CN104990719B - A kind of unmanned plane test bench system for being used to examine detection - Google Patents
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- CN104990719B CN104990719B CN201510396797.6A CN201510396797A CN104990719B CN 104990719 B CN104990719 B CN 104990719B CN 201510396797 A CN201510396797 A CN 201510396797A CN 104990719 B CN104990719 B CN 104990719B
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- 238000001514 detection method Methods 0.000 title claims abstract description 20
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 6
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Abstract
The invention discloses a kind of unmanned plane test bench system for being used to examine detection, including the unmanned generator terminal of load-bearing, ground supports seat, transmission mechanism and meter measurement weight end, wherein, the unmanned generator terminal of load-bearing is used to bear testee, the unmanned generator terminal of load-bearing is by connecting one end of axis connection transmission mechanism, the other end of transmission mechanism is equipped with check weighing thing end, check weighing thing end is equipped with mass block, transmission mechanism is equipped with ground supports seat, during test, the rotational angular velocity of transmission mechanism is consistent, and transmission mechanism is translatable all the time, test bench system is set to make parallel and synchronous movement during the motion, reach the flexible without hindrance movement of unmanned plane.It is of the invention overall employ parallel four-bar linkage and carry out tested unmanned plane ask flat, and endpoint weight is carried out to change adjustment in real time according to the weight size of measured object.This test-bed with ground without fixing, using universal wheel so that mobile convenient transportation.
Description
Technical field
The present invention relates to a kind of unmanned plane test bench system for being used to examine detection.
Background technology
Efforts To Develop, unmanned helicopter carry unmanned helicopter in the civil fields such as electric power, geological mapping, agricultural
The systems such as gondola, pesticide spraying, it is ensured that in reasonable time to Mission Operations needed for each field, complete electric power in time and patrol
The tasks such as inspection, geological mapping, pesticide spraying.
Unmanned plane has become the development priority of following civilian operation, in order to ensure that the performance of unmanned plane used in each field is closed
Lattice, it, which tests the performance indicator of unmanned plane, certainly will become an emphasis.Current still no special equipment examines unmanned plane performance
Survey, be only detected by way of flight test, required spatial domain is larger, and security reduces.
(1) unmanned plane need to fly under various circumstances in actual job, so detection unmanned plane need to be low in high temperature
Test flight is carried out when warm difference wind speed, it is necessary to the height greenhouse that volume is larger is set, it is of high cost；
(2) interior aerial mission of making is relatively narrow in a limited space, and easily causes collision so that damage fuselage.
Therefore a kind of unmanned helicopter test device is urgently developed, helps more quickly to carry out unmanned plane inspection detection work
Make.
The content of the invention
The present invention is to solve the above-mentioned problems, it is proposed that a kind of unmanned plane test bench system for being used to examine detection, this
System, which integrally employs parallel four-bar linkage and carries out tested unmanned plane, asks flat, and according to the weight size of measured object to endpoint weight
Thing carries out changing adjustment in real time.This test-bed with ground without fixing, using universal wheel so that mobile convenient transportation.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of unmanned plane test bench system for being used to examine detection, including the unmanned generator terminal of load-bearing, ground supports seat, transmission
Mechanism and check weighing thing end, wherein, the unmanned generator terminal of load-bearing is used to place testee, and the unmanned generator terminal of load-bearing is passed by connecting axis connection
One end of motivation structure, the other end of transmission mechanism is measurement weight end, and measurement weight end is equipped with mass block, and transmission mechanism is equipped with
Ground supports seat, during test, the rotational angular velocity of transmission mechanism is consistent, and transmission mechanism is translatable all the time, makes test-bed
System makees parallel and synchronous movement during the motion, reaches the flexible without hindrance movement of unmanned plane, and ensure device both ends
Remain horizontal.
The ground supports seat is disposed vertically on steady ground, and ground supports seat lower end is equipped with universal wheel.
The transmission mechanism is parallel four-bar linkage, including two square steel parallel to each other, transmission mechanism and ground branch
Support seat is hinged.
Pressure/pulling force sensor is equipped with the check weighing thing end.
The unmanned generator terminal of the load-bearing, the rotary part at check weighing thing end are respectively provided with speed probe.
Load-bearing unmanned generator terminal, check weighing thing end and the ground supports seat are equipped with limiting device, avoid rotating flexibility
Height, effectively controls rotating rotation flexibility, adds rotary inertia.
The ground supports seat and the distance of the unmanned generator terminal of load-bearing are more than ground supports seat and the distance at check weighing thing end.
The mass block is positioned over check weighing thing end, and the size of tested unmanned plane lift is by formula G1L1=(F1+G2)L2Ask
Go out, wherein G1For mass block, L1For ground supports seat and the distance at check weighing thing end, F1For tested unmanned plane lift, L2For ground branch
Support seat and the distance of the unmanned generator terminal of load-bearing, G2For tested unmanned plane dead weight.
The unmanned generator terminal of load-bearing, including supporting frame, rotating disc, hinged end, universal wheel, supporting frame are processed as rule
Grid configuration, had not only mitigated quality but also convenient fixation, rotating disc are driven with following mechanism using axis, as tested unmanned plane rotates,
The whole unmanned generator terminal of load-bearing rotates.
The ground supports seat is uniformly arranged multiple reinforcing ribs along center circumferential, and reinforcing rib is arranged with universal wheel.
The check weighing thing end is equipped with storage area, universal wheel.
Beneficial effects of the present invention are：
(1) it effectively prevent and be easy to cause collision so that the generation of damage fuselage problem, ensures in height greenhouse difference wind
Speed wait under the conditions of can normal flight so that its cold-resistant heat resistanceheat resistant performance of Validity Test；
(2) device uses parallel four-bar linkage limiting device in addition, can reach the flight examination in the range of restriction
Test and test；
(3) it can make unmanned plane is close to fly under natural conditions, and keeping parallelism state；Since unmanned plane need to be tested
High temperature resistant resists high and cold performance, need to by carry unmanned plane test platform be put into high-low temperature chamber, therefore this device size with it is spacing can
Satisfaction is moved in high-low temperature chamber, and the carrying and environment helped to reduce in outdoor test influences.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 (a) is 1 schematic diagram of transmission mechanism motion state；
Fig. 2 (b) is 2 schematic diagram of transmission mechanism motion state；
Fig. 2 (c) is 3 schematic diagram of transmission mechanism motion state；
Fig. 3 uses schematic diagram for structure of the present invention；
Fig. 4 (a) is load-bearing unmanned plane end structure figure；
Fig. 4 (b) is ground supports seat schematic diagram；
Fig. 4 (c) is check weighing thing end schematic diagram.
Wherein 1. tested unmanned planes, the unmanned generator terminal of 2. load-bearing, 3. connecting shafts, 4. transmission double leval jibs, 5. check weighing thing ends, 6. ground
Face support base, 7. supporting frames, 8. rotating discs, 9. hinged ends, 10. universal wheels, 11. reinforcing ribs, 12. storage areas.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of unmanned plane test-bed test system as shown in Figure 1, including tested unmanned plane 1, the unmanned generator terminal 2 of load-bearing,
Connecting shaft 3, transmission double leval jib 4, check weighing thing end 5 (including mass block), the present invention of ground supports seat 6 can be used for unmanned helicopter to examine
Detection is tested, coordinates the equipment such as force snesor, velocity sensor to realize the inspection detection of high-precision high-reliability.
The device uses parallel four-bar linkage, and angular speed is consistent connecting rod and is translatable all the time, can be made using this feature
Device makees parallel and synchronous movement during the motion, reaches the flexible motion that do not hinder of unmanned plane, and ensures that device both ends are begun
Keep eventually horizontal.Bar, using being hinged, is installed both ends load carrier using symmetric space with both ends.
Parallel four-bar linkage is made of two square steel parallel to each other, itself and ground supports seat hinge connection.Test is flat
A side of platform is fixed at the left end point of section material frame, this is the unmanned generator terminal of load-bearing, at the long end of lever section material frame and its hinge
Connection.The opposite side of test platform is fixed on right side short end and its hinge connection of lever section bar, is herein check weighing thing end, bearing
Inside it is provided with pressure/pulling force sensor, the rotary part such as the unmanned generator terminal of the load-bearing, check weighing thing end is respectively provided with speed probe.
Due to the particularity of special required work, this device ground supports seat, check weighing thing end, the unmanned generator terminal of load-bearing etc. three
Connecting shaft at end is special working process.It is special processing technology between axis and bearing, can reach spacing function, damping effect
Fruit is preferable, avoid rotate flexibility it is excessive, effectively control rotating rotation flexibility, add rotary inertia, reaching has
Effect test, the characteristics of can achieving the desired results.
It can complete that unmanned plane is rotated, advanced, the operation such as swing on testboard according to the testing requirements devices, by
In the levelling characteristic of device, no matter how remote controler, which operates, in operation is performed can ensure at unmanned plane in horizontal level, solution
Determine can not being completed in temperature controlled compartment in the past for task, avoided and carriage body all directions are collided in test.
This device specific work process：
The present invention will now be described in detail with reference to the accompanying drawings and examples.
1st, patent of the present invention provides a kind of device for being used in detection unmanned plane performance, which can approach unmanned plane
Fly under natural conditions, and keeping parallelism state；High temperature resistant due to that need to test unmanned plane resists high and cold performance, need to will carry nobody
The test platform of machine is put into high-low temperature chamber, therefore this device size meets to move in high-low temperature chamber with spacing.
2nd, motion principle such as Fig. 2 (a), 2 (b), shown in 2 (c), the unmanned generator terminal of originally load-bearing is in lowermost end, when being tested nobody
Machine 1 is in the position of movement 1 when taking off, left end (the unmanned generator terminal 2 of load-bearing) starts to rotate clockwise centered on middle hinge, with
Check weighing thing end 5 rotate clockwise, when reach movement 2 positions after lift size can be obtained according to formula, with the change of lift
Change each position and change to 3 positions of movement.
Climbing power etc. can be tested according to its principle using leverage, weight and unmanned plane are fixed in both ends respectively, its
Middle long arm end fixes unmanned plane.The length function of long-armed galianconism is set according to specific requirement, according to lever principle, sets tested nothing
It is man-machine in long arm end, weight mass block is at galianconism end, by formula G1L1=(F1+G2)L2The big of tested unmanned plane lift can be obtained
It is small, wherein G1Attach most importance to amount of substance, L1Galianconism is grown, F1For tested unmanned plane lift, L2For long brachium, G2For tested unmanned plane dead weight.
The device can be completed reliably to move.Transmission quadric chain 4 is made of two square steel parallel to each other, itself and ground
6 hinge connection of face support base, when unmanned plane is in state of flight, this mechanism can ensure up and down motion displacement limits value, its angle
Speed, which is consistent, makes connecting rod be translatable all the time, using this feature device can be made to make parallel and synchronous fortune during the motion
It is dynamic, reach and be flexible coupling with the real time kinematics of unmanned plane, and ensure that device both ends remain horizontal.
Shown in load-bearing unmanned plane end structure such as Fig. 4 (a)：Installed according to the size of actual unmanned plane in this endpoint, specific knot
Structure employs frame-type as shown in the figure, to ensure single unit system weight and reliability of structure, can be by unmanned plane using generally admittedly
The method of determining is fixed detection of testing.Supporting frame 7 is processed as regular grid form, has not only mitigated quality but also can make fixation side
Just, rotating disc 8 is driven with following mechanism using axis, and as tested unmanned plane 1 rotates, the whole unmanned generator terminal of load-bearing rotates
As shown in Fig. 4 (b), column construction is in the lower section of ground supports seat 6 and can be rotated together with connecting shaft, ground supports seat
6 are disposed vertically on the ground, and ground supports seat sets 6 reinforcing ribs 11 around circle, install 6 universal wheels 10 below.
Shown in 5 structure such as Fig. 4 (c) of check weighing thing end：For convenience of the size for calculating lift, measurement weight agllutination is installed at galianconism
Structure, is hinged with double leval jib, which uses the housing of certain wall thickness, according to actual conditions be put into the mass block of different quality so as to
Obtain lift.
The technical solution of patent of the present invention is not limited to the limitation of above-mentioned specific implementation, for example sets sensing on this basis
Device, is shown in PC machine using data collecting card gathered data.
Although above-mentioned be described the embodiment of the present invention with reference to attached drawing, model not is protected to the present invention
The limitation enclosed, those skilled in the art should understand that, on the basis of technical scheme, those skilled in the art are not
Need to make the creative labor the various modifications that can be made or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of unmanned plane test bench system for being used to examine detection, it is characterized in that：Including the unmanned generator terminal of load-bearing, ground supports
Seat, transmission mechanism and check weighing thing end, wherein, the unmanned generator terminal of load-bearing is used to place testee, and the unmanned generator terminal of load-bearing passes through connection
One end of axis connection transmission mechanism, the other end of transmission mechanism are equipped with check weighing thing end, and check weighing thing end is equipped with mass block, transmission mechanism
It is equipped with ground supports seat；
The transmission mechanism is parallel four-bar linkage, including two square steel parallel to each other, transmission mechanism and ground supports seat
Hinged, load-bearing unmanned generator terminal, check weighing thing end and the ground supports seat are equipped with limiting device, ground supports seat, check weighing thing end,
Connecting shaft at three ends of the unmanned generator terminal of load-bearing is special working process, is special processing technology between connecting shaft and bearing, can
Reach spacing function, damping is preferable, avoid rotate flexibility it is excessive, effectively control rotating rotation flexibility,
The characteristics of adding rotary inertia, reach Validity Test, can achieving the desired results；
During test, the rotational angular velocity of transmission mechanism is consistent, and transmission mechanism is translatable all the time, is transporting test bench system
Make parallel and synchronous movement during dynamic, reach the flexible motion that do not hinder of unmanned plane, and ensure that device both ends remain water
It is flat.
2. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The ground
Support base is disposed vertically on steady face, and the ground supports seat is uniformly arranged multiple reinforcing ribs along center circumferential, under reinforcing rib
It is provided with universal wheel.
3. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The check weighing
Pressure/pulling force sensor is equipped with thing end.
4. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The load-bearing
Unmanned generator terminal, the rotary part at check weighing thing end are respectively provided with speed probe.
5. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The ground
Support base and the distance of the unmanned generator terminal of load-bearing are more than ground supports seat and the distance at check weighing thing end.
6. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The quality
Block is positioned over check weighing thing end, and the size of tested unmanned plane lift is by formula G1L1=(F1+G2)L2Obtain, wherein G1For quality
Block, L1For ground supports seat and the distance at check weighing thing end, F1For tested unmanned plane lift, L2For ground supports seat and load-bearing nobody
The distance of generator terminal, G2For tested unmanned plane dead weight.
7. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The load-bearing
Unmanned generator terminal, including supporting frame, rotating disc, hinged end and universal wheel, supporting frame are fixedly connected on rotating disc upper surface, turn
The hinged end of Moving plate and lower section is driven using axis, and universal wheel is fixedly connected on the lower section of hinged end, and hinged end side surface passes through connection
One end of axis connection transmission mechanism, supporting frame are processed as regular grid form, have not only mitigated quality but also can make to be fixed conveniently, and rotate
Disk is driven with supporting frame using axis, and as tested unmanned plane rotates, the whole unmanned generator terminal of load-bearing rotates.
8. a kind of unmanned plane test bench system for being used to examine detection as claimed in claim 1, it is characterized in that：The check weighing
Thing end is equipped with storage area, universal wheel.
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| 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 |
| CN106679930B (en) * | 2016-12-06 | 2019-05-14 | 中国航空工业集团公司成都飞机设计研究所 | Vehicle-mounted small unmanned plane aerodynamic force and Dynamic Characteristics Test measurement method and device |
| 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 |
| CN107651213A (en) * | 2017-04-26 | 2018-02-02 | 天津中德应用技术大学 | Dynamic equilibrium machinery arm |
| 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 |
| CN108146656A (en) * | 2017-12-29 | 2018-06-12 | 江苏方阔航空科技有限公司 | Multifunctional rotary wing helicopter test experiments rack |
| CN108106851B (en) * | 2018-02-24 | 2020-10-13 | 浙江天遁航空科技有限公司 | Small unmanned aerial vehicle engine push-pull force test acquisition test system |
| CN108639377A (en) * | 2018-06-29 | 2018-10-12 | 长沙市云智航科技有限公司 | A kind of aircraft lift test device and method |
| CN110641731B (en) * | 2019-09-29 | 2022-11-15 | 江苏科技大学 | Rotor motor lift force measuring device for multi-rotor unmanned aerial vehicle |
| CN113295316A (en) * | 2021-07-06 | 2021-08-24 | 零重力南京飞机工业有限公司 | Working method of multi-rotor-wing unmanned aerial vehicle power system measurement test bed |
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| KR0173292B1 (en) * | 1995-10-07 | 1999-05-15 | 석진철 | Autopilot pitch control apparatus of pilotless helicopter |
| KR100929131B1 (en) * | 2008-03-31 | 2009-12-01 | 원신 스카이텍 주식회사 | Test device for unmanned helicopter |
| KR101179445B1 (en) * | 2010-01-26 | 2012-09-04 | 경북대학교 산학협력단 | 4 degree type test apparatus for an unmanned helicopter |
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| CN1731124A (en) * | 2005-07-04 | 2006-02-08 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| 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 |
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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 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201030 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) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |