CN104990719A - Unmanned aerial vehicle test bed system for inspection and detection - Google Patents

Unmanned aerial vehicle test bed system for inspection and detection Download PDF

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Publication number
CN104990719A
CN104990719A CN201510396797.6A CN201510396797A CN104990719A CN 104990719 A CN104990719 A CN 104990719A CN 201510396797 A CN201510396797 A CN 201510396797A CN 104990719 A CN104990719 A CN 104990719A
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China
Prior art keywords
unmanned plane
bearing
inspection
load
supports seat
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CN201510396797.6A
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Chinese (zh)
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CN104990719B (en
Inventor
张飞
刘俍
魏传虎
殷超远
王滨海
张方正
李勇
吴观斌
慕世友
任杰
傅孟潮
李建祥
赵金龙
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State Grid Intelligent Technology Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Shandong Electric Power Co Ltd
Shandong Luneng Intelligence Technology Co Ltd
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Abstract

The invention discloses an unmanned aerial vehicle (UAV) test bed system for inspection and detection, comprising a bearing UAV end, a ground supporting seat, a transmission mechanism, and a weight measuring end. The bearing UAV end is used for bearing an object to be tested, and is connected with one end of the transmission mechanism through a connecting shaft. The other end of the transmission mechanism is provided with the weight measuring end. The weight measuring end is provided with a mass block. The ground supporting seat is arranged on the transmission mechanism. During test, the angular speed of rotation of the transmission mechanism is kept consistent, and the transmission mechanism always moves in a translational manner, so that the test bed system does parallel and synchronous movement in the process of movement, and flexible and barrier-free movement of the UAV is achieved. According to the invention, a parallel four-bar mechanism is adopted to make level for the tested UAV, and a weight at the end is changed and adjusted in real time according to the weight of the tested object. The test bed does not need to be fixed to the ground, and universal wheels are adopted to make movement and transportation convenient.

Description

A kind of unmanned plane test bench system for inspection
Technical field
The present invention relates to a kind of unmanned plane test bench system for inspection.
Background technology
Depopulated helicopter Efforts To Develop in the civil areas such as electric power, geological mapping, agricultural, depopulated helicopter carries the system such as gondola, pesticide spraying, can to ensure at reasonable time, to Mission Operations needed for each field, to complete the tasks such as electric inspection process, geological mapping, pesticide spraying in time.
Unmanned plane has become the development priority of following civilian operation, qualified in order to ensure the performance of each field unmanned plane used, and the performance index of its test unmanned plane certainly will become an emphasis.Still do not have Special Equipment to detect unmanned plane performance at present, the mode by means of only flight test detects, and required spatial domain is comparatively large, and security reduces.
(1) in actual job, unmanned plane need fly under various circumstances, so detect unmanned plane need carry out test flight in the situations such as the different wind speed of high temperature low temperature, must arrange the height greenhouse that volume is larger, cost is high;
(2) in limited space, make aerial mission relatively narrow, and be easy to cause collision so that damage fuselage.
Therefore urgently develop a kind of depopulated helicopter proving installation, contribute to carrying out unmanned plane inspection work more fast.
Summary of the invention
The present invention is in order to solve the problem, propose a kind of unmanned plane test bench system for inspection, native system entirety have employed parallel four-bar linkage and carries out tested unmanned plane and ask flat, and changes adjustment according to the weight size of measured object in real time to end points weight.This test-bed, without the need to fixing with ground, adopts universal wheel to make mobile convenient transportation.
To achieve these goals, the present invention adopts following technical scheme:
A kind of unmanned plane test bench system for inspection, comprise load-bearing unmanned plane end, ground supports seat, gear train and measurement amount weight end, wherein, load-bearing unmanned plane end is used for laying testee, load-bearing unmanned plane end is by one end of coupling shaft connection for transmission mechanism, the other end of gear train is for measuring weight end, measure weight end and be provided with mass, gear train is provided with ground supports seat, during test, the rotational angular velocity of gear train is consistent, and gear train translation all the time, make test bench system in motion process, do parallel and synchronous motion, reach the flexible without hindrance motion of unmanned plane, and assurance device two ends remain level.
Described ground supports seat is vertically positioned on steady ground, and ground supports seat lower end is provided with universal wheel.
Described gear train is parallel four-bar linkage, comprises two square steel parallel to each other, gear train and ground supports seat hinged.
Pressure/pulling force sensor is provided with in described check weighing thing end.
The rotary part of described unmanned plane load-bearing end, measurement amount weight end all arranges speed probe.
Described unmanned plane load-bearing end, measurement amount weight end and ground supports seat are provided with stop means, and avoid rotation dirigibility too high, the effective rotation dirigibility controlling to rotate, adds moment of inertia.
The distance of described ground supports seat and load-bearing unmanned plane end is greater than the distance of ground supports seat and measurement amount weight end.
Described mass is positioned over measurement amount weight end, and the size of tested unmanned plane lift is by formula G 1l 1=(F 1+ G 2) L 2obtain, wherein G 1for mass, L 1for the distance of ground supports seat and measurement amount weight end, F 1for tested unmanned plane lift, L 2for the distance of ground supports seat and load-bearing unmanned plane end, G 2for tested unmanned plane is conducted oneself with dignity.
Described unmanned plane load-bearing end, comprise supporting frame, rolling disc, hinged end, universal wheel, supporting frame is processed as regular grid form, not only alleviate quality but also convenient fixing, rolling disc and below mechanism adopt through-drive, and along with tested unmanned plane rotates, whole load-bearing end rotates.
Described ground supports seat centrally even circumferential arranges multiple reinforcement, and reinforcement is arranged with universal wheel.
Described measurement amount weight end is provided with storage district, universal wheel.
Beneficial effect of the present invention is:
(1) effectively prevent the generation easily causing collision so that damage fuselage problem, ensureing under the conditions such as the different wind speed in height greenhouse can normal flight, thus its cold-resistant heat resistanceheat resistant performance of Validity Test;
(2) this device adopts parallel four-bar linkage stop means in addition, can reach the flight test in limited range and test;
(3) fly under unmanned plane access expansion state can be made, and equal keeping parallelism state; Due to the high temperature resistant anti-high and cold performance of unmanned plane need be tested, the test platform carrying unmanned plane need be put into high-low temperature chamber, therefore this device size and spacing meet move in high-low temperature chamber, contribute to decreasing the carrying in outdoor test and environmental impact.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 (a) is gear train motion state 1 schematic diagram;
Fig. 2 (b) is gear train motion state 2 schematic diagram;
Fig. 2 (c) is gear train motion state 3 schematic diagram;
Fig. 3 is that structure of the present invention uses schematic diagram;
Fig. 4 (a) is load-bearing unmanned plane end structure figure;
Fig. 4 (b) is load-bearing unmanned plane end schematic diagram;
Fig. 4 (c) is measurement amount weight end schematic diagram.
Wherein 1. tested unmanned planes, 2. load-bearing unmanned plane end, 3. coupling shaft, 4. transmission double leval jib, 5. measurement amount weight end, 6. ground supports seat, 7. supporting frame, 8. rolling disc, 9. hinged end, 10. universal wheel, 11. reinforcements, 12. storage districts.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
A kind of unmanned plane test-bed test macro as shown in Figure 1, comprise tested unmanned plane 1, load-bearing unmanned plane end 2, coupling shaft 3, transmission double leval jib 4, measurement amount weight end 5 (including mass), ground supports seat 6 the present invention can be used for depopulated helicopter inspection, the equipment such as coordinate force sensor, speed pickup can realize the inspection of high-precision high-reliability.
This device adopts parallel four-bar linkage, and angular velocity is consistent connecting rod translation all the time, and utilize this feature can make device in motion process, do parallel and synchronous motion, what reach unmanned plane does not hinder flexible motion, and assurance device two ends remain level.Bar and two ends adopt hinged, utilize symmetric space to be installed by two ends load carrier.
Parallel four-bar linkage is made up of two square steel parallel to each other, itself and ground supports seat chain connection.One side of test platform is fixed on the left end point place of section material frame, and this is load-bearing unmanned plane end, at long end and its chain connection of lever section material frame.The opposite side of test platform is fixed on right side short end and its chain connection of lever section bar, and be measurement amount weight end, be provided with pressure/pulling force sensor in bearing, the rotary parts such as described unmanned plane load-bearing end, measurement amount weight end all arrange speed probe herein.
Due to the singularity of special required work, the rotation axis at three end places such as this device ground supports seat, measurement amount weight end, load-bearing unmanned plane end axle is for process process especially.Be special processing technology between axle and bearing, can reach spacing function, damping is better, avoids rotation dirigibility too high, and the effective rotation dirigibility controlling to rotate, reduces moment of inertia, reach Validity Test, the feature that can produce a desired effect.
Can complete on test board according to this device of testing requirement that unmanned plane rotates, advances, the operation such as swing, due to the characteristic that device is levelling, in executable operations, no matter how telepilot operates all can ensure that unmanned plane is in horizontal level, solve the task that in the past cannot complete in temperature controlled compartment, avoid in test and collide envelope all directions.
This device specific works process:
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
1, patent of the present invention provides a kind of and is used in the device detecting unmanned plane performance, and this device flies under can making unmanned plane access expansion state, and equal keeping parallelism state; Due to the high temperature resistant anti-high and cold performance of unmanned plane need be tested, the test platform carrying unmanned plane need be put into high-low temperature chamber, therefore this device size and spacing meet move in high-low temperature chamber.
2, motion principle is as shown in Fig. 2 (a), 2 (b), 2 (c), originally load-bearing end is at lowermost end, the position of motion 1 is in when tested unmanned plane 1 takes off, left end (load-bearing unmanned plane end 2) starts to rotate clockwise centered by middle hinge, the weight of measurement amount thereupon end 5 rotates clockwise, can obtain lift size according to formula after reaching motion 2 position, the change each position along with lift changes to motion 3 position.
Adopt leverage can test raising force etc. according to its principle, two ends fix weight and unmanned plane respectively, and wherein long arm end fixes unmanned plane.The length function of long-armed galianconism sets according to specific requirement, according to lever principle, arranges tested unmanned plane at long arm end, heavy substance gauge block at galianconism end, by formula G 1l 1=(F 1+ G 2) L 2the size of tested unmanned plane lift can be obtained, wherein G 1for heavy substance amount, L 1galianconism is long, F 1for tested unmanned plane lift, L 2for long-armed length, G 2for tested unmanned plane is conducted oneself with dignity.
This device can complete reliable motion.Transmission four-bar mechanism 4 is made up of two square steel parallel to each other, itself and ground supports seat 6 chain connection, when unmanned plane is in state of flight, this mechanism can ensure the displacement limits value that moves up and down, its angular velocity is consistent and makes connecting rod translation all the time, utilize this feature can make device in motion process, do parallel and synchronous motion, reach and be flexible coupling with the real time kinematics of unmanned plane, and assurance device two ends remain level.
Load-bearing unmanned plane end structure is as shown in Fig. 4 (a): be arranged on this end points according to the size of actual unmanned plane, concrete structure as shown in the figure, for ensureing single unit system weight and reliability of structure, have employed frame-type, unmanned plane can be utilized general fixing means to be fixed detection of testing.Supporting frame 7 is processed as regular grid form, not only alleviates quality but also can make convenient fixing, and rolling disc 8 and below mechanism adopt through-drive, and along with tested unmanned plane 1 rotates, whole load-bearing end rotates.
As shown in Fig. 4 (b), be column construction and can rotate together with rotation axis below load-bearing unmanned plane end 2, ground supports seat 6 is vertically placed on the ground, and ground supports seat arranges 6 reinforcements 11 around circle, installs 6 universal wheels 10 below it.
Measurement amount weight end 5 structure is as shown in Fig. 4 (c): for convenience of the size calculating lift, galianconism place installs and measures weight block structure, hinged with double leval jib, this structure adopts the housing of certain wall thickness, puts into the mass of different quality to obtain lift according to actual conditions.
The technical scheme of patent of the present invention is not limited to the restriction of above-mentioned concrete enforcement, such as arranges sensor on this basis, utilizes data collecting card image data to be presented on PC.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.

Claims (10)

1. the unmanned plane test bench system for inspection, it is characterized in that: comprise load-bearing unmanned plane end, ground supports seat, gear train and measurement amount weight end, wherein, load-bearing unmanned plane end is used for laying testee, load-bearing unmanned plane end is by one end of coupling shaft connection for transmission mechanism, the other end of gear train is provided with check weighing thing end, check weighing thing end is provided with mass, gear train is provided with ground supports seat, during test, the rotational angular velocity of gear train is consistent, and gear train translation all the time, make test bench system in motion process, do parallel and synchronous motion, what reach unmanned plane does not hinder flexible motion, and assurance device two ends remain level.
2. a kind of unmanned plane test bench system for inspection as claimed in claim 1, it is characterized in that: described ground supports seat is vertically positioned on steady face, described ground supports seat centrally even circumferential arranges multiple reinforcement, and reinforcement is arranged with universal wheel.
3. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: described gear train is parallel four-bar linkage, comprises two square steel parallel to each other, gear train and ground supports seat hinged.
4. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: be provided with pressure/pulling force sensor in described check weighing thing end.
5. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: the rotary part of described unmanned plane load-bearing end, measurement amount weight end all arranges speed probe.
6. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: described unmanned plane load-bearing end, measurement amount weight end and ground supports seat are provided with stop means.
7. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: the distance of described ground supports seat and load-bearing unmanned plane end is greater than the distance of ground supports seat and measurement amount weight end.
8. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: described mass is positioned over measurement amount weight end, and the size of tested unmanned plane lift is by formula G 1l 1=(F 1+ G 2) L 2obtain, wherein G 1for mass, L 1for the distance of ground supports seat and measurement amount weight end, F 1for tested unmanned plane lift, L 2for the distance of ground supports seat and load-bearing unmanned plane end, G 2for tested unmanned plane is conducted oneself with dignity.
9. a kind of unmanned plane test bench system for inspection as claimed in claim 1, it is characterized in that: described unmanned plane load-bearing end, comprise supporting frame, rolling disc, hinged end, universal wheel, supporting frame is processed as regular grid form, not only alleviate quality but also convenient fixing can be made, rolling disc and below mechanism adopt through-drive, and along with tested unmanned plane rotates, whole load-bearing end rotates.
10. a kind of unmanned plane test bench system for inspection as claimed in claim 1, is characterized in that: described measurement amount weight end is provided with storage district, universal wheel.
CN201510396797.6A 2015-07-08 2015-07-08 A kind of unmanned plane test bench system for being used to examine detection Active CN104990719B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106679930A (en) * 2016-12-06 2017-05-17 中国航空工业集团公司成都飞机设计研究所 Vehicle-mounted aerodynamic force and power test-measurement method and device of small unmanned aerial vehicle (UAV)
CN107228720A (en) * 2017-03-31 2017-10-03 长光卫星技术有限公司 Duct coaxial double-rotary wing unmanned plane aerodynamic characteristics tests platform
CN107472554A (en) * 2017-07-31 2017-12-15 中国航空工业集团公司西安飞机设计研究所 A kind of unmanned plane vehicle-mounted pneumatic force test system
CN107757946A (en) * 2016-08-16 2018-03-06 华中农业大学 Small-sized multi-rotor unmanned aerial vehicle flight test fixed platform
CN108106851A (en) * 2018-02-24 2018-06-01 浙江天遁航空科技有限公司 A kind of small drone engine push-pull effort test acquisition pilot system

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CN102109418A (en) * 2009-12-29 2011-06-29 贵州贵航无人机有限责任公司 Simulation test method and simulation test system for unmanned aerial vehicle (UAV) system
KR20110087442A (en) * 2010-01-26 2011-08-03 경북대학교 산학협력단 4 degree type test apparatus for an unmanned helicopter
CN204789006U (en) * 2015-07-08 2015-11-18 国网山东省电力公司电力科学研究院 A unmanned aerial vehicle test bench system for test detection

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KR0173292B1 (en) * 1995-10-07 1999-05-15 석진철 Autopilot pitch control apparatus of pilotless helicopter
CN1731124A (en) * 2005-07-04 2006-02-08 浙江大学 Test bench for testing flight performance of small-sized helicopter
KR20090104207A (en) * 2008-03-31 2009-10-06 원신 스카이텍 주식회사 Test apparatus for an unmanned helicopter
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Publication number Priority date Publication date Assignee Title
CN107757946A (en) * 2016-08-16 2018-03-06 华中农业大学 Small-sized multi-rotor unmanned aerial vehicle flight test fixed platform
CN106679930A (en) * 2016-12-06 2017-05-17 中国航空工业集团公司成都飞机设计研究所 Vehicle-mounted aerodynamic force and power test-measurement method and device of small unmanned aerial vehicle (UAV)
CN107228720A (en) * 2017-03-31 2017-10-03 长光卫星技术有限公司 Duct coaxial double-rotary wing unmanned plane aerodynamic characteristics tests platform
CN107228720B (en) * 2017-03-31 2019-06-04 长光卫星技术有限公司 Duct coaxial double-rotary wing unmanned plane aerodynamic characteristics tests platform
CN107472554A (en) * 2017-07-31 2017-12-15 中国航空工业集团公司西安飞机设计研究所 A kind of unmanned plane vehicle-mounted pneumatic force test system
CN108106851A (en) * 2018-02-24 2018-06-01 浙江天遁航空科技有限公司 A kind of small drone engine push-pull effort test acquisition pilot system

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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000

Co-patentee after: National Network Intelligent Technology Co., Ltd.

Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company

Co-patentee after: State Grid Corporation of China

Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000

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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park)

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