CN106017797B - A kind of inertia measuring device of unmanned plane and the inertia measurement method of unmanned plane - Google Patents
A kind of inertia measuring device of unmanned plane and the inertia measurement method of unmanned plane Download PDFInfo
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- CN106017797B CN106017797B CN201610312526.2A CN201610312526A CN106017797B CN 106017797 B CN106017797 B CN 106017797B CN 201610312526 A CN201610312526 A CN 201610312526A CN 106017797 B CN106017797 B CN 106017797B
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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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- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a kind of inertia measuring device of unmanned plane and the inertia measurement methods of unmanned plane.The inertia measuring device of the unmanned plane includes: apparatus main body, is provided with hollow groove between two platforms；Screw mechanism comprising screw rod, driving mechanism and the nut that can be moved reciprocatingly on screw rod；Driving mechanism can drive the nut to move；Sliding platform is connect with nut；Winch mechanism is two, and one of winch mechanism is arranged on a platform, another winch mechanism is arranged on another platform；Fixed pulley, the quantity of the fixed pulley is two, one of to be arranged on a platform, another is arranged on the sliding platform；One of fixed pulley is connect with the twisted wire on a winch mechanism；Another fixed pulley is connect with the twisted wire on winch mechanism described in another.The inertia measuring device of unmanned plane in the present invention can automatically sling unmanned plane, complete the measurement of inertia using double pendulum collimation method whereby.
Description
Technical field
The present invention relates to technical field of aerospace, and the inertia measuring device and unmanned plane more particularly to a kind of unmanned plane are used to
Measuring method.
Background technique
Double pendulum collimation method is often used in the test of measurement small drone the moment of inertia, and this method needs to utilize unmanned plane
Cable is sling, while needing to measure the data such as the length of cable after unmanned plane is lifted, this makes the experiment to place and people
Power proposes certain requirement.
In order to measure the moment of inertia of unmanned plane pitching, rolling, yaw respectively, at least unmanned plane need to be sling and put down again 3 times
More than, while the correlation length data of measurement cable are required every time.If the work fully relies on manpower completion, not only consume
Manpower, and manual measurement precision is low, while there are plateau operations for the test method, there is certain risk.
Thus, it is desirable to have a kind of technical solution overcomes or at least mitigates at least one drawbacks described above of the prior art.
Summary of the invention
The purpose of the present invention is to provide a kind of inertia measuring devices of unmanned plane to overcome or at least mitigate the prior art
At least one drawbacks described above.
To achieve the above object, the present invention provides a kind of inertia measuring device of unmanned plane, and the inertia of unmanned plane measures dress
Setting includes: apparatus main body, and described device main body includes two platforms positioned at both ends, is provided with hollow groove between two platforms；
Screw mechanism, the screw mechanism include screw rod, driving mechanism and the nut that can be moved reciprocatingly on screw rod, the drive
Motivation structure is disposed therein on the platform, and one end of the screw rod is connect with the driving mechanism, the screw rod it is another
One end is arranged on another platform；The driving mechanism can drive the nut to move；Sliding platform, the sliding platform
It is connect with the nut；Winch mechanism, the winch mechanism are two, and one of winch mechanism is arranged in a platform
On, another winch mechanism is arranged on another described platform；Fixed pulley, the quantity of the fixed pulley is two, wherein one
A to be arranged on a platform, another is arranged on the sliding platform；One of fixed pulley and a strand
Twisted wire connection on disc mechanism；Another fixed pulley is connect with the twisted wire on winch mechanism described in another.
Preferably, described device main body further comprises two girder trusses, two platforms and two truss
Beam forms gantry type frame structure.
Preferably, the inertia measuring device of the unmanned plane further comprises distance measuring sensor, and the distance measuring sensor is
Two, one of distance measuring sensor is arranged on a winch mechanism；Another distance measuring sensor is arranged in another capstan winch
In mechanism, the distance measuring sensor is used to measure the move distance of the twisted wire on the winch mechanism.
Preferably, the winch mechanism is electric capstan.
Preferably, sliding slot is provided on each girder truss；It is provided on the sliding platform and matches with the sliding slot
The sliding rail of conjunction.
Preferably, locking positioning device is provided on each winch mechanism, the locking positioning device can lock
Only or unclamp the twisted wire.
Preferably, locking positioning device is provided with by each fixed pulley, the locking positioning device being capable of locking
Or unclamp the twisted wire.
Preferably, the screw mechanism is electric threaded shaft.
The present invention also provides a kind of inertia measurement methods of unmanned plane, measure dress using the inertia of unmanned plane as described above
It sets；For the inertia measurement to unmanned plane；The inertia measurement method of the unmanned plane includes the following steps: step 1: driving lead screw
Mechanism and winch mechanism, make that the twisted wire of each winch mechanism is arranged at the position of test requirements document spacing and each twisted wire is stretched
Length meets test requirements document length out；Step 2: unmanned plane being installed to twisted wire, and control capstan mechanism, rise unmanned plane
To predetermined position；Step 3: using the inertia of double pendulum line method measurement unmanned plane.
Preferably, measured by distance measuring sensor each winch mechanism twisted wire whether meet test requirements document spacing and
Whether the extension elongation for measuring each twisted wire meets test requirements document length；Before the step 3, by locking positioning device come
Prevent the twisted wire from moving.
The inertia measuring device of unmanned plane in the present invention can automatically sling unmanned plane, complete using double pendulum collimation method whereby
At the measurement of inertia.The labour of manual operation pull-up aircraft is saved, while by the precision of installations measurement and manually
The precision of measurement is compared to more accurate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the inertia measuring device of unmanned plane according to an embodiment of the invention；
Fig. 2 is the structural schematic diagram of the sliding platform in the inertia measuring device of unmanned plane shown in FIG. 1；
Fig. 3 is the use schematic diagram of the inertia measuring device of unmanned plane shown in FIG. 1.
Appended drawing reference
| 1 | Platform | 5 | Fixed pulley |
| 11 | Hollow groove | 6 | Twisted wire |
| 2 | Screw mechanism | 7 | Girder truss |
| 21 | Screw rod | 71 | Sliding slot |
| 22 | Nut | 8 | Locking positioning device |
| 3 | Sliding platform | 9 | Sliding rail |
| 4 | Winch mechanism |
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
The limitation of range.
Fig. 1 is the structural schematic diagram of the inertia measuring device of unmanned plane according to an embodiment of the invention.Fig. 2 is Fig. 1 institute
The structural schematic diagram of sliding platform in the inertia measuring device of the unmanned plane shown.Fig. 3 is that the inertia of unmanned plane shown in FIG. 1 is surveyed
That measures device uses schematic diagram.
The inertia measuring device 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 include two platforms 1 positioned at both ends, are provided between two platforms 1 hollow
Slot 11；Screw mechanism 2 includes screw rod 21, driving mechanism and the nut 22 that can be moved reciprocatingly on screw rod 21, driving machine
Structure is disposed therein on a platform 1, and one end of screw rod 21 is connect with driving mechanism, and the other end of screw rod 21 is arranged at another
On platform 1；Driving mechanism can drive nut 22 to move；Sliding platform 3 is connect with nut 22；Winch mechanism 4 is two, wherein
One winch mechanism 4 is arranged on a platform 1, another winch mechanism 4 is arranged on another platform 1；The number of fixed pulley 5
Amount is two, one of to be arranged on a platform 1, another is arranged on sliding platform 3；One of fixed pulley 5 with
Twisted wire 6 on one winch mechanism 4 connects；Another fixed pulley 5 is connect with the twisted wire 6 on another winch mechanism 4.
The inertia measuring device of unmanned plane in the present invention can automatically sling unmanned plane, complete using double pendulum collimation method whereby
At the measurement of inertia.The labour of manual operation pull-up aircraft is saved, while by the precision of installations measurement and manually
The precision of measurement is compared to more accurate.
Referring to Fig. 1, in the present embodiment, apparatus main body further comprises two girder trusses 7, two platforms 1 and two
Girder truss 7 forms gantry type frame structure.
Referring to Fig. 1, in the present embodiment, the inertia measuring device of unmanned plane further comprises distance measuring sensor, and ranging passes
Sensor is two, and one of distance measuring sensor is arranged on a winch mechanism 4；Another distance measuring sensor is arranged another
On a winch mechanism 4, distance measuring sensor is used to measure the move distance of the twisted wire on winch mechanism 4.
Using this structure, the vertical range of twisted wire and being separated by for two twisted wires can be measured by distance measuring sensor
Distance.
In the present embodiment, winch mechanism is electric capstan.
Referring to Fig. 1, in the present embodiment, sliding slot 71 is provided on each girder truss 7；Be provided on sliding platform 3 with
The sliding rail 9 that sliding slot 71 cooperates.Using this structure, sliding platform movement can be made more laborsaving.
In the present embodiment, locking positioning device 8 is provided with by each fixed pulley, locking positioning device 8 being capable of locking
Or unclamp the twisted wire.
In another embodiment, locking positioning device is provided on each winch mechanism, locking positioning device can
Locking unclamps the twisted wire.Using this mechanism, twisted wire movement when not needing movement can be prevented.
In the present embodiment, screw mechanism is electric threaded shaft.
The present invention also provides a kind of inertia measurement methods of unmanned plane, measure dress using the inertia of unmanned plane as described above
It sets；For the inertia measurement to unmanned plane；Referring to Fig. 3, the inertia measurement method of the unmanned plane includes the following steps: step 1:
Screw mechanism and winch mechanism are driven, the twisted wire of each winch mechanism is set at the position of test requirements document spacing and each
The extension elongation of twisted wire meets test requirements document length；Step 2: unmanned plane being installed to twisted wire, and control capstan mechanism, make nothing
It is man-machine to be raised up to predetermined position；Step 3: using the inertia of double pendulum line method measurement unmanned plane.
Advantageously, the twisted wire that each winch mechanism is measured by distance measuring sensor whether meet test requirements document spacing with
And whether the extension elongation of each twisted wire of measurement meets test requirements document length；
Advantageously, before step 3, preventing the twisted wire from moving by the locking positioning device.
The inertia measuring device of unmanned plane in the present invention can automatically sling unmanned plane, complete using double pendulum collimation method whereby
At the measurement of inertia.The labour of manual operation pull-up aircraft is saved, while by the precision of installations measurement and manually
The precision of measurement is compared to more accurate.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (10)
1. a kind of inertia measuring device of unmanned plane, which is characterized in that the inertia measuring device of the unmanned plane includes:
Apparatus main body, described device main body include two platforms (1) positioned at both ends, are provided between two platforms (1) hollow
Slot (11)；
Screw mechanism (2), the screw mechanism (2) include screw rod (21), driving mechanism and can do on screw rod (21) past
The nut (22) moved again, the driving mechanism are disposed therein on the platform (1), one end of the screw rod (21) with
The driving mechanism connection, the other end of the screw rod (21) are arranged on another platform (1)；The driving mechanism can drive
Move the nut (22) movement；
Sliding platform (3), the sliding platform (3) connect with the nut (22)；
Winch mechanism (4), the winch mechanism (4) are two, and one of winch mechanism (4) is arranged in a platform
(1) on, another winch mechanism (4) is arranged on another described platform (1)；
Fixed pulley (5), the quantity of the fixed pulley (5) is two, one of to be arranged on a platform (1), another
It is a to be arranged on the sliding platform (3)；One of fixed pulley (5) connects with the twisted wire (6) on a winch mechanism (4)
It connects；Another fixed pulley (5) is connect with the twisted wire (6) on winch mechanism described in another (4).
2. the inertia measuring device of unmanned plane as described in claim 1, which is characterized in that described device main body further comprises
Two girder trusses (7), two platforms (1) and two girder trusses (7) form gantry type frame structure.
3. the inertia measuring device of unmanned plane as claimed in claim 2, which is characterized in that the inertia of the unmanned plane measures dress
Setting further comprises distance measuring sensor, and the distance measuring sensor is two, and one of distance measuring sensor is arranged in a capstan winch
In mechanism (4)；Another distance measuring sensor is arranged on another winch mechanism (4), and the distance measuring sensor is for measuring institute
State the move distance of the twisted wire on winch mechanism (4).
4. the inertia measuring device of unmanned plane as described in claim 1, which is characterized in that the winch mechanism is electric mincing
Disk.
5. the inertia measuring device of unmanned plane as claimed in claim 3, which is characterized in that on each girder truss (7)
It is provided with sliding slot (71)；
The sliding rail (9) with the sliding slot (71) cooperation is provided on the sliding platform (3).
6. the inertia measuring device of unmanned plane as claimed in claim 5, which is characterized in that be all provided on each winch mechanism
It is equipped with locking positioning device, the locking positioning device being capable of locking or the release twisted wire.
7. the inertia measuring device of unmanned plane as claimed in claim 5, which is characterized in that be respectively provided with by each fixed pulley
Have locking positioning device (8), the locking positioning device (8) being capable of locking or the release twisted wire.
8. the inertia measuring device of unmanned plane as described in claim 1, which is characterized in that the screw mechanism is electronic silk
Thick stick.
9. a kind of inertia measurement method of unmanned plane is surveyed using the inertia of the unmanned plane as described in any one of claim 1 to 8
Measure device；For the inertia measurement to unmanned plane；It is characterized in that, the inertia measurement method of the unmanned plane includes following step
It is rapid:
Step 1: driving screw mechanism and winch mechanism make the twisted wire of each winch mechanism that the position of test requirements document spacing be arranged in
The extension elongation of the place of setting and each twisted wire meets test requirements document length；
Step 2: unmanned plane being installed to twisted wire, and control capstan mechanism, unmanned plane is made to be raised up to predetermined position；
Step 3: using the inertia of double pendulum line method measurement unmanned plane.
10. inertia measurement method as claimed in claim 9, which is characterized in that measure each capstan winch by distance measuring sensor
Whether the twisted wire of mechanism meets test requirements document spacing and whether the extension elongation of each twisted wire of measurement meets test requirements document length；
Before the step 3, prevent the twisted wire from moving by locking positioning device.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN106017797B true CN106017797B (en) | 2019-02-12 |
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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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