CN109896048B - Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft - Google Patents
Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft Download PDFInfo
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- CN109896048B CN109896048B CN201910289873.1A CN201910289873A CN109896048B CN 109896048 B CN109896048 B CN 109896048B CN 201910289873 A CN201910289873 A CN 201910289873A CN 109896048 B CN109896048 B CN 109896048B
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- 238000004891 communication Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 3
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- 238000004458 analytical method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a three-degree-of-freedom platform for testing and calibrating a multi-rotor low-altitude aircraft, which comprises a rotating mechanism, a retracting mechanism and a supporting rack which are hinged in sequence, wherein the rotating mechanism can enable the aircraft to have three movable degrees of freedom and have corresponding encoders to measure the angle positions during testing, the moving range is large, the real-time pose of the aircraft can be obtained, and the testing and debugging requirements are met. The retraction mechanism can be locked and connected with the bottom plate, so that the installation of the aircraft is facilitated, the unlocking state of the retraction mechanism can be remotely controlled by the main control board, and the safety of testers is ensured. The anti-collision block on the support rack can protect the aircraft and the platform, reduce test loss, and the force/moment data can be acquired by the force sensor of the bearing lower plate at the upper part, so that the relevant physical parameters of the aircraft can be obtained conveniently. The platform has strong bearing capacity and can be suitable for the test of aircrafts with the level of 50 kg-500 kg.
Description
Technical Field
The invention relates to the field of multi-rotor aircraft, in particular to a three-degree-of-freedom platform for testing and calibrating a multi-rotor low-altitude aircraft.
Background
In recent years, the technology of multi-rotor low-altitude aircrafts has been rapidly developed, and people put higher demands on the load and safety of aircrafts. However, the existing market mainly aims at a general small-medium-sized multi-rotor unmanned aerial vehicle with simple testing equipment. The high-load multi-rotor low-altitude aircraft is high in manufacturing cost, high in danger to people and not suitable for directly carrying out mooring experiments.
The safety of testers can be protected through designing and developing the corresponding test calibration platform, the test loss is reduced, corresponding test data are obtained, and the debugging of the aircraft is assisted.
The flying attitude analysis platform of the multi-rotor aircraft disclosed in the patent document with the application publication number of CN207881710U comprises a base, a ball joint bearing, a lower slide bar, an upper slide bar, a universal joint, an aircraft tray and a force measuring mechanism; the upper end face of the base is connected with the lower slide bar through a ball joint bearing, an upper slide bar capable of sliding up and down relative to the lower slide bar is arranged on one side of the lower slide bar, the top end of the upper slide bar is connected with the aircraft tray through a universal joint, and the force measuring mechanism measures force through position change when the upper slide bar and the lower slide bar slide relatively. The simulation test can be carried out on the small-sized multi-rotor aircraft, but the simulation test cannot be applied to the large-load multi-rotor aircraft, and enough safety protection cannot be realized.
The stability testing system for the multi-rotor aircraft provided by the patent document with the application publication number of CN206050099U can realize adjustment, correction and assessment of the attitude stability of the aircraft, but cannot be applied to a large-load multi-rotor aircraft, cannot realize enough safety protection, and is inconvenient for installation of the aircraft.
Patent document with application publication number CN206670610U discloses a posture testing device of a multi-rotor aircraft, which comprises: the device comprises a base bracket, a first connecting rod, a second connecting rod, a third connecting rod and an encoder, wherein the first connecting rod and the second connecting rod are oppositely arranged, and the third connecting rod is horizontally arranged. The base support is provided with a first support and a second support which are oppositely arranged in parallel, the first end of the first connecting rod is rotationally connected with the first support, and the first end of the second connecting rod is rotationally connected with the second support. The first end of the third connecting rod is connected with the second end of the first connecting rod, the second end of the third connecting rod is connected with the second end of the second connecting rod, and the multi-rotor aircraft is fixed on the third connecting rod. The encoder is used for detecting the rotation angle of the first connecting rod relative to the first bracket, and the detection end of the encoder is connected with the first end of the first connecting rod. The device can realize simple flight attitude test, but can not measure and obtain force/moment information, and can not bear a large-load multi-rotor aircraft.
Disclosure of Invention
Aiming at the problems, the invention provides a three-degree-of-freedom platform for test calibration of a multi-rotor low-altitude aircraft. The problem of current platform load is not enough, can't receive and release automatically, the security is not enough is solved.
The technical scheme adopted by the invention is as follows:
the three-degree-of-freedom platform for testing and calibrating the multi-rotor low-altitude aircraft is characterized by comprising a rotating mechanism, a retracting mechanism, a supporting rack and a main control board;
the supporting rack comprises a ground anchor fixing piece, a supporting frame, an anti-collision block and a bearing lower plate force sensor, wherein the ground anchor fixing piece is used for being fixed with the ground, the supporting frame is fixedly connected with the ground anchor fixing piece, the bearing lower plate force sensor is fixed on the upper surface of the supporting frame, the anti-collision block is fixed on the upper surface of the bearing lower plate force sensor, and the bearing lower plate force sensor is fixed with the outer ring of the slewing bearing;
the rotating mechanism comprises a slewing bearing, a bearing upper plate, a cross universal joint, an encoder and a connecting bottom plate, wherein the inner ring of the slewing bearing is fixed with the bearing upper plate, the bearing upper plate is fixedly connected with the lower part of the cross universal joint, the upper part of the cross universal joint is fixedly connected with the connecting bottom plate, the connecting bottom plate is used for being connected with a bottom frame or a landing gear of an aircraft, and the encoder is arranged on a shaft of the slewing bearing and two shafts of the cross universal joint;
the folding and unfolding mechanism is of a bilateral symmetry structure, the structure of one side of the folding and unfolding mechanism comprises a support frame connecting block, a lower rotary hinge, a motor support, a servo motor, a rotary connecting rod, a rotary shaft connecting block, a support cushion block and an upper rotary hinge, wherein the support frame connecting block is fixed on a support frame and is fixed with one end of the lower rotary hinge, the other end of the lower rotary hinge is fixed on the motor support, the servo motor is fixed at the other end of the motor support, the servo motor is hinged with one end of the rotary connecting rod, the servo motor and one end of the rotary connecting rod can mutually rotate, the other end of the rotary connecting rod is hinged with the middle part of the rotary shaft, two ends of the rotary shaft are respectively hinged with the upper end of the support cushion block through the rotary shaft connecting block, the lower end of the support cushion block is connected with one end of the upper rotary hinge, and the other end of the upper rotary hinge is fixedly connected with a support rack;
the main control board is fixed on the support frame and comprises a driving unit, a data acquisition unit and a communication unit, wherein the driving unit is used for controlling the control units of the left servo motor and the right servo motor so as to control the movement of the two retracting mechanisms; the data acquisition unit is used for acquiring data of encoders on the force sensor of the lower plate of the bearing, the rotating shaft and the cross universal joint; the communication unit is used for data transmission.
Further, the force sensor of the lower plate of the bearing is a three-degree-of-freedom or six-degree-of-freedom force/moment sensor.
Further, the number of the anti-collision blocks is 12, and the anti-collision blocks are uniformly distributed around the upper surface of the force sensor of the lower bearing plate and correspond to the four corners of the connecting bottom plate.
Further, the communication unit comprises a wireless communication module and a Bluetooth module.
The beneficial effects of the invention are as follows:
the invention can carry out ground test on the multi-rotor aircraft within the level of 50 kg-500 kg and carry out preliminary attitude parameter setting. When the platform locking and unlocking device is used, the platform can be locked and unlocked through remote control, and the safety of testers can be effectively ensured. The invention has the buffer component, and can effectively avoid equipment loss caused by out-of-control of the aircraft when parameters are inaccurate. The encoder and the force sensor provided by the invention can effectively measure the relevant physical parameters of the aircraft in the test process, and can be transmitted to an external computer in real time through the main control board, so that the monitoring and analysis of testers are facilitated.
Drawings
FIG. 1 is a perspective view of the three degree of freedom platform of the present invention, FIG. 1;
FIG. 2 is a perspective view of the three degree of freedom platform of the present invention in FIG. 2;
FIG. 3 is a front view of the three degree of freedom platform of the present invention;
fig. 4 is a system block diagram of a main control board of the three-degree-of-freedom platform of the present invention.
In the figure, a 1-rotating mechanism, a 2-retracting mechanism, a 3-supporting rack, a 4-lower rotating hinge, a 5-collision block, a 6-slewing bearing, a 7-bearing upper plate, an 8-connecting bottom plate, a 9-cross universal joint, a 10-bearing lower plate force sensor, a 11-supporting cushion block, a 12-upper rotating hinge, a 13-rotating connecting rod, a 14-servo motor, a 15-motor bracket, a 16-main control board, a 17-rotating shaft connecting block, a 18-rotating shaft, a 19-foot fixing piece, a 20-supporting frame, a 21-supporting frame connecting block and a 22-encoder.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-3, a three-degree-of-freedom platform for test calibration of a multi-rotor low-altitude aircraft comprises a rotating mechanism 1, a retracting mechanism 2, a support rack 3 and a main control board 16;
the rotary mechanism 1 comprises a slewing bearing 6, a bearing upper plate 7, a cross universal joint 9, three encoders 22 and a connecting base plate 8. The rotary support bearing 6 can rotate 360 degrees, an encoder 22 is arranged on the shaft of the rotary support bearing 6 and used for measuring the angle position of a rotating shaft, the upper side of the inner ring of the rotary support bearing 6 is fixed with the bearing upper plate 7, the bearing upper plate 7 is fixedly connected with the lower part of the cross universal joint 9, the upper part of the cross universal joint 9 is fixedly connected with the connecting bottom plate 8, the cross universal joint 9 can rotate in two directions, the rotating range can reach 90 degrees on one side, two shafts of the cross universal joint 9 are respectively provided with an encoder which can be used for measuring the angle of the corresponding shaft, and the connecting bottom plate 8 is used for being connected with the bottom frame or the landing gear of the aircraft.
The retracting mechanism 2 is symmetrically arranged on two sides of the supporting bench 3, the structures on two sides are the same, the structure on one side comprises a supporting frame connecting block 21, a lower rotary hinge 4, a motor bracket 15, a servo motor 14, a rotary connecting rod 13, a rotary shaft 18, a rotary shaft connecting block 17, a supporting cushion block 11 and an upper rotary hinge 12, wherein the supporting frame connecting block 21 is fixed on a supporting frame 20 and is fixed with one end of the lower rotary hinge 4, the other end of the lower rotary hinge 4 is connected with the motor bracket 15, the servo motor 14 is fixed on the other end of the motor bracket 15, the servo motor 14 is hinged with one end of the rotary connecting rod 13, the two ends of the rotary connecting rod 13 are hinged with the middle part of the rotary shaft 18, the two ends of the rotary shaft 18 are respectively hinged with the upper end of the supporting cushion block 11 through the rotary shaft connecting block 17, the lower end of the supporting cushion block 11 is connected with one end of the upper rotary hinge 12, and the other end of the upper rotary hinge 12 is fixedly connected with the supporting bench 3. The whole retracting mechanism can be regarded as two parallelograms, one on the left and right sides of which can be controlled by a servo motor 14. As shown in fig. 1, the left side mechanism is in an unlocked state, the right side is in a locked state, and in the locked state, the four support cushion blocks are used for assisting in supporting the connecting bottom plate 8 to keep horizontal, so that a good supporting effect can be achieved on the connecting bottom plate 8.
The support bench 3 comprises a ground anchor 19, a support frame 20, an anti-collision block 5 and a bearing lower plate force sensor 10. The ground anchor fixing pieces 19 are fixed with the ground through ground anchor screws, four support posts of the support frame 20 are connected with the four ground anchor fixing pieces 19 through screws, the support frame 20 can be formed by connecting a plurality of sections of 8080 aluminum profiles, and the upper surface of the support frame 20 is connected with the bearing lower plate force sensor 10. The outer ring of the rotary support bearing 6 is fixed on the upper surface of the bearing lower plate force sensor 10, can be of a three-degree-of-freedom or six-degree-of-freedom force/moment measurement type, can measure the direction and the size of multidimensional force of the aircraft in an experiment, and is beneficial to determining the physical parameter centroid position, the inertia size and the like of the aircraft. The number of the crashproof blocks 5 is 12, and the crashproof blocks are uniformly distributed and fixed on the periphery of the upper surface of the bearing lower plate force sensor 10 and are used for protecting an aircraft and a test platform when accidents occur in the test process.
As shown in fig. 4, the main control board 16 is fixed on the supporting frame 20, and includes a driving unit, a data acquisition unit and a communication unit, wherein the driving unit is used for controlling the control units of the left and right servo motors, so as to control the movement of the two retracting mechanisms; the data acquisition unit is used for acquiring data of encoders on the bearing lower plate force sensor 10, the rotating shaft 18 and the cross universal joint 9; the communication unit comprises a wireless communication module and a Bluetooth module and is used for carrying out data transmission.
According to the working principle of the invention, when the connecting bottom plate 8 is horizontal, the two retracting mechanisms 2 are in a locking state, and the connecting bottom plate 8 can be kept stable, so that the aircraft can be conveniently installed and fixed. When a person gets far away from the aircraft and starts testing, the remote control retracting mechanism 2 is unlocked through the main control board 16, the aircraft is released from partial constraint at the moment, and the cross center of the cross universal joint 9 can be used as a rotation center to perform rotation movement in three directions, and corresponding testing is performed at the moment. If an accident occurs in the testing process, the aircraft is out of control, the connecting bottom plate 8 collides with the anti-collision block 5, the anti-collision block 5 is distributed on the upper four sides of the lower plate force sensor 10 of the bearing, and the aircraft and the platform can be protected. The force/moment and angle data during the test can be collected by the main control board 16 and remotely transmitted to an external computer.
The rotating mechanism 1 of the invention can lead the aircraft to have three movable degrees of freedom and corresponding encoders to measure the angle position during the test, has large moving range, can obtain the real-time pose of the aircraft, and meets the test and debugging requirements. The retracting mechanism 2 can be locked and connected with the bottom plate 8, so that the installation of an aircraft is facilitated, and the unlocking state of the retracting mechanism can be remotely controlled through the main control board 16, so that the safety of a tester is ensured. The anti-collision block 5 on the support rack 3 can protect the aircraft and the platform, reduce test loss, and the force sensor 10 under the bearing can collect force/moment data so as to obtain relevant physical parameters of the aircraft.
It will be appreciated by persons skilled in the art that the foregoing description is a preferred embodiment of the invention, and is not intended to limit the invention, but rather to limit the invention to the specific embodiments described, and that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for elements thereof, for the purposes of those skilled in the art. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (1)
1. The three-degree-of-freedom platform for testing and calibrating the multi-rotor low-altitude aircraft is characterized by comprising a rotating mechanism (1), a retracting mechanism (2), a supporting rack (3) and a main control board (16);
the supporting rack (3) comprises a ground anchor fixing piece (19), a supporting frame (20), an anti-collision block (5) and a bearing lower plate force sensor (10), wherein the ground anchor fixing piece (19) is used for being fixed with the ground, the supporting frame (20) is fixedly connected with the ground anchor fixing piece (19), the bearing lower plate force sensor (10) is fixed on the upper surface of the supporting frame (20), and the anti-collision block (5) is fixed on the upper surface of the bearing lower plate force sensor (10);
the rotating mechanism (1) comprises a slewing bearing (6), a bearing upper plate (7), a cross universal joint (9), an encoder (22) and a connecting bottom plate (8), wherein an outer ring of the slewing bearing (6) is fixed with a bearing lower plate force sensor (10), an inner ring of the slewing bearing (6) is fixed with the bearing upper plate (7), the bearing upper plate (7) is fixedly connected with the lower part of the cross universal joint (9), the upper connection of the cross universal joint (9) is fixedly connected with the connecting bottom plate (8), the connecting bottom plate (8) is used for being connected with a bottom frame or a landing gear of an aircraft, and the encoder (22) is arranged on a shaft of the slewing bearing (6) and two shafts of the cross universal joint (9);
the folding and unfolding mechanism (2) is of a bilateral symmetry structure, the structure of a single side of the folding and unfolding mechanism comprises a support frame connecting block (21), a lower rotary hinge (4), a motor bracket (15), a servo motor (14), a rotary connecting rod (13), a rotary shaft (18), a rotary shaft connecting block (17), a support cushion block (11) and an upper rotary hinge (12), wherein the support frame connecting block (21) is fixed on a support frame (20) and is fixed with one end of the lower rotary hinge (4), the other end of the lower rotary hinge (4) is fixed on the motor bracket (15), the other end of the motor bracket (15) is fixed with the servo motor (14), the servo motor (14) is hinged with one end of the rotary connecting rod (13), the two ends of the rotary connecting rod (13) can mutually rotate, the other end of the rotary connecting rod (13) is hinged with the middle part of the rotary shaft (18), two ends of the rotary shaft (18) are respectively hinged with the upper end of the support cushion block (11), the lower end of the support cushion block (11) is connected with one end of the upper rotary hinge (12), and the other end of the upper rotary hinge (12) is fixedly connected with the support rack (3).
The main control board (16) is fixed on the support frame (20) and comprises a driving unit, a data acquisition unit and a communication unit, wherein the driving unit is used for controlling a control unit of the left servo motor and the right servo motor so as to control the movement of the two retracting mechanisms; the data acquisition unit is used for acquiring data of encoders on the bearing lower plate force sensor (10), the rotating shaft (18) and the cross universal joint (9); the communication unit is used for carrying out data transmission;
the bearing lower plate force sensor (10) is a three-degree-of-freedom or six-degree-of-freedom force/moment sensor;
the number of the anti-collision blocks (5) is 12, and the anti-collision blocks are uniformly distributed around the upper surface of the bearing lower plate force sensor (10) and correspond to four corners of the connecting bottom plate (8);
the communication unit comprises a wireless communication module and a Bluetooth module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910289873.1A CN109896048B (en) | 2019-04-11 | 2019-04-11 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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| CN201910289873.1A CN109896048B (en) | 2019-04-11 | 2019-04-11 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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| CN109896048A CN109896048A (en) | 2019-06-18 |
| CN109896048B true CN109896048B (en) | 2024-02-27 |
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| CN113375500B (en) * | 2020-03-10 | 2022-06-28 | 中国科学院沈阳自动化研究所 | Military equipment overturning testing device |
| CN116022355B (en) * | 2023-02-20 | 2023-06-20 | 常州丰飞智控科技有限公司 | Performance evaluation and parameter setting platform for multi-rotor unmanned aerial vehicle |
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| CN105083588A (en) * | 2015-08-17 | 2015-11-25 | 华南农业大学 | Performance test platform and method for multi-rotor unmanned aerial vehicle |
| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| CN109466795A (en) * | 2018-12-04 | 2019-03-15 | 湖南山河科技股份有限公司 | A kind of unmanned helicopter automatically testing platform |
| CN209795861U (en) * | 2019-04-11 | 2019-12-17 | 之江实验室 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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| CA2291939C (en) * | 1999-12-08 | 2008-12-30 | Harry E. Orton | Method for diagnosing degradation in aircraft wiring |
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|---|---|---|---|---|
| CN105083588A (en) * | 2015-08-17 | 2015-11-25 | 华南农业大学 | Performance test platform and method for multi-rotor unmanned aerial vehicle |
| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| CN109466795A (en) * | 2018-12-04 | 2019-03-15 | 湖南山河科技股份有限公司 | A kind of unmanned helicopter automatically testing platform |
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