process of the ship clock in some special situations, and the overall simulation is more realistic.
[0017] As one of the optional embodiments of the present application, a method for determining a preset threshold includes:
[0018] Analyze and process multiple groups of reference motion parameters, select the accelerations before and after the acceleration mutation time point of the joystick, calculate the absolute value of the difference between the accelerations before and after each mutation, and record it as the comparison difference;
[0019] Arrange the comparison differences in order from small to large;
[0020] The average value of the last 30% of the comparison differences is calculated as the preset threshold.
[0021] In an embodiment of the present application, the preset threshold is determined by processing and analyzing multiple groups of reference motion parameters collected in actual usage scenarios. The purpose of the preset threshold is to determine some special operations of the operator, such as slamming the joystick in an emergency. Therefore, when the acceleration mutation caused by some routine operations is relatively small, the comparison difference generated by this part of the operation is not used as a reference for the preset threshold. Instead, some larger comparison differences are selected to calculate the average value. This setting effectively improves the authenticity of the simulation.
[0022] As one of the optional embodiments of the present application, the step of screening out the acceleration before and after the time point at which the acceleration of the joystick has a sudden change includes:
[0023] The acceleration change is detected at a preset time interval. If the comparison difference before and after a certain time point is greater than a comparison threshold, it is determined that the acceleration has changed suddenly, wherein the comparison threshold is less than a preset threshold.
[0024] In the embodiment of the present application, a limitation is made for acceleration mutations, and not every acceleration mutation can be used as a basis for calculating the preset threshold. Therefore, it is further limited that only when the comparison difference of the acceleration mutation is greater than the comparison threshold will it participate in the calculation logic of the preset threshold. This setting further specifically simulates the scenario of violently hitting the control handle in a real usage scenario, which is more in line with the actual situation.
[0025] As one of the optional embodiments of the present application, a control end is configured to control a mechanical arm to perform a push and pull test on a joystick;
[0026] Before the zeroing stage, a debugging stage is also included: inputting debugging motion parameters to the mechanical arm so that the mechanical arm performs a push-pull action debugging process in an unloaded state, and installing a first test component to obtain various motion parameters of the marine clock when it is in motion, which are recorded as first parameters;
[0027] Several time nodes are randomly selected, and the first parameter at that time point is compared with the debugging motion parameter. If the absolute value of the difference between the first parameter and the debugging motion parameter is greater than the debugging threshold, it is determined that the robot arm movement is not accurate enough.
[0028] In the embodiment of the present application, in order to ensure that the movement process of the robotic arm driving the operating handle is in line with expectations, a debugging phase is designed to ensure that the movement process of the robotic arm is accurate, thereby ensuring that the movement phase of driving the operating handle is consistent with the input preset motion parameters to improve the accuracy of the test.
[0029] As one of the optional embodiments of the present application, if it is determined that the movement of the robotic arm is not accurate enough, any of the following debugging operations are performed: modify the numerical range of the debugging motion parameter input each time and test again, check the assembly problem of the ship clock and test again; until the first parameter and the debugging motion parameter are less than the debugging threshold.
[0030] As one of the optional embodiments of the present application, a control end is set to control a mechanical arm to perform a push-pull test on a control handle, a first test component is set on the ship clock, the first test component is electrically connected to the control end for feeding back a first angle representing a rotation angle of the ship clock, a second test component is set in the mechanical arm, the second test component is electrically connected to the control end for feeding back a second angle of the rotation angle of the mechanical arm; the testing method also includes:
[0031] The first angle and the second angle are compared in real time, and the absolute value of the difference between the first angle and the second angle is calculated and recorded as the calibration difference. If the calibration difference is less than the correction threshold, there is no problem. Otherwise, an alarm is issued for adjustment.
[0032] To implement the above technical solution, since the mechanical arm and the ship clock are assembled together, there may be errors between the mechanical arm and the movement posture of the ship clock, that is, the first angle and the second angle respectively show the movement parameters of the ship clock and the mechanical arm, and the accurate synchronization of the mechanical arm and the ship clock cannot be guaranteed. In the embodiment of the present application, the first angle measured by the first test component and the second angle measured by the second test component are compared. If the difference exceeds the required range, it means that there is a problem with the transmission between the two, which needs to be modified and debugged. This setting ensures the accuracy of the ship clock detection.
[0033] As one of the optional embodiments of the present application, the first test component is a sensor provided by the ship clock, and the first test component of the ship clock is electrically connected to the control end before the test.
[0034] As one of the optional embodiments of the present application, in the evaluation stage: after the test is completed, the step of evaluating the performance of the marine clock includes at least one of the following:
[0035] Disassemble the ship clock to check if it is worn, inspect the electrical transmission lines of the ship clock, and perform stress analysis on the ship clock.
[0036] On the other hand, the present application also provides a marine clock performance test system, comprising:
[0037] Test bench;
[0038] A mechanical arm is arranged on the test bench, and is used to grasp the control handle to perform the test action;
[0039] A control end, electrically connected to the robot arm, and used to control the joystick to perform multiple push-pull motion tests. Each push-pull motion provides a set of preset motion parameters, including time point, speed, and acceleration. The preset motion parameters are used to determine the motion state of the joystick;
[0040] The control end is also used to select at least one arbitrary push-pull action test process, and adjust the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations before and after the joystick adjustment is greater than a preset threshold.
[0041] As one of the optional embodiments of the present application, reference motion parameters are stored in the control terminal. The reference motion parameters are motion parameters of multiple push-pull actions of the ship clock under the actual use scenario of the ship clock, which are collected and recorded as reference motion parameters, and multiple groups of reference motion parameters are counted; the control terminal is also used to randomly select a group of reference motion parameters as the preset motion parameters for the push-pull action test of the control handle each time a push-pull action test is performed in the detection phase.
[0042] As one of the optional embodiments of the present application, the robotic arm includes:
[0043] A base, arranged on the test bench;
[0044] A first swing arm is rotatably disposed on the test bench around a first axis, wherein the first axis is perpendicular to a bearing surface of the test bench;
[0045] A second swing arm is disposed at an end of the first swing arm away from the test bench, and the second swing arm is rotatably disposed on the first swing arm around a first axis; and
[0046] The rotary arm is arranged at one end of the second swing arm away from the first swing arm, and is rotatably arranged on the second swing arm around the first axis.
[0047] As one of the optional embodiments of the present application, a connecting member is further included, and the connecting member is arranged at one end of the rotary arm close to the test bench, and the connecting member includes:
[0048] The clamp block is fixedly arranged at one end of the rotary arm close to the test bench, and a clamping groove is formed on one side of the clamp block close to the test bench;
[0049] A sealing plate is bolted to a side of the clamp block close to the test bench, and the sealing plate covers the clamping groove to form a clamping space for clamping the operating handle.
[0050] One of the above technical solutions has the following advantages or beneficial effects:
[0051] 1. In some traditional detection processes, motion parameters are given in advance to perform a fixed logic detection process, that is, the motion state of the control handle is solidified. However, in actual operation scenarios, for example, when the ship encounters some special situations, the operator's operating habits are different, or the ship's application scenarios are different, the push-pull action of the control handle is not stable and solidified. In most cases, there will even be large fluctuations. If the test is still performed according to the mechanically solidified test logic, it is difficult to simulate the actual use scenario of the ship clock, and the test results are not close enough to the real data. In the embodiment of the present application, any push-pull action process is selected for active intervention and adjustment, so that the detection stage is random, which can better simulate the actual use scenario of the ship clock. The test results brought by this test method are also more reference and credible, thereby providing a real and credible design basis for the improvement design of the ship clock, etc.
[0052] 2. For each push-pull test of the joystick, the preset motion parameters are collected based on the actual use scenario, which is more in line with the real operation, and further simulates the actions in the actual use scenario of the ship clock. The test scenario can be more accurately and completely simulated into the actual use scenario. Therefore, the data obtained from the test is more authentic and reliable, and can provide a more accurate theoretical basis for the subsequent design ideas of the ship clock. The above-mentioned setting of adjusting the acceleration tends to simulate the operation process of the ship clock in some special situations, and the overall simulation is more realistic. BRIEF DESCRIPTION OF THE DRAWINGS
[0053] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.
[0054] Figure 1 is an overall structural diagram of the test system provided in the embodiment of the present application;
[0055] Figure 2 is a structural diagram for displaying a connector provided in an embodiment of the present application;
[0056] Figure 3 is an overall control principle diagram of the test system provided in the embodiment of the present application;
[0057] Figure 4 It is an overall flow chart of the testing method provided in the embodiment of the present application;
[0058] Figure 5 It is a flowchart provided in an embodiment of the present application for showing the debugging stage;
[0059] Figure 6 is a flowchart for demonstrating the acquisition of preset motion parameters provided by an embodiment of the present application;
[0060] Figure 7is a flowchart for demonstrating the acquisition of a preset threshold value provided in an embodiment of the present application;
[0061] Figure 8 It is a flowchart provided in an embodiment of the present application for displaying the alarm and emergency stop steps.
[0062] Reference numerals: 1. test bench;
[0063] 2. Mechanical arm; 21. Base; 22. First swing arm; 23. Second swing arm; 24. Rotary arm;
[0064] 3. Connecting piece; 31. Clamping block; 310. Clamping groove; 32. Closing plate;
[0065] 4. Control terminal; 51. First test component; 52. Second test component;
[0066] 6. Bracket. DETAILED DESCRIPTION
[0067] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0068] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.
[0069] The following is combined with Figure 1-8 The present application is further described.
[0070] Reference Figure 1-Figure 3 The present application provides a marine clock performance test system, comprising a test bench 1, a control terminal 4 and a mechanical arm 2 arranged on the test bench 1, wherein the control terminal 4 is used to control the mechanical arm 2 to grab the marine clock and move it to perform a test process.
[0071] The mechanical arm 2 includes a base 21, a first swing arm 22, a second swing arm 23 and a rotary arm 24. The base 21 is fixedly arranged on the bearing surface of the test bench 1 through a bracket 6; the first swing arm 22 is rotatably arranged on the test bench 1 around a first axis, and the first axis is perpendicular to the bearing surface of the test bench 1; the second swing arm 23 is arranged at an end of the first swing arm 22 away from the test bench 1, and the second swing arm 23 is rotatably arranged on the first swing arm 22 around the first axis; the rotary arm 24 is arranged at an end of the second swing arm 23 away from the first swing arm 22, and is rotatably arranged on the second swing arm 23 around the first axis.
[0072] It should be noted that the first axis mentioned above does not refer to only one axis, but refers to the general term for all vertical axes perpendicular to the bearing surface of the test bench 1.
[0073] The marine clock includes a control handle 100, and the control handle 100 has at least a push-pull action of rotating around a first axis. It should be noted that the first axis is perpendicular to the load-bearing table of the test bench 1. In the embodiment of the present application, the marine clock not only has a push-pull action of rotating around the first axis, but also has a flipping action around a second axis parallel to the test bench 1. Since the test processes of the push-pull action and the flipping action are the same, this application mainly introduces in detail the test process of the push-pull action of the marine clock.
[0074] As one of the optional embodiments of the present application, the test system further includes a connector 3, which is disposed at one end of the swing arm 24 close to the test bench 1, and is used to connect the mechanical arm 2 with the ship clock control handle 100. The connector 3 includes: a clamping block 31, which is fixedly disposed at one end of the swing arm 24 close to the test bench 1, and a clamping groove 310 is recessed on one side of the clamping block 31 close to the test bench 1; and a sealing plate 32, which is bolted to one side of the clamping block 31 close to the test bench 1, and the sealing plate 32 covers the clamping groove 310 to form a clamping space for clamping the control handle 100.
[0075] The assembly process of this test system is as follows:
[0076] First, fix the ship clock and the mechanical arm 2 on the test bench 1;
[0077] Second, check the relative position between the connecting member 3 and the operating handle 100 of the ship clock. In one example, before installing the connecting member 3, it is necessary to ensure that the swing arm 24 is directly above the operating handle 100;
[0078] Third, fix the clamp block 31 to the end of the rotary arm 24, and install the operating handle 100 into the clamping groove 310, and finally install the sealing plate 32.
[0079] The control terminal 4 is electrically connected to the robotic arm 2, and is used to control the operating handle 100 to perform multiple push-pull action tests. Each push-pull action provides a set of preset motion parameters, and the preset motion parameters include time point, speed and acceleration. The preset motion parameters are used to determine the motion state of the operating handle 100; wherein, the control terminal 4 is also used to select at least one arbitrary push-pull action test process, and adjust the acceleration at any time point during the test process, so that the absolute value of the difference between the accelerations of the operating handle 100 before and after adjustment is greater than a preset threshold.
[0080] As one of the optional embodiments of the present application, reference motion parameters are stored in the control terminal 4. The reference motion parameters are motion parameters of multiple push-pull actions of the ship clock under the actual use scenario of the ship clock, which are recorded as reference motion parameters, and multiple groups of reference motion parameters are counted; the control terminal 4 is also used to randomly select a group of reference motion parameters as the preset motion parameters for the push-pull action test of the control handle 100 each time a push-pull action test is performed during the detection phase.
[0081] The following is a further detailed introduction to the present application scheme in combination with the test method.
[0082] Reference Figure 4 and Figure 5 , a method for testing the performance of a ship clock provided by the present application, the ship clock comprises a control handle 100, the control handle 100 at least has a push-pull action rotating around a first axis, the ship clock testing method comprises:
[0083] S2, zero adjustment stage: determining the zero point position of the joystick 100;
[0084] S3, detection stage:
[0085] S31, controlling the joystick 100 to perform multiple push-pull motion tests, each push-pull motion provides a set of preset motion parameters, the preset motion parameters include time point, speed and acceleration, and the preset motion parameters are used to determine the motion state of the joystick 100;
[0086] S32, selecting at least one arbitrary push-pull action test process, and adjusting the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations of the joystick 100 before and after the adjustment is greater than a preset threshold;
[0087] S4. Evaluation phase: After the testing phase, the performance of the marine clock is evaluated.
[0088] In the embodiment of the present application, in some traditional detection processes, motion parameters are given in advance to perform a fixed logic detection process, that is, the motion state of the control handle 100 is solidified, but in actual operation scenarios, for example, when the ship encounters some special situations, the operator's operating habits are different, or the ship's application scenarios are different, the push-pull action of the control handle 100 is not stable and solidified, and in most cases there will even be large fluctuations. If the test is still performed according to the mechanically solidified test logic at this time, it is difficult to simulate the actual use scenario of the ship clock, and the test results are not close enough to the real data. In the embodiment of the present application, any push-pull action process is selected for active intervention and adjustment, so that the detection stage is random, and the actual use scenario of the ship clock can be better simulated. The test results brought by this test method are also more reference and credible, thereby providing a real and credible design basis for the improved design of the ship clock.
[0089] It should be noted that S31 and S32 do not necessarily mean that there is a sequence between the two steps, and S32 will not be performed until S31 is completely completed. S31 refers to providing preset motion parameters for multiple push-pull action tests, and S32 refers to adjusting the preset motion parameters during any test in S31. Therefore, S32 occurs while S31 is being performed. S31 and S32 are interdependent steps.
[0090] The following is a detailed introduction to the steps in each stage.
[0091] Wherein, for S2, zero adjustment stage: determining the zero point position of the joystick 100;
[0092] Specifically, it includes: taking the position of the ship clock operating handle 100 in the zero gear as the zero point, the operator determines the zero point position by observing the display screen of the ship clock, and it is necessary to ensure that the position of the mechanical arm 2 displayed on the control end 4 is also at the zero point position, that is, the mechanical arm 2 is consistent with the initial position of the ship clock.
[0093] For S3, the detection stage: control the operating handle 100 to perform multiple push-pull action tests, each push-pull action provides a set of preset motion parameters, the preset motion parameters include time point, speed and acceleration, the preset motion parameters are used to determine the motion state of the operating handle 100; select at least one arbitrary push-pull action test process, and adjust the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations of the operating handle 100 before and after the adjustment is greater than the preset threshold.
[0094] Specifically: In S31, it specifically includes:
[0095] S311, a step of obtaining preset motion parameters: in the actual use scenario of the ship clock, motion parameters of multiple push-pull actions of the ship clock are collected, recorded as reference motion parameters, and multiple groups of reference motion parameters are counted;
[0096] S312, each time a push-pull motion test is performed during the detection phase, a set of reference motion parameters is randomly selected as preset motion parameters for this push-pull motion test of the joystick 100.
[0097] It is understandable that the reference motion parameters refer to the motion parameters collected in the actual use scenarios of the same model of ship clocks in the past. It can be a continuous operation process for a period of time, or it can be a scattered operation process. More specifically, the speed, acceleration, angle, torque, etc. generated by each operation will be recorded during the operation of the ship clock, and the data will generally be stored in the memory of the ship. In this application, the reference motion parameters can be retrieved during testing, or directly stored in the control terminal 4 for calling.
[0098] It should be noted that a conventional step-by-step test process can also be performed in the present application, such as a push-pull action from a small-angle reciprocating motion to a large-angle reciprocating motion. In this case, the preset motion parameters provided are regular.
[0099] In the embodiment of the present application, for each push-pull action test of the operating handle 100, the preset motion parameters are collected according to the actual use scenario, which is more in line with the actual operation, and further simulates the actions in the actual use scenario of the ship clock. The test scenario can be more accurately and completely simulated into the actual use scenario. Therefore, the data obtained from the test is more authentic and reliable, and can provide a more accurate theoretical basis for the subsequent design ideas of the ship clock. The above-mentioned setting of adjusting the acceleration tends to simulate the operation process of the ship clock in some special situations, and the overall simulation is more realistic.
[0100] As one of the optional embodiments of the present application, in S32, the method for determining the preset threshold includes: S321, analyzing and processing multiple groups of reference motion parameters, screening out the accelerations before and after the acceleration mutation time point of the control handle 100, calculating the absolute value of the difference between the accelerations before and after each acceleration mutation, and recording it as the comparison difference; S322, arranging the comparison differences in order from small to large; S323, calculating the average value of the last 30% of the comparison differences as the preset threshold.
[0101] In the embodiment of the present application, the preset threshold is determined by processing and analyzing multiple groups of reference motion parameters collected in actual usage scenarios. The purpose of the preset threshold is to determine some special operations of the operator, such as slamming the joystick 100 in an emergency. Therefore, when the acceleration mutation caused by some routine operations is relatively small, the comparison difference generated by this part of the operation is not used as a reference for the preset threshold. Instead, some larger comparison differences are selected to calculate the average value. This setting effectively improves the authenticity of the simulation.
[0102] As one of the optional embodiments of the present application, S321 also includes: detecting acceleration changes at time points at preset time intervals, and if the comparison difference before and after a certain time point is greater than a comparison threshold, determining that the acceleration has changed suddenly, wherein the comparison threshold is less than a preset threshold.
[0103] More specifically, the preset time interval can be one second. For example, the acceleration before and after the time point is detected and compared every one second. If the comparison difference between the acceleration before and after is greater than the comparison threshold, it is determined that the acceleration has changed suddenly. At this time, the comparison difference is counted into the comparison difference in determining the preset threshold in S31.
[0104] In the embodiment of the present application, a limitation is made for acceleration mutations, and not every acceleration mutation can be used as a basis for calculating the preset threshold. Therefore, it is further limited that only when the comparison difference of the acceleration mutation is greater than the comparison threshold will it participate in the calculation logic of the preset threshold. This setting further specifically simulates the scenario of violently hitting the control handle 100 in a real usage scenario, which is more in line with the actual situation.
[0105] As one of the optional embodiments of the present application, the control end 4 is set to control the mechanical arm 2 to perform a push-pull test on the joystick 100; before the zeroing stage, it also includes S1, a debugging stage:
[0106] S11, inputting debugging motion parameters to the mechanical arm 2, so that the mechanical arm 2 performs a push-pull motion debugging process in an unloaded state, and installing a first test component 51 to obtain various motion parameters of the ship clock during motion, which are recorded as first parameters;
[0107] S12, randomly selecting a number of time nodes, comparing the first parameter with the debugging motion parameter at the time point, if the absolute value of the difference between the first parameter and the debugging motion parameter is greater than the debugging threshold, it is determined that the movement of the robot arm 2 is not accurate enough;
[0108] S13. If it is determined that the movement of the robot arm 2 is not accurate enough, perform any of the following debugging operations: modify the numerical range of the debugging motion parameter input each time and test again, check the assembly problem of the marine clock and test again; until the first parameter and the debugging motion parameter are less than the debugging threshold.
[0109] In the embodiment of the present application, in order to ensure that the movement process of the robot arm 2 driving the operating handle 100 is in line with expectations, a debugging phase is designed to ensure that the movement process of the robot arm 2 is accurate, thereby ensuring that the movement phase of driving the operating handle 100 can be consistent with the input preset motion parameters to improve the accuracy of the test.
[0110] Reference Figure 3 and Figure 8 As one of the optional embodiments of the present application, a control terminal 4 is set to control the mechanical arm 2 to perform a push-pull test on the control handle 100. A first test component 51 is set on the ship clock. The first test component 51 is electrically connected to the control terminal 4 for feeding back a first angle representing the rotation angle of the ship clock. A second test component 52 is set in the mechanical arm 2. The second test component 52 is electrically connected to the control terminal 4 for feeding back a second angle of the rotation angle of the mechanical arm 2. The testing method also includes: comparing the first angle and the second angle in real time, calculating the absolute value of the difference between the first angle and the second angle, and recording it as a proofreading difference. If the proofreading difference is less than the correction threshold, there is no problem. Otherwise, an alarm is issued for adjustment.
[0111] To implement the above technical solution, since the mechanical arm 2 and the ship clock are assembled together, there may be errors between the movement posture of the mechanical arm 2 and the ship clock, that is, the first angle and the second angle respectively show the movement parameters of the ship clock and the mechanical arm 2, and the accurate synchronization of the mechanical arm 2 and the ship clock cannot be guaranteed. In the embodiment of the present application, the first angle measured by the first test component 51 and the second angle measured by the second test component 52 are compared. If the difference exceeds the required range, it means that there is a problem in the transmission between the mechanical arm 2 and the ship clock, which needs to be modified and debugged. This setting ensures the accuracy of the ship clock detection.
[0112] As one of the optional embodiments of the present application, the first test component 51 is a sensor provided by the ship clock. Before the test, the first test component 51 of the ship clock is electrically connected to the control terminal 4.
[0113] As one of the optional embodiments of the present application, an emergency stop system is also included in the detection stage. If the torque applied to the mechanical arm 2 exceeds a predetermined value, the control terminal 4 sends an emergency stop command to the mechanical arm 2, and the mechanical arm 2 enters an emergency stop state. This is because if the torque applied to the mechanical arm 2 exceeds a predetermined value, it means that the marine clock may be completely stuck and the test process cannot be carried out, so an emergency stop is required.
[0114] Therefore, by comparing the first angle and the second angle between the mechanical arm 2 and the ship clock, a general abnormal situation is determined, confirming that a transmission problem occurs between the mechanical arm 2 and the ship clock; and by judging the torque, it can be confirmed that a special abnormal situation occurs in the ship clock. At this time, it is not suitable to continue the test, and the situation is urgent and requires an emergency stop.
[0115] As one of the optional embodiments of the present application, the evaluation stage: after the inspection is completed, the step of evaluating the various performances of the marine clock includes at least one of the following: disassembling the marine clock to check whether the marine clock has wear and tear, inspecting the electrical transmission line of the marine clock, and performing stress analysis on the marine clock.
[0116] The above description is only a partial implementation method of the embodiments of the present application and does not constitute any form of limitation on the application. The protection scope of the embodiments of the present application is not limited thereto. Any simple modifications, equivalent changes and modifications that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the embodiments of the present application should be covered within the protection scope of the embodiments of the present application.
Claims
1. A method for testing the performance of a marine clock, characterized in that: The marine clock comprises a control handle, wherein the control handle has at least a push-pull action of rotating around a first axis, and the marine clock testing method comprises: Zeroing stage: determining the zero position of the joystick; Detection stage: controlling the joystick to perform multiple push-pull motion tests, each push-pull motion provides a set of preset motion parameters, the preset motion parameters include time point, speed and acceleration, and the preset motion parameters are used to determine the motion state of the joystick; Evaluation phase: After the testing phase, the performance of the marine clock is evaluated; The detection stage further includes: selecting at least one arbitrary push-pull action test process, and adjusting the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations before and after the adjustment of the joystick is greater than a preset threshold.
2. The method for testing the performance of a marine clock according to claim 1, characterized in that: The step of obtaining the preset motion parameters includes: In the actual use scenario of the ship clock, the motion parameters of multiple push-pull actions of the ship clock are collected and recorded as reference motion parameters, and multiple groups of the reference motion parameters are counted; Each time a push-pull motion test is performed during the detection phase, a group of reference motion parameters is randomly selected as preset motion parameters for the push-pull motion test of the joystick.
3. The method for testing the performance of a marine clock according to claim 2, characterized in that: The method for determining the preset threshold includes: Analyze and process multiple groups of reference motion parameters, select the accelerations before and after the acceleration mutation time point of the joystick, calculate the absolute value of the difference between the accelerations before and after each mutation, and record it as a comparison difference; Arrange the comparison differences in order from small to large; The average value of the last 30% of the comparison differences is calculated as the preset threshold.
4. The method for testing the performance of a marine clock according to claim 3, characterized in that: The step of screening out the acceleration before and after the time point at which the acceleration of the joystick has a sudden change comprises: The acceleration change is detected at a preset time interval, and if the comparison difference before and after a certain time point is greater than a comparison threshold, it is determined that the acceleration changes suddenly, wherein the comparison threshold is less than the preset threshold.
5. The marine clock performance testing method according to claim 1, characterized in that: A control end (4) is provided to control the mechanical arm (2) to perform a push-pull test on the operating handle; Before the zeroing stage, a debugging stage is also included: inputting debugging motion parameters to the mechanical arm (2) so that the mechanical arm (2) performs a push-pull motion debugging process in an unloaded state, and installing a first test component (51) to obtain various motion parameters of the ship clock when it is in motion, which are recorded as first parameters; A number of time nodes are randomly selected, and the first parameter at the time point is compared with the debugging motion parameter. If the absolute value of the difference between the first parameter and the debugging motion parameter is greater than the debugging threshold, it is determined that the movement of the robot arm (2) is not accurate enough.
6. The method for testing the performance of a marine clock according to claim 5, characterized in that: If it is determined that the movement of the mechanical arm (2) is not accurate enough, then any of the following debugging operations is performed: modifying the numerical range of the debugging movement parameters input each time and testing again, checking the assembly problem of the marine clock and testing again; Until the first parameter and the debugging motion parameter are less than the debugging threshold.
7. The method for testing the performance of a marine clock according to claim 1, characterized in that: A control end (4) is provided to control the mechanical arm (2) to perform a push-pull test on the control handle; a first test component (51) is provided on the ship clock, the first test component (51) is electrically connected to the control end (4) and is used to feedback a first angle representing the rotation angle of the ship clock; a second test component (52) is provided in the mechanical arm (2), the second test component (52) is electrically connected to the control end (4) and is used to feedback a second angle representing the rotation angle of the mechanical arm (2); The test method also includes: The first angle and the second angle are compared in real time, and the absolute value of the difference between the first angle and the second angle is calculated and recorded as the calibration difference. If the calibration difference is less than the correction threshold, there is no problem. Otherwise, an alarm is issued for adjustment.
8. The method for testing the performance of a marine clock according to claim 7, characterized in that: The first test component (51) is a sensor provided by the ship's car clock. Before the test, the first test component (51) of the ship's car clock is electrically connected to the control terminal (4).
9. The method for testing the performance of a marine clock according to claim 1, characterized in that: The evaluation stage: after the test is completed, the steps of evaluating the various performances of the marine clock include at least one of the following: Disassemble the ship clock to check if it is worn, inspect the electrical transmission lines of the ship clock, and perform stress analysis on the ship clock.
10. A marine clock performance test system, characterized in that: include: Test bench (1); A mechanical arm (2) is arranged on the test bench (1), and the mechanical arm (2) is used to grasp the operating handle to perform a test action; A control end (4) is electrically connected to the mechanical arm (2), and the control end (4) is used to control the joystick to perform multiple push-pull motion tests, each push-pull motion provides a set of preset motion parameters, the preset motion parameters include a time point, a speed, and an acceleration, and the preset motion parameters are used to determine the motion state of the joystick; The control end (4) is further used to select at least one arbitrary push-pull action test process and adjust the acceleration at any time point during the test process so that the absolute value of the difference between the accelerations before and after the adjustment of the joystick is greater than a preset threshold.
11. The marine clock performance test system according to claim 10, characterized in that: The control end (4) stores reference motion parameters, which are motion parameters of multiple push-pull actions of the ship clock collected in the actual use scenario of the ship clock, recorded as reference motion parameters, and multiple groups of reference motion parameters are counted; the control end (4) is also used to randomly select a group of reference motion parameters as preset motion parameters for the push-pull action test of the control handle each time a push-pull action test is performed in the detection phase.
12. The marine clock performance test system according to claim 10, characterized in that: The mechanical arm (2) comprises: A base (21) is arranged on the test bench (1); A first swing arm (22) is rotatably arranged on the test bench (1) around a first axis, wherein the first axis is perpendicular to a bearing surface of the test bench (1); a second swing arm (23), arranged at an end of the first swing arm (22) away from the test bench (1), the second swing arm (23) being rotatably arranged on the first swing arm (22) around a first axis; and A rotary arm (24) is arranged at one end of the second swing arm (23) away from the first swing arm (22), and is rotatably arranged on the second swing arm (23) around the first axis.
13. The marine clock performance test system according to claim 12, characterized in that: It also includes a connecting member (3), which is arranged at one end of the rotary arm (24) close to the test bench (1), and the connecting member (3) includes: A clamping block (31) is fixedly arranged at one end of the rotary arm (24) close to the test bench (1), and a clamping groove (310) is formed in a recessed manner on one side of the clamping block (31) close to the test bench (1); A sealing plate (32) is bolted to a side of the clamping block (31) close to the test bench (1), and the sealing plate (32) covers the clamping groove (310) to form a clamping space for clamping the operating handle.