CN206804283U - A kind of Multifunctional debugging platform - Google Patents
A kind of Multifunctional debugging platform Download PDFInfo
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- CN206804283U CN206804283U CN201720455384.5U CN201720455384U CN206804283U CN 206804283 U CN206804283 U CN 206804283U CN 201720455384 U CN201720455384 U CN 201720455384U CN 206804283 U CN206804283 U CN 206804283U
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Abstract
The utility model provides a kind of Multifunctional debugging platform, including top fixing plate, X-axis roller, X-axis guide rail, Y-axis roller, Y-axis rail closure, pedestal, Z axis high accuracy expansion link, 4DOF attachment means, top fixing plate both sides are installed by X-axis roller, X-axis roller moves horizontally along X-axis guide rail, realizes that top fixing plate X-direction moves horizontally；Y-axis roller is installed at X-axis guide rail both ends, and Y-axis roller is embedded in Y-axis rail closure, realizes that top fixing plate moves horizontally along Y direction；Y-axis rail closure both ends are fixed on pedestal；Top fixing plate top is connected with 4DOF attachment means；Z axis high accuracy expansion link is fixed in 4DOF attachment means；Bulb joint bearing is installed below Z axis high accuracy expansion link and is connected debugged apparatus by bulb joint bearing.The utility model is used to that the self-stabilities such as plurality of devices such as unmanned plane, airborne tripod head, mechanical arm can be debugged with exercise performance, while ensures experiment safety.
Description
Technical field
Debugging test platform field is the utility model is related to, in particular it relates to a kind of Multifunctional debugging platform, for debugging
Unmanned plane, airborne tripod head, mechanical arm, robot etc..
Background technology
At present there are some outstanding problems in the test equipment in China, such as lack unified planning, function unification, standard
Change, seriation and generalization degree it is low etc..Particularly most of debugging platform features are single, and cost is higher.This requires one kind
It is adapted to the multifunctional test system of modernization to disclosure satisfy that more fully experiment needs.
For example it is adapted to the debugging platform of unmanned plane, in the unmanned plane development stage, debug detection-phase and afterwards failure point
Analysis, it is required for a kind of feature-rich debugging platform to carry out effectively detecting and assessing to UAV Flight Control rate, can
To enter accommodating and comprehensive feature detection to flight control system.Aircraft airborne multiaxis head is that unmanned plane is very important
Part, it is widely used in the measurement of taking photo by plane of unmanned plane.The test of airborne tripod head needs also exist for test platform to complete.
Also robot, mechanical arm etc. are tested, it is necessary to which one can accurately measure displacement and the debugging platform of angle goes to test and received
Collect data.
There is debugging platform and use object unification in existing debugging platform scheme, cost is higher.Debugging platform can only work(
Debugging and measurement that can be single.
Through retrieval：
A kind of multi-rotor unmanned aerial vehicle flies control debugging protection device (201510210148.2), the present invention be a kind of more rotors without
Man-machine winged control debugging protection device, can be debugged, while ensure to try for the self-stability to multi-rotor unmanned aerial vehicle flight control system
Test safety.The dynamics of rigid bodies principle that the invention is flown based on multi-rotor unmanned aerial vehicle, including a tripod and 4 kinds it is replaceable
Fly control debugging module, by limiting the forms of motion of multi-rotor unmanned aerial vehicle by mechanical structure, control can be flown to unmanned plane and entered respectively
Row rolling, pitching and the independent debugging of three, course single-degree-of-freedom, and the comprehensive debugging of Three Degree Of Freedom；By observing more rotors
Control response of the unmanned plane when being run on protection device disparate modules, specify new technology, the reality of new method of unmanned plane use
Border performance；Can be to flying being carried out from the steady engineering management for carrying out function division, convenient research and development, debugging of the and can to unmanned plane for control
Protect, avoid property loss caused by possibility of blindly taking a flight test, reduce the risk and difficulty of research and development, promote multi-rotor unmanned aerial vehicle industry
Development.
A kind of UAV Attitude control test device (201510719090.4) of external frame, the present invention provide a kind of outer
The UAV Attitude control test device of frame, including base are put, first, second, third revolute pair, first, second rotates dress
Put, module and unmanned plane module are installed；Wherein：Base is fixed on the fixation surfaces such as ground or desktop；First tumbler and bottom
Seat is connected by the first revolute pair；Second tumbler is connected with the first tumbler by the second revolute pair；Module is installed
It is attached between the second tumbler by the 3rd revolute pair；Unmanned plane module is installed in installation module.Base of the present invention
In mechanical six degree of freedom Design of Mechanical Structure principle, fuselage is realized by the way that unmanned plane module to be fixed on to the installation module of device
Pitching, driftage, three rotary freedoms of rolling omnidirectional's flight attitude comprehensive simulating.The invention space use is very small,
The debugging of unmanned plane can be carried out, avoids the Complicated Flow of outdoor debugging, and is avoided in debugging process to crowd and nobody
Unsafe factor caused by machine.
A kind of manipulator test platform (201610424576.X), the present invention provide one kind and are applied to robotic device field
Manipulator test platform, activity installation test hand in the test bodies portion of the test handler of described manipulator test platform
Arm, test arm are made up of more piece arm joint, and test arm is connected with control main frame, and scale plate is set on test platform, are carved
Spend and X axis scale and Y-axis scale are set on plate, height gauge is also equipped with test platform, manipulator of the invention test is flat
Platform, it is simple in construction, it is easy to process, it can fast be accurately read the space displacement change numerical value of manipulator, convenient and target location
Numerical value contrasts, and improves Manipulator Accuracy, finally improves the quality of manipulator converted products.
A kind of a kind of unmanned aerial vehicle onboard multiaxis head debugging platform (201610519358.4), there is provided unmanned aerial vehicle onboard multiaxis
Head debugs platform, it is characterised in that including platform：Including desktop, table leg and motor, the motor is included on desktop
The axle center of X-axis motor and y-axis motor, X-axis motor and y-axis motor is mutually perpendicular to, and the table leg is installed on four turnings of desktop
Locate, the opening for being used for installing tested head is provided with the center of the desktop, is provided with X platforms and Y stage in the opening, X is put down
Platform is provided with the through hole for being used for accommodating Y stage, and X platforms are connected with the side of opening by axis of rotation in the X direction, Y stage
Be connected in the Y direction with the side of through hole by axis of rotation, X-axis motor and y-axis motor respectively with positioned at X platforms and Y stage
The rotating shaft axis connection of side；Debugging system：Including main control module, voltage and current detection circuit, wireless image passback module, wireless
Data transmit-receive module, motor are connected by motor-drive circuit with main control module, and main control module is electric with measure voltage ＆ current respectively
Road, wireless image passback module connect with wireless data transceiver module, and voltage and current detection circuit also passes through communication/power supply interface
It is connected with tested head；Power supply module：Including power supply circuit, the power supply circuit is electrically connected with tested head and debugging system respectively
Connect.
Shortcoming 1：Debugging apparatus involved by the patent of above-mentioned two unmanned plane debugging platform is all based on uav bottom
The debugging platform of connection, due to usual uav bottom need fill multiple sensors (such as：Ultrasonic sensor, visual sensing
Device).Ultrasonic sensor is used to measure unmanned plane height, if there are attachment means lower section, may influence ultrasonic measurement knot
Fruit.Down depending on vision sensor be mounted in a kind of camera of uav bottom, unmanned plane is measured based on image recognition technology
Parameter, if there are attachment means in its visual field, vision sensor measurement result may be influenceed.Debugging apparatus is led not comprising platform
Rail.The guide rail of horizontal direction can increase unmanned plane debugging horizontal moving ranges, and this is not available for both the above device.Hang down
Nogata to guide rail can increase unmanned plane debugging vertical direction moving range, debugging apparatus involved by both the above patent
Method is that the above-below direction of connecting rod moves, the debugging scope of the length limitation unmanned plane of bar；If the long bar of increase may shadow
Ring unmanned plane normal operation.Debugging platform involved by unmanned aerial vehicle onboard head patent can only test X, Y both direction, unmanned plane
Movement locus in actual motion is complex, lacks the measurement of vertical direction and may influence the accurate of test result
Property；Scope measured by manipulator test platform patent is smaller, and vertical direction is immovable.
Shortcoming 2：The object that debugging platform involved by four kinds of patents of the above can be tested all is single, application
It is small；And the function of debugging platform is smaller, test scope is restricted.
Utility model content
The utility model for proposing a kind of Multifunctional debugging platform, the debugging platform can plurality of devices surveyed
Examination, including unmanned plane, unmanned aerial vehicle onboard head, robot, mechanical arm etc.；A variety of data can be measured using the debugging platform,
With complete debugging function, at the same can also real-time measurement equipment positional information.Solves current debugging platform test pair
As single, the shortcomings that debugging function deficiency.
To realize object above, the utility model provides a kind of Multifunctional debugging platform, including：Top fixing plate, X axles
Roller, X-axis guide rail, Y-axis roller, Y-axis rail closure, pedestal, Z axis high accuracy expansion link, and 4 free degree attachment means；Its
In：
The both sides of the top fixing plate are separately installed with some X-axis rollers, the X-axis roller and the X spindle guides
Rail coordinates, and the X-axis roller moves horizontally along the X-axis guide rail, so as to drive the top fixing plate to realize along X-direction
Move horizontally；The both ends of the X-axis guide rail are separately installed with the Y-axis roller, and the Y shaft rollers are embedded in the Y-axis closing
In guide rail, the Y-axis roller moves horizontally along the Y-axis rail closure, so as to drive the top fixing plate to realize along Y-axis side
To move horizontally；The both ends of the Y-axis rail closure are fixed on the pedestal；The top of the top fixing plate is connected with
The 4DOF attachment means, the Z axis high accuracy expansion link are fixed in the 4DOF attachment means, and the Z axis is high
Bulb joint bearing is installed below precision expansion link and is connected debugged apparatus by the bulb joint bearing, institute
State 4DOF attachment means to be used to debug movement of the debugged apparatus in 4 directions in front, rear, left and right, the Z axis is stretched in high precision
Contracting bar is used for movement of the debugged apparatus in upper and lower 2 directions.
Preferably, the 4DOF attachment means include：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angle
Encoder, Z axis linear bearing, fixed pedestal, and 4DOF attachment means skeleton；Wherein：
The fixed pedestal is fixed on the top of the top fixing plate；The both ends of the X-axis bearing are fixed on described solid
Determine on pedestal；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angle is compiled
Code device is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, institute are fixed with the 4DOF attachment means skeleton
Y-axis angular encoder and the Z axis linear bearing are stated, and the Z axis high accuracy expansion link is embedded in the Z axis linear bearing
In；
X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angle are fixed with the 4DOF attachment means skeleton
Encoder is spent, wherein：The rotation of X-axis bearing and Y-axis bearing is driven by the displacement of debugged apparatus, so as to realize debugging
Debugged apparatus while pass through the survey of X-axis angular encoder and Y-axis angular encoder in the movement in 4 directions in front, rear, left and right
Measure out the deflection pose of Z axis high accuracy expansion link；Embedded Z axis high accuracy expansion link, Z axis are high-precision in the Z axis linear bearing
The stretching motion of expansion link is spent, drives the debugged apparatus being fixed on by bulb joint bearing below Z axis high accuracy expansion link
Realize the movement in upper and lower 2 directions；The link position of the debugging platform and debugged apparatus is according to specific debugged apparatus
Depending on.
Preferably, the quantity of the X-axis roller is no less than four and is symmetricly set in two sides of the top fixing plate
Along position.
Preferably, the X-axis guide rail is provided with position coder, for measuring the position of debugged apparatus in the X-axis direction
Shifting and position.
It is highly preferred that the position coder uses magnetic-grid-type position coder, the magnetic-grid-type position coder has
Precision is high, cost is low and the characteristics of being easily installed and use.
It is highly preferred that the quantity of the X-axis guide rail is no less than two and be arranged in parallel.
Preferably, position coder is installed in the Y-axis guide rail, for measuring the position of Y-axis guide rail in the Y-axis direction
And displacement, namely debugged apparatus position in the Y-axis direction and displacement.
It is highly preferred that the position coder uses magnetic-grid-type position coder, the magnetic-grid-type position coder has
Precision is high, cost is low and the characteristics of being easily installed and use.
It is highly preferred that the quantity of the Y-axis guide rail is no less than two and be arranged in parallel, the set location of Y-axis roller regards Y-axis
The quantity of guide rail and position determine.
In the utility model, by increase the Y-axis guide rail, X-axis roller, Y-axis roller quantity, institute can be effectively improved
State the stability and load of debugging platform.
Preferably, the Z axis high accuracy expansion link has length limitation, so that debugged apparatus are free in spacing scope
It is mobile.
Preferably, position coder and inertia measuring module are additionally provided with the Z axis high accuracy expansion link, wherein：
The position coder is used to measure debugged apparatus position in the Z-axis direction and displacement；
The inertia measuring module is used for the posture for measuring the Z axis high accuracy expansion link.
Preferably, the pedestal is provided with bottom support frame, and bottom support frame is respectively arranged at the both ends of the Y-axis guide rail；
Preferably, the debugging platform is additionally provided with the host computer for participating in debugged apparatus debugging, the host computer and quilt
Wired or wireless data communication is carried out between commissioning device, wherein：
The mode of cable data communication, refers to：By setting data wire to connect host computer and debugged apparatus, pass through data
Line realizes the cable data communication between host computer and debugged apparatus；
The mode of wireless data communication, refers to：Radio station is set on host computer, debugged apparatus respectively, passes through nothing
Realize the wireless data communication between host computer and debugged apparatus in line radio station.
The utility model has telescopic limitation to make debugged equip in spacing scope certainly by Z axis high accuracy expansion link
By moving, while the link position of the debugging platform and debugged equipment should regard specific debugged apparatus decision.The tune
Try platform operationally, the inclined of Z axle high accuracy expansion links is drawn by the measurement of X-axis angular encoder and Y-axis angular encoder
Indexable appearance；The debugging platform automatically controls top fixing plate and moved horizontally along X-axis guide rail with X-axis guide rail along Y-axis guide rail
Move horizontally, so that Z axis high accuracy expansion link tends to vertical state.
Compared with prior art, the utility model has following beneficial effect：
The utility model can play effective protective effect to debugged apparatus when debugging debugged apparatus, reduce quilt
Loss caused by commissioning device control system imperfection is blindly debugged to equipment；The utility model can be to the portion of debugged apparatus
Point parameter is measured and gathered, the accuracy of auxiliary checking debugged apparatus control system parameter measurement；Using this practicality
During new carry out equipment debugging, the measurement result of the present utility model to debugged apparatus can be used to participate in debugged apparatus
Control so that when measuring system is incomplete tuner still be possible to complete debugged apparatus control algolithm checking work
Make.
Platform rail possessed by the utility model, it can effectively increase the debugging scope of equipment, the guide rail of horizontal direction
I.e. X-axis guide rail, Y-axis rail closure can increase equipment debugging horizontal moving ranges, and the guide rail of vertical direction is Z axis high accuracy
Expansion link can increase equipment debugging vertical direction moving range.Debugging platform described in the utility model is than traditional function list
One debugging platform, there is abundant function, on the platform debugged apparatus can be carried out with more comprehensive debugging.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram of the preferred embodiment of the utility model one；
Fig. 2 is the 4DOF attachment means structural representation of the preferred embodiment of the utility model one；
Fig. 3 is the wire communication mode schematic diagram of the preferred embodiment of the utility model one；
Fig. 4 is the wireless communication mode schematic diagram of the preferred embodiment of the utility model one；
In figure：
Top fixing plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis roller 4, Y-axis rail closure 5, pedestal 6, Z axis high accuracy
Expansion link 7,4DOF attachment means 8, bulb joint bearing 9, debugged apparatus 10, inertia measuring module 11, X-axis bearing 12,
X-axis angular encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axis linear bearing 16, fixed pedestal 17,4DOF connect
Connection device skeleton 18, host computer 19, data wire 20, radio station 21.
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These belong to the scope of protection of the utility model.
As shown in figure 1, a kind of Multifunctional debugging platform, including：Top fixing plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis rolling
Wheel 4, Y-axis rail closure 5, overhead pedestal 6, Z axis high accuracy expansion link 7,4DOF attachment means 8, bulb joint bearing 9, quilt
Commissioning device 10, inertia measuring module 11；Wherein：
The both sides of top fixing plate 1 are provided with some X-axis rollers 2, and some X-axis rollers 2 are symmetricly set in top fixing plate 1
Both sides；X-axis guide rail 3 is two closed slides, and X-axis roller 2 can move horizontally along X-axis guide rail 3；The both ends of X-axis guide rail 3 are fixed
There are some Y-axis rollers 4, some Y-axis rollers 4 are symmetricly set in the lower section of two parallel X-axis guide rails 3；Y-axis rail closure 5 is
Two closed slides, Y-axis roller 4 can move horizontally along Y-axis rail closure 5；The both ends of two Y-axis rail closures 5 are fixed respectively
On pedestal 6；4DOF attachment means 8 are fixed with top fixing plate 1；Z axis high accuracy expansion link 7 is fixed on 4DOF
In attachment means 8, the lower section of Z axis fixed plate 7 is connected debugged apparatus 10 by bulb joint bearing 9；Z axis high accuracy
Inertia measuring module 11 is installed, for measuring the posture of the Z axis high accuracy expansion link 7 on expansion link 7.
As shown in Fig. 2 as a preferred embodiment, the 4DOF attachment means 8 include：X-axis bearing 12, X-axis
Angular encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axis linear bearing 16, fixed pedestal 17,4DOF connection dress
Put skeleton 18；Wherein：
The both ends of X-axis bearing 12 are separately fixed on fixed pedestal 17；The fixed pedestal 17 is fixed on the top and consolidated
The top of fixed board 1；X-axis angular encoder 13 is arranged on one end of X-axis bearing 12；4DOF attachment means skeleton 18 is fixed on X
The medium position of axle bearing 12；Y axle bearings 14, Y-axis angular encoder 15, Z are fixed with 4DOF attachment means skeleton 18
Axle linear bearing 16, and Z axis high accuracy expansion link 7 is embedded in Z axles linear bearing 16.
X-axis bearing 12, X-axis angular encoder 13, Y axle bearings 14 are fixed with the 4DOF attachment means skeleton 18
With Y-axis angular encoder 15, wherein：Turn of X-axis bearing 12 and Y-axis bearing 13 is driven by the displacement of debugged apparatus 10
It is dynamic, so as to realize movement of the debugging debugged apparatus 10 in 4 directions in front, rear, left and right, while pass through X-axis angular encoder
13 and the measurement of Y-axis angular encoder 15 draw the deflection pose of Z axle high accuracy expansion link 7.
Embedded Z axis high accuracy expansion link 7, Z axis high accuracy expansion link 7 are fixed on 4 freely in the Z axis linear bearing 16
Spend in attachment means 8, debugged apparatus 10, Z axis high accuracy are fixed in the lower section of Z axis high accuracy expansion link 7 by bulb joint bearing 9
The stretching motion of expansion link 7, debugged apparatus 10 are driven to realize the movement in upper and lower 2 directions.
As a preferred embodiment, the quantity of the X-axis roller 2 is no less than four.
As a preferred embodiment, the lower section of every X-axis guide rail 3 is at least provided with two Y-axis rollers 4.
By increase X-axis guide rail 3, Y-axis rail closure 5, X-axis roller 2, Y-axis roller 4 quantity, institute can be effectively improved
State the stability and load of debugging platform.
As a preferred embodiment, the installation site encoder in the X-axis guide rail 3 is fixed for measuring top
The position of plate 1 in the X-axis direction.
As a preferred embodiment, the installation site encoder on the Y-axis rail closure 5, for measuring Y-axis
The position of rail closure 5 in the Y-axis direction, namely the position of top fixing plate 1 in the Y-axis direction.
As preferable, the position coder uses magnetic-grid-type position coder, the position encoded utensil of magnetic-grid-type
The characteristics of having precision height, cost low and being easily installed and use.
As shown in figure 3, as a preferred embodiment, the Multifunctional debugging platform, which is additionally provided with host computer 19, joins
With debugging, the host computer 19 carries out data communication with debugged apparatus 10；Wherein：
The host computer 19 is communicated with debugged apparatus 10 by the way of wired, i.e., described host computer 19 passes through data wire
20 are connected with debugged apparatus 10, and the data communication between host computer 19 and debugged apparatus 10 is realized by data wire 20；
As shown in figure 4, as a preferred embodiment, the host computer 19 uses wireless side with debugged apparatus 10
Formula communicates, i.e., sets radio station 21 on the host computer 19, debugged apparatus 10 respectively, is realized by radio station 21
Data communication between position machine 19 and debugged apparatus 10.
The debugging platform can be such that debugged apparatus 10 are moved freely in spacing scope, be adjusted using the debugging platform
When trying debugged apparatus 10, for the performance parameter of debugged apparatus 10, just correspond to adjusted using the debugging platform
The heavy burden of a Z axis high accuracy expansion link 7 is added in examination equipment 10, other structures will not be to quilt when without departing from spacing scope
Commissioning device 10 acts power.
The debugging platform operationally, Z is drawn by the measurement of X-axis angular encoder 13 and Y-axis angular encoder 15
The deflection pose of axle high accuracy expansion link 7；The debugging platform automatically controls top fixing plate 1 and moved along X-axis guide rail 3 is horizontal
It is dynamic, and along Y-axis, guide rail 5 moves horizontally X-axis guide rail 3 respectively, so that Z axle high accuracy expansion link 7 tends to vertical state.
, can be with default X-axis angular encoder 13 and Y-axis angular encoder 15 in other embodiment.Furthermore it is possible to increase
X-axis guide rail 3 or the quantity of Y-axis rail closure 5.These can be set according to being actually needed, and not have for essence of the present utility model
Influence.
The autostability energy and exercise performance to commissioning device that the utility model is capable of safe ready are debugged；This reality
With new existing debugging stage+module scheme influence equipment under test sensor, the equipment of solving in the dynamic model of debugging platform up-regulation test run
Enclose the problems such as small；The utility model protect debugged apparatus it is safe while can also real-time measurement equipment positional information.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on substantive content of the present utility model.
Claims (9)
- A kind of 1. Multifunctional debugging platform, it is characterised in that including：Top fixing plate, X-axis roller, X-axis guide rail, Y-axis roller, Y Axle rail closure, pedestal, Z axis high accuracy expansion link, and 4DOF attachment means；Wherein：The both sides of the top fixing plate are separately installed with some X-axis rollers, and the X-axis roller is matched somebody with somebody with the X-axis guide rail Close, the X-axis roller moves horizontally along the X-axis guide rail, so as to drive the top fixing plate to realize the level along X-direction It is mobile；The both ends of the X-axis guide rail are separately installed with the Y-axis roller, and the Y-axis roller is embedded in the Y-axis rail closure Interior, the Y-axis roller moves horizontally along the Y-axis rail closure, so as to drive the top fixing plate to realize along Y direction Move horizontally；The both ends of the Y-axis rail closure are fixed on the pedestal；The top of the top fixing plate is connected with described 4DOF attachment means, the Z axis high accuracy expansion link are fixed in the 4DOF attachment means, the Z axis high accuracy Bulb joint bearing is installed below expansion link and is connected debugged apparatus by the bulb joint bearing, described 4 Free degree attachment means are used to debug movement of the debugged apparatus in 4 directions in front, rear, left and right, and the Z axis is flexible in high precision Bar is used for movement of the debugged apparatus in upper and lower 2 directions.
- A kind of 2. Multifunctional debugging platform according to claim 1, it is characterised in that the 4DOF attachment means bag Include：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angular encoder, Z axis high accuracy expansion link, fixed pedestal, and 4 Free degree attachment means skeleton；Wherein：The fixed pedestal is fixed on the top of the top fixing plate；The both ends of the X-axis bearing are fixed on the fixed base On seat；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angular encoder It is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, the Y are fixed with the 4DOF attachment means skeleton Axle angular encoder and the Z axis linear bearing, and the Z axis high accuracy expansion link is fixed in the Z axis linear bearing；X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angular coding are fixed with the 4DOF attachment means skeleton Device, wherein：The rotation of X-axis bearing and Y-axis bearing is driven by the displacement of debugged apparatus, so as to realize that debugging is debugged Equipment while is drawn by the measurement of X-axis angular encoder and Y-axis angular encoder in the movement in 4 directions in front, rear, left and right The deflection pose of Z axis high accuracy expansion link；Embedded Z axis high accuracy expansion link, Z axis are flexible in high precision in the Z axis linear bearing The stretching motion of bar, drive the debugged apparatus being fixed on by bulb joint bearing below Z axis high accuracy expansion link to realize, The movement in lower 2 directions；The link position of the debugging platform and debugged apparatus is depending on specific debugged apparatus.
- 3. a kind of Multifunctional debugging platform according to claim 1, it is characterised in that the quantity of the X-axis roller is many In four and it is symmetricly set in the both sides edge placement of the top fixing plate.
- 4. a kind of Multifunctional debugging platform according to claim 1, it is characterised in that be provided with position in the X-axis guide rail Encoder is put, for measuring debugged apparatus displacement in the X-axis direction and position；The position coder uses magnetic-grid-type position Put encoder；The quantity of the X-axis guide rail is no less than two and be arranged in parallel.
- 5. a kind of Multifunctional debugging platform according to claim 1, it is characterised in that be provided with position in the Y-axis guide rail Encoder is put, for measuring Y-axis rail closure position in the Y-axis direction and displacement, i.e., debugged apparatus are in the Y-axis direction Position and displacement；The position coder uses magnetic-grid-type position coder；The quantity of the Y-axis guide rail no less than two and be arrangeding in parallel, the set location of Y-axis roller regard Y-axis guide rail quantity and Position determines.
- 6. a kind of Multifunctional debugging platform according to claim 1, it is characterised in that the Z axis high accuracy expansion link has Length limitation, so that debugged apparatus move freely in spacing scope.
- 7. a kind of Multifunctional debugging platform according to claim 6, it is characterised in that on the Z axis high accuracy expansion link Position coder and inertia measuring module are additionally provided with, wherein：The position coder is used to measure debugged apparatus position in the Z-axis direction and displacement；The inertia measuring module is used for the posture for measuring the Z axis high accuracy expansion link.
- 8. a kind of Multifunctional debugging platform according to claim 1, it is characterised in that the pedestal supports provided with bottom Frame, the bottom support frame are respectively arranged at the both ends of the Y-axis rail closure.
- 9. a kind of Multifunctional debugging platform according to claim any one of 1-8, it is characterised in that the debugging platform is also The host computer for participating in debugged apparatus debugging is provided with, is carried out between the host computer and debugged apparatus wired or without line number According to communication；Wherein：The cable data communication, refers to：By setting data wire to connect host computer and debugged apparatus, realized by data wire Cable data communication between host computer and debugged apparatus；The wireless data communication, refers to：Radio station is set on host computer, debugged apparatus respectively, passes through radio station Realize the wireless data communication between host computer and debugged apparatus.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107036795A (en) * | 2017-04-27 | 2017-08-11 | 上海交通大学 | A kind of Multifunctional debugging platform |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107036795A (en) * | 2017-04-27 | 2017-08-11 | 上海交通大学 | A kind of Multifunctional debugging platform |
| CN107036795B (en) * | 2017-04-27 | 2023-08-25 | 上海交通大学 | Multifunctional debugging platform |
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