CN-121994466-A - Aviation seat fatigue test detection device, system and method

CN121994466ACN 121994466 ACN121994466 ACN 121994466ACN-121994466-A

Abstract

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

Inventors

CHEN GENG
WANG CHONGAN
CHEN LONGQING
Cen Zuojia
CHEN JUNBAO
ZHOU YANG

Assignees

湖北汽车工业学院
襄阳华中科技大学先进制造工程研究院

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (8)

1. The method for detecting the fatigue test of the aero seat is characterized by comprising the following steps of: Acquiring a preset motion track for performing fatigue test on the aviation seat; Controlling an industrial robot to move according to the preset movement track, and acquiring the actual contact force between the industrial robot and an aviation seat in real time by utilizing a six-dimensional force sensor arranged on the industrial robot; comparing the actual contact force with a preset expected contact force to obtain a contact force deviation; converting the contact force deviation into a position compensation quantity of the industrial robot based on a compliant force control model, wherein the compliant force control model is used for dynamically adjusting the movement position of the robot according to the contact force deviation; And adjusting the motion of the industrial robot on the preset motion track in real time according to the position compensation quantity, and controlling the start and stop of the industrial robot according to a preset safety control logic so as to execute a fatigue test on the aviation seat.
2. The method of claim 1, further comprising the step of preprocessing the raw force signal after the actual contact force is acquired in real time using the six-dimensional force sensor, the preprocessing including gravity compensation and filtering.
3. The method of claim 2, wherein the step of gravity compensation includes controlling the industrial robot to move to a plurality of different poses; acquiring readings of the six-dimensional force sensor under each gesture; Calculating zero offset of the six-dimensional force sensor on each coordinate axis and gravity components of the end effector based on the readings; And subtracting the zero offset and gravity components from the original force signals acquired in real time.
4. The aircraft seat fatigue test method according to claim 1, wherein the preset safety control logic comprises: When the actual contact force reaches or exceeds the expected contact force, controlling the industrial robot to stop the current movement and returning to a starting point of a preset movement track; and when the actual contact force is smaller than the expected contact force, controlling the industrial robot to continue to move along the preset movement track or perform position compensation until the actual contact force reaches the expected contact force.
5. The method of claim 1, wherein the compliant force control model is: ; ; Wherein the method comprises the steps of For the current speed, the actual normal contact force measured by the six-dimensional force sensor at the current moment is as follows The desired normal contact force is Deviation of contact force of , Is the mass coefficient of the industrial robot, Is the damping coefficient of the industrial robot, Is the deviation of the expected position and the actual position of the industrial robot, In order to sample the time of the sample, The motion offset to be compensated for the special actuator for the fatigue test at the current moment is calculated Issuing to an industrial robot compliance system to control and compensate the movement position of the industrial robot; Let the actual normal contact force measured by the six-dimensional force sensor be ; ; Wherein the method comprises the steps of Is the second derivative of the position deviation, Is the first derivative of the position deviation; the positional deviation of each sampling period of the industrial robot is as follows: ; In which the time of the sampling period , Is that The speed of running the special actuator back and forth for the moment fatigue test, Is the velocity of the initial position and velocity, Is the integral sign, dt represents the differentiation over time, τ is the time delay of the system; discretizing it, sampling time According to the requirement, setting in the sampling time 、 All constants can be obtained: ; 。
6. an aero seat fatigue test detection apparatus for implementing the aero seat fatigue test detection method according to any one of claims 1-5, the apparatus comprising: An industrial robot; a six-dimensional force sensor mounted on a terminal flange of the industrial robot; The special executor for the fatigue test is connected to the six-dimensional force sensor and is used for contacting and acting on a part to be tested of the aviation seat; A control unit in communication with the industrial robot and the six-dimensional force sensor, the control unit configured to: controlling the industrial robot to drive the special executor for the fatigue test to move according to a preset movement track; receiving and processing an actual contact force signal fed back by the six-dimensional force sensor; Executing a compliance control algorithm, and calculating a position compensation amount according to the deviation of the actual contact force and the expected contact force; and adjusting the motion of the industrial robot according to the position compensation quantity, and controlling the start and stop of the industrial robot according to a preset safety control logic.
7. The airline seat fatigue test device according to claim 6, wherein the preset safety control logic comprises: When the actual contact force reaches or exceeds the expected contact force, controlling the industrial robot to stop the current movement and returning to a starting point of a preset movement track; and when the actual contact force is smaller than the expected contact force, controlling the industrial robot to continue to move along the preset movement track or perform position compensation until the actual contact force reaches the expected contact force.
8. An aircraft seat fatigue test detection system, comprising: the airline seat fatigue test device according to any one of claims 6-7; an aero seat to be tested; the data acquisition and fatigue test module is used for recording and storing motion track data, contact force data, cycle times and equipment state information in the fatigue test process in real time.

Description

Aviation seat fatigue test detection device, system and method Technical Field The invention relates to the technical field of intelligent motion testing of robots, in particular to an aviation seat fatigue test detection device, an aviation seat fatigue test detection system and an aviation seat fatigue test detection method. Background The aircraft seat is the most familiar airborne equipment with the greatest contact time, the aircraft seat is directly related to safety and comfort of a passenger journey, strict technical standards and specifications are provided for design, manufacture and detection processes, no special equipment is provided at present for fatigue test of key parts in the production and manufacture links of the aircraft seat, the traditional method is finished by means of manual simulation operation working conditions, the operation labor intensity is high, the test of a single seat is long, and the like, even if an industrial robot with the corresponding design is adopted in the prior art, the aircraft seat moves along a set test track, the full test of the fatigue degree of each position to be tested of the aircraft seat is difficult to ensure, and the requirements of the aircraft manufacturing industry on the high quality and the high reliability of the seat are difficult to be met. Disclosure of Invention In view of the above, the invention aims to provide an aviation seat fatigue test detection device, an aviation seat fatigue test detection system and an aviation seat fatigue test detection method, so as to solve the problem that the existing intelligent motion test of an industrial robot is difficult to meet the requirements of aviation manufacturing on high quality and high reliability of seats. Based on the above purpose, the invention provides an aviation seat fatigue test detection method, which comprises the following steps: Acquiring a preset motion track for performing fatigue test on the aviation seat; controlling the industrial robot to move according to a preset movement track, and acquiring the actual contact force between the industrial robot and the aviation seat in real time by utilizing a six-dimensional force sensor arranged on the industrial robot; comparing the actual contact force with a preset expected contact force to obtain a contact force deviation; converting the contact force deviation into a position compensation quantity of the industrial robot based on a compliant force control model, wherein the compliant force control model is used for dynamically adjusting the movement position of the robot according to the contact force deviation; And adjusting the motion of the industrial robot on a preset motion track in real time according to the position compensation quantity, and controlling the start and stop of the industrial robot according to a preset safety control logic so as to execute a fatigue test on the aviation seat. Preferably, after the actual contact force is acquired in real time by using the six-dimensional force sensor, the method further comprises the step of preprocessing the acquired original force signal, wherein the preprocessing comprises gravity compensation and filtering. Preferably, the step of gravity compensation comprises controlling the industrial robot to move to a plurality of different poses; acquiring readings of a six-dimensional force sensor under each gesture; Calculating zero offset of the six-dimensional force sensor on each coordinate axis based on the readings, and the gravity component of the end effector; And subtracting zero offset and gravity components from the original force signals acquired in real time. Preferably, the preset safety control logic comprises: When the actual contact force reaches or exceeds the expected contact force, controlling the industrial robot to stop the current motion and return to the starting point of the preset motion track; and when the actual contact force is smaller than the expected contact force, controlling the industrial robot to continue to move along the preset movement track or perform position compensation until the actual contact force reaches the expected contact force. Preferably, the compliant force control model is: Wherein the method comprises the steps of For the current speed, the actual normal contact force measured by the six-dimensional force sensor at the current moment is as followsThe desired normal contact force isDeviation of contact force of,Is the mass coefficient of the industrial robot,Is the damping coefficient of the industrial robot,Is the deviation of the expected position and the actual position of the industrial robot,In order to sample the time of the sample,The motion offset to be compensated for the special actuator for the fatigue test at the current moment is calculatedIssuing to an industrial robot compliance system to control and compensate the movement position of the industrial robot; Let the actual normal contact force measured by the si