CN106017797A - Unmanned aerial vehicle inertia measuring device and unmanned aerial vehicle inertia measuring method - Google Patents
Unmanned aerial vehicle inertia measuring device and unmanned aerial vehicle inertia measuring method Download PDFInfo
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- CN106017797A CN106017797A CN201610312526.2A CN201610312526A CN106017797A CN 106017797 A CN106017797 A CN 106017797A CN 201610312526 A CN201610312526 A CN 201610312526A CN 106017797 A CN106017797 A CN 106017797A
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- unmanned plane
- inertia
- twisted wire
- platform
- winch mechanism
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses an unmanned aerial vehicle (UAV) inertia measuring device and a UAV inertia measuring method. The UAV inertia measuring device comprises a device body, a screw mechanism, a sliding platform, two winch mechanisms, and two fixed pulleys. A hollow slot is arranged between two platforms of the device body. The screw mechanism comprises a screw, a drive mechanism, and a nut capable of doing reciprocating motion on the screw, wherein the drive mechanism can drive the nut to move. The sliding platform is connected with the nut. One winch mechanism is arranged on one platform, and the other winch mechanism is arranged on the other platform. One fixed pulley is arranged on one platform, and the other fixed pulley is arranged on the other platform. One fixed pulley is connected with a stranded wire on one winch mechanism, and the other pulley is connected with a stranded wire on the other winch mechanism. With the UAV inertia measuring device, a UAV can be hoisted automatically, and inertia measurement is completed by use of a double-cycloid method.
Description
Technical field
The present invention relates to technical field of aerospace, particularly relate to inertia measurement apparatus and the nothing of a kind of unmanned plane
Man-machine inertia measuring method.
Background technology
Double pendulum collimation method is often used in the test measuring SUAV the moment of inertia, and the method needs nothing
Man-machine cable is utilized to sling, simultaneously need to measure the data such as the length of the cable after unmanned plane is lifted, this
Make this experiment that place and manpower are proposed certain requirement.
In order to measure the moment of inertia of unmanned plane pitching, rolling, driftage respectively, need to sling to major general's unmanned plane
Put down again more than 3 times, need to measure the correlation length data of cable the most every time.If this work is complete
Full dependence manpower completes, and not only consumes manpower, and manual measurement precision is low, and this test method exists simultaneously
Plateau operation, has certain danger.
Thus, it is desirable to have a kind of technical scheme overcomes or at least to alleviate at least one of prior art above-mentioned
Defect.
Summary of the invention
The inertia measurement apparatus that it is an object of the invention to provide a kind of unmanned plane overcomes or at least alleviates existing
There is at least one drawbacks described above of technology.
For achieving the above object, the present invention provides the inertia measurement apparatus of a kind of unmanned plane, being used to of unmanned plane
Measuring device includes: apparatus main body, and described apparatus main body includes two platforms being positioned at two ends, puts down for two
Hollow groove it is provided with between platform；Screw mechanism, described screw mechanism includes screw rod, drive mechanism and can
The nut moved reciprocatingly on screw rod, described drive mechanism is disposed therein on a described platform, described
One end of screw rod is connected with described drive mechanism, and the other end of described screw rod is arranged on another platform；Institute
Stating drive mechanism can drive described nut to move；Sliding platform, described sliding platform is connected with described nut；
Winch mechanism, described winch mechanism is two, and one of them winch mechanism is arranged on a described platform,
Another winch mechanism is arranged on another described platform；Fixed pulley, the quantity of described fixed pulley is two,
One of them is arranged on a described platform, and another is arranged on described sliding platform；One of them is fixed
Twisted wire on pulley and a described winch mechanism connects；Another fixed pulley and another described winch mechanism
On twisted wire connect.
Preferably, described apparatus main body farther includes two girder trusses, two described platforms and two
Described girder truss composition gantry type frame structure.
Preferably, the inertia measurement apparatus of described unmanned plane farther includes distance measuring sensor, described range finding
Sensor is two, and one of them distance measuring sensor is arranged on a winch mechanism；Another sensing of finding range
Device is arranged on another winch mechanism, and described distance measuring sensor is for measuring the twisted wire on described winch mechanism
Move distance.
Preferably, described winch mechanism is electric capstan.
Preferably, each described girder truss is provided with chute；It is provided with on described sliding platform and institute
State the slide rail that chute coordinates.
Preferably, each described winch mechanism is provided with locking positioner, described locking location dress
Putting can locking or unclamp described twisted wire.
Preferably, locking positioner, described locking positioner it are provided with by each described fixed pulley
Can locking or unclamp described twisted wire.
Preferably, described screw mechanism is electric threaded shaft.
Present invention also offers the inertia measuring method of a kind of unmanned plane, use the used of unmanned plane described above
Measuring device；For the inertia of unmanned plane is measured；The inertia measuring method of described unmanned plane includes as follows
Step: step 1: drive screw mechanism and winch mechanism, make the twisted wire of each winch mechanism be arranged on examination
Test and require that the position of spacing and the extension elongation of each twisted wire meet test requirements document length；Step 2: by nothing
Man-machine installation is on twisted wire, and control capstan mechanism, makes unmanned plane be raised up to precalculated position；Step 3: adopt
The inertia of unmanned plane is measured by double cycloid method.
Preferably, the most satisfied test of twisted wire of each winch mechanism is measured by described distance measuring sensor
Require spacing and measure the extension elongation of each twisted wire and whether meet test requirements document length；In described step 3
Before, prevent described twisted wire from moving by described locking positioner.
Unmanned plane can be sling by the inertia measurement apparatus of the unmanned plane in the present invention automatically, utilizes double whereby
Cycloid method completes the measurement of inertia.Save the labour force of manual operation pull-up aircraft, filled by machine simultaneously
The precision putting measurement is the most accurate compared with the precision of manual measurement.
Accompanying drawing explanation
Fig. 1 is the structural representation of the inertia measurement apparatus of unmanned plane according to an embodiment of the invention.
Fig. 2 is the structural representation of the sliding platform in the inertia measurement apparatus of the unmanned plane shown in Fig. 1.
Fig. 3 is the use schematic diagram of the inertia measurement apparatus of the unmanned plane shown in Fig. 1.
Reference
| 1 | Platform | 5 | Fixed pulley |
| 11 | Hollow groove | 6 | Twisted wire |
| 2 | Screw mechanism | 7 | Girder truss |
| 21 | Screw rod | 71 | Chute |
| 22 | Nut | 8 | Locking positioner |
| 3 | Sliding platform | 9 | Slide rail |
| 4 | Winch mechanism |
Detailed description of the invention
Clearer, below in conjunction with the present invention for the purpose making the present invention implement, technical scheme and advantage
Accompanying drawing in embodiment, is further described in more detail the technical scheme in the embodiment of the present invention.Attached
In figure, the most same or similar label represents same or similar element or has same or like
The element of function.Described embodiment is a part of embodiment of the present invention rather than whole enforcement
Example.The embodiment described below with reference to accompanying drawing is exemplary, it is intended to be used for explaining the present invention, and
It is not considered as limiting the invention.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into present invention protection
Scope.Below in conjunction with the accompanying drawings embodiments of the invention are described in detail.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " horizontal stroke
To ", "front", "rear", "left", "right", " vertically ", " level ",
" push up ", " end " " interior ", the orientation of the instruction such as " outward " or position relationship are based on shown in the drawings
Orientation or position relationship, be for only for ease of the description present invention and simplify description rather than instruction or hint
The device of indication or element must have specific orientation, with specific azimuth configuration and operation, the most not
It is understood that as limiting the scope of the invention.
Fig. 1 is the structural representation of the inertia measurement apparatus of unmanned plane according to an embodiment of the invention.Figure
2 is the structural representation of the sliding platform in the inertia measurement apparatus of the unmanned plane shown in Fig. 1.Fig. 3 is figure
The use schematic diagram of the inertia measurement apparatus of the unmanned plane shown in 1.
The inertia measurement apparatus of unmanned plane as shown in Figure 1 to Figure 3 include apparatus main body, screw mechanism 2,
Sliding platform 3, winch mechanism 4 and fixed pulley 5, apparatus main body includes two platforms 1 being positioned at two ends,
It is provided with hollow groove 11 between two platforms 1；Screw mechanism 2 includes screw rod 21, drive mechanism and energy
Enough nuts 22 moved reciprocatingly on screw rod 21, drive mechanism is disposed therein on a platform 1, spiral shell
One end of bar 21 is connected with drive mechanism, and the other end of screw rod 21 is arranged on another platform 1；Drive
Mechanism can drive nut 22 to move；Sliding platform 3 is connected with nut 22；Winch mechanism 4 is two,
One of them winch mechanism 4 is arranged on a platform 1, and another winch mechanism 4 is arranged on another and puts down
On platform 1；The quantity of fixed pulley 5 is two, and one of them is arranged on a platform 1, and another is arranged
On sliding platform 3；One of them fixed pulley 5 is connected with the twisted wire 6 on a winch mechanism 4；Another
Individual fixed pulley 5 is connected with the twisted wire 6 on another winch mechanism 4.
Unmanned plane can be sling by the inertia measurement apparatus of the unmanned plane in the present invention automatically, utilizes double whereby
Cycloid method completes the measurement of inertia.Save the labour force of manual operation pull-up aircraft, filled by machine simultaneously
The precision putting measurement is the most accurate compared with the precision of manual measurement.
Seeing Fig. 1, in the present embodiment, apparatus main body farther includes two girder trusses 7, two platforms
1 and two girder trusses 7 form gantry type frame structure.
Seeing Fig. 1, in the present embodiment, the inertia measurement apparatus of unmanned plane farther includes distance measuring sensor,
Distance measuring sensor is two, and one of them distance measuring sensor is arranged on a winch mechanism 4；Another is surveyed
Being arranged on another winch mechanism 4 away from sensor, distance measuring sensor is for measuring the strand on winch mechanism 4
The move distance of line.
Use this structure, it is possible to measure the vertical dimension of twisted wire and two strands by distance measuring sensor
The standoff distance of line.
In the present embodiment, winch mechanism is electric capstan.
See Fig. 1, the reddest, each girder truss 7 is provided with chute 71；Slide flat
The slide rail 9 coordinated with chute 71 it is provided with on platform 3.Use this structure, it is possible to make sliding platform move
The most laborsaving.
In the present embodiment, locking positioner 8, locking positioner 8 it are provided with by each fixed pulley
Can locking or unclamp described twisted wire.
In another embodiment, each winch mechanism being provided with locking positioner, locking positions
Device can locking or unclamp described twisted wire.Use this mechanism, it is possible to prevent twisted wire from need not motion
Time motion.
In the present embodiment, screw mechanism is electric threaded shaft.
Present invention also offers the inertia measuring method of a kind of unmanned plane, use the used of unmanned plane described above
Measuring device；For the inertia of unmanned plane is measured；See Fig. 3, the used measuring of described unmanned plane
Method comprises the steps: step 1: drives screw mechanism and winch mechanism, makes the strand of each winch mechanism
The extension elongation of position and each twisted wire that line is arranged on test requirements document spacing meets test requirements document length；Step
Rapid 2: installed to twisted wire by unmanned plane, and control capstan mechanism, make unmanned plane be raised up to precalculated position；
Step 3: use double cycloid method to measure the inertia of unmanned plane.
Advantageously, measure the twisted wire of each winch mechanism by distance measuring sensor whether to meet test and want
Seek spacing and measure the extension elongation of each twisted wire and whether meet test requirements document length；
Advantageously, before step 3, prevent described twisted wire from moving by described locking positioner.
Unmanned plane can be sling by the inertia measurement apparatus of the unmanned plane in the present invention automatically, utilizes double whereby
Cycloid method completes the measurement of inertia.Save the labour force of manual operation pull-up aircraft, filled by machine simultaneously
The precision putting measurement is the most accurate compared with the precision of manual measurement.
Last it is noted that above example is only in order to illustrate technical scheme, rather than right
It limits.Although the present invention being described in detail with reference to previous embodiment, the common skill of this area
Art personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it,
Or wherein portion of techniques feature is carried out equivalent；And these amendments or replacement, do not make corresponding
The essence of technical scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the inertia measurement apparatus of a unmanned plane, it is characterised in that the inertia of described unmanned plane is measured
Device includes:
Apparatus main body, described apparatus main body includes two platforms (1) being positioned at two ends, two platforms (1)
Between be provided with hollow groove (11)；
Screw mechanism (2), described screw mechanism (2) includes screw rod (21), drive mechanism and can
The nut (22) moved reciprocatingly on screw rod (21), described drive mechanism is disposed therein described in one
On platform (1), one end of described screw rod (21) is connected with described drive mechanism, described screw rod (21)
The other end be arranged on another platform (1)；Described drive mechanism can drive described nut (22)
Motion；
Sliding platform (3), described sliding platform (3) is connected with described nut (22)；
Winch mechanism (4), described winch mechanism (4) is two, and one of them winch mechanism (4) sets
Putting on a described platform (1), another winch mechanism (4) is arranged on another described platform (1)
On；
Fixed pulley (5), the quantity of described fixed pulley (5) is two, and one of them is arranged on described in one
On platform (1), another is arranged on described sliding platform (3)；One of them fixed pulley (5) with
Twisted wire (6) on one described winch mechanism (4) connects；Another fixed pulley (5) and another institute
State the twisted wire (6) on winch mechanism (4) to connect.
2. the inertia measurement apparatus of unmanned plane as claimed in claim 1, it is characterised in that described device
Main body farther includes two girder trusses (7), two described platforms (1) and two described girder trusses (7)
Composition gantry type frame structure.
3. the inertia measurement apparatus of unmanned plane as claimed in claim 2, it is characterised in that described unmanned
The inertia measurement apparatus of machine farther includes distance measuring sensor, and described distance measuring sensor is two, one of them
Distance measuring sensor is arranged on a winch mechanism (4)；Another distance measuring sensor is arranged on another strand
On disc mechanism (4), described distance measuring sensor is used for measuring the motion of the twisted wire on described winch mechanism (4)
Distance.
4. the inertia measurement apparatus of unmanned plane as claimed in claim 1, it is characterised in that described capstan winch
Mechanism is electric capstan.
5. the inertia measurement apparatus of unmanned plane as claimed in claim 3, it is characterised in that each described
Chute (71) it is provided with on girder truss (7)；
The slide rail (9) coordinated with described chute (71) it is provided with on described sliding platform (3).
6. the inertia measurement apparatus of unmanned plane as claimed in claim 5, it is characterised in that each described
Being provided with locking positioner on winch mechanism, described locking positioner can locking or unclamp described strand
Line.
7. the inertia measurement apparatus of unmanned plane as claimed in claim 5, it is characterised in that each described
Being provided with locking positioner (8) by fixed pulley, described locking positioner (8) can locking or pine
Open described twisted wire.
8. the inertia measurement apparatus of unmanned plane as claimed in claim 1, it is characterised in that described leading screw
Mechanism is electric threaded shaft.
9. an inertia measuring method for unmanned plane, uses as described in any one in claim 1 to 8
The inertia measurement apparatus of unmanned plane；For the inertia of unmanned plane is measured；It is characterized in that, described unmanned plane
Inertia measuring method comprise the steps:
Step 1: drive screw mechanism and winch mechanism, make the twisted wire of each winch mechanism be arranged on test
Require that the position of spacing and the extension elongation of each twisted wire meet test requirements document length；
Step 2: installed to twisted wire by unmanned plane, and control capstan mechanism, make unmanned plane be raised up to make a reservation for
Position；
Step 3: use double cycloid method to measure the inertia of unmanned plane.
10. inertia measuring method as claimed in claim 9, it is characterised in that passed by described range finding
Sensor measures whether the twisted wire of each winch mechanism meets test requirements document spacing and measure each twisted wire
Whether extension elongation meets test requirements document length；
Before described step 3, prevent described twisted wire from moving by described locking positioner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312526.2A CN106017797B (en) | 2016-05-12 | 2016-05-12 | A kind of inertia measuring device of unmanned plane and the inertia measurement method of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312526.2A CN106017797B (en) | 2016-05-12 | 2016-05-12 | A kind of inertia measuring device of unmanned plane and the inertia measurement method of unmanned plane |
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| CN106017797A true CN106017797A (en) | 2016-10-12 |
| CN106017797B CN106017797B (en) | 2019-02-12 |
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| CN201610312526.2A Active CN106017797B (en) | 2016-05-12 | 2016-05-12 | A kind of inertia measuring device of unmanned plane and the inertia measurement method of unmanned plane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106903540A (en) * | 2017-04-20 | 2017-06-30 | 南通国盛智能科技集团股份有限公司 | The intermediate equilibria drive device that a kind of crown-block type gantry machining center is laterally driven |
| CN111307370A (en) * | 2020-03-19 | 2020-06-19 | 青岛航空技术研究院(中国科学院工程热物理研究所青岛研究中心) | Method for measuring rotational inertia of unmanned aerial vehicle |
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Cited By (2)
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| CN106903540A (en) * | 2017-04-20 | 2017-06-30 | 南通国盛智能科技集团股份有限公司 | The intermediate equilibria drive device that a kind of crown-block type gantry machining center is laterally driven |
| CN111307370A (en) * | 2020-03-19 | 2020-06-19 | 青岛航空技术研究院(中国科学院工程热物理研究所青岛研究中心) | Method for measuring rotational inertia of unmanned aerial vehicle |
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| CN106017797B (en) | 2019-02-12 |
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