CN110654570B - A test bench for testing the shaking performance of a plant protection drone medicine box - Google Patents

Abstract

The invention discloses a test bed for detecting the medicine box shaking performance of a plant protection unmanned aerial vehicle, which consists of a six-degree-of-freedom motion assembly, a medicine box clamping assembly and a data acquisition assembly. It is characterized in that: (1) the designed six-degree-of-freedom motion assembly can excite the pesticide box of the plant protection unmanned aerial vehicle for testing to realize controlled shaking under a three-dimensional simulation working condition, so that the true simulation of various pesticide box postures under the three-dimensional and complex working conditions of the pesticide box of the plant protection unmanned aerial vehicle is realized; (2) the designed data acquisition assembly can acquire real-time data aiming at three-dimensional shaking postures of the pesticide box of the plant protection unmanned aerial vehicle for testing at various liquid levels (the liquid filling ratio is in an interval of 1/8-7/8) which are easy to shake violently; (3) the medical kit centre gripping subassembly that designs possesses the ascending adjustable function of level, vertical side in the aspect of the centre gripping station, can satisfy the centre gripping and the test demand of present most of different shapes, not equidimension plant protection unmanned aerial vehicle medical kit.

Description

A test bench for testing the shaking performance of a plant protection drone medicine box

technical field

The invention relates to a test bench for detecting the shaking performance of a plant protection unmanned aerial vehicle medicine box, in particular to a test bench capable of simulating various shaking postures of a plant protection unmanned aerial vehicle medicine box and collecting multi-sensor data under three-dimensional working conditions. Agricultural aviation inspection technology field.

Background technique

With the rapid development of plant protection drone technology and equipment, people have higher and higher requirements for the anti-shake/anti-surge performance of plant protection drone medicine boxes. Plant protection drones often perform actions such as take-off, landing, emergency stop, steering, translation, rotation around a point, and imitating the ground during the operation. The overall operation performance of the UAV has a great impact, including flight safety, trajectory accuracy, operation accuracy and power endurance. In addition, with the decrease of the liquid filling ratio of the medicine tank during the operation, the shaking will become more severe and obvious, and even cause accidents such as crashes, which greatly affects the operation quality, operation efficiency and flight safety. Therefore, in the design process of the plant protection drone medicine box, it is necessary to use a special medicine box shaking performance detection device to evaluate the shaking performance of the developed plant protection drone medicine box.

In recent years, Dai Shiqun, Zheng Jizhou and others of Shandong Agricultural University have built several test benches for liquid sloshing interference force under horizontal excitation, aiming at the sloshing phenomenon of the liquid-filled box, taking the mechanical properties of the liquid-filled system under external excitation as the research object. However, this type of box shaking performance test bench can only apply horizontal shaking excitation in two-dimensional space, but cannot apply multi-degree-of-freedom shaking excitation in three-dimensional space, and cannot simulate the operation of plant protection drones in three-dimensional and complex operating conditions. There are many kinds of medicine box attitudes, so it is urgent to develop a test bench that can simulate various shaking attitudes of plant protection drone medicine boxes under three-dimensional working conditions and perform multi-sensor data collection to fill the gap in this field.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method capable of simulating various shaking attitudes of the medicine box of the plant protection drone under three-dimensional working conditions, and to perform real-time impact pressure of the liquid on the vertical wall of the medicine box, the inclination angle of the medicine box, the liquid level of the medicine box and other data. Testbed for multi-sensor data acquisition.

The purpose of the present invention is achieved through the following technical solutions: a test bench for testing the shaking performance of a medicine box of a plant protection unmanned aerial vehicle, including a six-degree-of-freedom motion component, a medicine-box clamping component, and a data acquisition component; the six-degree-of-freedom motion component It includes an upper platform, a ball cage coupling, an electric cylinder, a hook hinge, a controller, and a lower platform. The upper platform is directly above the lower platform, and the upper platform is connected to the upward end of the electric cylinder through the ball cage coupling. Connection, the downward end of the electric cylinder is connected with the lower platform through the hook hinge, the controller is fixed on the lower platform, the controller can control each electric cylinder to achieve telescopic movement, the lower platform is fixed on the ground, the ball cage coupling The number of the device, the electric cylinder and the hook hinge are all 6; the medicine box clamping component includes a connecting plate, a lower fastening bolt, a fixing cylinder, a lower mold clamp, an upper fastening bolt, an upper mold clamp, a spring pull rod, a pull rod and a pull rod. The extension spring, the connecting plate is annular and is fixed on the center of the upper platform, and three circular holes are arranged at 120° intervals in the circumferential direction of the connecting plate, and the center of each circular hole points to the central axis of the connecting plate. A fixing cylinder is fixed on each circular hole, the fixing cylinder passes through the circular hole and the central axis of the fixing cylinder points to the central axis of the connecting plate, and a threaded hole is opened on the cylindrical surface of each fixing cylinder. The threaded holes of the lower mold clamp are threaded, and the lower mold clamp is provided with a lower adjustment pin, a lower support claw and a telescopic cylinder. The lower adjustment pin is located at the lower part of the lower mold clamp. There are several blind adjustment holes on the surface, the lower tightening bolts can fasten the lower mold clamp by pressing the blind adjustment holes, and the end of the lower adjustment pin facing the central axis of the connecting plate is fixed with a tension spring. The other end is fixed with the spring pull rod, the spring pull rod is fixed on the upper platform of the six-degree-of-freedom motion assembly, the axis of which is coincident with the central axis of the connecting plate, and the lower support claw is located in the middle of the lower mold clamp for lifting test. Using the bottom of the medicine box of the plant protection drone, the telescopic cylinder is located on the upper part of the lower mold clamp, the cylindrical surface of the telescopic cylinder is provided with threaded holes, the upper fastening bolts are threadedly connected with the threaded holes on the telescopic cylinder, and the upper mold is threaded. The upper adjusting pin and the upper pressing claw are arranged on the clamp. The upper adjusting pin is located at the lower part of the upper die clamp. The upper adjusting pin is in clearance fit with the telescopic cylinder. There are several blind adjusting holes on the cylindrical surface of the upper adjusting pin, and the upper fastening bolts pass through. Tightening the adjusting blind hole realizes the fastening of the upper die clamp, the upper pressing claw is located on the upper part of the upper die clamp, and is used for pressing the top of the medicine box of the plant protection drone for testing; the data acquisition component includes an angle sensor, Liquid level sensor, pressure sensor group, data acquisition card, host computer, the angle sensor is fixed on the outer wall of the plant protection drone medicine box for testing, and the angle sensor is used to collect the vertical position of the plant protection drone medicine box when it shakes The inclination angle between the central axis of the direction and the horizontal plane. The liquid level sensor is located at the bottom of the medicine box of the plant protection drone for testing. The liquid level sensor is used to collect the liquid level position of the liquid in the medicine box of the plant protection drone. A certain number of pressure sensors The groups are fixed at the same angle in the horizontal and circumferential direction on the inner wall of the test plant protection drone medicine box. Each pressure sensor group is formed by a certain number of pressure sensors evenly arranged in the vertical direction. The pressure sensor group is used for collecting The water pressure of different liquid levels in the medicine box of the plant protection drone on the wall surface. The input end of the data acquisition card is connected to the angle sensor, liquid level sensor and pressure sensor group through the data line, and the output of the data acquisition card is connected. The terminal is connected with the host computer through the data line, and the data acquisition card and the host computer are used to collect, transmit and display the data information collected by all the sensors in real time.

Further, the angle sensor is an inclination sensor, the number of which is one.

Further, the liquid level sensor is a submerged liquid level sensor, the number of which is one.

Further, the number of the pressure sensor groups is 4, the number of pressure sensors included in each pressure sensor group is 3-5, and the pressure sensors are water pressure sensors.

Further, the vertical distance between the pressure sensor located at the top in the pressure sensor group and the water injection port of the medicine box accounts for 1/8 of the vertical height of the inner cavity of the medicine box of the plant protection drone for testing, and the pressure sensor group located at the bottom is the vertical distance. The vertical distance between the pressure sensor and the bottom of the medicine box accounts for 1/8 of the vertical height of the inner cavity of the test plant protection drone medicine box.

The working process of a plant protection drone medicine box shaking performance detection test bench of the present invention is as follows: first, all data acquisition components are placed and pasted inside and outside the plant protection drone medicine box for testing. Cut and re-bond the test plant protection drone medicine box; secondly, install and fix the test plant protection drone medicine box with sensors and circuits laid out on the test bench with the aid of the medicine box clamping component, and inject a certain amount of liquid. Then, start the test bench, program the controller in the 6-DOF motion component according to the predetermined multi-DOF excitation shaking scheme; finally, start the 6-DOF motion component, Control each electric cylinder to achieve different amplitudes of telescopic movement, so that the test plant protection drone medicine box can achieve controlled shaking under three-dimensional simulation conditions, and real-time collection of inclination, liquid level, pressure and other data for subsequent testing of plant protection drones. Data analysis and performance evaluation of the shaking performance of the man-machine medicine box.

Compared with the prior art, the present invention has the following advantages: (1) The invention proposes a test bench for testing the shaking performance of the medicine box of a plant protection drone, and the designed six-degree-of-freedom motion component can excite the plant protection drone for testing. The medicine box realizes controlled shaking under three-dimensional simulation conditions, and realizes the true simulation of the posture of various medicine boxes under the three-dimensional and complex operating conditions of the plant protection drone medicine box; (2) A plant protection unmanned aerial vehicle proposed by the present invention The test bench for the shaking performance of the medicine box, the designed data acquisition component can be used for testing the plant protection drone medicine box under various liquid levels that are prone to violent shaking (the filling ratio is in the range of 1/8 to 7/8). The three-dimensional shaking posture is used for real-time data collection; (3) a test bench for the shaking performance detection of the medicine box of the plant protection drone proposed by the present invention, the designed medicine box clamping component has horizontal and vertical directions in the clamping station. The adjustable function can meet the clamping and testing requirements of most existing plant protection drone medicine boxes of different shapes and sizes.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a test bench for testing the shaking performance of a plant protection drone medicine box according to the present invention.

2 is a schematic structural diagram of a medicine box clamping assembly and an upper platform of a plant protection drone medicine box shaking performance detection test bench of the present invention.

3 is a schematic diagram of the layout of the data acquisition components of a plant protection drone medicine box shaking performance detection test bench of the present invention inside and outside the plant protection drone medicine box (the upper part has been cut away) for testing.

In the figure: 1. Upper platform 2, ball cage coupling 3, electric cylinder 4, Hooke hinge 5, controller 6, lower platform 7, connecting plate 8, lower fastening bolt 9, fixing cylinder 10, lower die clamp 10.1. Lower adjustment pin 10.2, lower support claw 10.3, telescopic cylinder 11, upper fastening bolt 12, upper die clamp 12.1, upper adjustment pin 12.2, upper pressing claw 13, plant protection drone medicine box 14, spring pull rod 15, pull Extension spring 16, angle sensor 17, liquid level sensor 18, pressure sensor group 19, data acquisition card 20, upper computer.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Referring to Figures 1, 2, and 3, the present invention is a test bench for testing the shaking performance of a plant protection drone's medicine box, including a six-degree-of-freedom motion component, a medicine box clamping component, and a data acquisition component.

Referring to Fig. 1 , the six-degree-of-freedom motion assembly includes an upper platform 1, a ball cage coupling 2, an electric cylinder 3, a Hooke hinge 4, a controller 5, and a lower platform 6, and the upper platform 1 is located in the lower platform Right above 6, the upper platform 1 is connected with the upward end of the electric cylinder 3 through the ball cage coupling 2, and the downward end of the electric cylinder 3 is connected with the lower platform 6 through the Hook hinge 4, and the controller 5 is fixed on the On the lower platform 6 , the controller 5 can control each electric cylinder 3 to realize telescopic movement, the lower platform 6 is fixed on the ground, and the number of the ball cage coupling 2 , the electric cylinder 3 and the hook hinge 4 is all 6 .

Referring to FIG. 1 and FIG. 2 , the medicine box clamping assembly includes a connecting plate 7 , a lower fastening bolt 8 , a fixing cylinder 9 , a lower mold clamp 10 , an upper fastening bolt 11 , an upper mold clamp 12 , and a spring pull rod 14 , Tension spring 15, the connecting plate 7 is annular and is fixed on the center of the upper platform 1, and there are 3 circular holes spaced 120° in the circumferential direction of the connecting plate 7, and the center of each circular hole points to the connection The central axis of the plate 7, each circular hole is fixed with a fixed cylinder 9, the fixed cylinder 9 passes through the circular hole and the central axis of the fixed cylinder 9 points to the central axis of the connecting plate 7, and each fixed cylinder 9 has a thread on the cylindrical surface The lower fastening bolt 8 is connected with the threaded hole on the fixing cylinder 9 in a threaded connection, and the lower die clamp 10 is provided with a lower adjusting pin 10.1, a lower supporting claw 10.2 and a telescopic cylinder 10.3, and the lower adjusting pin 10.1 is located at the bottom In the lower part of the die clamp 10, the lower adjusting pin 10.1 and the fixing cylinder 9 are in clearance fit, and there are several blind adjusting holes on the cylindrical surface of the lower adjusting pin 10.1, and the lower tightening bolt 8 realizes the lower mold clamp by pressing the adjusting blind holes. 10, one end of the lower adjusting pin 10.1 toward the central axis of the connecting plate 7 is fixed with a tension spring 15, and the other end of the tension spring 15 is fixed with a spring pull rod 14, which is fixed to the six-degree-of-freedom motion assembly On the upper platform 1, its axis coincides with the central axis of the connecting plate 7, the lower support claw 10.2 is located in the middle of the lower mold clamp 10, and is used to lift the bottom of the plant protection drone medicine box 13 for testing, and the telescopic cylinder 10.3 is located at On the upper part of the lower mold clamp 10, there are threaded holes on the cylindrical surface of the telescopic cylinder 10.3, the upper fastening bolts 11 are threadedly connected with the threaded holes on the telescopic cylinder 10.3, and the upper mold clamp 12 is provided with an upper adjustment pin 12.1 and the upper pressing claw 12.2, the upper adjusting pin 12.1 is located at the lower part of the upper die clamp 12, the upper adjusting pin 12.1 is in clearance fit with the telescopic cylinder 10.3, and the cylindrical surface of the upper adjusting pin 12.1 has a number of blind adjustment holes, and the upper fastening bolt 11 passes through The upper die clamp 12 is fastened by pressing the adjusting blind hole, and the upper pressing claw 12.2 is located on the upper part of the upper die clamp 12, and is used for pressing the top of the medicine box 13 of the plant protection drone for testing.

Referring to FIG. 3 , the data acquisition assembly includes an angle sensor 16, a liquid level sensor 17, a pressure sensor group 18, a data acquisition card 19, and a host computer 20. The angle sensor 16 is fixed to the test plant protection drone medicine box 13 On the outer wall, the angle sensor 16 is used to collect the inclination angle between the vertical axis and the horizontal plane of the plant protection drone medicine box 13 when it shakes. The angle sensor 16 is an inclination sensor, and its number is 1. The level sensor 17 is located at the bottom of the interior of the plant protection drone medicine box 13 for testing, and the liquid level sensor 17 is used to collect the liquid level position of the liquid in the plant protection drone medicine box 13. The liquid level sensor 17 is a drop-in liquid level sensor. , and the number is 1, 4 groups of pressure sensor groups 18 are fixed on the inner wall surface of the medicine box 13 of the plant protection drone for testing at an angle of 90° along the horizontal circumferential direction, and each pressure sensor group 18 consists of 5 pressure sensors along the vertical direction The directions are evenly arranged, the pressure sensor is a water pressure sensor, and the pressure sensor group 18 is used to collect the water pressure on the wall of the liquid at different liquid levels in the plant protection drone medicine box 13. The pressure sensor group 18 The vertical distance between the pressure sensor located at the top and the water injection port of the medicine box accounts for 1/8 of the vertical height of the inner cavity of the medicine box 13 of the plant protection drone for testing. The pressure sensor located at the bottom of the pressure sensor group 18 and the bottom of the medicine box The vertical distance accounts for 1/8 of the vertical height of the inner cavity of the plant protection drone medicine box 13 for testing, and the input end of the data acquisition card 19 is connected to the angle sensor 16, the liquid level sensor 17, and the pressure sensor group 18 through the data line. The output end of the data acquisition card 19 is connected to the host computer 20 through a data line. The data acquisition card 19 and the host computer 20 are used to collect, transmit and display the data information collected by all sensors in real time.

Finally, it should be noted that the above embodiments are only used to show and describe the basic principles, main features and advantages of the present invention. Those of ordinary skill in the art should understand that the present invention is not limited by the above embodiments. Under the premise of departing from the spirit and scope of the present invention, the present invention will also have various modifications or equivalent replacements, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims (5)

1. The utility model provides a plant protection unmanned aerial vehicle medical kit rocks performance test bench which characterized in that includes: the six-degree-of-freedom motion assembly, the medicine box clamping assembly and the data acquisition assembly are arranged in the box body; the six-degree-of-freedom motion assembly comprises an upper platform (1), a ball cage coupler (2), electric cylinders (3), hooke hinges (4), a controller (5) and a lower platform (6), wherein the upper platform (1) is positioned right above the lower platform (6), the upper platform (1) is connected with one upward end of each electric cylinder (3) through the ball cage coupler (2), one downward end of each electric cylinder (3) is connected with the lower platform (6) through the hooke hinge (4), the controller (5) is fixed on the lower platform (6), the controller (5) can control each electric cylinder (3) to realize telescopic motion, the lower platform (6) is fixed on the ground, and the number of the ball cage coupler (2), the electric cylinders (3) and the hooke hinges (4) is 6; the medicine box clamping assembly comprises a connecting disc (7), a lower fastening bolt (8), a fixed cylinder (9), a lower die clamp (10), an upper fastening bolt (11), an upper die clamp (12), a spring pull rod (14) and a tension spring (15), wherein the connecting disc (7) is in a circular ring shape and is fixed in the center of an upper platform (1), 3 round holes are arranged at intervals of 120 degrees in the circumferential direction of the connecting disc (7), the hole center of each round hole points to the central axis of the connecting disc (7), the fixed cylinder (9) is fixed on each round hole, the fixed cylinder (9) penetrates through the round holes, the central axis of the fixed cylinder (9) points to the central axis of the connecting disc (7), a threaded hole is formed in the cylindrical surface of each fixed cylinder (9), the lower fastening bolt (8) is in threaded connection with the threaded hole in the fixed cylinder (9), a lower adjusting pin (10.1), a lower supporting claw (10.2) and a telescopic cylinder (10.3) are arranged on the lower die clamp (10), the lower adjusting pin (10.1) is positioned at the lower part of the lower die clamp (10), the lower adjusting pin (10.1) is in clearance fit with the fixed cylinder (9), a plurality of adjusting blind holes are formed in the cylindrical surface of the lower adjusting pin (10.1), the lower fastening bolt (8) is used for fastening the lower die clamp (10) by jacking the adjusting blind holes, a tension spring (15) is fixed at one end, facing the central axis of the connecting disc (7), of the lower adjusting pin (10.1), the other end of the tension spring (15) is fixed with a spring pull rod (14), the spring pull rod (14) is fixed on an upper platform (1) of the six-freedom-degree motion assembly, the central axis of the spring pull rod is overlapped with the central axis of the connecting disc (7), the lower supporting claw (10.2) is positioned in the middle part of the lower die clamp (10) and used for supporting the bottom of the plant protection unmanned aerial vehicle medicine box (13) for testing, the telescopic cylinder (10.3) is positioned at the upper part of the lower die clamp (10), and a threaded hole is formed in the cylindrical surface of the telescopic cylinder (10.3), the upper fastening bolt (11) is in threaded connection with a threaded hole in the telescopic cylinder (10.3), an upper adjusting pin (12.1) and an upper pressing claw (12.2) are arranged on the upper die clamp (12), the upper adjusting pin (12.1) is located on the lower portion of the upper die clamp (12), the upper adjusting pin (12.1) is in clearance fit with the telescopic cylinder (10.3), a plurality of adjusting blind holes are formed in the cylindrical surface of the upper adjusting pin (12.1), the upper fastening bolt (11) is used for fastening the upper die clamp (12) by jacking the adjusting blind holes, and the upper pressing claw (12.2) is located on the upper portion of the upper die clamp (12) and used for pressing the top of the plant protection unmanned aerial vehicle medicine box (13) for testing; the data acquisition assembly comprises an angle sensor (16), a liquid level sensor (17), a pressure sensor group (18), a data acquisition card (19) and an upper computer (20), wherein the angle sensor (16) is fixed on the outer wall surface of the medicine box (13) of the test plant protection unmanned aerial vehicle, the angle sensor (16) is used for acquiring the inclination angle of the central axis and the horizontal plane of the medicine box (13) of the plant protection unmanned aerial vehicle in the vertical direction when the medicine box (13) of the plant protection unmanned aerial vehicle shakes, the liquid level sensor (17) is arranged at the bottom inside the medicine box (13) of the test plant protection unmanned aerial vehicle, the liquid level sensor (17) is used for acquiring the liquid level position of liquid in the medicine box (13) of the plant protection unmanned aerial vehicle, a certain number of the pressure sensor group (18) is fixed on the inner wall surface of the medicine box (13) of the test plant protection unmanned aerial vehicle at equal angles along the horizontal circumferential direction, and each pressure sensor group (18) is formed by uniformly arranging a certain number of pressure sensors along the vertical direction, pressure sensor group (18) are used for gathering the water pressure of the liquid of different liquid levels to its wall in plant protection unmanned aerial vehicle medical kit (13), the input of data acquisition card (19) is connected with angle sensor (16), level sensor (17), pressure sensor group (18) through the data line, and the output of data acquisition card (19) is connected with host computer (20) through the data line, and data acquisition card (19) and host computer (20) are used for gathering in real time, vary and show the data information that all sensors gathered.

2. The plant protection unmanned aerial vehicle medical kit shake performance detection test bench of claim 1, characterized in that: the angle sensors (16) are tilt sensors, the number of which is 1.

3. The plant protection unmanned aerial vehicle medical kit shake performance detection test bench of claim 1, characterized in that: the liquid level sensors (17) are drop-in type liquid level sensors, and the number of the liquid level sensors is 1.

4. The plant protection unmanned aerial vehicle medical kit shake performance detection test bench of claim 1, characterized in that: the number of the pressure sensor groups (18) is 4, the number of the pressure sensors contained in each pressure sensor group (18) is 3-5, and the pressure sensors are water pressure sensors.

5. The plant protection unmanned aerial vehicle medical kit shake performance detection test bench of claim 1, characterized in that: the vertical distance between the pressure sensor located at the top in the pressure sensor group (18) and the water filling port of the medicine box accounts for 1/8 of the vertical height of the inner cavity of the medicine box (13) of the plant protection unmanned aerial vehicle for testing, and the vertical distance between the pressure sensor located at the bottom in the pressure sensor group (18) and the bottom of the medicine box accounts for 1/8 of the vertical height of the inner cavity of the medicine box (13) of the plant protection unmanned aerial vehicle for testing.

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