Aero seat fatigue test detection device, system and method

Abstract

The invention relates to the technical field of robot intelligent motion testing, in particular to an aero seat fatigue test detection device, system and method. Through a calibration compensation and filtering processing module of a six-dimensional force sensor, robot compliance control strategy design, fatigue test detection device control strategy design and testing process position compensation strategy design, the aero seat fatigue test detection device is designed; and finally, the robot compliance force control system is combined with a collision start-stop module and a movement process position compensation module of the fatigue test detection device through a data acquisition and fatigue test special module, and is used for the fatigue test of the aero seat, so that the fatigue test contact force of the aero seat can be accurately measured and adjusted. The fatigue operation state of the aero seat under the actual working condition can be simulated, and the aero seat is protected through contact force in the testing process to prevent damage.

Description

Technical Field

[0001] This invention relates to the field of robot intelligent motion testing technology, and in particular to an aircraft seat fatigue testing device, system and method. Background Technology

[0002] Aircraft seats are the most familiar and frequently used airborne equipment, directly impacting passenger safety and comfort. Their design, manufacturing, and testing processes are subject to strict technical standards and specifications. Currently, there is no dedicated equipment in China for fatigue testing of key components in the aircraft seat manufacturing process. Traditional methods rely on manual simulation of operating conditions, which suffers from high labor intensity and long testing time per seat. Even with industrial robots designed to follow pre-set test trajectories, it is difficult to ensure sufficient fatigue testing at all test locations on the aircraft seat, failing to meet the high-quality and high-reliability requirements of the aviation manufacturing industry. Summary of the Invention

[0003] In view of this, the purpose of this invention is to provide an aircraft seat fatigue testing device, system and method to solve the problem that existing industrial robot intelligent motion testing cannot meet the requirements of the aviation manufacturing industry for high quality and high reliability of seats.

[0004] To achieve the above objectives, the present invention provides a method for fatigue testing of aircraft seats, comprising the following steps:

[0005] Acquire a preset motion trajectory for fatigue testing of aircraft seats;

[0006] The system controls the industrial robot to move along a preset trajectory and uses a six-dimensional force sensor installed on the industrial robot to collect the actual contact force between the industrial robot and the aircraft seat in real time.

[0007] The actual contact force is compared with the preset expected contact force to obtain the contact force deviation;

[0008] Based on the compliant force control model, the contact force deviation is converted into the position compensation amount of the industrial robot. The compliant force control model is used to dynamically adjust the robot's motion position according to the contact force deviation.

[0009] The position compensation amount is used to adjust the movement of the industrial robot on the preset motion trajectory in real time, and the start and stop of the industrial robot are controlled according to the preset safety control logic to perform fatigue tests on the aircraft seat.

[0010] Preferably, after acquiring the actual contact force in real time using a six-dimensional force sensor, the method further includes a step of preprocessing the acquired raw force signal, which includes gravity compensation and filtering.

[0011] Preferably, the gravity compensation step includes controlling the industrial robot to move to multiple different postures;

[0012] Collect readings from the six-dimensional force sensor under various postures;

[0013] The zero bias of the six-dimensional force sensor on each coordinate axis and the gravity component of the end effector are calculated based on the readings.

[0014] The zero bias and gravity components are subtracted from the raw force signals acquired in real time.

[0015] Preferably, the preset security control logic includes:

[0016] When the actual contact force reaches or exceeds the expected contact force, the industrial robot is controlled to stop its current movement and return to the starting point of the preset movement trajectory;

[0017] When the actual contact force is less than the expected contact force, the industrial robot is controlled to continue moving along the preset motion trajectory or to perform position compensation until the actual contact force reaches the expected contact force.

[0018] Preferably, the compliance force control model is as follows:

[0019]

[0020]

[0021] in Given the velocity at the current moment, the actual normal contact force measured by the six-dimensional force sensor at the current moment is: The expected normal contact force is Contact force deviation is , It is the quality coefficient of industrial robots. It is the damping coefficient of an industrial robot. It is the deviation between the expected position and the actual position of the industrial robot. Sampling time, The motion offset that the fatigue test actuator needs to compensate for at the current moment is the motion offset. The command is sent to the compliant system of the industrial robot to control and compensate for the movement position of the industrial robot.

[0022] Let the actual normal contact force measured by the six-dimensional force sensor be... ;

[0023]

[0024] in It is the second derivative of the positional deviation. It is the first derivative of the positional deviation;

[0025] The positional deviation of the industrial robot in each sampling cycle is as follows:

[0026]

[0027] The sampling period time , yes The speed at which the actuator for constant fatigue testing moves before and after operation. It is the initial position and velocity. is the integral symbol, dt represents the derivative with respect to time, and τ is the system's time delay;

[0028] Discretize it, sampling time Set as required, within the sampling time. , Since all are constants, we can obtain:

[0029]

[0030] .

[0031] The present invention also provides an aircraft seat fatigue testing device, comprising:

[0032] Industrial robots;

[0033] A six-dimensional force sensor is installed on the end flange of an industrial robot.

[0034] A fatigue testing actuator, connected to a six-dimensional force sensor, is used to contact and act on the test part of the aircraft seat;

[0035] The control unit communicates with the industrial robot and the six-dimensional force sensor. The control unit is configured as follows:

[0036] Control the industrial robot to drive the fatigue testing actuator to move according to a preset motion trajectory;

[0037] Receive and process the actual contact force signal fed back by the six-dimensional force sensor;

[0038] The compliance force control algorithm is executed to calculate the position compensation amount based on the deviation between the actual contact force and the desired contact force.

[0039] The movement of the industrial robot is adjusted according to the position compensation amount, and the start and stop of the industrial robot are controlled according to the preset safety control logic.

[0040] Preferably, the preset security control logic includes:

[0041] When the actual contact force reaches or exceeds the expected contact force, the industrial robot is controlled to stop its current movement and return to the starting point of the preset movement trajectory;

[0042] When the actual contact force is less than the expected contact force, the industrial robot is controlled to continue moving along the preset motion trajectory or to perform position compensation until the actual contact force reaches the expected contact force.

[0043] The present invention also provides an aircraft seat fatigue testing system, comprising:

[0044] The aforementioned aircraft seat fatigue testing device;

[0045] The aircraft seat to be tested;

[0046] The data acquisition and fatigue testing module is used to record and store motion trajectory data, contact force data, number of cycles, and equipment status information in real time during the fatigue test process.

[0047] The beneficial effects of this invention are as follows: Through the calibration, compensation, and filtering processing module of the six-dimensional force sensor, the design of the robot compliant force control strategy, the design of the control strategy of the fatigue test detection device, and the design of the position compensation strategy during the test process, the robot compliant force control system is finally combined with the collision start / stop module and the motion process position compensation module of the fatigue test detection device through data acquisition and a dedicated fatigue test module for aircraft seat fatigue testing. This invention can accurately measure and adjust the contact force in aircraft seat fatigue testing, simulate the fatigue operation state of aircraft seats under actual working conditions, and protect the aircraft seats during the test process through contact force to prevent damage. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the overall structure of the aircraft seat fatigue testing device of the present invention;

[0050] Figure 2 This is a flowchart of the control process for the data acquisition and fatigue testing module of this invention.

[0051] Figure 3 This is a flowchart illustrating the workflow of the aircraft seat fatigue testing device of the present invention.

[0052] The diagram is marked as follows:

[0053] 100. Host computer control system; 200. Industrial robot; 300. Six-dimensional force sensor; 400. Fatigue testing actuator; 500. Aviation seat; 600. Safety fence; 700. Robot walking track; 800. Industrial robot control cabinet; 900. Robot teach pendant. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0055] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0056] like Figure 1 , Figure 2 , Figure 3 As shown, a fatigue testing method for aircraft seats is characterized by comprising the following steps:

[0057] Acquire a preset motion trajectory for fatigue testing of aircraft seats;

[0058] The system controls the industrial robot to move along a preset trajectory and uses a six-dimensional force sensor installed on the industrial robot to collect the actual contact force between the industrial robot and the aircraft seat in real time.

[0059] The actual contact force is compared with the preset expected contact force to obtain the contact force deviation;

[0060] Based on the compliant force control model, the contact force deviation is converted into the position compensation amount of the industrial robot. The compliant force control model is used to dynamically adjust the robot's motion position according to the contact force deviation.

[0061] The position compensation amount is used to adjust the movement of the industrial robot on the preset motion trajectory in real time, and the start and stop of the industrial robot are controlled according to the preset safety control logic to perform fatigue tests on the aircraft seat.

[0062] This invention utilizes a dedicated fatigue testing actuator 400, also known as a testing fixture. This fixture comprises various actuator structures designed to meet the testing needs of different parts of the aircraft seat. It can be automatically replaced as needed during testing. A six-dimensional force sensor 300 is connected to the end effector of an industrial robot 200 via a flange, and its other end is connected to the fatigue testing actuator 400 via a connecting block. By acquiring a preset motion trajectory for fatigue testing of the aircraft seat 500, the industrial robot 200 is controlled to move along the preset trajectory. The six-dimensional force sensor 300 mounted on the industrial robot 200 collects the actual contact force between the industrial robot 200 and the aircraft seat 500 in real time. The actual contact force is compared with the preset expected contact force to obtain the contact force deviation. Based on a compliance force control module... The model converts contact force deviation into position compensation for the industrial robot. The compliance force control model dynamically adjusts the robot's position based on the contact force deviation. It adjusts the movement of the industrial robot 200 on the preset motion trajectory in real time based on the position compensation and controls the start and stop of the industrial robot 200 according to the preset safety control logic to perform fatigue tests on the aircraft seat 500. The preset safety control logic includes: when the actual contact force reaches or exceeds the expected contact force, controlling the industrial robot 200 to stop the current movement and return to the starting point of the preset motion trajectory; and returning to the starting point for the next test, which can effectively protect against damage to the seat; when the actual contact force is less than the expected contact force, controlling the industrial robot 200 to continue moving along the preset motion trajectory or perform position compensation until the actual contact force reaches the expected contact force.

[0063] Among them, the running trajectory in the fatigue test of the aircraft seat 500 can be quickly completed by teaching-free drag programming. For programs with high point accuracy requirements, the point fine-tuning can be carried out by combining teaching programming, which can improve the programming efficiency of robot trajectory and significantly shorten programming time.

[0064] After the robot of the 500 Fatigue Testing Device for Aircraft Seats resets to the starting point, it starts the trajectory program and simultaneously starts the robot compliance control system and the dedicated fatigue test data acquisition module, which can perform fatigue tests on aircraft seats according to a predetermined trajectory.

[0065] In an embodiment of the present invention, optionally, after the actual contact force is acquired in real time using the six-dimensional force sensor 300, a step of preprocessing the acquired raw force signal is also included. The preprocessing includes gravity compensation and filtering to eliminate the influence of abrupt changes in the measured value on the performance of the compliance force control system and to improve the accuracy of the force sensor measurement.

[0066] In an embodiment of the present invention, optionally, the gravity compensation step includes controlling the industrial robot 200 to move to multiple different postures; collecting the readings of the six-dimensional force sensor 300 in each posture; calculating the zero bias of the six-dimensional force sensor 300 on each coordinate axis and the gravity component of the end effector based on the readings; and subtracting the zero bias and gravity component from the raw force signal subsequently acquired in real time.

[0067] The measured contact force is obtained by performing gravity compensation on the real-time measurements acquired by the six-dimensional force sensor 300. Specifically, the measured contact force data of the robot under different postures is collected, and the force offset F along the three coordinate axes of the six-dimensional force sensor is calculated. x 0, F y 0, F z 0 and the gravity F of the fatigue test actuator and the six-dimensional force sensor on the coordinate axis. x 1, F y 1, F z 1. By removing the force offset and the influence of gravity from the original data, the contact force of the actual contact point can be obtained.

[0068] In an embodiment of the present invention, the compliance force control model is as follows:

[0069]

[0070]

[0071] in Given the velocity at the current moment, the actual normal contact force measured by the six-dimensional force sensor at the current moment is: The expected normal contact force is Contact force deviation is , It is the quality coefficient of industrial robots. It is the damping coefficient of an industrial robot. It is the deviation between the expected position and the actual position of the industrial robot. Sampling time, The motion offset that the fatigue test actuator needs to compensate for at the current moment is the motion offset. The command is sent to the compliant system of the industrial robot to control and compensate for the movement position of the industrial robot.

[0072] Let the actual normal contact force measured by the six-dimensional force sensor be... ;

[0073]

[0074] in It is the second derivative of the positional deviation. It is the first derivative of the positional deviation;

[0075] The positional deviation of the industrial robot in each sampling cycle is as follows:

[0076]

[0077] The sampling period time , yes The speed at which the actuator for constant fatigue testing moves before and after operation. It is the initial position and velocity. is the integral symbol, dt represents the derivative with respect to time, and τ is the system's time delay;

[0078] Discretize it, sampling time Configure according to requirements, for example, set the sampling time to 4ms, within the sampling time... , Since all are constants, we can obtain:

[0079]

[0080] .

[0081] The present invention also provides an aircraft seat fatigue testing device, comprising:

[0082] An industrial robot 200; a six-dimensional force sensor 300 mounted on the end flange of the industrial robot 200; a fatigue testing actuator 400 connected to the six-dimensional force sensor 300 for contacting and acting on the test part of the aircraft seat; and a control unit communicatively connected to the industrial robot 200 and the six-dimensional force sensor 300. The control unit is configured to: control the industrial robot 200 to drive the fatigue testing actuator 400 to move according to a preset motion trajectory; receive and process the actual contact force signal fed back by the six-dimensional force sensor 300; execute a compliant force control algorithm to calculate the position compensation amount based on the deviation between the actual contact force and the desired contact force; adjust the movement of the industrial robot 200 according to the position compensation amount; and control the start and stop of the industrial robot 200 according to a preset safety control logic.

[0083] Among them, the robot walking track 700 is connected to the industrial robot 200 through the robot base, expanding the working range of the industrial robot 200.

[0084] The present invention also provides an aircraft seat fatigue testing system, comprising: the above-mentioned aircraft seat fatigue testing device; an aircraft seat 500 to be tested; and a data acquisition and fatigue testing module for real-time recording and storage of motion trajectory data, contact force data, number of cycles and equipment status information during the fatigue test.

[0085] The host computer control system 100 is connected to the industrial robot control cabinet 800 via a bus, and the six-dimensional force sensor 300 is connected to the host computer control system 100 via a serial port, respectively collecting data on the operation of the industrial robot and the six-dimensional force sensor.

[0086] The data acquisition and fatigue test module is installed in the host computer control system 100, which integrates compliant force control algorithm, safety control logic, etc., and is used to control the industrial robot 200 system, the six-dimensional force sensor 300 system, the robot walking track, etc.

[0087] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

Claims

1. A method for fatigue testing of aircraft seats, characterized in that, Includes the following steps: Acquire a preset motion trajectory for fatigue testing of aircraft seats; The industrial robot is controlled to move according to the preset motion trajectory, and the actual contact force between the industrial robot and the aircraft seat is collected in real time using a six-dimensional force sensor installed on the industrial robot. The actual contact force is compared with the preset expected contact force to obtain the contact force deviation; Based on the compliant force control model, the contact force deviation is converted into the position compensation amount of the industrial robot. The compliant force control model is used to dynamically adjust the robot's motion position according to the contact force deviation. The movement of the industrial robot on the preset motion trajectory is adjusted in real time according to the position compensation amount, and the start and stop of the industrial robot are controlled according to the preset safety control logic to perform fatigue test on the aircraft seat.

2. The fatigue test method for aircraft seats according to claim 1, characterized in that, After acquiring the actual contact force in real time using the six-dimensional force sensor, the process also includes a preprocessing step for the acquired raw force signal, which includes gravity compensation and filtering.

3. The aircraft seat fatigue test method according to claim 2, characterized in that, The gravity compensation step includes controlling the industrial robot to move to multiple different postures; Collect readings from the six-dimensional force sensor under various postures; Based on the readings, calculate the zero bias of the six-dimensional force sensor on each coordinate axis and the gravity component of the end effector; The zero bias and gravity components are subtracted from the raw force signals acquired in real time.

4. The fatigue test method for aircraft seats according to claim 1, characterized in that, The preset security control logic includes: When the actual contact force reaches or exceeds the expected contact force, the industrial robot is controlled to stop its current movement and return to the starting point of the preset movement trajectory; When the actual contact force is less than the expected contact force, the industrial robot is controlled to continue moving along the preset motion trajectory or to perform position compensation until the actual contact force reaches the expected contact force.

5. The fatigue test method for aircraft seats according to claim 1, characterized in that, The compliance force control model is as follows: ； ； in Given the velocity at the current moment, the actual normal contact force measured by the six-dimensional force sensor at the current moment is: The expected normal contact force is Contact force deviation is , It is the quality coefficient of industrial robots. It is the damping coefficient of an industrial robot. It is the deviation between the expected position and the actual position of the industrial robot. Sampling time, The motion offset that the fatigue test actuator needs to compensate for at the current moment is the motion offset. The command is sent to the compliant system of the industrial robot to control and compensate for the movement position of the industrial robot. Let the actual normal contact force measured by the six-dimensional force sensor be... ; ； in It is the second derivative of the positional deviation. It is the first derivative of the positional deviation; The positional deviation of the industrial robot in each sampling cycle is as follows: ； The sampling period time , yes The speed at which the actuator for constant fatigue testing moves before and after operation. It is the initial position and velocity. is the integral symbol, dt represents the derivative with respect to time, and τ is the system's time delay; Discretize it, sampling time Set as required, within the sampling time. , Since all are constants, we can obtain: ； 。 6. A fatigue testing device for aircraft seats, characterized in that, The apparatus for implementing the aircraft seat fatigue testing method as described in any one of claims 1-5 comprises: Industrial robots; A six-dimensional force sensor is installed on the end flange of the industrial robot; A fatigue testing actuator is connected to the six-dimensional force sensor and is used to contact and act on the test part of the aircraft seat. The control unit is communicatively connected to the industrial robot and the six-dimensional force sensor, and the control unit is configured as follows: The industrial robot is controlled to drive the fatigue testing actuator to move along a preset motion trajectory. Receive and process the actual contact force signal fed back by the six-dimensional force sensor; The compliance force control algorithm is executed to calculate the position compensation amount based on the deviation between the actual contact force and the desired contact force. The movement of the industrial robot is adjusted according to the position compensation amount, and the start and stop of the industrial robot are controlled according to the preset safety control logic.

7. The aircraft seat fatigue testing apparatus according to claim 6, characterized in that, The preset security control logic includes: When the actual contact force reaches or exceeds the expected contact force, the industrial robot is controlled to stop its current movement and return to the starting point of the preset movement trajectory; When the actual contact force is less than the expected contact force, the industrial robot is controlled to continue moving along the preset motion trajectory or to perform position compensation until the actual contact force reaches the expected contact force.

8. A fatigue testing system for aircraft seats, characterized in that, include: The aircraft seat fatigue testing apparatus as described in any one of claims 6-7; The aircraft seat to be tested; The data acquisition and fatigue testing module is used to record and store motion trajectory data, contact force data, number of cycles, and equipment status information in real time during the fatigue test process.

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