CN109178341B - Unmanned aerial vehicle test protection device - Google Patents
Unmanned aerial vehicle test protection device Download PDFInfo
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- CN109178341B CN109178341B CN201811181104.1A CN201811181104A CN109178341B CN 109178341 B CN109178341 B CN 109178341B CN 201811181104 A CN201811181104 A CN 201811181104A CN 109178341 B CN109178341 B CN 109178341B
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- 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
Abstract
The invention provides an unmanned aerial vehicle test protection device which comprises an unmanned aerial vehicle installation device, a forward tension device and a reverse tension device, wherein the unmanned aerial vehicle installation device comprises a first spherical protection frame, a second spherical protection frame and a middle shaft for connecting an unmanned aerial vehicle; the outer diameter of the second spherical protective frame is smaller than the inner diameter of the first spherical protective frame, two ends of the second spherical protective frame are rotatably connected to two ends of the inside of the first spherical protective frame, and two ends of the middle shaft are rotatably connected to two ends of the inside of the second spherical protective frame; the forward tension device is connected with one point on the first spherical protective frame, the reverse tension device is connected with the other point on the first spherical protective frame, and the connecting line of the two points passes through the circle center of the first spherical protective frame. The unmanned aerial vehicle testing device is good in stability, high in controllability and high in safety coefficient in the testing process.
Description
Technical Field
The invention belongs to a testing device in the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle testing protection device.
Background
A multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. It is rotated by a motor on each shaft, driving the rotor, thereby generating lift. The collective pitch of the rotors is fixed and not variable as in a typical helicopter. Through changing the relative speed between the different rotors, the size of unipolar propulsive force can be changed to the orbit of control aircraft. The drone system comprises a system of drone flight platforms, associated remote control stations, required command and control data links, and any other components of approved model design specifications. The rotor unmanned aerial vehicle has strong control performance, can take off and land vertically and hover, and is mainly suitable for low-altitude and low-speed tasks with take off and land vertically and hover requirements.
The background art of CN201510210148 shows that the rotor unmanned aerial vehicle is an expensive and vulnerable device, and many advanced flight control algorithms are very easy to cause the unmanned aerial vehicle trying to fly to be damaged by falling on the ground due to its immaturity and instability, so that the devices are damaged, and the relevant research participants suffer great economic loss; secondly, when the rotor unmanned aerial vehicle tries to fly, because the defect of flight control algorithm or operator's error, the rotor unmanned aerial vehicle can appear the situation out of control, not only causes unmanned aerial vehicle's own damage, still probably endangers the personal safety of the participant that tries to fly. And the rotor unmanned aerial vehicle flies the development of control algorithm, can not leave rotor unmanned aerial vehicle many times the trial flight. The method objectively and greatly increases the research and development cost and the risk of the flight control algorithm, and directly influences the speed of converting a new theory into a new result.
Consequently, if there is a device can guarantee rotor unmanned aerial vehicle's the safety of trying to fly, can effectively accomplish rotor unmanned aerial vehicle and fly the debugging work of accuse, make the correlation performance of research not influenced, can protect rotor unmanned aerial vehicle and try to fly participant's safety again, make rotor unmanned aerial vehicle can not crash when trying to fly, the participant also can not be injured, will greatly alleviate this trade participant's worries after, have great meaning to promoting rotor unmanned aerial vehicle technique rapid development.
CN201510210148 also states that there are many aspects in the research of flight control of a rotor unmanned aerial vehicle, wherein the most basic is to control the motion of the aircraft in six degrees of freedom in space by four controlled degrees of freedom, namely rotation around the X-axis (i.e. roll), rotation around the Y-axis (i.e. pitch) and rotation around the Z-axis (i.e. heading) and movement along the Z-axis. Because the rotor unmanned aerial vehicle is an under-actuated system and is a static and indefinite structure, the flight attitude of the unmanned aerial vehicle needs to be controlled and stabilized by a flight control system when the unmanned aerial vehicle is required to complete the operation, which is also called self-stabilization. To realize the control and stability augmentation, various attitude sensors are adopted to solve and filter the attitude of the unmanned aerial vehicle, and at least three degrees of freedom are subjected to closed-loop control, namely course, pitching and rolling. All other functions of unmanned aerial vehicle flight control are deployed for self-stabilization. In some fields related to this, such as application of new sensors, data fusion of multiple sensors, application of advanced control technologies, control coupling problems of new configuration aircrafts, and analysis and synthesis of nonlinear systems are rapidly developing, and many new technologies are urgently needed to be adopted, and many new theories are urgently needed to be deepened. The new technologies, new theories and new algorithms all need to be installed and tested, and can be adopted and developed only through test verification, so that a test flight protection device is needed to ensure test safety.
Disclosure of Invention
The testing device is used by developers and beginners of rotor unmanned aerial vehicles, and can test some basic performances and flight parameters of the unmanned aerial vehicles in indoor environment on the premise of ensuring safety.
The technical scheme for solving the technical problems is as follows:
an unmanned aerial vehicle test protection device comprises an unmanned aerial vehicle mounting device, a forward tension device and a reverse tension device, wherein the unmanned aerial vehicle mounting device comprises a first spherical protection frame, a second spherical protection frame and a middle shaft for connecting an unmanned aerial vehicle; the outer diameter of the second spherical protective frame is smaller than the inner diameter of the first spherical protective frame, two ends of the second spherical protective frame are rotatably connected to two ends of the inside of the first spherical protective frame, and two ends of the middle shaft are rotatably connected to two ends of the inside of the second spherical protective frame; the forward tension device is connected with one point on the first spherical protective frame, the reverse tension device is connected with the other point on the first spherical protective frame, and the connecting line of the two points passes through the circle center of the first spherical protective frame.
Through the technical scheme, the first spherical protective frame on the outermost layer is only constrained in the vertical plumb direction and can provide the degree of freedom on an X-Y plane, the second spherical protective frame on the middle layer is rotatably connected with the first spherical protective frame and can provide the degree of freedom on the Y-Z plane, and the central shaft on the innermost layer is rotatably connected with the second spherical protective frame and can provide the degree of freedom on the X-Z plane.
Optionally, the middle part of axis is opened has the hole that is used for connecting unmanned aerial vehicle.
Optionally, the present invention further provides that the positive tension device includes a positive tension line and a positive weight, the positive tension line is connected to a point on the first spherical protective frame, and the positive weight is connected to the positive tension line; the reverse tension device comprises a reverse tension line and a reverse weight, the reverse tension line is connected with another point on the first spherical protective frame, and the reverse weight is connected with the reverse tension line.
The force supply size through changing forward heavy object and reverse heavy object can make the tension size difference of forward tension line and reverse tension line, and artificial manufacturing load tests unmanned aerial vehicle's vertical load performance.
Optionally, the invention further provides that the test protection device for the unmanned aerial vehicle further comprises a fixing device, the fixing device comprises a top plate, a side plate and a bottom plate, and the top and bottom of the side plate are respectively vertically connected with one end of the top plate and one end of the bottom plate; the top plate is provided with a first pulley and a second pulley, the first pulley is positioned between the second pulley and the side plate, and the forward tension line sequentially passes through the second pulley and the first pulley from the first spherical protective frame; the bottom plate is provided with a third pulley and a fourth pulley, the fourth pulley is positioned between the third pulley and the side plate, the upper part of the side plate is provided with a fifth pulley, and the reverse tension line sequentially passes through the third pulley, the fourth pulley and the fifth pulley from the first spherical protective frame.
The force applied by the weight is applied to the line by the guide of the pulley block, so that the line is kept in a tight state and is prevented from winding into the rotor wing in the winding and unwinding processes.
Optionally, the present invention further provides that a first line limiting device for limiting the forward tension line to slide along the second pulley is installed on the top plate, and a second line limiting device for limiting the reverse tension line to slide along the third pulley is installed on the bottom plate.
Optionally, the first line limiting device further includes two first mounting plates fixed to the side surfaces of the top plate, the second pulley is located between the two first mounting plates, the first limiting body is fixed to the bottom of the first mounting plates, the first limiting body is located below the second pulley, and a through hole is formed in the first limiting body; the second wire limiting device comprises two second mounting plates fixed on the side faces of the bottom plate, the third pulley is positioned between the two second mounting plates, a second limiting body is fixed at the bottom of each second mounting plate, the second limiting body is positioned above the third pulley, and a through hole is formed in the second limiting body; the two through holes are located on a connecting line of the second pulley and the third pulley. The first and second line limiting devices define an angle of the line around the pulley, preventing the line from disengaging from the pulley. In the test process, unmanned aerial vehicle can freely fly in certain extent, and the direction is adjusted freely, nevertheless surpasss certain extent back, and online power can be owing to form the negative feedback power of pulling unmanned aerial vehicle back the center with the grow of plummet direction angle.
Optionally, the side plate is provided with a limiting plate, the limiting plate is located between the fifth pulley and the bottom plate, the limiting plate is provided with two limiting holes for allowing the forward tension line and the reverse tension line to pass through, and the size of the limiting holes is smaller than that of the forward weight and the reverse weight.
Through above-mentioned technical scheme, the limiting plate has injectd the maximum value of line length, can guarantee that unmanned aerial vehicle can not descend excessive crash or rise excessive crash to guarantee that unmanned aerial vehicle can not fly out the region of injecing.
After the forward tension line is turned by the pulley block (the second pulley and the first pulley) on the upper part, the forward weight at one end descends to be in direct contact with the first spherical protective frame at one end, and when the forward weight is positioned at the highest point defined by the limiting plate, the first spherical protective frame is positioned at the lowest point allowed by the first spherical protective frame.
The lower part of the pulley block (a third pulley, a fourth pulley and a fifth pulley) is provided with a reverse tension line which is turned by the three fixed pulleys to enable the reverse weight at one end to descend to be in direct contact with the first spherical protection frame at one end, and when the reverse weight is located at the highest point limited by the limiting plate, the first spherical protection frame is located at the highest point allowed by the reverse weight. Therefore, the pulley block and the limiting plate can play a role in keeping the wire in a tightened state and preventing the spherical frame from separating from the limited area.
Optionally, the present invention further includes a device for realizing the rotatable connection, where the device includes a protrusion, a bearing, and a connecting piece, one end of the connecting piece is provided with a clamping groove, the other end of the connecting piece is provided with a mounting hole, one end of the protrusion is fixed inside the first spherical protective frame or the second spherical protective frame, the other end of the protrusion is arranged on an inner ring of the bearing, an outer ring of the bearing is placed in the mounting hole, and the rotatable connection is realized through the rotational fit between the inner ring and the outer ring of the bearing. The device is used for realizing that the two ends of the second spherical protection frame are rotatably connected with the two ends in the first spherical protection frame and the two ends of the middle shaft are rotatably connected with the two ends in the second spherical protection frame.
The invention is further configured that when the two ends of the second spherical protection frame are rotatably connected with the two ends of the interior of the first spherical protection frame, the protrusions are connected with the two ends of the interior of the first spherical protection frame and are arranged on the inner ring of the bearing, the outer ring of the bearing is placed in the mounting hole, and the first spherical protection frame is clamped in the clamping groove.
The invention is further configured that when the two ends of the middle shaft are rotatably connected with the two ends of the inner part of the second spherical protective frame, the protrusions are connected with the two ends of the inner part of the second spherical protective frame and are arranged on the inner ring of the bearing, the outer ring of the bearing is placed in the mounting hole, and the two ends of the middle shaft are clamped in the clamping grooves.
Similarly, when the two ends of the middle shaft are rotatably connected with the two ends of the interior of the second spherical protective frame, the device is similarly arranged.
Optionally, the first spherical protective frame is further provided with two holes for fixing the forward tension line and the reverse tension line.
Optionally, the first spherical protective frame, the second spherical protective frame and the central shaft may be made of carbon fiber materials, or other light high-toughness solid materials.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the unmanned aerial vehicle testing device provided by the invention enables developers to test some basic performances (flight control stability, hovering, steering and the like) and flight parameters (hovering load and the like) of the unmanned aerial vehicle in an indoor environment on the premise of protecting self safety and aircraft safety; let the unmanned aerial vehicle beginner be familiar with and practise to unmanned aerial vehicle's operation.
The unmanned aerial vehicle testing device provided by the invention has good stability and high controllability, ensures the safety of the unmanned aerial vehicle and the safety of a tester in the testing process, ensures that researchers can conveniently develop experiments without worry, and reduces the time required by the development of the unmanned aerial vehicle.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is an overall block diagram of a preferred embodiment of the present invention;
FIG. 2 is a diagram illustrating the overall effect of the test for UAVs according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of an installation device of an unmanned aerial vehicle according to a preferred embodiment of the invention;
FIG. 4 is an X-Y plane movement effect diagram of the unmanned aerial vehicle mounting device in a preferred embodiment of the present invention;
FIG. 5 is a Y-Z plane movement effect diagram of the unmanned aerial vehicle mounting device in a preferred embodiment of the invention;
fig. 6 is a diagram illustrating the effect of the X-Z plane movement of the unmanned aerial vehicle mounting device in a preferred embodiment of the present invention.
Wherein, 1, a first spherical protective frame; 2. a second spherical protective frame; 3. a middle shaft; 4. a positive tension line; 5. a forward weight; 6. a reverse tension line; 7. a reverse weight; 8. a top plate; 9. a side plate; 10. a base plate; 11. a first pulley; 12. a second pulley; 13. a third pulley; 14. a fourth pulley; 15. a fifth pulley; 16. a first mounting plate; 17. a first position limiting body; 18. a second mounting plate; 19. a second position limiting body; 20. a limiting plate; 21. a protrusion; 22. a bearing; 23. a connecting member; 24. a card slot; 25. mounting holes; 26. rotor unmanned aerial vehicle.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1-6, a schematic diagram of a preferred embodiment of the test protection device for the unmanned aerial vehicle is provided.
Referring to fig. 1-2, in one embodiment of the invention, the unmanned aerial vehicle test protection device comprises an unmanned aerial vehicle mounting device, a forward tension device and a reverse tension device, wherein the unmanned aerial vehicle mounting device comprises a first spherical protection frame 1, a second spherical protection frame 2 and a middle shaft 3, a hole is formed in the middle of the middle shaft 3 for connecting the unmanned aerial vehicle, and the hole can be bound and fixed through a binding belt. The external diameter of the second spherical protective frame 2 is smaller than the internal diameter of the first spherical protective frame 1, the two ends of the second spherical protective frame 2 are rotatably connected to the two ends of the inside of the first spherical protective frame 1, and the two ends of the middle shaft 3 are rotatably connected to the two ends of the inside of the second spherical protective frame 2. The forward tension device is connected with one point on the first spherical protective frame 1, the reverse tension device is connected with the other point on the first spherical protective frame 1, and the connection line of the two points passes through the circle center of the first spherical protective frame 1. The size of the spherical guard frame 2 of second needs to be adjusted according to the size of test unmanned aerial vehicle, and it is better to leave some allowances between the diameter of the spherical guard frame 2 of second and unmanned aerial vehicle's occupation space to the ring that the adaptation probably appears receives the impact deformation. The first spherical protective frame 1 is constrained only by the up-down plumb direction, providing freedom in the X-Y plane. The first spherical protective frame 1 can rotate along the inner diameter of the second spherical protective frame 2 to provide freedom on a Y-Z plane, and the middle shaft 3 can rotate along the second spherical protective frame 2 to provide freedom on an X-Z plane. The invention can protect the unmanned aerial vehicle, especially the multi-rotor unmanned aerial vehicle 26, from falling into the ground and being damaged when the unmanned aerial vehicle carries out the test and experiment of the relevant functions of self-stability (rolling, pitching and course) in the flight control, and also ensure the safety of researchers.
As a preferred embodiment of the present invention, the positive tension means includes a positive tension line 4 and a positive weight 5, the positive tension line 4 is connected to a point on the first ball-shaped protective frame 1, and the positive weight 5 is connected to the positive tension line 4. The reverse tension device comprises a reverse tension line 6 and a reverse weight 7, the reverse tension line 6 is connected with another point on the first spherical protective frame 1, and the reverse weight 7 is connected with the reverse tension line 6. Two holes can be opened on the first spherical protective frame 1 for fixing the forward tension line 4 and the reverse tension line 6. The weight of the forward weight 5 and the weight of the reverse weight 7 are adjustable, so that the tension of the forward tension line 4 and the tension of the reverse tension line 6 are different, the load is artificially manufactured, and the vertical load performance of the unmanned aerial vehicle is tested.
As a preferred embodiment of the present invention, the test protection device for unmanned aerial vehicle further comprises a fixing device, the fixing device comprises a top plate 8, a side plate 9 and a bottom plate 10, and the top and bottom of the side plate 9 are respectively vertically connected with one end of the top plate 8 and one end of the bottom plate 10. The top plate 8 is provided with a first pulley 11 and a second pulley 12, the first pulley 11 is positioned between the second pulley 12 and the side plate 9, and the positive tension line 4 sequentially passes through the second pulley 12 and the first pulley 11 from the first spherical protective frame 1. The bottom plate 10 is provided with a third pulley 13 and a fourth pulley 14, the fourth pulley 14 is positioned between the third pulley 13 and the side plate 9, the upper part of the side plate 9 is provided with a fifth pulley 15, and the reverse tension line 6 sequentially passes through the third pulley 13, the fourth pulley 14 and the fifth pulley 15 from the first spherical protective frame 1.
The force applied by the weight is applied to the line by the guide of the pulley block, so that the line is kept in a tight state and is prevented from winding into the rotor wing in the winding and unwinding processes.
As a preferred embodiment of the present invention, a first wire stopper for limiting the sliding of the forward tension wire 4 along the second pulley 12 is installed on the top plate 8, and a second wire stopper for limiting the sliding of the reverse tension wire 6 along the third pulley 13 is installed on the bottom plate 10. As a further optimization of the embodiment, the first line limiting device comprises two first mounting plates 16 fixed on the side surfaces of the top plate 8, the second pulley 12 is positioned between the two first mounting plates 16, a first limiting body 17 is fixed at the bottom of the first mounting plates 16, the first limiting body 17 is positioned below the second pulley 12, and a through hole is formed in the first limiting body 17. The second line stop device includes two second mounting panels 18 of fixing in bottom plate 10 side, and third pulley 13 is located between two second mounting panels 18, is fixed with second spacing body 19 in the bottom of second mounting panel 18, and second spacing body 19 is located third pulley 13 top, and it has the through-hole to open on the second spacing body 19. Two through holes are located on the line connecting the second pulley 12 and the third pulley 13. The first line limiting device and the second line limiting device limit the angle of the peripheral line of the pulley and prevent the line from separating from the pulley. In the testing process, unmanned aerial vehicle can freely fly in certain extent, freely adjust the direction, nevertheless surpass certain extent back, online power can be owing to form the negative feedback power of pulling unmanned aerial vehicle back the center with the grow of plummet direction angle, the biggest flight scope of unmanned aerial vehicle in the restriction test.
As a preferred embodiment of the invention, the side plate 9 is provided with a limit plate 20, the limit plate 20 is positioned between the fifth pulley 15 and the bottom plate 10, the limit plate 20 is provided with two limit holes for passing through the forward tension line 4 and the reverse tension line 6, and the size of the limit holes is smaller than that of the forward weight 5 and the reverse weight 7. Limiting plate 20 has injectd the maximum value of line length, can guarantee that unmanned aerial vehicle can not descend excessive crash or rise excessive crash to guarantee that unmanned aerial vehicle can not fly out the region of injecing.
As a preferred embodiment of the present invention, the present invention further comprises a device for realizing rotatable connection, as shown in fig. 3-6, the device comprises a protrusion 21, a bearing 22 and a connecting member 23, one end of the connecting member 23 is provided with a clamping groove 24, the other end of the connecting member 23 is provided with a mounting hole, one end of the protrusion 21 is fixed inside the first spherical protective frame or the second spherical protective frame 12, the other end of the protrusion 21 is arranged inside an inner ring of the bearing 22, an outer ring of the bearing 22 is placed into the mounting hole 25, and rotatable connection is realized through the rotation fit between the inner ring and the outer ring of the bearing 22.
Specifically, as shown in fig. 3 to 6, when the two ends of the second spherical protective frame 2 are rotatably connected with the two ends of the interior of the first spherical protective frame 1, the protrusions 21 are connected with the two ends of the interior of the first spherical protective frame 1 and are mounted on the inner ring of the bearing 22, the outer ring of the bearing 22 is placed in the mounting hole 25, and the first spherical protective frame 1 is clamped in the clamping groove 24.
When the two ends of the middle shaft 3 are rotatably connected with the two ends of the inside of the second spherical protection frame 2, the protrusions 21 are connected with the two ends of the inside of the second spherical protection frame 2 and are arranged on the inner ring of the bearing 22, the outer ring of the bearing 22 is placed in the mounting hole 25, and the two ends of the middle shaft 3 are clamped in the clamping grooves 24. Preferably, the two ends of the middle shaft 3 can be set to be wider plate-shaped, and the width of the middle shaft is larger than that of the clamping groove 24, so that the middle shaft 3 is prevented from slipping in the movement process of the unmanned aerial vehicle.
In order to realize that the two ends of the middle shaft 3 are rotatably connected to the two inner ends of the second spherical protection frame 2, the device for rotatably connecting the two ends of the middle shaft 3 with the two inner ends of the second spherical protection frame 2 can use the above-mentioned device for rotatably connecting the two ends of the middle shaft 3 with the two inner ends of the second spherical protection frame 2.
In other embodiments, the device for rotatably connecting the two ends of the second spherical protective frame 2 with the two inner ends of the first spherical protective frame 1 may also be other rotatable connection devices, for example, the first spherical protective frame 1 may be set to have a wider width, two holes are opened on the first spherical protective frame 1, and then the bearing 22 is installed, and the bearing 22 is only needed to be connected to the outer edge of the second spherical protective frame 2, but this requires the first spherical protective frame 1 to have a wider width, which is higher in cost and heavier in whole than the previous embodiment, and is more difficult to operate than the previous embodiment, so the structure is preferred to the previous embodiment.
As a preferred embodiment of the present invention, the first spherical protective frame 1, the second spherical protective frame 2, and the central shaft 3 may be made of carbon fiber materials, or may be made of other light high-toughness solid materials, the size of the second spherical protective frame 2 needs to be adjusted according to the size of the test unmanned aerial vehicle, and some margin is left between the diameter of the second spherical protective frame 2 and the occupied space of the unmanned aerial vehicle, so as to adapt to the impact deformation of a ring that may occur.
Fig. 1 and fig. 3 are schematic structural views of an installation device of the unmanned aerial vehicle, and fig. 4 shows the working principle of the installation device of the unmanned aerial vehicle, in which the degree of freedom in the X-Y plane is ensured by the rotation of the first spherical protection frame 1 along the line (here, the multi-rotor unmanned aerial vehicle 26 is hidden for easy observation, and the same applies hereinafter). The degree of freedom in the Y-Z plane in the embodiment of the present invention is ensured by the rotation of the second spherical protective frame 2 with respect to the first spherical protective frame 1, and the operation principle thereof is shown in fig. 5. The degree of freedom in the X-Z plane in the embodiment of the present invention is ensured by the rotation of the central shaft 3 relative to the second spherical protective frame 2, and the working principle thereof is shown in fig. 6.
When carrying out the unmanned aerial vehicle test flight, only need to pass through the ligature area with many rotor unmanned aerial vehicle 26 and fix to axis 3 on, can carry out relevant experiment.
When carrying out unmanned aerial vehicle load test, only need to adjust the heavy object end weight of line and forward heavy object 5, line and reverse heavy object 7, can test.
The above are some preferred structural designs of the present invention, and of course, in other embodiments, each preferred structure may be used alone, or may be used in any combination on the premise of not conflicting with each other, and the effect will be better when the preferred structures are used in combination.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (8)
1. An unmanned aerial vehicle test protection device is characterized by comprising an unmanned aerial vehicle mounting device, a forward tension device and a reverse tension device, wherein the unmanned aerial vehicle mounting device comprises a first spherical protection frame, a second spherical protection frame and a middle shaft for connecting an unmanned aerial vehicle; the outer diameter of the second spherical protective frame is smaller than the inner diameter of the first spherical protective frame, two ends of the second spherical protective frame are rotatably connected to two ends of the inside of the first spherical protective frame, and two ends of the middle shaft are rotatably connected to two ends of the inside of the second spherical protective frame; the forward tension device is connected with one point on the first spherical protective frame, the reverse tension device is connected with the other point on the first spherical protective frame, and the connecting line of the two points passes through the circle center of the first spherical protective frame;
the positive tension device comprises a positive tension line and a positive weight, the positive tension line is connected with one point on the first spherical protective frame, and the positive weight is connected with the positive tension line; the reverse tension device comprises a reverse tension line and a reverse weight, the reverse tension line is connected with another point on the first spherical protective frame, and the reverse weight is connected with the reverse tension line;
the unmanned aerial vehicle test protection device further comprises a fixing device, the fixing device comprises a top plate, side plates and a bottom plate, and the top and bottom of each side plate are respectively vertically connected with one end of the top plate and one end of the bottom plate; the top plate is provided with a first pulley and a second pulley, the first pulley is positioned between the second pulley and the side plate, and the forward tension line sequentially passes through the second pulley and the first pulley from the first spherical protective frame; the bottom plate is provided with a third pulley and a fourth pulley, the fourth pulley is positioned between the third pulley and the side plate, the upper part of the side plate is provided with a fifth pulley, and the reverse tension line sequentially passes through the third pulley, the fourth pulley and the fifth pulley from the first spherical protective frame.
2. The unmanned aerial vehicle test protection device of claim 1, wherein a first line limiting device for limiting the forward tension line to slide along the second pulley is mounted on the top plate, and a second line limiting device for limiting the reverse tension line to slide along the third pulley is mounted on the bottom plate.
3. The unmanned aerial vehicle test protection device of claim 2, wherein the first line limiting device comprises two first mounting plates fixed on the side surfaces of the top plate, the second pulley is positioned between the two first mounting plates, a first limiting body is fixed on the bottom of the first mounting plates, the first limiting body is positioned below the second pulley, and a through hole is formed in the first limiting body; the second wire limiting device comprises two second mounting plates fixed on the side faces of the bottom plate, the third pulley is positioned between the two second mounting plates, a second limiting body is fixed at the bottom of each second mounting plate, the second limiting body is positioned above the third pulley, and a through hole is formed in the second limiting body; the two through holes are located on a connecting line of the second pulley and the third pulley.
4. The unmanned aerial vehicle test protection device of claim 1, wherein a limiting plate is mounted on the side plate, the limiting plate is located between the fifth pulley and the bottom plate, two limiting holes for passing through the forward tension line and the reverse tension line are formed in the limiting plate, and the size of each limiting hole is smaller than that of the forward weight and that of the reverse weight.
5. The unmanned aerial vehicle test protection device of any one of claims 1-4, wherein a hole for connecting an unmanned aerial vehicle is formed in the middle of the middle shaft.
6. The unmanned aerial vehicle test protection device of any one of claims 1-4, further comprising a device for realizing the rotatable connection, wherein the device comprises a protrusion, a bearing and a connecting piece, one end of the connecting piece is provided with a clamping groove, the other end of the connecting piece is provided with a mounting hole, one end of the protrusion is fixed inside the first spherical protection frame or the second spherical protection frame, the other end of the protrusion is arranged on an inner ring of the bearing, an outer ring of the bearing is placed in the mounting hole, and the rotatable connection is realized through the rotation fit between the inner ring and the outer ring of the bearing.
7. The unmanned aerial vehicle test protection device of any one of claims 1-4, wherein the first spherical protective frame is provided with two holes for fixing the forward tension line and the reverse tension line.
8. The unmanned aerial vehicle test protection device of any one of claims 1-4, wherein the first spherical protective frame, the second spherical protective frame, and the central shaft are carbon fiber 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 CN109178341A (en) | 2019-01-11 |
| CN109178341B true CN109178341B (en) | 2020-06-02 |
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