CN215984583U - An inertial navigation test device - Google Patents
An inertial navigation test device Download PDFInfo
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- CN215984583U CN215984583U CN202122515655.0U CN202122515655U CN215984583U CN 215984583 U CN215984583 U CN 215984583U CN 202122515655 U CN202122515655 U CN 202122515655U CN 215984583 U CN215984583 U CN 215984583U
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Abstract
本实用新型公开一种惯导测试装置，包括机架组件、执行机构以及偏心驱动机构；执行机构包括稳定杆、下移动板、上移动板、调整件、第一弹性件、第二弹性件、第一位移传感器以及滚轮组件；偏心驱动机构包括动力组件以及偏心轮；本实用新型通过偏心轮带动下移动板做周期性运动，能得到下移动板的运动曲线，待测试设备安装在上移动板上，能测量上移动板的运动曲线，第一位移传感器能测量上移动板相对于下移动板的运动曲线，曲线B和曲线C叠加后与曲线A对比，能得出惯导的精度；本实用新型通过设置偏心轮带动下移动板进行周期性的运动，简化了整体结构。
The utility model discloses an inertial navigation test device, comprising a frame assembly, an actuator and an eccentric drive mechanism; the actuator comprises a stabilizer bar, a lower moving plate, an upper moving plate, an adjustment piece, a first elastic piece, a second elastic piece, The first displacement sensor and the roller assembly; the eccentric drive mechanism includes a power assembly and an eccentric wheel; the utility model drives the lower moving plate to do periodic motion through the eccentric wheel, and can obtain the motion curve of the lower moving plate, and the equipment to be tested is installed on the upper moving plate Upper, can measure the motion curve of the upper moving plate, the first displacement sensor can measure the moving curve of the upper moving plate relative to the lower moving plate, after the curve B and the curve C are superimposed and compared with the curve A, the accuracy of the inertial navigation can be obtained; The utility model simplifies the overall structure by setting the eccentric wheel to drive the moving plate to perform periodic movement.
Description
Technical Field
The utility model relates to the field of inertial navigation testing, in particular to an inertial navigation testing device.
Background
With the development of science and technology, currently, inertial measurement units are increasingly applied to the civil and industrial fields, and the performance precision of the inertial measurement units determines whether detection equipment can successfully complete a measurement task, so that research and development and production units of related rail transit detection equipment need to know the actual application performance of a target inertial set in a laboratory in advance, and a special experimental device for testing the inertial measurement performance needs to be equipped.
The existing inertial navigation performance detection has the following problems: 1. the special test turntable with professional and complete functions has higher cost for the inertial navigation application party; 2. the performance test of the inertial navigation system cannot be simply and effectively carried out during field production or application.
In summary, there is a need for an inertial navigation testing device to solve the problems of high cost and unsuitability for field construction of the dedicated inertial navigation testing device in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an inertial navigation testing device, which aims to solve the problems that the special inertial navigation testing device in the prior art is high in cost and is not suitable for field construction, and the specific technical scheme is as follows:
an inertial navigation testing device comprises a rack assembly, an actuating mechanism and an eccentric driving mechanism;
the rack assembly comprises a base and a rack; the frame is arranged on the base;
the actuating mechanism comprises a stabilizer bar, a lower moving plate, a roller assembly, a first elastic component, a first displacement sensor, an upper moving plate, a second elastic component and an adjusting component; the stabilizer bar is arranged on the base; the lower moving plate, the upper moving plate and the adjusting piece are sequentially arranged on the stabilizer bar along the axial direction of the stabilizer bar, and the lower moving plate and the upper moving plate are arranged on the stabilizer bar in a sliding manner; the upper moving plate is used for mounting equipment to be tested; the first displacement sensor is used for measuring the displacement of the upper moving plate relative to the lower moving plate; the roller wheel assembly is rotatably arranged on the lower moving plate; the two ends of the first elastic piece are respectively contacted with the lower moving plate and the upper moving plate, the two ends of the second elastic piece are respectively contacted with the upper moving plate and the adjusting piece, and the stretching directions of the first elastic piece and the second elastic piece are consistent with the axial direction of the stabilizer bar;
the eccentric driving mechanism comprises an eccentric wheel and a power assembly; the power assembly is arranged on the base, the output end of the power assembly is connected with the eccentric wheel, and the eccentric wheel is in rolling contact with the roller assembly.
Preferably, in the above technical scheme, the roller assembly includes a support shaft, a roller and a roller retainer ring; the supporting shaft is arranged on the lower moving plate, and the roller retainer ring are sleeved on the supporting shaft; the roller retainer ring is used for limiting the roller along the axial direction of the support shaft; the outer circumference of the roller is in rolling contact with the eccentric wheel.
Above technical scheme is preferred, the adjusting part is adjusting nut, and adjusting nut threaded connection is on the stabilizer bar.
Preferably, the actuator further includes a second displacement sensor for measuring the displacement of the lower moving plate.
Preferably, in the above technical solution, the actuator further includes a guide rod; the guide rod is arranged on the base, penetrates through the lower moving plate and the upper moving plate and is axially consistent with the stabilizer bar.
Preferably, the power assembly comprises a power part and a rotating shaft; the power part is arranged on the base; the rotating shaft is fixedly connected to the output end of the power part, and the eccentric wheel is fixedly installed on the rotating shaft.
Preferably, in the above technical scheme, the power part is a servo motor; the servo motor is fixedly arranged on the base through the mounting table.
Preferably, in the above technical scheme, the power assembly further comprises two sets of bearings sleeved on the rotating shaft, and the two sets of bearings are respectively located on two sides of the eccentric wheel along the axial direction of the rotating shaft; the bearing is fixedly arranged on the mounting table through a bearing seat.
According to the preferable technical scheme, a bearing retainer ring is arranged between the bearing and the eccentric wheel, and the bearing retainer ring is sleeved on the rotating shaft.
The technical scheme of the utility model has the following beneficial effects:
(1) the inertial navigation testing device comprises a rack assembly, an actuating mechanism and an eccentric driving mechanism; the actuating mechanism comprises a stabilizer bar, a lower moving plate, an upper moving plate, an adjusting piece, a first elastic piece, a second elastic piece, a first displacement sensor and a roller assembly; the eccentric driving mechanism comprises a power assembly and an eccentric wheel; according to the utility model, the lower movable plate is driven by the eccentric wheel to do periodic motion, so that a motion curve (curve A) of the lower movable plate can be obtained, equipment to be tested (inertial navigation) is arranged on the upper movable plate, the inertial navigation can measure a motion curve (curve B) of the upper movable plate, the first displacement sensor can measure a motion curve (curve C) of the upper movable plate relative to the lower movable plate, and the curve B and the curve C are superposed and then compared with the curve A, so that the precision of inertial navigation can be obtained; the utility model has the advantages that the eccentric wheel is arranged to drive the lower movable plate to periodically move, so that the integral structure is simplified.
(2) The roller assembly comprises a support shaft, a roller and a roller retainer ring, wherein the roller and the roller retainer ring are sleeved on the support shaft; the roller retainer ring can axially limit the roller, so that the structure stability and the measurement precision are ensured.
(3) The adjusting piece is an adjusting nut, the prepressing amount of the first elastic piece and the second elastic piece can be adjusted by screwing the adjusting nut, and the adjusting device is simple and convenient.
(4) The actuating mechanism further comprises a second displacement sensor, and the second displacement sensor is convenient for visually obtaining the motion curve of the lower moving plate.
(5) The actuating mechanism further comprises a plurality of groups of guide rods, so that the upper moving plate and the lower moving plate cannot deviate when moving up and down, and the measurement precision is improved.
(6) The rack assembly comprises a base and a rack; the stability of overall structure is guaranteed through setting up base and frame.
(7) The power assembly comprises a power part and a rotating shaft; the power part drives the rotating shaft to rotate, the rotating shaft drives the eccentric wheel to rotate, the number of middle transmission structures is small, and the measurement precision is high.
(8) The power part is a servo motor, the servo motor is conveniently and fixedly arranged on the mounting part on the mounting platform, the stability of the servo motor during working is ensured, the eccentric wheel can be driven to move according to a set position as required through the driving of the precise servo motor, manual assistance is not needed, labor is saved, the positioning is accurate, and the motion performance of inertial navigation is conveniently contrasted and analyzed.
(9) The power assembly also comprises two groups of bearings sleeved on the rotating shaft, and the two groups of bearings are convenient for ensuring the stable rotation of the rotating shaft, so that the measurement precision is improved.
(10) A bearing retainer ring is arranged between the bearing and the eccentric wheel to prevent the eccentric wheel from axially moving.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.
In the drawings:
FIG. 1 is a schematic structural diagram of an inertial navigation testing apparatus according to the present embodiment;
FIG. 2 is a schematic view of the scroll wheel assembly of FIG. 1;
FIG. 3 is a schematic view of the eccentric drive mechanism of FIG. 1;
wherein, 1, a frame component; 1.1, a base; 1.2, a frame; 2. an actuator; 2.1, a stabilizer bar; 2.2, a second displacement sensor; 2.3, moving the movable plate downwards; 2.4, a guide rod; 2.5, a roller assembly; 2.51, supporting the shaft; 2.52, a roller; 2.53, roller retainer rings; 2.54, lock washer; 2.55, locking the nut; 2.6, a first elastic piece; 2.7, a first displacement sensor; 2.8, moving the plate upwards; 2.9, a second elastic piece; 2.10, adjusting parts; 3. an eccentric drive mechanism; 3.1, an eccentric wheel; 3.2, a power assembly; 3.21, a power part; 3.22, a rotating shaft; 3.23, bearings; 3.24, a bearing retainer ring; 3.25, a flange; 3.26, a bearing seat; 4. a device to be tested; 5. an installation table; 6. and (4) a sliding sleeve.
Detailed Description
Embodiments of the utility model will be described in detail below with reference to the drawings, but the utility model can be implemented in many different ways, which are defined and covered by the claims.
Example (b):
an inertial navigation testing device comprises a rack assembly 1, an actuating mechanism 2 and an eccentric driving mechanism 3, as shown in fig. 1-3, specifically as follows;
as shown in fig. 1, the rack assembly 1 includes a base 1.1 and a rack 1.2; the base 1.1 is arranged on a working surface, the rack 1.2 is of a hollow frame structure, and the rack 1.2 is fixed on the base 1.1.
As shown in fig. 1, the actuator 2 includes a stabilizer bar 2.1, a second displacement sensor 2.2, a lower moving plate 2.3, a guide bar 2.4, a roller assembly 2.5, a first elastic member 2.6, a first displacement sensor 2.7, an upper moving plate 2.8, a second elastic member 2.9, and an adjusting member 2.10, and the specific connection relationship is as follows:
the stabilizer bars 2.1 are vertically arranged on the base 1.1, and preferably, two groups of stabilizer bars 2.1 are arranged.
The lower moving plate 2.3, the upper moving plate 2.8 and the adjusting piece 2.10 are sequentially arranged on the stabilizer bar 2.1 along the axial direction of the stabilizer bar 2.1, and the lower moving plate 2.3 is one end close to the base 1.1; the lower moving plate 2.3 and the upper moving plate 2.8 can slide up and down along the axial direction of the stabilizer bar 2.1;
the first elastic part 2.6 and the second elastic part 2.9 are sleeved on the stabilizer bar 2.1, the first elastic part 2.6 is arranged between the lower moving plate 2.3 and the upper moving plate 2.8, and two ends of the first elastic part can be respectively contacted with the lower moving plate 2.3 and the upper moving plate 2.8; the second elastic element 2.9 is arranged between the upper moving plate 2.8 and the adjusting element 2.10, and two ends of the second elastic element can be respectively contacted with the upper moving plate 2.8 and the adjusting element 2.10. Preferably, the first elastic element 2.6 and the second elastic element 2.9 are both springs, a limiting sleeve for limiting the first elastic element 2.6 is sleeved on the stabilizer bar 2.1, and the outer diameter of the limiting sleeve is smaller than the inner diameter of the first elastic element 2.6, so that interference is avoided;
the adjusting piece 2.10 is an adjusting nut, a thread section is arranged at the upper end of the stabilizer bar 2.1, the adjusting nut is in thread fit with the stabilizer bar 2.1, and the adjusting nut can adjust the pre-pressing amount of the first elastic piece 2.6 and the second elastic piece 2.9.
The first displacement sensor 2.7 is fixedly arranged at the lower end of the upper moving plate 2.8 and is used for measuring the displacement of the upper moving plate 2.8 relative to the lower moving plate 2.3 so as to obtain a motion curve (curve C) of the upper moving plate 2.8 relative to the lower moving plate 2.3;
the upper moving plate 2.8 is provided with a mounting port for mounting the device to be tested 4 (inertial navigation), the inertial navigation is mounted on the upper moving plate 2.8, and during testing, the inertial navigation can measure the motion curve (curve B) of the upper moving plate 2.8;
the second displacement sensor 2.2 is fixedly arranged at the lower end of the lower moving plate 2.3 and is used for measuring the displacement of the lower moving plate 2.3 relative to the base 1.1 so as to obtain a motion curve (curve A) of the lower moving plate 2.3;
the curve B and the curve C are superposed, and the superposed curve is compared with the curve A to analyze the goodness of fit of the curve B and the curve C, so that the performance of the inertial navigation to be tested can be accurately verified, and the accuracy of the inertial navigation is obtained.
As shown in fig. 1, the roller assembly 2.5 is rotatably disposed on the lower moving plate 2.3, the eccentric driving mechanism 3 drives the roller assembly 2.5 to move, so as to drive the lower moving plate 2.3 to move periodically, and under the action of the first elastic member 2.6 and the second elastic member 2.9, the lower moving plate 2.3 and the upper moving plate 2.8 move up and down within the measuring range of the displacement sensor (i.e., the first displacement sensor 2.7 and the second displacement sensor 2.2) at different accelerations.
As shown in fig. 2, the roller assembly 2.5 specifically includes a support shaft 2.51, a roller 2.52, a roller retainer 2.53, a lock washer 2.54 and a lock nut 2.55; the supporting shaft 2.51 is horizontally and fixedly arranged on the lower moving plate 2.3, a shaft shoulder is arranged on the supporting shaft 2.51, the roller 2.52, the roller retainer ring 2.53, the locking washer 2.54 and the locking nut 2.55 are sequentially sleeved on the supporting shaft 2.51 along the axial direction, the roller 2.52 is close to one end of the shaft shoulder, the roller 2.52 can be rotatably arranged, and the roller retainer ring 2.53, the locking washer 2.54 and the locking nut 2.55 are matched to realize axial limiting of the roller 2.52.
As shown in fig. 1, the guide rod 2.4 is vertically fixed on the frame 1.2, and the guide rod 2.4 penetrates through the upper moving plate 2.8 and the lower moving plate 2.3; four groups of guide rods 2.4 are arranged. Sliding sleeves 6 are fixedly arranged on the upper moving plate 2.8 and the lower moving plate 2.3, and the sliding sleeves 6 are sleeved on the guide rods 2.4 and can slide up and down along the guide rods 2.4.
As shown in fig. 3, the eccentric drive mechanism 3 comprises an eccentric wheel 3.1 and a power assembly 3.2; the eccentric wheel 3.1 is connected with the output end of the power assembly 3.2, the power assembly 3.2 is installed on the base 1.1, the eccentric wheel 3.1 is driven to rotate through the power assembly 3.2, and the eccentric wheel 3.1 is in rolling contact with the outer circumference of the roller 2.52, so that the lower moving plate 2.3 moves vertically. The motion curve (curve a) of the lower moving plate 2.3 can also be obtained by pre-calculating the dimensional specification and the rotational speed of the eccentric 3.1. Preferably, the eccentricity of the eccentric 3.1 is less than half of the maximum range of the displacement sensor.
As shown in fig. 1 and 3, the power assembly 3.2 includes a power member 3.21 (preferably a servo motor) and a rotating shaft 3.22; the power part 3.21 is fixedly arranged on the base 1.1 through the mounting table 5, the mounting table 5 is provided with a mounting part, and the power part 3.21 is fixed on the mounting part; the rotating shaft 3.22 is fixedly connected to the output end of the power part 3.21, and the eccentric wheel 3.1 is fixed on the rotating shaft 3.22 through a left group of flanges 3.25 and a right group of flanges 3.25.
Preferably, as shown in fig. 3, the power assembly 3.2 further includes two sets of bearings 3.23 and two sets of bearing rings 3.24; two sets of bearings 3.23 are respectively fixed on the mounting table 5 through bearing seats 3.26, the rotating shaft 3.22 is arranged in the two sets of bearings 3.23, and two sets of bearing retainer rings 3.24 are sleeved on the rotating shaft 3.22 and are respectively positioned between the bearings 3.23 and the flanges 3.25 along the axial direction.
The power element 3.21 (servomotor) can be connected to the shaft 3.22 via a reduction gear, taking into account the load.
The working process of the inertial navigation testing device of the embodiment is as follows:
firstly, mounting the inertial navigation system to be measured on an upper moving plate 2.8, ensuring reliable fixation, preventing measurement errors caused by looseness in work, and placing a base 1.1 on a firm base station;
secondly, whether the light emergent surface and the light incident surface of the first displacement sensor 2.7 and the second displacement sensor 2.2 are clean is detected;
thirdly, according to the dead weight of the inertial navigation to be measured, the prepressing amount of the first elastic part 2.6 and the second elastic part 2.9 is adjusted through the adjusting part 2.10 (adjusting nut), and the outer circumference of the roller 2.52 can be ensured to be contacted with the outer circumference of the eccentric wheel 3.1;
fourthly, the power part 3.21 is driven to rotate, the eccentric wheel 3.1 rotates for a circle to drive the roller 2.52 to move up and down, and the upper moving plate 2.8 and the lower moving plate 2.3 move up and down through the buffering of the first elastic part 2.6 and the second elastic part 2.9;
fifthly, transmitting the displacement data and inertial navigation acceleration data of the displacement sensor to a human-computer interface for display after the displacement data and the inertial navigation acceleration data are processed by a signal acquisition and controller; the controller refers to the prior art;
sixthly, a motion displacement curve (curve C) of the upper moving plate 2.8 relative to the lower moving plate 2.3 is obtained through the first displacement sensor 2.7; obtaining a motion displacement curve (curve B) of the upper moving plate 2.8 through inertial navigation energy; a motion displacement curve (curve A) of the lower moving plate 2.3 relative to the base 1.1 is obtained through the second displacement sensor 2.2;
and seventhly, overlapping the curve B and the curve C, and performing goodness of fit comparison on the overlapped curve and the curve A to obtain the precision of the inertial navigation to be measured.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122515655.0U CN215984583U (en) | 2021-10-19 | 2021-10-19 | An inertial navigation test device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122515655.0U CN215984583U (en) | 2021-10-19 | 2021-10-19 | An inertial navigation test device |
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| CN215984583U true CN215984583U (en) | 2022-03-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117405100A (en) * | 2023-04-14 | 2024-01-16 | 珠海精实测控技术股份有限公司 | Inertia testing device |
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2021
- 2021-10-19 CN CN202122515655.0U patent/CN215984583U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117405100A (en) * | 2023-04-14 | 2024-01-16 | 珠海精实测控技术股份有限公司 | Inertia testing device |
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