Five-degree-of-freedom motion test device

Abstract

The invention provides a five-degree-of-freedom motion test device. The five-degree-of-freedom motion test device comprises a base, a horizontal sliding mechanism, a lifting mechanism, a side sliding mechanism, a pitching mechanism and a rolling mechanism. The horizontal sliding mechanism comprises a first base, and the first base is slidably connected to the base in the front-back direction. The lifting mechanism comprises a second base, and the second base is slidably connected to the first base in the vertical direction. The side sliding mechanism comprises a sliding piece, and the sliding piece is connected to the second base in a sliding mode around a rotating axis extending in the vertical direction. The pitching mechanism comprises an arc-shaped plate extending in the front-back direction, and the arc-shaped plate is rotationally connected to the sliding piece around the axis of the arc-shaped plate. The rolling mechanism comprises a rolling connecting piece and a rolling piece, and the bottom of the rolling connecting piece is fixedly connected to the arc-shaped plate. The rolling piece is rotatably connected to the top of the rolling connecting piece in the first direction perpendicular to the left-right direction, it is guaranteed that the motion state of the five-degree-of-freedom motion test device has a good reduction effect, and the reliability of research and development verification is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-freedom model device testing, in particular to a five-freedom motion testing device. BACKGROUND

[0002] The multi-freedom motion testing device is an indispensable ground simulation testing platform in the research and development of aviation, aerospace, robots and the like, and can simulate the complex motion state of an object in space under the ground gravity environment to provide a key verification environment for a control system and an operation algorithm.

[0003] However, the existing multi-freedom motion testing device mostly supports motion simulation of three or fewer freedoms, and mainly adopts air floating platform technology. This design leads to the fact that the testing process is easily affected by interference force and interference torque, and the environmental adaptability is poor. In addition, the existing device has a limited load thrust range, and the complex coupling effect between multi-freedom motions further aggravates the difficulty of motion control, so that the existing multi-freedom motion testing device has poor motion state restoration effect. SUMMARY

[0004] In view of the above problems, the present application is proposed to provide a five-freedom motion testing device which overcomes the above problems or at least partially solves the above problems, and can solve the problem of poor motion state restoration effect of the existing multi-freedom motion testing device, and achieve the purpose of improving the reliability of research and development verification.

[0005] Specifically, the present application provides a five-freedom motion testing device, comprising:

[0006] a base horizontally arranged.

[0007] a horizontal sliding mechanism comprising a first base slidingly connected to the base in the front-rear direction.

[0008] a lifting mechanism comprising a second base slidingly connected to the first base in the vertical direction.

[0009] a side sliding mechanism comprising a sliding piece slidingly connected to the top of the second base about a rotation axis extending in the vertical direction.

[0010] a pitching mechanism comprising an arc-shaped plate extending in the front-rear direction, the arc-shaped plate being rotationally connected to the sliding piece about its axis. The axis of the arc-shaped plate extends in the left-right direction.

[0011] The rolling mechanism comprises a rolling connecting piece and a rolling piece. The bottom of the rolling connecting piece is fixedly connected to the arc-shaped plate. The rolling piece is rotatably connected to the top of the rolling connecting piece in a first direction perpendicular to the left-right direction, and is used for being fixedly connected to the object to be tested.

[0012] Optionally, the horizontal sliding mechanism further comprises a transverse guide rail, a lead screw and a first speed reducer.

[0013] The transverse guide rail extends in the front-rear direction. The lead screw is fixedly connected to the base and is electrically connected to the first speed reducer. The first base is threadedly connected to the lead screw. The first speed reducer is configured to drive the lead screw to rotate so as to drive the first base to slide along the transverse guide rail.

[0014] Optionally, the lifting mechanism further comprises a longitudinal electric cylinder and a longitudinal guide rail.

[0015] The longitudinal guide rail is vertically arranged and is fixedly connected to the first base.

[0016] The longitudinal electric cylinder is configured to drive the second base to slide along the longitudinal guide rail.

[0017] Optionally, the side sliding mechanism further comprises a side sliding connecting piece, two side sliding guide rails and a side sliding electric cylinder.

[0018] The side sliding guide rails are in the shape of a circular arc. The two side sliding guide rails are symmetrically and coaxially arranged on the upper end of the second base. The side sliding connecting piece is fixedly connected to the bottom end of the sliding piece and is slidingly connected to the side sliding guide rails.

[0019] Optionally, the pitching mechanism further comprises an arc-shaped guide rail, a sliding block assembly, a gear and a second speed reducer.

[0020] A connecting cavity is formed in the sliding piece. The front end and the upper end of the connecting cavity are formed with openings in communication, so that the front upper end of the arc-shaped plate extends out of the openings to be connected to the rolling connecting piece. The arc-shaped guide rail is arranged on the side wall of the connecting cavity. The arc-shaped guide rail is coaxially arranged with the arc-shaped plate and is spaced apart from the arc-shaped plate in the left-right direction. The sliding block assembly is arranged on the side of the arc-shaped plate close to the arc-shaped guide rail. The sliding block assembly comprises a plurality of upper sliding blocks and a plurality of lower sliding blocks. The upper sliding blocks are slidingly connected to the upper side of the arc-shaped guide rail, and the lower sliding blocks are slidingly connected to the lower side of the arc-shaped guide rail. The periphery of the arc-shaped plate is provided with a gear ring which is engaged with the gear. The second speed reducer is fixedly connected to the sliding piece to drive the gear to rotate.

[0021] Optionally, the roll connecting piece comprises a vertically arranged roll body and a protection box arranged on the upper side of the roll body.

[0022] The roll mechanism further comprises a third speed reducer motor, a brake, a bearing, an end cover and a brake connecting piece.

[0023] The third speed reducer motor is arranged at one end inside the protection box, and the output end of the third speed reducer motor is fixedly connected with the rolling piece. The brake is connected with the protection box through the brake connecting piece to stop the rotation of the rolling piece. The bearing is arranged between the rolling piece and the inner wall of the protection box. The shaft sleeve is arranged on the side of the rolling piece. The end cover is arranged at the end of the protection box away from the third speed reducer motor and between the rolling piece and the inner wall of the protection box.

[0024] Optionally, the five-degree-of-freedom motion test device further comprises:

[0025] The sensing device is used to detect the position and angle of the object to be tested.

[0026] The display device is used to display the position and angle of the object to be tested detected by the sensing device in the form of coordinates or illustrations.

[0027] The control device remotely controls the position and angle of the object to be tested by controlling the operation of the first speed reducer motor, the second speed reducer motor, the third speed reducer motor, the side sliding electric cylinder and the longitudinal electric cylinder.

[0028] Optionally, the five-degree-of-freedom motion test device has the functions of emergency braking, loose braking and resetting through the control of the control device.

[0029] Optionally, the roll connecting piece and the arc-shaped plate are connected through bolts.

[0030] Optionally, the base is made of cast iron.

[0031] In the five-degree-of-freedom motion test device, the five-degree-of-freedom motion test device can realize independent control of five degrees of freedom through the control of the horizontal sliding mechanism, the lifting mechanism, the side sliding mechanism, the pitching mechanism and the roll mechanism, which reduces the influence of interference force and interference torque, improves the environmental adaptability, guarantees the load thrust range, guarantees that the motion state of the five-degree-of-freedom motion test device has good restoration effect, and improves the reliability of research and development verification.

[0032] The above and other objects, advantages and features of the present application will become more apparent from the following detailed description of some embodiments thereof, when taken in conjunction with the annexed drawings, in which: BRIEF DESCRIPTION OF DRAWINGS

[0033] Some specific embodiments of the present application will now be described in detail by way of example with reference to the drawings. The same reference numbers in different drawings identify the same or similar components or parts. It should be understood that the drawings are not necessarily to scale. In the drawings:

[0034] Figure 1 is a schematic structural diagram of a five-degree-of-freedom motion test device according to an embodiment of the present application;

[0035] Figure 2 is a schematic structural diagram of a five-degree-of-freedom motion test device according to an embodiment of the present application; Figure 1 is a schematic enlarged view of A in FIG. 1;

[0036] Figure 3 is a schematic structural diagram of a five-degree-of-freedom motion test device according to an embodiment of the present application; Figure 1 is a schematic enlarged view of B in FIG. 1;

[0037] Figure 4 is a schematic structural diagram of a five-degree-of-freedom motion test device according to an embodiment of the present application;

[0038] Figure 5 is a schematic structural diagram of a pitch mechanism in a five-degree-of-freedom motion test device according to an embodiment of the present application;

[0039] Figure 6 is a schematic sectional view of a roll mechanism in a five-degree-of-freedom motion test device according to an embodiment of the present application.

[0040] LIST OF REFERENCE NUMERALS:

[0041] 100, base;

[0042] 200, horizontal sliding mechanism; 210, first base; 220, transverse guide rail; 230, first speed reduction motor;

[0043] 300, lifting mechanism; 310, second base; 320, longitudinal electric cylinder; 330, longitudinal guide rail;

[0044] 400, side sliding mechanism; 410, sliding member; 411, connecting cavity; 420, side sliding connecting member; 430, side sliding guide rail; 440, side sliding electric cylinder;

[0045] 500, pitch mechanism; 510, arc-shaped plate; 511, gear ring; 520, arc-shaped guide rail; 530, sliding block assembly; 540, gear; 550, second speed reduction motor;

[0046] 600 Rolling mechanism; 610 Rolling connector; 611 Rolling body; 612 Protective box; 620 Rolling element; 630 Bushing; 640 Third geared motor; 650 Brake; 660 Bearing; 670 End cover; 680 Brake connector. Detailed Implementation

[0047] The following reference Figures 1 to 6 This invention describes a five-degree-of-freedom motion testing device according to an embodiment of the present invention. In this description, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature, that is, include one or more of that feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. When a feature "includes or contains" one or more of the features it encompasses, unless otherwise specifically described, this indicates that other features are not excluded and may be further included.

[0048] Unless otherwise expressly specified and limited, the terms "set up," "install," "connect," "link," "fix," and "couple" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art should be able to understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] Furthermore, in the description of this embodiment, "above" or "below" the second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. That is, in the description of this embodiment, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "below" of the second feature can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of the present embodiments, references to "one embodiment", "an embodiment", "example", "specific example" or "some examples" means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in an embodiment", "in some embodiments", "in specific examples" or "in some examples" in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0051] Figure 1 is a schematic structural view of a five-degree-of-freedom motion testing device according to an embodiment of the application, as shown in Figure 1 and referring to Figures 2 to 6 , the embodiment of the application provides a five-degree-of-freedom motion testing device.

[0052] The five-degree-of-freedom motion testing device comprises a base 100, a horizontal sliding mechanism 200, a lifting mechanism 300, a side sliding mechanism 400, a pitching mechanism 500 and a rolling mechanism 600.

[0053] The base 100 is horizontally arranged; the horizontal sliding mechanism 200 comprises a first base 210, which is slidingly connected to the base 100 along the front-rear direction; the lifting mechanism 300 comprises a second base 310, which is slidingly connected to the first base 210 along the vertical direction; the side sliding mechanism 400 comprises a sliding piece 410, which is slidingly connected to the top of the second base 310 around a rotation axis extending along the vertical direction; the pitching mechanism 500 comprises an arc-shaped plate 510 extending along the front-rear direction, which is rotationally connected to the sliding piece 410 around its axis; the axis of the arc-shaped plate 510 extends along the left-right direction; the rolling mechanism 600 comprises a rolling connecting piece 610 and a rolling piece 620, the bottom of the rolling connecting piece 610 is fixedly connected to the arc-shaped plate 510; the rolling piece 620 is rotationally connected to the top of the rolling connecting piece 610 around a first direction perpendicular to the left-right direction, and is used for being fixedly connected with an object to be tested.

[0054] During the movement of the pitching mechanism 500, the first direction changes, for example, the first direction can extend along the front-rear direction, or can be a direction having a certain angle with the horizontal plane.

[0055] In this embodiment, the rolling element 620 is fixedly connected to the object under test so that when the rolling element 620 rotates around the first rotation axis, it drives the object under test to roll around the first direction; the bottom of the rolling connector 610 is fixedly connected to the arc plate 510, and the arc plate 510 is rotatably connected to the sliding element 410 around its axis so that when the arc plate 510 rotates around its axis, it drives the object under test to pitch around the rotation axis in the left-right direction; the sliding element 410 is slidably connected to the second base 310 around the rotation axis extending in the vertical direction. The top of the base 210 is such that when the sliding member 410 rotates about a rotation axis extending vertically, it causes the test object to slide sideways about the rotation axis extending vertically; the second base 310 is slidably connected to the first base 210 in the vertical direction, so that when the second base 310 slides in the up-down direction, it causes the test object to move up and down in the up-down direction; the first base 210 is slidably connected to the base 100 in the front-back direction, so that when the first base 210 slides in the front-back direction, it causes the test object to slide horizontally in the front-back direction.

[0056] Compared with multi-degree-of-freedom motion test devices using air-floating platform technology, this invention maintains stability under complex temperature, humidity, and air pressure variations, and is less affected by external factors such as micro-vibrations and electromagnetic interference, resulting in better environmental adaptability. Furthermore, the five-degree-of-freedom motion test device of this invention, through the coordinated connection of mechanical structures such as the base 100, horizontal sliding mechanism 200, lifting mechanism 300, side-sliding mechanism 400, pitch mechanism 500, and roll mechanism 600, allows for independent control of each of the five degrees of freedom. This reduces the influence of interference forces and torques, improves environmental adaptability, and ensures a wide load thrust range, guaranteeing a good reproduction effect of the motion state of the five-degree-of-freedom motion test device and improving the reliability of research and development verification.

[0057] In some embodiments of the present invention, such as Figure 2 and Figure 4 As shown, the horizontal sliding mechanism 200 also includes: a transverse guide rail 220, a lead screw, and a first reduction motor 230;

[0058] The transverse guide rail 220 extends in the front-to-back direction; the lead screw is fixedly connected to the base 100 and electrically connected to the first geared motor 230; the first base 210 is threadedly connected to the lead screw, and the first geared motor 230 is configured to cause the lead screw to rotate so as to drive the first base 210 to slide along the transverse guide rail 220.

[0059] In the embodiment, the first base 210 is engaged with the screw rod through threads and moves linearly under the constraint of the transverse guide rail 220. When the first deceleration motor 230 drives the screw rod to rotate, the rotational motion is converted into linear displacement of the first base 210 through thread transmission, thereby driving all moving components and the object to be tested mounted on the horizontal sliding mechanism 200 to complete horizontal sliding in the front-back direction. The transmission mode of the screw rod and the guide rail for horizontal linear sliding has the advantages of high transmission efficiency and good positioning accuracy, thereby further guaranteeing the reliability of research and development verification.

[0060] In some embodiments of the present application, as shown in Figure 1 , the lifting mechanism 300 further comprises a longitudinal electric cylinder 320 and a longitudinal guide rail 330.

[0061] The longitudinal guide rail 330 is vertically arranged and fixedly connected to the first base 210.

[0062] The longitudinal electric cylinder 320 is configured to drive the second base 310 to slide along the longitudinal guide rail 330.

[0063] In the embodiment, the longitudinal guide rail 330 is vertically fixedly mounted on the first base 210 of the horizontal sliding mechanism 200 to provide guiding constraint for lifting motion. The cylinder body or push rod of the longitudinal electric cylinder 320 is directly connected to the second base 310, and the second base 310 is driven to reciprocate up and down along the longitudinal guide rail 330 through the extension and retraction of the push rod. The transmission mode of the electric cylinder and the guide rail for vertical linear sliding has the advantages of high transmission efficiency and good positioning accuracy, thereby further guaranteeing the reliability of research and development verification.

[0064] In some embodiments of the present application, as shown in Figure 1 , Figure 3 and Figure 4 , the side sliding mechanism 400 further comprises a side sliding connecting piece 420, two side sliding guide rails 430 and a side sliding electric cylinder 440.

[0065] The side sliding guide rails 430 are in the shape of a circular arc, and the two side sliding guide rails 430 are symmetrically and coaxially arranged on the upper end of the second base 310. The side sliding connecting piece 420 is fixedly connected to the bottom end of the sliding piece 410, and the side sliding connecting piece 420 is slidingly connected to the side sliding guide rails 430.

[0066] In the embodiment, the upper surface of the second base 310 extends in the horizontal direction to serve as a support platform for the sliding movement of the slider 410 and the side sliding connector 420. Two circular arc-shaped side sliding rails 430 are symmetrically and coaxially arranged on the second base 310 to form a stable double-rail restraint system. The side sliding connector 420 is fixed to the bottom end of the slider 410, and the two ends thereof are connected to the two side sliding rails 430 through sliding blocks or rollers.

[0067] In some embodiments of the application, as shown in Figure 3 The cylinder body of the side sliding electric cylinder 440 is hinged to the second base 310, and the push rod end is hinged to the side sliding connector 420 or the slider 410. The side sliding electric cylinder 440 is retracted and extended to make the slider 410 slide along the circular arc rail in endless rotation.

[0068] In some embodiments of the application, as shown in Figure 1 and Figure 6 The pitch mechanism 500 further includes an arc-shaped rail 520, a sliding block assembly 530, a gear 540, and a second speed reduction motor 550.

[0069] A connecting cavity 411 is formed in the slider 410. The front end and the upper end of the connecting cavity 411 are formed with openings connected to each other, so that the front upper end of the arc-shaped plate 510 extends from the openings to be connected to the roll connector 610. The arc-shaped rail 520 is arranged on the side wall of the connecting cavity 411. The arc-shaped rail 520 is coaxially arranged with the arc-shaped plate 510, and the arc-shaped rail 520 and the arc-shaped plate 510 are arranged in the left-right direction. The sliding block assembly 530 is arranged on the side of the arc-shaped plate 510 close to the arc-shaped rail 520. The sliding block assembly 530 includes a plurality of upper sliding blocks and a plurality of lower sliding blocks. The upper sliding blocks are slidingly connected to the upper side of the arc-shaped rail 520, and the lower sliding blocks are slidingly connected to the lower side of the arc-shaped rail 520. The periphery of the arc-shaped plate 510 is provided with a gear ring 511, which is engaged with the gear 540. The second speed reduction motor 550 is fixedly connected to the slider 410 to drive the gear 540 to rotate.

[0070] In the embodiment, the arc-shaped guide rail 520 is fixed to the side wall of the connecting cavity 411, coaxially arranged with the arc-shaped plate 510 but kept spaced in the left-right direction to form a guide reference. The slider assembly 530 is installed on the side of the arc-shaped plate 510 close to the guide rail, and the plurality of upper sliders and the plurality of lower sliders are respectively in sliding fit with the upper and lower sides of the arc-shaped guide rail 520 for resisting the eccentric load generated by the pitching moment. The second reduction motor 550 is fixed to the sliding member 410, and drives the arc-shaped plate 510 to rotate around its axis through the gear 540 and the gear ring 511, and follows the sliding member 410 when the sliding member 410 slides to ensure that the second reduction motor 550 and the gear 540 follow the sliding member 410 to slide synchronously. The design of the guide rail slider combined with the gear 540 transmission not only ensures the stability of the pitching movement, but also has high precision angle control ability.

[0071] In some embodiments of the application, as shown in Figure 1 and Figure 5 The roll connection 610 includes a vertically arranged roll body 611 and a protection box 612 arranged on the upper side of the roll body 611; the protection box 612 extends along the first rotation axis, and the rolling member 620 is rotationally connected in the protection box 612; the lower end of the roll body 611 is fixedly connected to the front upper end of the arc-shaped plate 510.

[0072] The roll mechanism 600 further includes a third reduction motor 640, a brake 650, a bearing 660, an end cover 670 and a brake connecting member 680.

[0073] The third reduction motor 640 is arranged at one end inside the protection box 612, and the output end of the third reduction motor 640 is fixedly connected with the rolling member 620; the brake 650 is connected in the protection box 612 through the brake connecting member 680 to stop the rotation of the rolling member 620; the bearing 660 is arranged between the rolling member 620 and the inner wall of the protection box 612; the shaft sleeve 630 is sleeved on the circumferential side of the rolling member 620; the end cover 670 is arranged at the end of the protection box 612 away from the third reduction motor 640, and is between the rolling member 620 and the inner wall of the protection box 612.

[0074] In this embodiment, the rolling connector 610 consists of a vertically arranged rolling body 611 and a protective box 612 located on its upper side. The lower end of the rolling body 611 is fixedly connected to the upper front end of the arc-shaped plate 510. The third geared motor 640 is installed inside one end of the protective box 612, and its output end is fixedly connected to the rolling element 620 to control the rotation of the rolling element 620. The rolling element 620 is supported on the inner wall of the protective box 612 by a bearing 660 to ensure its rotational flexibility. The brake 650 is installed inside the protective box 612 by a brake connector 680, which can quickly brake the rolling element 620 when needed, ensuring the safety of the rolling motion. The end cap 670 is installed at the end of the protective box 612 away from the motor, and cooperates with the rolling element 620 and the inner wall of the protective box 612 to form a sealed cavity structure to protect the internal mechanisms such as the third geared motor 640 and the brake 650 from external contamination.

[0075] In some embodiments of the present invention, such as Figure 5 As shown, there are two bearings 660, which are spaced apart along the axial direction of the rolling element 620. The rolling mechanism 600 also includes a bushing 630, which is sleeved on the periphery of the rolling element 620 and located between the two bearings 660 to position the bearings 660.

[0076] In some embodiments of the present invention, the five-degree-of-freedom motion testing device further includes:

[0077] A sensing device, wherein the sensing device is used to detect the position and angle of the object under test;

[0078] The display device is used to display the position and angle of the object under test detected by the sensing device in the form of coordinates or graphics;

[0079] The control device remotely controls the position and angle of the object under test by controlling the operation of the first reduction motor 230, the second reduction motor 550, the third reduction motor 640, the side sliding electric cylinder 440 and the longitudinal electric cylinder 320.

[0080] In this embodiment, sensing devices are distributed and installed at key nodes of each motion mechanism to collect data such as the position coordinates and attitude angles of the object under test in three-dimensional space in real time. The display device receives signals from the sensing devices and converts the data into intuitive coordinate coefficient values ​​or dynamic three-dimensional models, enabling the operator to clearly grasp the real-time position and related angles of the object under test. The control device, as the core of the system, coordinates the first reduction motor 230, the second reduction motor 550, the third reduction motor 640, the side-sliding electric cylinder 440, and the longitudinal electric cylinder 320 through programming logic. It can execute preset motion trajectory commands and respond to remote input commands, dynamically adjusting the output of each drive unit to control the spatial position and offset angle of the object under test.

[0081] In some embodiments of the present invention, the sensing device may be an encoder, a displacement sensor, or an angle sensor, etc.

[0082] In some embodiments of the present invention, the display device may be an industrial touch screen or a computer display interface, etc.

[0083] In some embodiments of the present invention, the control device may be a PLC controller or a motion controller, etc.

[0084] In some embodiments of the present invention, the five-degree-of-freedom motion testing device has emergency braking, brake release, and reset functions under the control of the control device.

[0085] In this embodiment, when the system detects abnormal vibrations or other dangerous movements, or when an emergency braking signal is triggered manually, the control device immediately sends commands to the brakes 650 of each mechanism, such as the brakes 650 in the rolling mechanism 600, and the drive devices, so that the object under test stops moving in the shortest possible time to avoid equipment damage or safety accidents, or to achieve the emergency braking function required by the user. The brake release function releases the braking state of the brakes 650 of each mechanism, such as the brakes 650 in the rolling mechanism 600, through the control device, preparing for subsequent movements. The reset function can automatically control the coordinated movement of each drive device according to a preset initial position, so that the object under test smoothly returns to the initial position, providing a standardized starting point for repeated tests or system calibration.

[0086] In some embodiments of the present invention, the rolling connector 610 and the arc plate 510 are connected by bolts, so that the cylindrical pin is subjected to force, which not only ensures the structural stability, but also makes the disassembly and assembly of the rolling connector 610 and the arc plate 510 relatively simple.

[0087] In some embodiments of the present invention, the base 100 is made of cast iron. Cast iron has excellent damping characteristics, which can absorb the vibration and impact during the testing of the five-free motion test device, reducing the resonance amplitude and noise of the entire device during operation.

[0088] Preferably, in some embodiments of the present invention, the object to be tested is an aircraft.

[0089] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A five-degree-of-freedom motion testing device, characterized in that, include: A base, wherein the base is horizontally positioned; A horizontal sliding mechanism, the horizontal sliding mechanism including a first base, the first base being slidably connected to the base in the front-back direction; A lifting mechanism, the lifting mechanism including a second base, the second base being slidably connected to the first base in a vertical direction; A side-sliding mechanism, the side-sliding mechanism including a sliding member, the sliding member being slidably connected to the top of the second base about a rotation axis extending in a vertical direction; A pitch mechanism, comprising an arc-shaped plate extending in a front-to-back direction, the arc-shaped plate being rotatably connected to the sliding member about its axis; the axis of the arc-shaped plate extending in a left-to-right direction; A rolling mechanism, comprising a rolling connector and a rolling element, wherein the bottom of the rolling connector is fixedly connected to the arc-shaped plate; the rolling element is rotatably connected to the top of the rolling connector about a first direction perpendicular to the left and right directions, and is used to fixally connect to the object to be tested.

2. The five-degree-of-freedom motion testing device according to claim 1, characterized in that, The horizontal sliding mechanism also includes: a transverse guide rail, a lead screw, and a first reduction motor; The transverse guide rail extends in the front-to-back direction; the lead screw is fixedly connected to the base and electrically connected to the first geared motor; the first base is threadedly connected to the lead screw, and the first geared motor is configured to cause the lead screw to rotate so as to drive the first base to slide along the transverse guide rail.

3. The five-degree-of-freedom motion testing device according to claim 2, characterized in that, The lifting mechanism also includes: a longitudinal electric cylinder and a longitudinal guide rail; The longitudinal guide rail is vertically arranged and fixedly connected to the first base; The longitudinal electric cylinder is configured to cause the second base to slide along the longitudinal guide rail.

4. The five-degree-of-freedom motion testing device according to claim 3, characterized in that, The side-sliding mechanism also includes: a side-sliding connector, two side-sliding guide rails, and a side-sliding electric cylinder; The side sliding guide rail is arc-shaped, and the two side sliding guide rails are symmetrically and coaxially arranged on the upper end of the second base; the side sliding connector is fixedly connected to the bottom end of the sliding member, and the side sliding connector is slidably connected to the side sliding guide rail.

5. The five-degree-of-freedom motion testing device according to claim 4, characterized in that, The pitch mechanism also includes: an arc-shaped guide rail, a slider assembly, a gear, and a second reduction motor; A connecting cavity is formed within the sliding member, and the front and upper ends of the connecting cavity have connecting openings, allowing the upper front end of the arc-shaped plate to extend from the openings and connect with the rolling connector; an arc-shaped guide rail is disposed on the side wall of the connecting cavity, the arc-shaped guide rail is coaxially disposed with the arc-shaped plate, and the arc-shaped guide rail and the arc-shaped plate are spaced apart in the left-right direction; a slider assembly is disposed on the side of the arc-shaped plate near the arc-shaped guide rail, the slider assembly includes multiple upper sliders and multiple lower sliders, the multiple upper sliders are slidably connected to the upper side of the arc-shaped guide rail, and the multiple lower sliders are slidably connected to the lower side of the arc-shaped guide rail; a gear ring is disposed on the periphery of the arc-shaped plate, the gear ring meshing with a gear; a second reduction motor is fixedly connected to the sliding member to drive the gear to rotate.

6. The five-degree-of-freedom motion testing device according to claim 5, characterized in that, The rolling connector includes: a vertically arranged rolling body and a protective box disposed on the upper side of the rolling body; the protective box extends along a first rotation axis, and the rolling element is rotatably connected inside the protective box; the lower end of the rolling body is fixedly connected to the upper front end of the arc-shaped plate; The rolling mechanism also includes: a third reduction motor, a brake, a bearing, an end cover, and a brake connector; The third geared motor is located at one end inside the protective box, and the output end of the third geared motor is fixedly connected to the rolling element; the brake is connected to the protective box through the brake connector to stop the rolling element from rotating; the bearing is located between the rolling element and the inner wall of the protective box; the end cap is located at the end of the protective box away from the third geared motor and is located between the rolling element and the inner wall of the protective box.

7. The five-degree-of-freedom motion testing device according to claim 6, characterized in that, Also includes: A sensing device, wherein the sensing device is used to detect the position and angle of the object under test; The display device is used to display the position and angle of the object under test detected by the sensing device in the form of coordinates or graphics; The control device remotely controls the position and angle of the object under test by controlling the operation of the first geared motor, the second geared motor, the third geared motor, the side-sliding electric cylinder and the longitudinal electric cylinder. The five-degree-of-freedom motion test device has emergency braking, brake release, and reset functions under the control of the control device.

8. The five-degree-of-freedom motion testing device according to claim 1, characterized in that, The rolling connector is connected to the arc-shaped plate by bolts; The base is made of cast iron.

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