CN105114777A - Debugging universal platform of multi-rotor aircraft - Google Patents

Abstract

The invention discloses a multi-rotor aircraft debugging universal platform, which includes a cavity base, a rotating ball cavity is arranged on the cavity base, the lower part of the rotating ball cavity is a cylindrical cavity, and the top of the rotating ball cavity is an upward protrusion The hemispherical cavity; the cylindrical cavity is equipped with a rotating ball tray, the rotating ball tray is a cylinder, and the top of the rotating ball tray is a sunken hemisphere, the rotating ball tray can move up and down in the cylindrical cavity, and the rotating ball cavity A rotating ball is arranged between the hemispherical cavity protruding upwards at the top of the body and the hemispherical body recessed at the top of the rotating ball tray, and the top of the rotating ball is connected with a universal shaft; the invention is a multi-rotor aircraft debugging universal platform, Directly fix the aircraft on the cardan shaft, the aircraft can rotate freely, and the debugging is intuitive; realize the joint adjustment of multiple motor PID parameters, and accurately observe and judge the accuracy of each PID parameter; and the structure is simple, the cost is low, the debugging cycle is short, and the debugging parameters High accuracy brings convenience to users.

Description

Multi-rotor aircraft debugging universal platform

technical field

The invention belongs to the field of mechanical design, in particular to a multi-rotor aircraft debugging universal platform.

Background technique

The balance adjustment of quadrotor and other multi-rotor aircraft has always been a difficult problem. In order to adjust the PID (proportional, differential, integral) parameters of the aircraft, the conventional method is to fix the aircraft on a one-dimensional rotating shaft and adjust the PID parameters of the two motors individually. , after the adjustment, fix the shaft again, and then adjust the PID parameters of the other two motors. This adjustment method is cumbersome. During the debugging process, the aircraft cannot rotate freely, and it cannot truly reflect the quality of the PID parameters of each motor, and it cannot realize the joint debugging of the PID parameters of multiple motors. The debugging cycle is long, and the accuracy of the final debugging results is low.

Contents of the invention

Purpose of the invention: the present invention provides a multi-rotor aircraft debugging universal platform to solve the problems in the prior art.

Technical solution: In order to achieve the above object, the present invention adopts the following technical solutions:

A multi-rotor aircraft debugging universal platform, including a cavity base, the cavity base is provided with a rotating ball cavity, the lower part of the rotating ball cavity is a cylindrical cavity, and the top of the rotating ball cavity is an upwardly protruding hemisphere body cavity; the cylinder cavity is provided with a rotating ball tray, the rotating ball tray is a cylinder, and the top of the rotating ball tray is a sunken hemisphere, and the rotating ball tray can move up and down in the cylinder cavity, so A rotating ball is arranged between the hemispherical cavity whose top protrudes upwards in the revolving ball cavity and the hemispherical body recessed at the top of the revolving ball tray. In the rotating ball cavity, two nuts and washers are installed on the cardan shaft.

Preferably, the hemispherical cavity whose top protrudes upwards in the rotating sphere cavity is a smooth hemispherical cavity.

Further, the hemispherical cavity with the top protruding upwards in the rotating ball cavity and the hemispherical body recessed at the top of the rotating ball tray form a spherical cavity, and the spherical cavity is a rotating ball, and the diameter of the spherical cavity is larger than that of the rotating ball. The diameter of the ball.

Preferably, the inner wall of the cylindrical cavity of the rotating ball cavity and the outer wall of the rotating ball tray are provided with matching threads.

Preferably, the bottom of the rotating ball tray is provided with a cross groove.

Further, the cardan shaft is provided with threads, and two nuts and washers are installed on the threads.

Further, fixing screws are provided on the outer wall of the rotating ball cavity in contact with the rotating ball tray.

Further, a hole is provided at the top of the rotating ball cavity, and the cardan shaft protrudes out of the rotating ball cavity through the hole at the top of the rotating ball cavity.

Further, the cavity base is provided with fixing screw holes.

Preferably, there are four fixing screw holes, which are symmetrically distributed on the base of the cavity, and the lines connecting two opposite fixing screw holes are perpendicular to each other.

Beneficial effects: the present invention is a special universal platform for multi-rotor aircraft debugging such as four rotors, directly fixes the aircraft on the universal shaft of the universal platform, the aircraft can rotate freely during debugging, the debugging is intuitive and visible, and multiple Motor PID parameter joint debugging can accurately observe and judge the accuracy of each PID parameter. The invention has the advantages of simple structure, low cost, short debugging period and high accuracy of debugging parameters, which brings convenience to users.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the rotation ball of the present invention and cardan shaft

Fig. 3 is the top view of Fig. 2;

Fig. 4 is a schematic structural view of the rotating ball cavity of the present invention;

Figure 5 is a top view of Figure 4;

Fig. 6 is a schematic structural view of the rotating ball tray of the present invention;

Fig. 7 is the bottom view of Fig. 6;

Fig. 8 is one of the use status diagrams of the present invention;

Fig. 9 is the second use state diagram of the present invention;

Fig. 10 is the third usage status diagram of the present invention;

Among them: 1-rotating ball, 2-rotating ball cavity, 3-cavity base, 4-rotating ball tray, 5-cardan shaft, 6-nut washer, 7-fixing screw, 8-fixing screw hole.

Detailed ways

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

As shown in Figures 1-7, a multi-rotor aircraft debugging universal platform includes a cavity base 3, a rotating ball cavity 2 is arranged on the cavity base 3, and the lower part of the rotating ball cavity 2 is a cylindrical hollow. Cavity, the top of the rotating ball cavity 2 is an upwardly protruding hemispherical cavity; the cylindrical cavity is provided with a rotating ball tray 4, the rotating ball tray 4 is a cylinder, and the top of the rotating ball tray 4 is a sunken hemisphere body, the rotating ball tray 4 can move up and down in the cylinder cavity, and the hemisphere cavity with the top protruding upwards in the rotating ball cavity 2 is set between the hemisphere cavity with the top of the rotating ball tray 4 recessed downwards There is a rotating ball 1, inside the rotating ball chamber 2, a rotating ball 1 is installed, and the rotating ball 1 is supported in the vertical direction by the rotating ball tray 4, and the top of the rotating ball 1 is connected with a universal shaft 5, and the universal shaft 5 is connected to the rotating ball. The shaft 5 protrudes from the rotating ball cavity 2, and two pieces of nut washers 6 are installed on the universal shaft 5.

The hemispherical cavity whose top protrudes upwards in the rotating sphere cavity 2 is a smooth hemispherical cavity.

The hemispherical cavity protruding upwards at the top of the rotating ball cavity 2 and the downwardly recessed hemispherical body of the rotating ball tray 4 form a spheroid cavity, and the spheroid cavity is a rotating ball 1, and the diameter of the spheroid cavity is larger than The diameter of the rotating ball 1, the rotating ball tray 4 enters the inside of the rotating ball cavity 2 from the bottom of the rotating ball cavity 2 by screwing. By adjusting the height of the rotating ball tray 4 inside the rotating ball cavity 2, finally the rotating ball tray 4 and the rotating ball cavity 2 form a spherical cavity, the size of the spherical cavity is equivalent to the size of the rotating ball 1, in order to ensure as much as possible The rotating ball 1 can freely rotate without damping in the spherical cavity, and the volume of the spherical cavity is slightly larger than that of the rotating ball 1 .

The inner wall of the cylindrical cavity of the rotating ball cavity 2 and the outer wall of the rotating ball tray 4 are provided with matching threads.

The bottom of the rotating ball tray 4 is provided with a cross groove. When the rotating ball 1 is loaded into the rotating ball cavity 2 to the top, the rotating ball tray column 4 can be rotated to the inside of the rotating ball cavity 2 with a Phillips screwdriver through the cross groove, and adjusted The height of the rotating ball tray column 4 allows the rotating ball 1 to freely rotate in the sphere formed by the rotating ball cavity 2 and the rotating ball tray column 4 . .

The cardan shaft 5 is provided with threads, and two nut washers 6 are installed on the threads. On the rotating ball 1, a cardan shaft 5 pointing to the center of the rotating ball 1 is fixed. On the cardan shaft 5, there are Thread has two nut washers 6 thereon, and the nut washers 6 are used to fix the aircraft to be debugged, and the aircraft frame to be debugged can be clamped by rotating the nut washers 6. The rotating ball 1, the cardan shaft 5, the nut washer 6 and the aircraft to be debugged are a whole, which can freely rotate around the center of the rotating ball 1 along any direction, so that the aircraft body can be rotated in any direction during the debugging process. The purpose of free rotation.

The outer wall of the rotating ball cavity 2 in contact with the rotating ball tray 4 is provided with a fixing screw 7, after adjusting the position of the rotating ball tray 4, the position of the rotating ball tray 4 is fixed by the fixing screw 7, so that the rotating ball The position of the tray column 4 relative to the rotating ball cavity 2 is fixed.

The top of the rotating ball chamber 2 is provided with a hole, and the cardan shaft 5 protrudes out of the rotating ball chamber 2 through the hole at the top of the rotating ball chamber 2 .

The cavity base 3 is provided with fixing screw holes 8 .

There are four fixing screw holes 8, which are symmetrically distributed on the cavity base 3, and the lines of the two opposite fixing screw holes 8 are perpendicular to each other; 4 fixing screw holes 8. The fixing screw holes are used to fix the entire rotating ball cavity 2 and the cavity base 3, and fix it on other desktops to prevent the rotating ball cavity 2 and the cavity base 3 from shaking and unstable during the debugging process of the aircraft.

As shown in Figure 8, the multi-rotor aircraft is tilted to the far left during debugging. At this time, the force of the left motor should be increased and the force of the right motor should be decreased.

As shown in Figure 9, the multi-rotor aircraft is tilted to the far right during debugging. At this time, the power of the right motor should be increased, and the power of the left motor should be reduced.

The situation of aircraft tilting to other angles is similar to that shown in Figure 8 and Figure 9 .

As shown in Figure 10, the successful debugging of the multi-rotor aircraft. , when the aircraft is finally adjusted to this situation and stabilized, the aircraft balance adjustment is completed.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A multi-rotor aircraft debugging universal platform is characterized in that: it comprises a cavity base (3), the cavity base (3) is provided with a rotating ball cavity (2), and the rotating ball cavity (2) The inner and lower part is a cylindrical cavity, and the inner top of the rotating ball cavity (2) is an upwardly protruding hemispherical cavity; a rotating ball tray (4) is arranged in the cylindrical cavity, and the rotating ball tray (4) is Cylinder, the top of the rotating ball tray (4) is a sunken hemisphere, the rotating ball tray (4) can move up and down in the cavity of the cylinder, and the top of the rotating ball cavity (2) has a hemisphere protruding upwards A rotating ball (1) is arranged between the cavity of the body and the downwardly recessed hemisphere at the top of the rotating ball tray (4), and the top of the rotating ball (1) is connected with a cardan shaft (5), and the cardan shaft ( 5) It protrudes from the rotating ball cavity (2), and two nut washers (6) are installed on the cardan shaft (5). 2. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the hemispherical cavity with the top protruding upward in the rotating ball cavity (2) is a smooth hemispherical cavity. 3. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the hemispherical cavity with the top protruding upward in the rotating ball cavity (2) and the rotating ball tray (4) top downward The depressed hemisphere forms a spherical cavity, and the rotating ball (1) is inside the spherical cavity, and the diameter of the spherical cavity is larger than that of the rotating ball (1). 4. multi-rotor aircraft debugging universal platform according to claim 1, is characterized in that: on the inner wall of the cylinder cavity of described rotating ball cavity (2) and on the outer wall of rotating ball tray (4) be provided with Matching threads. 5. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the bottom of the rotating ball tray (4) is provided with a cross groove. 6. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: said cardan shaft (5) is provided with threads, and two nut washers (6) are installed on the threads. 7. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the outer wall of the rotating ball cavity (2) in contact with the rotating ball tray (4) is provided with fixing screws (7) . 8. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the top of the rotating ball cavity (2) is provided with a hole, and the cardan shaft (5) passes through the rotating ball cavity (2) ) The hole at the top protrudes out of the rotating ball cavity (2). 9. The multi-rotor aircraft debugging universal platform according to claim 1, characterized in that: the cavity base (3) is provided with fixing screw holes (8). 10. The multi-rotor aircraft debugging universal platform according to claim 9, characterized in that: there are four fixing screw holes (8), which are symmetrically distributed on the cavity base (3), and the two opposite The connecting lines of the fixing screw holes (8) are perpendicular to each other.