CN105114777A - Debugging universal platform of multi-rotor aircraft - Google Patents
Debugging universal platform of multi-rotor aircraft Download PDFInfo
- Publication number
- CN105114777A CN105114777A CN201510583038.0A CN201510583038A CN105114777A CN 105114777 A CN105114777 A CN 105114777A CN 201510583038 A CN201510583038 A CN 201510583038A CN 105114777 A CN105114777 A CN 105114777A
- Authority
- CN
- China
- Prior art keywords
- cavity
- rotating sphere
- debugging
- pallet
- hemisphere
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The invention discloses a debugging universal platform of a multi-rotor aircraft. The platform comprises a cavity base, wherein a rotating spherical cavity is arranged on the cavity base; the lower part in the rotating spherical cavity is a cylindrical cavity; the top in the rotating spherical cavity is a semispherical cavity upwards projected; a rotating spherical tray is arranged in the cylindrical cavity, and is cylindrical; the top of the rotating spherical tray is a recessed hemisphere; the rotating spherical tray can vertically move in the cylindrical cavity; a rotating ball is arranged between the upwards projected semispherical cavity at the top in the rotating spherical cavity and the downwards recessed hemisphere at the top of the rotating spherical tray; and the top end of the rotating ball is connected with a universal shaft. In the debugging universal platform of the multi-rotor aircraft, the aircraft is directly fixed on the universal shaft, and can freely rotate, so that the debugging is direct; the PID parameter joint debugging of multiple motors is realized; the accuracy degree of each PID parameter is accurately judged and observed; and the platform is simple in structure, low in cost, short in debugging period and high in debugging parameter accuracy, and brings convenience to users.
Description
Technical field
The invention belongs to mechanical design field, particularly a kind of multi-rotor aerocraft debugging gimbaled platform.
Background technique
The multi-rotor aerocraft balance adjustment such as four rotors are thorny problems always, in order to adjust PID (ratio, differential, the integration) parameter of aircraft, conventional method is fixed on by aircraft in one dimension rotating shaft, individual event regulates the pid parameter of two motors, retighten rotating shaft after regulating, then regulate the pid parameter of two other motor.This regulative mode is more loaded down with trivial details, and in debug process, aircraft can not rotate freely, and truly can not reflect the excellent quality of each motor pid parameter, and can not realize the uniting and adjustment of multiple motor pid parameter, and debugging cycle is long, and final debug results degree of accuracy is low.
Summary of the invention
Goal of the invention: the invention provides a kind of multi-rotor aerocraft debugging gimbaled platform, to solve the problems of the prior art.
Technological scheme: to achieve these goals, the present invention by the following technical solutions:
A kind of multi-rotor aerocraft debugging gimbaled platform, comprise cavity base, described cavity base is provided with rotating sphere cavity, in rotating sphere cavity, bottom is cylindrical cavity, and rotating sphere cavity inner top is the hemisphere cavity raised up; Rotating sphere pallet is provided with in cylindrical cavity, described rotating sphere pallet is cylindrical body, rotating sphere tray top is the hemisphere of depression, described rotating sphere pallet can move up and down in cylindrical cavity, the hemisphere cavity that described rotating sphere cavity inner top raises up and hemisphere from rotating sphere tray top to lower recess between be provided with rotating sphere, described rotating sphere top is connected with cardan shaft, and described cardan shaft stretches out in rotating sphere cavity, cardan shaft is provided with two panels nut shim.
Preferably, the hemisphere cavity that described rotating sphere cavity inner top raises up is smooth hemisphere cavity.
Further, the hemisphere cavity that described rotating sphere cavity inner top raises up and rotating sphere tray top form hemispherical cavity to the hemisphere of lower recess, be rotating sphere, and the diameter of hemispherical cavity are greater than the diameter of rotating sphere in hemispherical cavity.
Preferably, the screw thread that matches each other is provided with on the inwall of the cylindrical cavity of described rotating sphere cavity and on the outer wall of rotating sphere pallet.
Preferably, described rotating sphere tray bottom is provided with cross recess.
Further, described cardan shaft is provided with screw thread, screw thread is provided with two panels nut shim.
Further, the outer side wall that described rotating sphere cavity contacts with rotating sphere pallet is provided with set screw.
Further, described rotating sphere cavity top end arranges porose, and described cardan shaft is stretched out in outside rotating sphere cavity by the hole of rotating sphere cavity top end.
Further, described cavity base is provided with fixing threaded hole.
Preferably, described fixing threaded hole is four, and symmetry be distributed on cavity base, the line of two relative fixing threaded holes is orthogonal.
Beneficial effect: the present invention is that the multi-rotor aerocrafts such as a kind of four rotors debug special gimbaled platform, directly aircraft is fixed on the cardan shaft of gimbaled platform, in debugging, aircraft can rotate freely, debugging is directly perceived visible, can realize the uniting and adjustment of multiple motor pid parameter, energy accurate observation judges the order of accuarcy of each pid parameter.Structure of the present invention is simple, and cost is low, and debugging cycle is short, and tuning parameter degree of accuracy is high, brings conveniently to user.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is rotating sphere of the present invention and cardan shaft
Fig. 3 is the plan view of Fig. 2;
Fig. 4 is the structural representation of rotating sphere cavity of the present invention;
Fig. 5 is the plan view of Fig. 4;
Fig. 6 is the structural representation of rotating sphere pallet of the present invention;
Fig. 7 is the worm's eye view of Fig. 6;
Fig. 8 is one of using state figure of the present invention;
Fig. 9 is using state figure bis-of the present invention;
Figure 10 is using state figure tri-of the present invention;
Wherein: 1-rotating sphere, 2-rotating sphere cavity, 3-cavity base, 4-rotating sphere pallet, 5-cardan shaft, 6-nut shim, 7-set screw, 8-fixing threaded hole.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in figs. 1-7, a kind of multi-rotor aerocraft debugging gimbaled platform, comprise cavity base 3, described cavity base 3 is provided with rotating sphere cavity 2, in rotating sphere cavity 2, bottom is cylindrical cavity, and rotating sphere cavity 2 inner top is the hemisphere cavity raised up, rotating sphere pallet 4 is provided with in cylindrical cavity, described rotating sphere pallet 4 is in cylindrical body, rotating sphere pallet 4 top is the hemisphere of depression, described rotating sphere pallet 4 can move up and down in cylindrical cavity, the hemisphere cavity that described rotating sphere cavity 2 inner top raises up and hemisphere from rotating sphere pallet 4 top to lower recess between be provided with rotating sphere 1, inner at rotating sphere cavity 2, rotating sphere 1 is housed, rotating sphere 1 by rotating sphere pallet 4 in the vertical direction pop-up put, described rotating sphere 1 top is connected with cardan shaft 5, described cardan shaft 5 stretches out in rotating sphere cavity 2, cardan shaft 5 is provided with two panels nut shim 6.
The hemisphere cavity that described rotating sphere cavity 2 inner top raises up is smooth hemisphere cavity.
The hemisphere cavity that described rotating sphere cavity 2 inner top raises up and rotating sphere pallet 4 top form hemispherical cavity to the hemisphere of lower recess, be rotating sphere 1 in hemispherical cavity, and the diameter of hemispherical cavity is greater than the diameter of rotating sphere 1, rotating sphere pallet 4 enters the inside of rotating sphere cavity 2 bottom rotating sphere cavity 2 by screw thread rotation.By the height of adjustment rotating sphere pallet 4 in rotating sphere cavity 2 inside, rotating sphere pallet 4 is finally made to form spherical hollow space with rotating sphere cavity 2 inside, the size of spherical hollow space and rotating sphere 1 sizableness, for ensureing that rotating sphere 1 undamped freely can rotate in this spherical hollow space as far as possible, this spherical hollow space is slightly larger than the volume of rotating sphere 1.
The screw thread that matches each other is provided with on the inwall of the cylindrical cavity of described rotating sphere cavity 2 and on the outer wall of rotating sphere pallet 4.
Cross recess is provided with bottom described rotating sphere pallet 4, after rotating sphere 1 loads rotating sphere cavity 2 inside to top, rotating sphere pallet post 4 rotates to rotating sphere cavity 2 inner by cross recess by available Phillips screwdriver, regulate the height of rotating sphere pallet post 4, rotating sphere 1 is rotated freely in the spheroid that rotating sphere cavity 2 and rotating sphere pallet post 4 are formed.。
Described cardan shaft 5 is provided with screw thread, screw thread is provided with two panels nut shim 6, on rotating sphere 1, be fixed with the cardan shaft 5 pointing to rotating sphere 1 centre of sphere, cardan shaft 5 is furnished with screw thread, have two panels nut shim 6 thereon, nut shim 6 is used for fixing aircraft to be debugged, aircraft frame to be debugged can be clamped by rotating nut pad 6.Rotating sphere 1, cardan shaft 5, nut shim 6 and aircraft to be debugged are an entirety, and this entirety around the centre of sphere of rotating sphere 1 along turn to free rotation arbitrarily, can reach the aircraft object that body freely can rotate along any direction in debug process.
The outer side wall that described rotating sphere cavity 2 contacts with rotating sphere pallet 4 is provided with set screw 7, after adjusting the position of rotating sphere pallet 4, fixed the position of rotating sphere pallet 4 by set screw 7, the position of the relative rotating sphere cavity 2 of rotating sphere pallet post 4 is fixed.
Described rotating sphere cavity 2 top arranges porose, and described cardan shaft 5 is stretched out in outside rotating sphere cavity 2 by the hole on rotating sphere cavity 2 top.
Described cavity base 3 is provided with fixing threaded hole 8.
Described fixing threaded hole 8 is four, and symmetry be distributed on cavity base 3, the line of two relative fixing threaded holes 8 is orthogonal; The plane of cavity base 3 is furnished with 4 fixing threaded holes 8 being mutually 90 degree.Fixing threaded hole is used for fixing whole rotating sphere cavity 2 and cavity base 3, is fixed on other desktop, prevents aircraft rotating sphere cavity 2 and cavity base 3 in debug process from rocking instability.
As shown in Figure 8, multi-rotor aerocraft debugging medium dip, to Far Left, now should increase the dynamics of left motor, reduce the dynamics of right motor.
As shown in Figure 9, multi-rotor aerocraft debugging medium dip, to rightmost, now should increase the dynamics of right motor, reduce the dynamics of left motor.
Aircraft tilt to other angle situations and Fig. 8 and Fig. 9 similar.
As shown in Figure 10, multi-rotor aerocraft debugs successful situation., when aircraft is finally debugged this kind of situation and stablized, aircraft balance adjustment just completes.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a multi-rotor aerocraft debugging gimbaled platform, it is characterized in that: comprise cavity base (3), described cavity base (3) is provided with rotating sphere cavity (2), rotating sphere cavity (2) interior bottom is cylindrical cavity, and rotating sphere cavity (2) inner top is the hemisphere cavity raised up, rotating sphere pallet (4) is provided with in cylindrical cavity, described rotating sphere pallet (4) is in cylindrical body, rotating sphere pallet (4) top is the hemisphere of depression, described rotating sphere pallet (4) can move up and down in cylindrical cavity, the hemisphere cavity that described rotating sphere cavity (2) inner top raises up and hemisphere from rotating sphere pallet (4) top to lower recess between be provided with rotating sphere (1), described rotating sphere (1) top is connected with cardan shaft (5), described cardan shaft (5) stretches out in rotating sphere cavity (2), cardan shaft (5) is provided with two panels nut shim (6).
2. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: the hemisphere cavity that described rotating sphere cavity (2) inner top raises up is smooth hemisphere cavity.
3. multi-rotor aerocraft debugging gimbaled platform according to claim 1, it is characterized in that: the hemisphere cavity that described rotating sphere cavity (2) inner top raises up and rotating sphere pallet (4) top form hemispherical cavity to the hemisphere of lower recess, be rotating sphere (1) in hemispherical cavity, and the diameter of hemispherical cavity is greater than the diameter of rotating sphere (1).
4. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: be provided with the screw thread that matches each other on the inwall of the cylindrical cavity of described rotating sphere cavity (2) and on the outer wall of rotating sphere pallet (4).
5. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: described rotating sphere pallet (4) bottom is provided with cross recess.
6. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: (5) are provided with screw thread to described cardan shaft, screw thread is provided with two panels nut shim (6).
7. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: the outer side wall that described rotating sphere cavity (2) contacts with rotating sphere pallet (4) is provided with set screw (7).
8. multi-rotor aerocraft debugging gimbaled platform according to claim 1, it is characterized in that: described rotating sphere cavity (2) top arranges porose, and described cardan shaft (5) stretches out in rotating sphere cavity (2) outward by the hole on rotating sphere cavity (2) top.
9. multi-rotor aerocraft debugging gimbaled platform according to claim 1, is characterized in that: described cavity base (3) is provided with fixing threaded hole (8).
10. multi-rotor aerocraft debugging gimbaled platform according to claim 9, it is characterized in that: described fixing threaded hole (8) is four, and symmetry be distributed on cavity base (3), the line of two relative fixing threaded holes (8) is orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510583038.0A CN105114777B (en) | 2015-09-14 | 2015-09-14 | Multi-rotor aerocraft debugs gimbaled platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510583038.0A CN105114777B (en) | 2015-09-14 | 2015-09-14 | Multi-rotor aerocraft debugs gimbaled platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105114777A true CN105114777A (en) | 2015-12-02 |
| CN105114777B CN105114777B (en) | 2017-09-12 |
Family
ID=54662829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510583038.0A Active CN105114777B (en) | 2015-09-14 | 2015-09-14 | Multi-rotor aerocraft debugs gimbaled platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105114777B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344629A (en) * | 2017-05-31 | 2017-11-14 | 南京理工大学 | For unmanned plane during flying attitude angle control parameter regulation hanger mechanism |
| CN112197246A (en) * | 2020-10-13 | 2021-01-08 | 广州市之非灯饰照明科技有限公司 | Universal slewing mechanism |
-
2015
- 2015-09-14 CN CN201510583038.0A patent/CN105114777B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344629A (en) * | 2017-05-31 | 2017-11-14 | 南京理工大学 | For unmanned plane during flying attitude angle control parameter regulation hanger mechanism |
| CN107344629B (en) * | 2017-05-31 | 2020-06-19 | 南京理工大学 | Be used for unmanned aerial vehicle flight attitude angle control parameter to adjust stores pylon mechanism |
| CN112197246A (en) * | 2020-10-13 | 2021-01-08 | 广州市之非灯饰照明科技有限公司 | Universal slewing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105114777B (en) | 2017-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105114777A (en) | Debugging universal platform of multi-rotor aircraft | |
| CN110410414A (en) | A kind of two degrees of freedom and the convertible globe joint structure of Three Degree Of Freedom | |
| CN102720930A (en) | Multi-DOF (degree of freedom) camera stand applicable to model car competitions | |
| CN204962201U (en) | Universal platform of many rotor crafts debugging | |
| CN203630502U (en) | Triaxial camera adjusting support | |
| CN109323099B (en) | Computer display support capable of preventing cervical spondylosis | |
| CN105783896A (en) | Interactive type unmanned aerial vehicle magnetic compass calibration device and method | |
| CN206419632U (en) | A kind of Universal active ball-shaped cloud platform with bearing positioning and locking function | |
| CN102778809B (en) | Adjusting seat frame of projector | |
| CN106553140A (en) | A kind of multi-faceted adjustable positioning mechanism | |
| CN103869835B (en) | Based on the three-axis air-bearing table centroid adjustment device of non-orthohormbic structure | |
| CN209229297U (en) | A kind of leveling tripod | |
| CN104279410B (en) | The rotating mechanism of vertical display | |
| CN216813601U (en) | Device of engineering measuring instrument centering | |
| CN109634351A (en) | A kind of manipulation rod structure | |
| CN205614653U (en) | No accompanying movement two changes one and moves parallel mechanism | |
| CN209600837U (en) | One kind being used for rotor wing unmanned aerial vehicle attitude-simulating device | |
| CN205534905U (en) | Rotating assembly and display or TV set | |
| CN104897137A (en) | Infrared shaking gradienter | |
| CN208348872U (en) | Universal adjusting device and camera | |
| CN104653970B (en) | Joint arm measuring engine base | |
| CN210864489U (en) | Computer display | |
| CN106210445A (en) | The electronic steady image checking device of a kind of bionic eye and verification method | |
| CN209373460U (en) | A kind of manipulation rod structure | |
| CN208805756U (en) | A kind of desktop computer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |