CN109178341A - A kind of unmanned plane test protective device - Google Patents
A kind of unmanned plane test protective device Download PDFInfo
- Publication number
- CN109178341A CN109178341A CN201811181104.1A CN201811181104A CN109178341A CN 109178341 A CN109178341 A CN 109178341A CN 201811181104 A CN201811181104 A CN 201811181104A CN 109178341 A CN109178341 A CN 109178341A
- Authority
- CN
- China
- Prior art keywords
- pulley
- protecting frame
- unmanned plane
- spherical
- line
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The present invention provides a kind of unmanned plane test protective device, including unmanned plane mounting device, positive puller system and reversal interlocking relay device, and the unmanned plane mounting device includes the first spherical protecting frame, the second spherical protecting frame and the axis for connecting unmanned plane；The outer diameter of described second spherical protecting frame is less than the internal diameter of the described first spherical protecting frame; the both ends of described second spherical protecting frame are rotatably connected to the inside both ends of the described first spherical protecting frame, and the both ends of the axis are rotatably connected to the inside both ends of the described second spherical protecting frame；The forward direction puller system is connected to a bit on the described first spherical protecting frame, and the reversal interlocking relay device is connected to another point on the described first spherical protecting frame, the center of circle of the spherical protecting frame of the line of two points excessively described first.Unmanned apparatus test device stability of the invention is good, and controllability is high, and safety coefficient is high during the test.
Description
Technical field
The invention belongs to the test devices of air vehicle technique field, and in particular to a kind of unmanned plane test protective device.
Background technique
Multi-rotor unmanned aerial vehicle is a kind of tool there are three and the above rotor shaft special pilotless helicopter.It passes through
Motor rotation on each axis drives rotor, to generate a liter thrust.Rotor always away from fixation, rather than general helicopter
It is variable like that.By changing the relative rotation speed between different rotors, thus it is possible to vary the size of uniaxial propulsive force, to control flight
The running track of device.UAV system contains unmanned plane during flying platform, relevant remote control station, required instruction and control data
The system of the composition of any other component as defined in link and the type design of approval.Rotor wing unmanned aerial vehicle is handling strong, can be vertical
Landing and hovering are primarily adapted for use in low latitude, low speed, the task type for having VTOL and hovering to require.
The background technique of CN201510210148 illustrates that rotor wing unmanned aerial vehicle itself is a kind of expensive and easily damaged
Equipment, many advanced winged control algorithms easily cause the unmanned plane taken a flight test born impaired due to its immature property and unstability,
Cause equipment to be destroyed, causes correlative study participant by larger economic loss；Secondly, when rotor wing unmanned aerial vehicle is taken a flight test, due to
Flying the defect of control algorithm or the fault of operator, rotor wing unmanned aerial vehicle will appear situation out of control, not only causes unmanned plane itself
Damage, it is also possible to jeopardize the personal safety for the participant that takes a flight test.And rotor wing unmanned aerial vehicle flies the development of control algorithm, be unable to do without rotor
Unmanned plane is multiple to take a flight test.This is objectively being added significantly to fly the research and development cost and risk of control algorithm, directly influences
New theory is converted into the speed of new results.
Therefore, if the safety of taking a flight test for thering is a kind of device to can guarantee rotor wing unmanned aerial vehicle, rotor wing unmanned aerial vehicle can be efficiently accomplished and flown
The debugging efforts of control keep the correlated performance of research unaffected, and can protect the safety of rotor wing unmanned aerial vehicle and the participant that takes a flight test, and make
Rotor wing unmanned aerial vehicle will not crash when taking a flight test, participant will not be injured, will greatly mitigate the sector participant looks back it
Sorrow has great meaning to promotion rotor wing unmanned aerial vehicle technology fast development.
The research that CN201510210148 also illustrates that rotor wing unmanned aerial vehicle flies control has many aspects, wherein the most basic is logical
Cross four controlled freedom degrees, i.e., around the rotation (i.e. rolling) of aircraft carrier coordinate system X-axis, around Y-axis rotation (i.e. pitching) and
Rotation (i.e. course) about the z axis and aircraft is controlled in the movement of space six degree of freedom along the movement of Z axis.Due to rotor without
Man-machine is a kind of under-actuated systems, and is redundant structure, it is desirable to complete this manipulation, it is necessary to rely on flight control system to unmanned plane
Flight attitude carry out control increase it is steady, also known as from steady.It is intended to realize that this control increases surely, first have to using all kinds of navigation attitude sensors pair
The navigation attitude of unmanned plane is resolved, is filtered, and at least carries out closed-loop control, i.e. course, pitching and rolling to wherein three degree of freedom
Turn.The every other function that unmanned plane flies control, which will all be given from steady realization, to be unfolded.Some fields related to this, for example newly
The application of type sensor, the data fusion of multisensor, the application of some advanced control technologies, new configuration aircraft control coupling
The analysis and synthesis of conjunction problem and nonlinear system is urgently used all in fast development there are many new technology, there are many
New theory is urgently deepened.These new technologies, new theory, new algorithm finally require installation and take a flight test, and carry out verification experimental verification ability
It is adopted and develops, this requires one kind and takes a flight test protective device to ensure to test safety.
Summary of the invention
In view of the deficiencies of the prior art, it is desirable to provide a kind of survey used for vast rotor wing unmanned aerial vehicle developer and beginner
Trial assembly is set, can under the premise that security is guaranteed, and environment carries out some basic performances and flight parameter of unmanned plane indoors
Test.
The technical scheme to solve the above technical problems is that
A kind of unmanned plane test protective device, including unmanned plane mounting device, positive puller system and reversal interlocking relay device,
The unmanned plane mounting device includes the first spherical protecting frame, the second spherical protecting frame and the axis for connecting unmanned plane；Institute
The outer diameter for stating the second spherical protecting frame is less than the internal diameter of the described first spherical protecting frame, and the both ends of the described second spherical protecting frame can
The inside both ends of the described first spherical protecting frame are rotationally connected to, the both ends of the axis are rotatably connected to described second
The inside both ends of spherical protecting frame；The forward direction puller system is connected to a bit on the described first spherical protecting frame, described anti-
It is connected to another point on the described first spherical protecting frame to puller system, the line of two points excessively described first is spherical to be protected
Protect the center of circle of frame.
Through the above technical solutions, the outermost first spherical protecting frame is only by the constraint in upper and lower plummet direction, Ke Yiti
For freedom degree on an x-y plane, the spherical protecting frame of the second of middle layer is rotatably connected with the first spherical protecting frame, can provide
Freedom degree on Y-Z plane, the axis of innermost layer are rotatably connected with the second spherical protecting frame, can provide on X-Z plane
Freedom degree.
Optionally, the hole for connecting unmanned plane is provided in the middle part of the axis.
Optionally, the present invention is further arranged to, and the forward direction puller system includes positive line of pull and positive weight, institute
State positive line of pull be connected on the described first spherical protecting frame a bit, the forward direction weight is connected to the positive pulling force
Line；The reversal interlocking relay device includes reversal interlocking relay line and reversed weight, and it is spherical that the reversal interlocking relay line is connected to described first
Another point on protecting frame, the reversed weight are connected to the reversal interlocking relay line.
By change positive weight and reversed weight to power size, of positive line of pull and reversal interlocking relay line can be made
Power is of different sizes, artificially manufactures load, tests the normal load performance of unmanned plane.
Optionally, the present invention is further arranged to, and the unmanned plane test protective device further includes fixed device, described solid
Determining device includes top plate, side plate and bottom plate, is respectively perpendicular at the top and bottom of the side plate and is connected to the top plate and the bottom
One end of plate；First pulley and second pulley are housed, first pulley is described between second pulley and side plate on the top plate
Positive line of pull sequentially passes through second pulley and first pulley from the described first spherical protecting frame；Equipped with the on the bottom plate
Three pulleys and the 4th pulley, the 4th pulley are equipped with the 5th pulley between third pulley and side plate, on the top of the side plate,
The reversal interlocking relay line sequentially passes through third pulley, the 4th pulley and the 5th pulley from the first spherical protecting frame.
Applied on line by the power that the guidance of pulley blocks applies weight, line made to keep the state tightened, prevent its
Rotor is moved into during folding and unfolding.
Optionally, the present invention is further arranged to, equipped with for limiting the positive line of pull along institute on the top plate
The First Line limiting device for stating second pulley sliding, equipped with for limiting the reversal interlocking relay line along described the on the bottom plate
Second line limiting device of three pulleys sliding.
Optionally, the present invention is further arranged to, and the First Line limiting device includes two and is fixed on the top plate side
First mounting plate in face, the second pulley is located between two first mounting plates, in the bottom of first mounting plate
It is fixed with first limit body, first limit body is located at below the second pulley, is provided on first limit body
Through-hole；The second line limiting device includes two the second mounting plates for being fixed on the bottom panel side, third pulley position
Between two second mounting plates, the second limit body, second limit are fixed in the bottom of second mounting plate
Body is located above the third pulley, is provided with through-hole on second limit body；Two through-holes are located at the second pulley
On the line of the third pulley.First Line limiting device and the second line limiting device define at the angle of pulley circumferential wire
Degree prevents line to be detached from pulley.In test process, unmanned plane can free flight in a certain range, free adjustment direction, but super
Out after a certain range, power on line can be due to becoming larger with plummet orientation angle and form the negative-feedback that unmanned plane is retracted to center
Power.
Optionally, the present invention is further arranged to, and limit plate is housed on the side plate, and the limit plate is located at the described 5th
Between pulley and the bottom plate, two for passing through the positive line of pull and the reversal interlocking relay line are provided on the limit plate
The size of a limit hole, the limit hole is less than the positive weight and the reversed weight.
Through the above technical solutions, limit plate defines the maximum value of wire length, it is ensured that unmanned plane will not decline excessively
It crashes or rises and excessively smash, to guarantee that unmanned plane will not fly out the region of restriction.
Positive line of pull makes the forward direction of one end after the steering of the pulley blocks (second pulley and first pulley) of upper part
The first spherical protecting frame of weight decline and one end rises into direct contact status, limits most when positive weight is in limit plate
When high point, the first spherical protecting frame should be at the minimum point of its permission.
Lower part pulley blocks (third pulley, the 4th pulley and the 5th pulley), reversal interlocking relay line pass through three fixed pulleys
Decline the reversed weight of one end after steering and be declined to become direct contact status with the first spherical protecting frame of one end, when reversed weight
When in the highest point that limit plate limits, the first spherical protecting frame should be at the highest point of its permission.Pulley blocks and limit in this way
Plate can play the role of that line is kept to be in tightening state and spherical frame is prevented to be detached from limited area.
Optionally, the invention also includes the device being rotatably connected described in realization, described device includes protrusion, bearing and company
Fitting, one end of the connector are equipped with card slot, and the other end of the connector is equipped with mounting hole, and one end of the protrusion is fixed
On the inside of the described first spherical protecting frame or the second spherical protecting frame, the other end of the protrusion is set to the bearing
Inner ring, the outer ring of the bearing are put into the mounting hole, real by being rotatably assorted between the inner ring of the bearing, outer ring
Now it is rotatably coupled.The device is for realizing in the both ends and the first spherical protecting frame of the described second spherical protecting frame
Portion both ends are rotatably coupled, realize the both ends of the axis and the inside both ends of the described second spherical protecting frame and rotationally connect
It connects.
The present invention is further arranged to, and realizes both ends and the described first spherical protecting frame of the described second spherical protecting frame
When internal both ends are rotatably connected, the protrusion is connected to the inside both ends of the described first spherical protecting frame and is installed in bearing
Ring, the outer race are put into the mounting hole, and the described first spherical protecting frame is stuck in the card slot.
The present invention is further arranged to, and the inside both ends at the both ends and the second spherical protecting frame of realizing the axis can
When rotation connection, the protrusion is connected to the inside both ends of the described second spherical protecting frame and is installed on the bearing inner ring, institute
It states outer race to be put into the mounting hole, the both ends of the axis are stuck in the card slot.
Likewise, when the both ends of the axis and the inside both ends of the second spherical protecting frame are rotatably coupled, class
Like using the similar setting of above-mentioned apparatus.
Optionally, the present invention is further arranged to, and is provided on the described first spherical protecting frame for fixing the positive drawing
Two holes of the line of force and the reversal interlocking relay line.
Optionally, the present invention is further arranged to, the first spherical protecting frame, the second spherical protecting frame and described
Carbon fibre material can be used in axis, other lightweight high tenacity solid materials also can be used.
Compared with prior art, the embodiment of the present invention has the advantages that
Unmanned apparatus test device provided by the invention allows developer can be before protection inherently safe and aircraft security
It puts, environment is to some basic performances (flying control stability, hovering, steering etc.) of unmanned plane and flight parameter (hovering indoors
Load etc.) it is tested；Unmanned plane beginner is allowed to be familiar with and practice the operation of unmanned plane.
Unmanned apparatus test device stability provided by the invention is good, controllability is high, it is ensured that unmanned plane during the test
The safety of safety and tester itself guarantees that experiment is easily unfolded with being without fear of an attack from the rear in researcher, reduces unmanned plane exploitation
The required time.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure figure of one embodiment of the present invention；
Fig. 2 is the overall effect figure that one embodiment of the present invention is used for unmanned plane test；
Fig. 3 is the structural schematic diagram of unmanned plane mounting device in one embodiment of the present invention；
Fig. 4 is unmanned plane mounting device X-Y plane movement effects figure in one embodiment of the present invention；
Fig. 5 is unmanned plane mounting device Y-Z plane movement effects figure in one embodiment of the present invention；
Fig. 6 is unmanned plane mounting device X-Z plane movement effects figure in one embodiment of the present invention.
Wherein, the 1, first spherical protecting frame；2, the second spherical protecting frame；3, axis；4, positive line of pull；5, positive weight
Object；6, reversal interlocking relay line；7, reversed weight；8, top plate；9, side plate；10, bottom plate；11, first pulley；12, second pulley；13,
Third pulley；14, the 4th pulley；15, the 5th pulley；16, the first mounting plate；17, the first limit body；18, the second mounting plate；
19, the second limit body；20, limit plate；21, protrusion；22, bearing；23, connector；24, card slot；25, mounting hole；26, rotor without
It is man-machine.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Referring to Fig.1 shown in -6, a kind of preferred embodiment schematic diagram of unmanned plane test protective device is provided for the present invention.
Referring to Fig.1 shown in -2, in one embodiment of the invention, unmanned plane test protective device includes unmanned plane peace
Assembling device, positive puller system and reversal interlocking relay device, unmanned plane mounting device include that the first spherical protecting frame 1, second is spherical
Protecting frame 2 and axis 3 are provided with hole for connecting unmanned plane at the middle part of axis 3, can pass through binding strap bundled fixed.Second
Less than the internal diameter of the first spherical protecting frame 1, the both ends of the second spherical protecting frame 2 are rotatably coupled the outer diameter of spherical protecting frame 2
At the inside both ends of the first spherical protecting frame 1, the both ends of axis 3 are rotatably connected to the inside two of the second spherical protecting frame 2
End.Positive puller system is connected to a bit on the first spherical protecting frame 1, and reversal interlocking relay device is connected to the first spherical protecting frame
Another point on 1, the line of two points cross the center of circle of the first spherical protecting frame 1.The size of second spherical protecting frame 2 need to be according to survey
The size of examination unmanned plane is adjusted, and there are some remaining between the diameter of the second spherical protecting frame 2 and the occupied space of unmanned plane
Amount is preferable, to adapt to the deformation that is hit for the ring being likely to occur.First spherical protecting frame 1 only by the constraint in upper and lower plummet direction,
Freedom degree on an x-y plane is provided.First spherical protecting frame 1 can be provided along the second spherical 2 internal diameter of protecting frame rotation in Y-Z
Freedom degree in plane, axis 3 can be rotated along the second spherical protecting frame 2, provide the freedom degree on X-Z plane.The present invention can
Unmanned plane, especially multi-rotor unmanned aerial vehicle 26 is protected to fly the survey that control carries out certainly steady (rolling, pitching and course) correlation function at it
It born will not be damaged when examination and experiment, also guarantee the safety of researcher.
As a preferred embodiment of the present invention, positive puller system includes positive line of pull 4 and positive weight 5, just
It is connected to a bit on the first spherical protecting frame 1 to line of pull 4, positive weight 5 is connected to positive line of pull 4.Reversal interlocking relay dress
It sets including reversal interlocking relay line 6 and reversed weight 7, reversal interlocking relay line 6 is connected to another point on the first spherical protecting frame 1, reversely
Weight 7 is connected to reversal interlocking relay line 6.It can be driveed on the first spherical protecting frame 1 there are two hole, for 4 He of fixed positive line of pull
Reversal interlocking relay line 6.The weight of positive weight 5 and reversed weight 7 is adjustable variable, can make positive line of pull 4 and reversed drawing
The Tensity size of the line of force 6 is different, artificially manufactures load, tests the normal load performance of unmanned plane.
As a preferred embodiment of the present invention, it further includes fixed device that unmanned plane, which tests protective device, fixed device
Including top plate 8, side plate 9 and bottom plate 10, the top and bottom of side plate 9 are respectively perpendicular the one end for being connected to top plate 8 and bottom plate 10.Top
First pulley 11 and second pulley 12 are housed, first pulley 11 is between second pulley 12 and side plate 9, positive pulling force on plate 8
Line 4 sequentially passes through second pulley 12 and first pulley 11 from the first spherical protecting frame 1.Third pulley 13 is housed on bottom plate 10
With the 4th pulley 14, the 4th pulley 14 is equipped with the 5th pulley 15 between third pulley 13 and side plate 9, on the top of side plate 9,
Reversal interlocking relay line 6 sequentially passes through third pulley 13, the 4th pulley 14 and the 5th pulley 15 from the first spherical protecting frame 1.
Applied on line by the power that the guidance of pulley blocks applies weight, line made to keep the state tightened, prevent its
Rotor is moved into during folding and unfolding.
As a preferred embodiment of the present invention, equipped with for limiting positive line of pull 4 along second pulley on top plate 8
The First Line limiting devices of 12 slidings, equipped with the slided for limiting reversal interlocking relay line 6 along third pulley 13 on bottom plate 10
Two wires limiting device.As advanced optimizing for the embodiment, First Line limiting device includes two and is fixed on 8 side of top plate
First mounting plate 16, second pulley 12 are located between two the first mounting plates 16, are fixed with the in the bottom of the first mounting plate 16
One limit body 17, the first limit body 17 are located at 12 lower section of second pulley, are provided with through-hole on the first limit body 17.Second line limit dress
The second mounting plate 18 that 10 side of bottom plate is fixed on including two is set, third pulley 13 is located between two the second mounting plates 18,
It is fixed with the second limit body 19 in the bottom of the second mounting plate 18, the second limit body 19 is located at 13 top of third pulley, the second limit
Through-hole is provided on the body 19 of position.Two through-holes are located on the line of second pulley 12 and third pulley 13.First Line limiting device and
Second line limiting device defines the angle of pulley circumferential wire, and line is prevented to be detached from pulley.In test process, unmanned plane can be one
Determine free flight in range, free adjustment direction, but beyond after a certain range, power on line can due to plummet orientation angle
Become larger and forms the negative feedback force that unmanned plane is retracted to center, the maximum flight range of unmanned plane in limitation test.
As a preferred embodiment of the present invention, limit plate 20 is housed on side plate 9, limit plate 20 is located at the 5th pulley 15
Between bottom plate 10, two limit holes for passing through positive line of pull 4 and reversal interlocking relay line 6, limit are provided on limit plate 20
The size in hole is less than positive weight 5 and reversed weight 7.Limit plate 20 defines the maximum value of wire length, it is ensured that unmanned plane is not
It can decline excessively to crash or rise and excessively smash, to guarantee that unmanned plane will not fly out the region of restriction.
It further include realizing the device being rotatably connected as a preferred embodiment of the present invention, referring to shown in Fig. 3-6,
The device includes protrusion 21, bearing 22 and connector 23, and one end of connector 23 is equipped with card slot 24, and the other end of connector 23 is set
Have a mounting hole, one end of protrusion 21 is fixed on the first spherical protecting frame or 1 second spherical 2 inside of protecting frame, protrusion 21 it is another
End is set to the inner ring of bearing 22, and the outer ring of bearing 22 is put into mounting hole 25, passes through turning between the inner ring of bearing 22, outer ring
Dynamic cooperation, realization are rotatably coupled.
Specifically, as depicted in figs. 3-6, realizing the both ends and the inside of the first spherical protecting frame 1 of the second spherical protecting frame 2
When both ends are rotatably connected, protrusion 21 is connected to the inside both ends of the first spherical protecting frame 1 and is installed on 22 inner ring of bearing, bearing
22 outer rings are put into mounting hole 25, and the first spherical protecting frame 1 is stuck in card slot 24.
When the inside both ends at the both ends and the second spherical protecting frame 2 of realizing axis 3 are rotatably connected, protrusion 21 is connected to the
The inside both ends of two spherical protecting frames 2 are simultaneously installed on 22 inner ring of bearing, and 22 outer ring of bearing is put into mounting hole 25, and the two of axis 3
End is stuck in card slot 24.Preferably, the both ends of axis 3 can be arranged to wider plate, width is greater than the width of card slot 24,
It is slipped in unmanned plane motion process to prevent axis 3.
In order to realize that the both ends of axis 3 are rotatably connected to the inside both ends of the second spherical protecting frame 2, the two of axis 3
The both ends of above-mentioned realization axis 3 and the can be used in the device that end and the inside both ends of the second spherical protecting frame 2 are rotatably coupled
The device that the inside both ends of two spherical protecting frames 2 are rotatably connected.
In other embodiments, the inside both ends at the both ends and the first spherical protecting frame 1 of realizing the second spherical protecting frame 2 can
The device of rotation connection can also be other rotatable connecting apparatus, for example, can be arranged to the first spherical protecting frame 1 wider
Width opens up two holes on the first spherical protecting frame 1, then loads onto bearing 22, and bearing 22 is being connected to the second spherical protection
The outer edge of frame 2, but the first spherical protecting frame 1 is needed to have wider width in this way, relative to a upper embodiment, device
Cost can be high, and entirety can be heavier, and operation difficulty is bigger than a upper embodiment, so the preferably upper embodiment of structure.
As a preferred embodiment of the present invention, the first spherical protecting frame 2 of spherical protecting frame 1, second and axis 3 can be with
Using carbon fibre material, other lightweight high tenacity solid materials also can be used, and the size of the second spherical protecting frame 2 needs basis
The size of test unmanned plane is adjusted, and there are some between the diameter of the second spherical protecting frame 2 and the occupied space of unmanned plane
Surplus is preferable, to adapt to the deformation that is hit for the ring being likely to occur.
The preferred embodiment of the present invention can refer to Fig. 1 for the effect picture of unmanned plane test, and Fig. 3 is unmanned plane mounting device
Structural schematic diagram, follow the rotation of line in the embodiment of the present invention by the first spherical protecting frame 1 to the freedom degree on X-Y plane
And guarantee, working principle is as shown in Figure 4 (having concealed multi-rotor unmanned aerial vehicle 26 herein for convenience of observation, same as below).This hair
Rotation in bright embodiment to the freedom degree on Y-Z plane by the second spherical protecting frame 2 relative to the first spherical protecting frame 1 is protected
Card, working principle are as shown in Figure 5.Opposite second spherical shape of axis 3 is passed through to the freedom degree on X-Z plane in the embodiment of the present invention
The rotation of protecting frame 2 and guarantee, working principle is as shown in Figure 6.
When progress unmanned plane is taken a flight test, multi-rotor unmanned aerial vehicle 26 need to be only fixed on axis 3 by binding strap, Ji Kejin
Row correlation test.
It, only need to be by the weight end weight of line and positive weight 5, line and reversed weight 7 when carrying out unmanned plane load testing
It is adjusted, can be tested.
It is preferred structure design in part of the invention above, certainly in other embodiments, each preferred structure can be single
It solely uses, under the premise of not conflicting mutually, can also be used in any combination, effect can be more preferable when being applied in combination.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, the present invention is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning there must be spy
Fixed orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of unmanned plane tests protective device, which is characterized in that including unmanned plane mounting device, positive puller system and reversed
Puller system, the unmanned plane mounting device is including the first spherical protecting frame, the second spherical protecting frame and for connecting unmanned plane
Axis；The outer diameter of described second spherical protecting frame is less than the internal diameter of the described first spherical protecting frame, the described second spherical protection
The both ends of frame are rotatably connected to the inside both ends of the described first spherical protecting frame, and the both ends of the axis are rotatably coupled
At the inside both ends of the described second spherical protecting frame；The forward direction puller system is connected to one on the described first spherical protecting frame
Point, the reversal interlocking relay device are connected to another point on the described first spherical protecting frame, and the line of two points is excessively described
The center of circle of first spherical protecting frame.
2. unmanned plane according to claim 1 tests protective device, which is characterized in that the forward direction puller system includes just
To line of pull and positive weight, the forward direction line of pull is connected to a bit on the described first spherical protecting frame, the positive weight
Object is connected to the positive line of pull；The reversal interlocking relay device includes reversal interlocking relay line and reversed weight, the reversal interlocking relay
Line is connected to another point on the described first spherical protecting frame, and the reversed weight is connected to the reversal interlocking relay line.
3. unmanned plane according to claim 2 tests protective device, which is characterized in that the unmanned plane tests protective device
It further include fixed device, the fixed device includes top plate, side plate and bottom plate, the company of being respectively perpendicular at the top and bottom of the side plate
Then one end of the top plate and the bottom plate；First pulley and second pulley are housed, first pulley is located at the on the top plate
Between two pulleys and side plate, the forward direction line of pull sequentially passes through second pulley and first from the described first spherical protecting frame
Pulley；Third pulley and the 4th pulley are housed, the 4th pulley is between third pulley and side plate, in the side on the bottom plate
The top of plate is equipped with the 5th pulley, and the reversal interlocking relay line sequentially passes through third pulley, the 4th from the first spherical protecting frame
Pulley and the 5th pulley.
4. unmanned plane according to claim 3 tests protective device, which is characterized in that equipped with for limiting on the top plate
The First Line limiting device that the positive line of pull is slided along the second pulley is made, equipped with for limiting on the bottom plate
State the second line limiting device that reversal interlocking relay line is slided along the third pulley.
5. unmanned plane according to claim 4 tests protective device, which is characterized in that the First Line limiting device includes
Two are fixed on the first mounting plate of the top plate side, and the second pulley is located between two first mounting plates,
The bottom of first mounting plate is fixed with first limit body, and first limit body is located at below the second pulley,
Through-hole is provided on first limit body；The second line limiting device includes two the second peaces for being fixed on the bottom panel side
Loading board, the third pulley are located between two second mounting plates, are fixed with second in the bottom of second mounting plate
Limit body, second limit body are located above the third pulley, are provided with through-hole on second limit body；Two described logical
Hole is located on the line of the second pulley and the third pulley.
6. unmanned plane according to claim 2 tests protective device, which is characterized in that limit plate is housed on the side plate,
The limit plate is provided on the limit plate between the 5th pulley and the bottom plate for across the positive pulling force
The size of two limit holes of line and the reversal interlocking relay line, the limit hole is less than the positive weight and the reversed weight
Object.
7. unmanned plane according to claim 1-6 tests protective device, which is characterized in that the middle part of the axis
It is provided with the hole for connecting unmanned plane.
8. unmanned plane according to claim 1-6 tests protective device, which is characterized in that further include described in realization
The device being rotatably connected, described device include protrusion, bearing and connector, and one end of the connector is equipped with card slot, described
The other end of connector is equipped with mounting hole, and one end of the protrusion is fixed on the described first spherical protecting frame or second spherical shape
On the inside of protecting frame, the other end of the protrusion is set to the inner ring of the bearing, and the outer ring of the bearing is put into the mounting hole
Interior, by being rotatably assorted between the inner ring of the bearing, outer ring, realization is rotatably coupled.
9. unmanned plane according to claim 1-6 tests protective device, which is characterized in that the described first spherical guarantor
Two holes for fixing the positive line of pull and the reversal interlocking relay line are provided on shield frame.
10. unmanned plane according to claim 1-6 tests protective device, which is characterized in that described first is spherical
Protecting frame, the second spherical protecting frame and the axis are carbon fibre material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181104.1A CN109178341B (en) | 2018-10-11 | 2018-10-11 | Unmanned aerial vehicle test protection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181104.1A CN109178341B (en) | 2018-10-11 | 2018-10-11 | Unmanned aerial vehicle test protection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109178341A true CN109178341A (en) | 2019-01-11 |
| CN109178341B CN109178341B (en) | 2020-06-02 |
Family
ID=64948063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811181104.1A Expired - Fee Related CN109178341B (en) | 2018-10-11 | 2018-10-11 | Unmanned aerial vehicle test protection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109178341B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874259A (en) * | 2020-05-25 | 2020-11-03 | 中国农业大学 | Plant protection unmanned aerial vehicle lift and ground effect change real-time detection system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203318681U (en) * | 2013-05-29 | 2013-12-04 | 南京信息工程大学 | Four-rotor unmanned aerial vehicle provided with spheroidal protection cover |
| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN105270650A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for six-degree-of-freedom unmanned aerial vehicle |
| CN106956768A (en) * | 2017-05-02 | 2017-07-18 | 锐合防务技术（北京）有限公司 | Aircraft |
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| KR101861506B1 (en) * | 2018-01-29 | 2018-05-28 | 송지홍 | Apparatus for testing flying object |
| CN108622437A (en) * | 2018-04-23 | 2018-10-09 | 大连理工大学 | A kind of multi-model unmanned plane debugging platform and adjustment method |
-
2018
- 2018-10-11 CN CN201811181104.1A patent/CN109178341B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203318681U (en) * | 2013-05-29 | 2013-12-04 | 南京信息工程大学 | Four-rotor unmanned aerial vehicle provided with spheroidal protection cover |
| CN104793628A (en) * | 2015-04-24 | 2015-07-22 | 西北农林科技大学 | Flight control debugging protecting device of multi-rotor-wing unmanned plane |
| CN105270650A (en) * | 2015-10-29 | 2016-01-27 | 上海交通大学 | Attitude control test device for six-degree-of-freedom unmanned aerial vehicle |
| CN106956768A (en) * | 2017-05-02 | 2017-07-18 | 锐合防务技术（北京）有限公司 | Aircraft |
| CN107352022A (en) * | 2017-06-08 | 2017-11-17 | 国蓉科技有限公司 | A kind of spherical UAS of rotor of impact resistant four |
| KR101861506B1 (en) * | 2018-01-29 | 2018-05-28 | 송지홍 | Apparatus for testing flying object |
| CN108622437A (en) * | 2018-04-23 | 2018-10-09 | 大连理工大学 | A kind of multi-model unmanned plane debugging platform and adjustment method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874259A (en) * | 2020-05-25 | 2020-11-03 | 中国农业大学 | Plant protection unmanned aerial vehicle lift and ground effect change real-time detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109178341B (en) | 2020-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109542110B (en) | Design method for controller of ducted multi-rotor mooring unmanned aerial vehicle | |
| Norman et al. | Full-scale wind tunnel test of the UH-60A airloads rotor | |
| CN105270650B (en) | A kind of six degree of freedom UAV Attitude controls test device | |
| US20140138476A1 (en) | Method and means to control the position and attitude of an airborne vehicle at very low velocity | |
| Raz et al. | Wind tunnel and flight evaluation of passive stabilization of a cargo container slung load | |
| CN109178341A (en) | A kind of unmanned plane test protective device | |
| Nguyen et al. | Structural flexibility of the shuttle remote manipulator system mechanical arm | |
| Healy et al. | Experimental analysis of the dynamics of flared folding wingtips via a novel tethered flight test | |
| Schaefer et al. | Goldeneye: the clandestine UAV | |
| Oh et al. | Designing an aerial robot for hover-and-stare surveillance | |
| CN205524934U (en) | Aircraft | |
| Zhu et al. | Design and experimental testing of safe flight control system for novel vertical take-off and landing aircraft | |
| DE102020109331B3 (en) | Aircraft | |
| CN108750113A (en) | A kind of annular wing unmanned vehicle | |
| Chambers et al. | Stall/spin test techniques used by NASA | |
| CN206456548U (en) | Unmanned plane protection device | |
| Carico | Rotorcraft shipboard flight test analytic options | |
| Chambers et al. | Summary of NASA stall/spin research for general aviation configurations | |
| Moller | Caltrans bridge inspection aerial robot. | |
| CN109795715A (en) | A kind of universal aircraft Three Degree Of Freedom and single-degree-of-freedom posture comprehensive debugging platform | |
| LINCOLN | Damage tolerance for helicopters | |
| Epps et al. | The development and flight testing of a group-3, ultra-lift, UAS for the research and development sector | |
| Huliuk | Automatic flight control system of cargo quadcopter | |
| Croom et al. | High-alpha flight dynamics research on the X-29 configuration using dynamic model test techniques | |
| Moseley et al. | Aerodynamic Stability Characteristics of the Apollo Launch Escape Vehicle (LEV) with Canard Surfaces Deployed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200602 Termination date: 20211011 |