Automatic detection equipment and method for performance of coarse tracking mechanism assembly

Abstract

The invention relates to an automatic detection device and method for the performance of a coarse tracking mechanism assembly. The device comprises a cabinet, a working table is arranged in the cabinet, a dust cover is arranged on the working table, an adjusting device is arranged on the working table, an autocollimator is arranged on the end face, away from the working table, of the adjusting device, a switching device is further arranged on the working table, and an industrial control all-in-one machine is further arranged on the working table. The industrial control all-in-one machine, the adjusting device and the switching device are in communication connection with the control system. According to the invention, a standard work station for component performance detection of a coarse tracking mechanism is realized by developing a standard workbench; through development of a power supply and a control system, automatic measurement control of component performance of the coarse tracking mechanism and automatic generation and export of a detection report are realized, and the detection efficiency is improved; by designing the corresponding tool clamp and combining with the autocollimator, the whole-process mechanical measurement is realized, and the stability and consistency of the detection precision are ensured.

Description

Technical Field

[0001] This application relates to the technical field of wireless laser communication, and in particular to an automated testing device and method for the performance of coarse tracking mechanism components. Background Technology

[0002] In the field of wireless laser communication, laser communication terminals are often designed with a coarse tracking mechanism that operates independently of the satellite platform, forming a two-dimensional axis, in order to achieve continuous target tracking and aiming. To ensure the continuous and consistent tracking and aiming, in addition to high requirements for the tracking and aiming control software technology, there are also corresponding precision requirements for the performance of the components of the coarse tracking mechanism. Among these, absolute pointing accuracy, repeatability, grating resolution and functionality, three-phase current control, and electrical zero-position angle calibration are key performance indicators of the coarse tracking mechanism components.

[0003] In existing technologies, in order to test the component performance of coarse tracking mechanisms, measurements are often performed manually using an autocollimator. For aspects such as grating resolution and function, three-phase current measurement and control, and electrical zero-position angle calibration, parameters are manually adjusted, products are manually controlled, and codes are manually modified. This testing method is cumbersome, inefficient, and cannot guarantee test consistency. Summary of the Invention

[0004] Therefore, it is necessary to provide an automated detection device and method for the component performance of a coarse tracking mechanism, which can automatically detect the component performance of the coarse tracking mechanism, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides an automated testing device for the performance of a coarse tracking mechanism component. The device includes: a cabinet, a workbench inside the cabinet, a dust cover on the workbench, an adjustment device on the workbench, an autocollimator on the end face of the adjustment device facing away from the workbench, a transfer device on the workbench, and an industrial control computer on the workbench. The industrial control computer, the adjustment device, and the transfer device are all communicatively connected to a control system.

[0006] In one embodiment, the adjustment device includes: a lifting unit threadedly connected to the worktable, an angle adjustment unit provided at one end of the lifting unit away from the worktable, a fixing unit provided at one end of the angle adjustment unit away from the lifting unit, and the autocollimator connected to the angle adjustment unit through the fixing unit.

[0007] In one embodiment, the adapter includes a rotary table 610 fixedly connected to a workbench, wherein an adapter fixture is threadedly connected to the rotary table.

[0008] Secondly, this application also provides an automated method for detecting the performance of coarse-tracking mechanism components. The method includes: The rotation of the product under test on the rotary table is controlled based on rotation commands; During the rotation process, real-time grating data, real-time current data, and static grating data of the product under test are acquired. Determine whether the effective resolution of the grating is abnormal based on real-time grating data; Determine if the current function is malfunctioning based on real-time current data; Electrical zero-position angle is calibrated based on static grating data.

[0009] In one embodiment, determining whether the effective resolution of the grating is abnormal based on real-time grating data includes: Collect the raster code value of the product under static state; Calculate the resolution bits of grating jitter based on the grating code value of the product under static state; The effective resolution bits of the grating are obtained by calculating the difference between the theoretical resolution bits of the grating and the resolution bits of the grating jump. Collect the raster code value of the product under test in a dynamic state; Calculate the difference results of the acquired raster code values; If there are fluctuating data in some difference results that are not less than a preset number of groups, and the fluctuation of the fluctuating data is greater than a preset multiple of the average value of the difference results, the grating function is determined to be abnormal.

[0010] In one embodiment, determining whether the current function is malfunctioning based on real-time current data includes: Calculate the sum of real-time current data and determine if the sum is zero; If the sum is zero, the current function is normal; If the sum is not zero, the current function is abnormal.

[0011] In one embodiment, calibrating the electrical zero azimuth angle based on static grating data includes: Collect the raster code value of the product under static state; Collect the measured maximum value of the grating code value and calculate the ratio between the maximum value and the preset number of pole pairs of the motor, and set the ratio as the reference value; The remainder of the static raster code value is taken relative to the reference value, and the remainder is set as the calibration value of the electrical zero azimuth angle.

[0012] In one embodiment, a reference mirror is mounted on the rotating shaft of the product under test, and the method further includes: Adjust the angle between the autocollimator and the reference mirror until the autocollimator and the reference mirror are aligned and set to zero; Send a command with a preset theoretical steering angle and obtain the actual steering angle; The index of absolute steering accuracy is calculated based on the theoretical steering angle and the actual steering angle.

[0013] In one embodiment, after adjusting the angle between the autocollimator and the reference mirror until the autocollimator and the reference mirror are aligned and set to zero, the method further includes: Send a preset number of theoretical steering angles and obtain the actual steering angles corresponding to the theoretical steering angles respectively; Calculate the difference between the theoretical steering angle and the actual steering angle, and calculate the repeatability index.

[0014] In one embodiment, absolute pointing accuracy and repeatability pointing accuracy are obtained based on a preset measurement angle; The absolute pointing accuracy and repeatability pointing accuracy are stored based on the measurement angle and the number of measurements corresponding to the measurement angle. Update the historical data for absolute pointing precision and repeating pointing precision.

[0015] This application adopts the above-mentioned method to realize a standardized workstation for component performance testing of the coarse tracking mechanism by developing a standard workbench; to realize automated measurement and control of component performance of the coarse tracking mechanism and automated generation and export of test reports by developing a power supply and control system, thereby improving testing efficiency; and to realize fully mechanized measurement by designing corresponding tooling fixtures and combining them with an autocollimator, thereby ensuring the stability and consistency of testing accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an automated testing device for the performance of a coarse tracking mechanism component in one embodiment; Figure 2 This is a schematic diagram of the adjustment device of an automated detection device for the performance of a coarse tracking mechanism component in one embodiment. Figure 3 This is a schematic diagram of the structure of the adapter of an automated detection device for the performance of a coarse tracking mechanism component in one embodiment. Figure 4 This is a flowchart of an automated detection method for the performance of coarse tracking mechanism components in one embodiment.

[0017] Reference numerals: 100, cabinet; 200, workbench; 300, dust cover; 400, adjustment device; 410, lifting unit; 420, angle adjustment unit; 430, fixing unit; 500, autocollimator; 600, adapter; 610, rotating table; 620, adapter fixture. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] like Figures 1-3 As shown, an automated testing device for the performance of a coarse tracking mechanism component is disclosed. The device includes: a cabinet 100, a workbench 200 inside the cabinet 100, a dust cover 300 on the workbench 200, an adjustment device 400 on the workbench 200, an autocollimator 500 on the end face of the adjustment device 400 away from the workbench 200, a converter 600 on the workbench 200, and an industrial control computer on the workbench 200. The industrial control computer, the adjustment device 400, and the converter 600 are all communicatively connected to the control system.

[0020] The cabinet 100 uses a custom optical platform measuring 1200mm*700mm*800mm, which has damping and vibration isolation functions to avoid the impact of external environmental vibration or resonance on the precision testing of products. After adding a dustproof frame structure, it also has a built-in lighting system. The industrial control all-in-one computer is used as a carrier for the software control and measurement system, storing the corresponding software control and measurement system, implementing human-machine interaction and generating automated test results. It is fixed to the standard cabinet 100 frame with screws.

[0021] In one embodiment, the adjustment device 400 includes: a lifting unit 410 threadedly connected to the worktable 200, an angle adjustment unit 420 provided at one end of the lifting unit 410 away from the worktable 200, a fixing unit 430 provided at one end of the angle adjustment unit 420 away from the lifting unit 410, and the autocollimator 500 connected to the angle adjustment unit 420 through the fixing unit 430.

[0022] The adapter 600 includes a rotating table 610 fixedly connected to the workbench 200, and an adapter tool 620 threadedly connected to the rotating table 610.

[0023] It is worth mentioning that the Autocollimator 500 testing system has four-dimensional angular displacement adjustment functions, including height adjustment, azimuth rotation, pitch rotation, and forward / backward displacement. It consists of the Autocollimator 500 device, the Autocollimator 500 mounting fixture, azimuth / pitch / rotation and forward / backward displacement adjustment mechanisms, and a height adjustment mechanism, all fixedly connected by screws. Knob a provides pitch rotation, knob b provides azimuth rotation, knob c provides forward / backward displacement, and knob d provides height adjustment. The Autocollimator 500 testing system is fixedly connected to the platform of the standard cabinet 100 using screws.

[0024] The product under test (DUT) clamping and fixing system consists of an adapter fixture 620 and a precision rotary table, which are fixedly connected by screws and also fixedly connected to the table surface of the standard cabinet 100 by screws. By changing the adapter fixture 620, the measurement requirements of different products can be met. The precision rotary table has a high-precision positioning function for calibrating the pointing accuracy of the DUT. The power supply and control system mainly includes the power supply and controller for the motion control of the DUT, the light source and power supply for the autocollimator 500, and the controller and power supply for the precision rotary table in the DUT clamping and fixing system.

[0025] Reference Figures 1-4 In one embodiment, an automated method for detecting the performance of a coarse tracking mechanism component further includes: The test product is controlled to rotate on the rotating platform based on rotation commands; during the rotation process, real-time grating data, real-time current data, and static grating data of the test product are acquired; the effective resolution of the grating is determined based on the real-time grating data; the current function is determined based on the real-time current data; and the electrical zero-position angle is calibrated based on the static grating data.

[0026] The functional performance testing of the grating's effective resolution bits and function, three-phase current measurement, and electrical zero-angle calibration involves fixing the product under test (DUT) using an adapter fixture and quickly connecting the motor wires to the equipment. An automated measurement and testing process is then performed using a power supply and control system and an industrial control computer. The power supply and control system outputs corresponding control commands to the DUT, which then rotates accordingly. The system collects grating signal feedback data and three-phase current signal data in real time based on the DUT's movement. After background data processing and calculation, the system feeds back the specific results of the grating's effective resolution bits, whether the function is normal, and the results of three-phase current measurement and electrical zero-angle calibration to the power supply and control system's software interface. After testing, the test results can be directly generated into a text template for replacement and a test report can be exported.

[0027] In one embodiment, determining whether the effective resolution of the grating is abnormal based on real-time grating data includes: The test involves: acquiring the grating code value of the product under test in a static state; calculating the resolution bits of grating jitter based on the grating code value in the static state; calculating the difference between the theoretical resolution bits of the grating and the resolution bits of grating jitter to obtain the effective resolution bits of the grating; acquiring the grating code value of the product under test in a dynamic state; calculating the resolution bits of grating jitter based on the dynamic grating code value; calculating the difference between the theoretical resolution bits of the grating and the resolution bits of grating jitter to obtain the effective resolution bits of the grating; calculating the difference between the effective resolution bits of the grating calculated from the static grating code value and the effective resolution bits of the grating calculated from the dynamic grating code value; and determining that the grating function is abnormal if there are fluctuations in some difference results that are not less than a preset number of groups, and the fluctuation of the fluctuation data is greater than a preset multiple of the average of the difference results.

[0028] Specifically, for the detection and data processing of the effective resolution bits of the grating, more than 100 sets of grating code values ​​are statically collected, and the resolution bits of the grating fluctuation are calculated. The effective resolution bits of the grating are the theoretical resolution bits of the grating minus the resolution bits of the grating fluctuation. For the determination of whether the grating function is normal, more than 100 sets of grating code values ​​are dynamically collected, and the data difference results are calculated. When the difference results show fluctuations of more than 3 sets that are more than 10 times the average, it is determined that the grating function is abnormal.

[0029] In one embodiment, determining whether the current function is malfunctioning based on real-time current data includes: Calculate the sum of the real-time current data and determine if the sum is zero; if the sum is zero, the current function is normal; if the sum is not zero, the current function is abnormal.

[0030] Among them, for the measurement of three-phase current, if the sum of the three-phase current is 0, it is determined that the three-phase current function is normal. If the open-loop control speed feedback signal is consistent with the direction set in the software, it is determined that the phase sequence of the three-phase current is normal.

[0031] In one embodiment, calibrating the electrical zero azimuth angle based on static grating data includes: Collect the grating code value of the product under static state; collect the measured maximum value of the grating code value and calculate the ratio between the maximum value and the preset number of pole pairs of the motor, and set the ratio as the reference value; take the remainder of the static grating code value with respect to the reference value and set the remainder as the calibration value of the electrical zero azimuth angle.

[0032] Specifically, for the electrical zero-position angle calibration, the grating code value of the tested product in static state is collected, the maximum grating code value is divided by the number of pole pairs of the motor as the reference value, and the remainder of the static grating code value divided by the reference value is used as the calibration value of the electrical zero-position angle.

[0033] In one embodiment, for the performance testing of absolute pointing accuracy and repeatability, after the product under test has been fixed and connected by the adapter, a reference mirror is installed on the rotating shaft of the product under test. The autocollimator data acquisition system, power and control system, and industrial control computer are combined to automatically test and generate a report on the performance of absolute pointing accuracy and repeatability of the product under test.

[0034] The process involves adjusting the angle between the autocollimator and the reference mirror until they are aligned and set to zero; sending a command for the preset theoretical steering angle and obtaining the actual steering angle; and calculating the absolute pointing accuracy based on the theoretical and actual steering angles.

[0035] It is worth mentioning that when performing absolute pointing accuracy and repeatability testing, the autocollimator testing system is manually adjusted and aligned with the reference mirror installed on the rotating shaft of the product under test. After the mirror is aligned with the reference mirror, it is kept fixed and the power supply and control system is set to zero. Then, the power supply and control system issues a rotation command. After receiving the corresponding command, the product under test and the precision turntable rotate towards each other according to the corresponding rotation command. Afterward, the autocollimator testing system collects the data after the rotation command response and checks the performance results of absolute pointing accuracy and repeatability under the rotation command. After adjusting the angle between the autocollimator and the reference mirror until the autocollimator and the reference mirror are aligned and set to zero, the process also includes: sending a preset number of theoretical steering angles and obtaining the actual steering angles corresponding to the theoretical steering angles; calculating the difference between the theoretical steering angle and the actual steering angle and calculating the repeatability index.

[0036] Specifically, when the rotation command is given as 30°, the product under test rotates to 30° according to the given command. The precision turntable receives the command, processes 30° as -30° and rotates in the opposite direction. After rotating to the position, the autocollimator detection system collects the data at this time, which is the measured value of the absolute pointing accuracy of the product under test at the 30° position. The 30° rotation command is measured at least 5 times, and the difference between the 5 measured values ​​of absolute pointing accuracy is the result of repeated pointing accuracy.

[0037] In one embodiment, absolute pointing accuracy and repeatability pointing accuracy are obtained based on a preset measurement angle; absolute pointing accuracy and repeatability pointing accuracy are stored based on the measurement angle and the number of measurements corresponding to the measurement angle; and historical data of absolute pointing accuracy and repeatability pointing accuracy are updated.

[0038] The cornering command can be set to different angles as needed and multiple measurements can be performed. After the test is completed, the test result data can be directly generated into the corresponding information in the text template for replacement and the test report can be exported.

[0039] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An automated testing device for the performance of a coarse tracking mechanism component, characterized in that, The equipment includes: a cabinet (100), a workbench (200) inside the cabinet (100), a dust cover (300) on the workbench (200), an adjustment device (400) on the workbench (200), an autocollimator (500) on the end face of the adjustment device (400) away from the workbench (200), a converter (600) on the workbench (200), and an industrial control computer on the workbench (200). The industrial control computer, the adjustment device (400) and the converter (600) are respectively connected to the control system.

2. The automated testing device for the performance of coarse tracking mechanism components according to claim 1, characterized in that, The adjustment device (400) includes: a lifting unit (410) threadedly connected to the worktable (200), an angle adjustment unit (420) provided at one end of the lifting unit (410) away from the worktable (200), a fixing unit (430) provided at one end of the angle adjustment unit (420) away from the lifting unit (410), and the autocollimator (500) connected to the angle adjustment unit (420) through the fixing unit (430).

3. The automated testing equipment for the performance of coarse tracking mechanism components according to claim 2, characterized in that, The adapter (600) includes a rotating table (610) fixedly connected to the worktable (200), and an adapter tool (620) is threadedly connected to the rotating table (610).

4. An automated method for detecting the performance of a coarse tracking mechanism component, characterized in that, The method further includes: The rotation of the product under test on the rotary table is controlled based on rotation commands; During the rotation process, real-time grating data, real-time current data, and static grating data of the product under test are acquired. Determine whether the effective resolution of the grating is abnormal based on real-time grating data; Determine if the current function is malfunctioning based on real-time current data; Electrical zero-position angle is calibrated based on static grating data.

5. The automated testing method for the performance of coarse tracking mechanism components according to claim 4, characterized in that, The method of determining whether the effective resolution of the grating is abnormal based on real-time grating data includes: Collect the raster code value of the product under static state; Calculate the resolution bits of grating jitter based on the grating code value of the product under static state; The effective resolution bits of the grating are obtained by calculating the difference between the theoretical resolution bits of the grating and the resolution bits of the grating jump. Collect the raster code value of the product under test in a dynamic state; Calculate the difference results of the acquired raster code values; If there are fluctuating data in some difference results that are not less than a preset number of groups, and the fluctuation of the fluctuating data is greater than a preset multiple of the average value of the difference results, the grating function is determined to be abnormal.

6. The automated testing method for the performance of coarse tracking mechanism components according to claim 4, characterized in that, The method of determining whether the current function is abnormal based on real-time current data includes: Calculate the sum of real-time current data and determine if the sum is zero; If the sum is zero, the current function is normal; If the sum is not zero, the current function is abnormal.

7. The automated testing method for the performance of coarse tracking mechanism components according to claim 4, characterized in that, The calibration of the electrical zero-position angle based on static grating data includes: Collect the raster code value of the product under static state; Collect the measured maximum value of the grating code value and calculate the ratio between the maximum value and the preset number of pole pairs of the motor, and set the ratio as the reference value; The remainder of the static raster code value is taken relative to the reference value, and the remainder is set as the calibration value of the electrical zero azimuth angle.

8. The automated testing method for the performance of coarse tracking mechanism components according to claim 4, characterized in that, A reference mirror is mounted on the rotating shaft of the product under test. The method further includes: Adjust the angle between the autocollimator and the reference mirror until the autocollimator and the reference mirror are aligned and set to zero; Send a command with a preset theoretical steering angle and obtain the actual steering angle; The index of absolute steering accuracy is calculated based on the theoretical steering angle and the actual steering angle.

9. The automated testing method for the performance of coarse tracking mechanism components according to claim 8, characterized in that, After adjusting the angle between the autocollimator and the reference mirror until the autocollimator and the reference mirror are aligned and set to zero, the method further includes: Send a preset number of theoretical steering angles and obtain the actual steering angles corresponding to the theoretical steering angles respectively; Calculate the difference between the theoretical steering angle and the actual steering angle, and calculate the repeatability index.

10. The automated testing method for the performance of coarse tracking mechanism components according to claim 9, characterized in that, The method further includes: The absolute pointing accuracy and repeatability are obtained based on the preset measurement angle; The absolute pointing accuracy and repeatability pointing accuracy are stored based on the measurement angle and the number of measurements corresponding to the measurement angle. Update the historical data for absolute pointing precision and repeating pointing precision.

Images