CN111504280A - Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle - Google Patents
Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111504280A CN111504280A CN202010295496.5A CN202010295496A CN111504280A CN 111504280 A CN111504280 A CN 111504280A CN 202010295496 A CN202010295496 A CN 202010295496A CN 111504280 A CN111504280 A CN 111504280A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- thrust
- lifting
- gravity center
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/12—Measuring inclination, e.g. by clinometers, by levels by using a single pendulum plumb lines G01C15/10
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Balance (AREA)
Abstract
The invention provides a device and a method for measuring the distance between the gravity center and the thrust line of an unmanned aerial vehicle. By the method and the device, the problems that when the distance between the gravity center of the unmanned aerial vehicle and a thrust line is measured by an abdominal vertical hanging method of the unmanned aerial vehicle, the unmanned aerial vehicle with larger body size and weight is difficult to turn over, the oil core positions in an inverted hanging state and a launching state are inconsistent, the accuracy of a measurement result is influenced, the back reading is inconvenient and the like are solved.
Description
Technical Field
The invention belongs to the field of rocket boosting, and particularly relates to a device and a method for measuring the distance between the gravity center and a thrust line of an unmanned aerial vehicle.
Background
At present, unmanned aerial vehicles are widely applied to various fields, such as military reconnaissance, environmental monitoring, environmental law enforcement, environmental governance, meteorological monitoring, homeland survey law enforcement, forest fire monitoring, frontier defense monitoring, rescue, transportation, aerial photography, mapping, patrol and other fields. The zero-length launching mode of unmanned aerial vehicle rocket boosting is the most common launching mode of unmanned aerial vehicles, and means that the unmanned aerial vehicles utilize a launcher to launch through rocket boosting, the boosting rockets automatically break away after burning, and the main engines of the boosting rockets complete flight tasks. The launching mode can enable the unmanned aerial vehicle not to be limited by launching sites, weight, distance and speed, and can quickly reach ideal height and speed from a static state in a short time.
The axis that interface is connected in boosting rocket and unmanned aerial vehicle transmission is the thrust line, be the straight line that makes unmanned aerial vehicle in order to satisfy the thrust place of certain angle transmission, must satisfy the actual focus that the thrust line extension line crossed unmanned aerial vehicle and just can guarantee the transmission safety, consequently need measure the actual focus of unmanned aerial vehicle before the transmission and carry out the adjustment with distance between thrust line, unmanned aerial vehicle thrust line is one of unmanned aerial vehicle transmitting system's key technology with the measurement of focus distance.
According to the existing thrust line and gravity center distance measuring and adjusting method, a vertical hanging method and a counter weight are commonly used, according to the paper 'unmanned aerial vehicle boost rocket thrust line adjusting device and method' of manufacturing automation Yangtze river, fairy tale, high starsea and the like, the vertical hanging method means that an unmanned aerial vehicle body is turned over, the belly of the unmanned aerial vehicle is upward, the unmanned aerial vehicle is vertically hung by a steel cable through connecting a structure adapter thrust cone of the boost rocket and the unmanned aerial vehicle body, if the actual gravity center coincides with the theoretical gravity center, the extension line of the steel cable passes through the actual gravity center and coincides with the thrust line, a sleeve is installed on the thrust cone, the distances between the steel cable and the upper end face of a measuring cylinder in the front and back directions and in the left and right directions are measured by a ruler, and when the. After hoisting the unmanned aerial vehicle organism usually, the cable wire is not the coincidence collineation with the thrust line, when there is deviation or deviation great in cable wire direction and sleeve axis direction, then explains that unmanned aerial vehicle actual focus is great with theoretical focus skew, needs to carry out the counter weight adjustment to unmanned aerial vehicle.
The method and the measuring device have two defects, and the unmanned aerial vehicle with larger body size and weight is difficult to turn over; compared with the unmanned aerial vehicle in the launching state, the unmanned aerial vehicle in the upside-down hanging state has inconsistent oil core positions, and the accuracy of a measuring result is influenced; under the state of hoisting unmanned aerial vehicle, the sleeve is higher apart from ground with cable wire reading one end, and the reading operation is inconvenient.
Disclosure of Invention
Aiming at the inaccuracy of the measurement result in the prior art, the invention provides a method and a device for measuring the distance between the gravity center and the thrust line of an unmanned aerial vehicle, which change the traditional belly lifting mode into back lifting mode and realize more accurate measurement of the distance between the gravity center and the thrust line of the unmanned aerial vehicle by additionally arranging the measuring device.
The specific implementation content of the invention is as follows:
the invention provides a device for measuring the distance between the gravity center and a thrust line of an unmanned aerial vehicle, which is connected with the unmanned aerial vehicle, and comprises a hoisting device, a thrust cone and a measuring device;
the lifting device is arranged on the back of the unmanned aerial vehicle; the measuring device is arranged at the lower part of the thrust cone; the thrust awl is outer conical shape, and the great one end of opening sets up the base flange of being connected with the unmanned aerial vehicle machine belly, set up the waist type hole that is used for fixing on the base flange.
In order to better realize the invention, further, the hoisting device comprises a hoisting rope, a hoisting ball, a bolt, a hoisting joint, a bolt assembly, a hoisting nut and a hoisting cylinder;
the lifting joint comprises a lifting plate provided with a threaded hole and a cylindrical joint vertically arranged on the lifting plate; the lifting joint is fixedly connected with the back of the unmanned aerial vehicle through a bolt assembly and a threaded hole in a lifting plate;
a lifting cylinder is sleeved on the cylindrical joint of the lifting joint, bolt threaded holes are formed in the corresponding positions of the lifting cylinder and the cylindrical joint, and the lifting cylinder and the lifting joint are fixedly connected through a bolt penetrating through the bolt threaded hole and a lifting nut installed at the tail end of the bolt;
the wall surface of the top end of the hanging cylinder is provided with a circular truncated cone-shaped through hole, the diameter of the upper end of the circular truncated cone-shaped through hole is smaller than that of the lower end of the circular truncated cone-shaped through hole, a hoisting ball is arranged in the circular truncated cone-shaped small hole, the diameter of the hoisting ball is larger than that of the upper end of the circular truncated cone-shaped through hole and smaller than that of the lower end of the circular truncated cone-shaped through hole, and the upper end of the hoisting ball is connected with a
In order to better realize the invention, the wire fixing rod is further comprised; the thrust cone is also provided with a fixing hole of a wire fixing rod A; the measuring device comprises a measuring cylinder, an indicating hammer, a scribing ruler, a thin line, a base, a rubber fixing sleeve and a screw;
the base comprises a cylindrical cavity structure positioned at the upper part and an outer conical cavity structure connected below the cylindrical cavity structure; the cylindrical cavity structure and the outer conical cavity structure are integrally formed, and an inner cavity space formed by the cylindrical cavity structure and the outer conical cavity structure is matched with the thrust cone; the upper end of the cylindrical cavity structure is provided with a base fixing lug, the base fixing lug is provided with a threaded small hole corresponding to the waist-shaped hole, and the base and the thrust cone are fixedly connected with the unmanned aerial vehicle through screws penetrating through the waist-shaped hole and the threaded small hole; the outer conical cavity structure of the base is provided with a wire fixing rod B fixing hole corresponding to the wire fixing rod A fixing hole, and the wire fixing rod passes through the wire fixing rod A fixing hole and the wire fixing rod B fixing hole and is installed on the thrust cone;
the lower end of the outer conical cavity structure of the base dispensing needle valve is also provided with a sleeve, and the sleeve is inserted into the inner cavity at the upper end of the measuring cylinder and fixedly connected with the measuring cylinder; the thin wire is arranged in the measuring cylinder, one end of the thin wire is fixed on the wire fixing rod, and the other end of the thin wire is connected with the indicating hammer; the indicating hammer is hung at the bottom end of the inner cavity of the measuring cylinder, the graduated scale is arranged at the bottom end of the measuring cylinder and is close to the indicating hammer, and the indicating hammer just points to the center of the graduated scale when the measuring cylinder is vertical to the ground; the rubber fixing sleeve is sleeved at the bottom end of the measuring cylinder.
In order to better realize the invention, further, an open slot A is also arranged on the thrust cone, and a limiting annular structure which is reduced inwards is arranged at the lower end opening of the thrust cone with a smaller opening; the measuring device comprises a tilt angle sensor, a sensor tool, a locking nut, a tensioning screw and a stop square nail;
the upper end of the sensor tool is of an outer truncated cone-shaped cavity structure, the outer truncated cone-shaped cavity is attached to the thrust cone, and an open slot B corresponding to the open slot A in the thrust cone is further arranged on the outer truncated cone-shaped cavity structure; the lower end of the sensor tool is of a square cavity structure, a partition plate is arranged between the square cavity structure and the outer circular truncated cone-shaped cavity structure, a threaded hole is formed in the center of the partition plate, the tensioning screw enters the outer circular truncated cone-shaped cavity structure through an open slot A and an open slot B and is matched with a locking nut arranged in the square cavity structure, the thrust cone and the sensor tool are installed and fixed, and a stop square nail used for fixing the tensioning screw is arranged in the outer circular truncated cone-shaped cavity structure through the open slot A and the open slot B; the tilt angle sensor is fixedly installed at the bottom end of the sensor tool.
The invention also discloses a method for measuring the distance between the gravity center and the thrust line of the unmanned aerial vehicle, wherein a lifting ball is arranged at the intersection of the back of the unmanned aerial vehicle and the thrust line, the lifting ball is ensured to be on the thrust line, a thrust cone is arranged on the belly of the unmanned aerial vehicle, and a measuring device is arranged on the thrust cone to measure the gravity center and the thrust line of the unmanned aerial vehicle.
In order to better implement the method, further, the specific measurement steps of the gravity center and the thrust line of the unmanned aerial vehicle are as follows:
firstly, a hoisting device is required to be installed on the back of an unmanned aerial vehicle;
then installing a thrust cone on the belly of the unmanned aerial vehicle, and installing a measuring cylinder on the thrust cone;
then, a thrust line is arranged on the unmanned aerial vehicle, and the thrust line is a connecting line between a thrust point of the thrust cone on the unmanned aerial vehicle and a lifting ball of a lifting device;
then determining the theoretical gravity center of the unmanned aerial vehicle through a thrust line; the theoretical gravity center is on the thrust line, and the distance between the theoretical gravity center and the lifting ball is equal to the sum of the effective length of the thin line in the measuring cylinder and the effective length of the indicating hammer.
In order to better realize the invention, further, after the theoretical gravity center of the unmanned aerial vehicle is determined, the unmanned aerial vehicle is vertically hoisted from a back single point through a hoisting rope; meanwhile, the unmanned aerial vehicle is driven to swing by swinging the lifting ball in the inner conical surface of the lifting cylinder; there are two kinds of situations after unmanned aerial vehicle stops the swing:
case 1: when the actual gravity center of the unmanned aerial vehicle is consistent with the theoretical gravity center, the length of a distance line between the actual gravity center of the unmanned aerial vehicle and the lifting ball is equal to the sum of the thin line and the effective length of the indicating hammer;
in case 2, when the actual gravity center of the unmanned aerial vehicle is inconsistent with the theoretical gravity center, setting the deflection angle of the unmanned aerial vehicle along the lifting ball to be α, namely setting the angle between the connecting line of the lifting ball and the actual gravity center and the connecting line of the lifting ball and the theoretical gravity center to be α;
the measuring cylinder is fixedly connected with the unmanned aerial vehicle through a thrust cone, the angle of the measuring cylinder is always consistent with that of the unmanned aerial vehicle, the indicating hammer is always hung vertically, the deflection angle of the thin line relative to the unmanned aerial vehicle is set to be β, the angle α and the angle β are the same interior angle, namely the angle α is equal to the angle β;
and setting the offset distance between the indicating hammer and the center of the graduated scale as x1, the offset distance between the actual gravity center and the theoretical gravity center as x2, and the distance between the theoretical gravity center and the lifting ball as y2, wherein the offset distance x1 is equal to the offset distance x2, and is also equal to the product of the distance y2 from the theoretical gravity center to the lifting ball and the tangent value of the angle β, and the deviation of the azimuth and the distance between the actual gravity center and the theoretical gravity center on the thrust line can be obtained by measuring the deviation of the azimuth and the distance between the indicating hammer and the center of the graduated scale.
The invention also discloses a method for measuring the distance between the gravity center and the thrust line of the unmanned aerial vehicle, wherein a lifting ball is arranged at the intersection of the back of the unmanned aerial vehicle and the thrust line, the lifting ball is ensured to be on the thrust line, a thrust cone is arranged on the belly of the unmanned aerial vehicle, and a measuring device is arranged on the thrust cone to measure the gravity center and the thrust line of the unmanned aerial vehicle.
In order to better implement the method, further, the specific measurement steps of the gravity center and the thrust line of the unmanned aerial vehicle are as follows:
firstly, a hoisting device is required to be installed on the back of an unmanned aerial vehicle;
then installing a thrust cone on the belly of the unmanned aerial vehicle, and installing an inclination angle sensor on the thrust cone;
then, a thrust line is arranged on the unmanned aerial vehicle, and the thrust line is a connecting line between a thrust point of the thrust cone on the unmanned aerial vehicle and a lifting ball of a lifting device;
then determining the theoretical gravity center of the unmanned aerial vehicle through a thrust line; the theoretical center of gravity is on the thrust line.
In order to better realize the invention, further, after the theoretical gravity center of the unmanned aerial vehicle is determined, the unmanned aerial vehicle is vertically hoisted from a back single point through a hoisting rope; meanwhile, the unmanned aerial vehicle is driven to swing by swinging the lifting ball in the inner conical surface of the lifting cylinder; there are two kinds of situations after unmanned aerial vehicle stops the swing:
case 1: when the actual gravity center of the unmanned aerial vehicle is consistent with the theoretical gravity center, the distance length between the actual gravity center of the unmanned aerial vehicle and the lifting ball is equal to the sum of the thin line and the effective length of the indicating hammer;
in case 2, when the actual gravity center of the unmanned aerial vehicle is inconsistent with the theoretical gravity center, setting the deflection angle of the unmanned aerial vehicle along the lifting ball to be α, namely setting the angle between the connecting line of the lifting ball and the actual gravity center and the connecting line of the lifting ball and the theoretical gravity center to be α;
the inclination angle sensor is fixedly connected with the unmanned aerial vehicle through a thrust cone and always keeps the same angle with the unmanned aerial vehicle, the deflection angle of the inclination angle sensor following the unmanned aerial vehicle is set to be gamma, the angle α and the angle gamma are the same interior angle, namely the angle α is equal to the angle gamma;
and setting the offset distance between the actual center of gravity and the theoretical center of gravity as x2 and the distance between the theoretical center of gravity and the lifting ball as y2, wherein the offset distance x2 is equal to the product of the distance between the theoretical center of gravity and the lifting ball y2 and the tangent value of the angle gamma, and the deviation of the azimuth and the distance between the actual center of gravity and the theoretical center of gravity on a thrust line is obtained by measuring the angle α, the angle gamma, the distance x2 and the distance y 2.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the measurement result is more accurate;
(2) the reading is more convenient.
Drawings
FIG. 1 is a schematic diagram of a principle of measuring a distance between a thrust line and a gravity center of an unmanned aerial vehicle by a vertical suspension method in the prior art;
FIG. 2 is a schematic diagram of the case where the actual center of gravity is not consistent with the theoretical center of gravity when the distance between the center of gravity of the unmanned aerial vehicle and the thrust line is measured;
FIG. 3 is a schematic diagram of the unmanned aerial vehicle when the actual center of gravity is consistent with the theoretical center of gravity during the distance measurement between the center of gravity and the thrust line;
FIG. 4 is a mounting structure diagram of the back suspension measuring device for the distance between the center of gravity and a thrust line of the unmanned aerial vehicle;
FIG. 5 is a cross-sectional view of the lifting device;
FIG. 6 is a partial view of the lifting device;
FIG. 7 is a schematic view of a thrust cone structure;
fig. 8 is a cross-sectional view of the measuring device when measuring using the measuring cylinder;
FIG. 9 is a schematic view of a base structure;
FIG. 10 is a schematic view of the installation of the measuring cylinder with the base and the rubber fixing sleeve;
FIG. 11 is a schematic view of the structure of the measuring cylinder and the rubber boot;
FIG. 12 is a schematic view of a reticle;
FIG. 13 is a schematic view of the indicating hammers pointing toward the center of the reticle ruler;
FIG. 14 is a sectional view showing the structure of a measuring apparatus when measurement is performed using a tilt sensor;
fig. 15 is a structural view of the measuring apparatus when measurement is performed using the tilt sensor.
Wherein: 1. an unmanned aerial vehicle; 2. an actual center of gravity; 3. a thrust line; 4. a thrust cone; 5. a sleeve; 6. the upper end surface of the sleeve; 7. a lifting rope; 8. a hoisting device; 9. a theoretical center of gravity; 11. a measuring cylinder; 12. an indicator hammer; 13. a line marking ruler; 14. a thin wire; 15. hoisting the ball; 16. a bolt; 17. hoisting a joint; 18. a bolt assembly; 19. lifting the nut; 20. a hanging cylinder; 21. a base; 22. a rubber fixing sleeve; 23. a wire fixing rod; 24. a screw; 25. a kidney-shaped hole; 26. an open slot A; 27. a fixing hole of the wire fixing rod B; 28. the lug plate is fixed on the base; 29. a tilt sensor; 30. sensor tooling; 31. locking the nut; 32. tensioning the screw rod; 33. a stopping square nail; 36. a base flange; 37. a wire fixing rod A is provided with a fixing hole; 38. a sleeve; 39. an opening groove B.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
a device for measuring the distance between the center of gravity and a thrust line of an unmanned aerial vehicle is connected with the unmanned aerial vehicle 1, and as shown in figures 1, 2, 5, 6, 7, 8, 9, 10, 11, 12 and 13, the device comprises a hoisting device 8, a thrust cone 4, a measuring device 35 and a line fixing rod 23;
the lifting device 8 is arranged on the back of the unmanned aerial vehicle 1; the measuring device 35 is arranged at the lower part of the thrust cone 4; thrust awl 4 is outer conical shape, and the great one end of opening sets up the base flange 36 of being connected with unmanned aerial vehicle 1 machine belly, set up waist type hole 25 that is used for fixing on the base flange 36.
The hoisting device 8 comprises a hoisting rope 7, a hoisting ball 15, a bolt 16, a hoisting joint 17, a bolt assembly 18, a hoisting nut 19 and a hoisting cylinder 20;
the lifting joint 17 comprises a lifting plate provided with a threaded hole and a cylindrical joint vertically arranged on the lifting plate; the lifting joint 17 is fixedly connected with the back of the unmanned aerial vehicle 1 through a bolt assembly 18 and a threaded hole in a lifting plate;
a lifting cylinder 20 is sleeved on the cylindrical joint of the lifting joint 17, bolt threaded holes are formed in the corresponding positions of the lifting cylinder 20 and the cylindrical joint, and the lifting cylinder 20 and the lifting joint 17 are fixedly connected through a bolt 16 penetrating through the bolt threaded hole and a lifting nut 19 arranged at the tail end of the bolt 16;
the wall surface of the top end of the hanging cylinder 20 is provided with a round table-shaped through hole, the diameter of the upper end of the round table-shaped through hole is smaller than that of the lower end of the round table-shaped through hole, a hoisting ball 15 is arranged in the round table-shaped small hole, the diameter of the hoisting ball 15 is larger than that of the upper end of the round table-shaped through hole and smaller than that of the lower end of the round table-shaped through hole, and the upper end of the hoisting ball 15 is connected with a hoisting rope 7 which penetrates out of the
The thrust cone 4 is also provided with a fixing hole 37 of a wire fixing rod A; the measuring device 35 comprises a measuring cylinder 11, an indicating hammer 12, a graduated scale 13, a thin line 14, a base 21, a rubber fixing sleeve 22 and a screw 24;
the base 21 comprises a cylindrical cavity structure positioned at the upper part and an outer conical cavity structure connected below the cylindrical cavity structure; the cylindrical cavity structure and the outer conical cavity structure are integrally formed, and an inner cavity space formed by the cylindrical cavity structure and the outer conical cavity structure is matched with the thrust cone 4; a base fixing lug 28 is arranged at the upper end of the cylindrical cavity structure, a threaded small hole corresponding to the waist-shaped hole 25 is formed in the base fixing lug 28, and the base 21 and the thrust cone 4 are fixedly connected with the unmanned aerial vehicle through a screw 24 penetrating through the waist-shaped hole 25 and the threaded small hole; a wire fixing rod B fixing hole 27 corresponding to the wire fixing rod A fixing hole 37 is formed in the outer conical cavity structure of the base 21, and the wire fixing rod 23 penetrates through the wire fixing rod A fixing hole 37 and the wire fixing rod B fixing hole 27 to be installed on the thrust cone 4;
the lower end of the outer conical cavity structure of the dispensing needle valve of the base 21 is further provided with a sleeve 38, and the sleeve 38 is inserted into the inner cavity at the upper end of the measuring cylinder 11 and fixedly connected with the measuring cylinder 11; the thin wire 14 is arranged in the measuring cylinder 14, one end of the thin wire 14 is fixed on the wire fixing rod 23, and the other end of the thin wire 14 is connected with the indicating hammer 12; the indicating hammer 12 is hung at the bottom end of the inner cavity of the measuring cylinder 11, the graduated scale 13 is arranged at the bottom end of the measuring cylinder 11 and is close to the indicating hammer 12, and the indicating hammer 12 just points to the center of the graduated scale 13 when the measuring cylinder 11 is vertical to the ground; the rubber fixing sleeve 22 is sleeved at the bottom end of the measuring cylinder 11.
The working principle is as follows: as shown in fig. 1, the conventional distance measuring and adjusting device for distance between a thrust line and a center of gravity is usually a vertical hanging method and a counterweight, according to the article "thrust line adjusting device and method for booster rocket of unmanned aerial vehicle" in the manufacturing industry, such as Yangtze river, fairy tale, Gaoshai, and the like, the vertical hanging method means that the unmanned aerial vehicle 1 is turned over, the belly of the unmanned aerial vehicle is upward, the unmanned aerial vehicle is vertically hung by a hanging rope 7 through a thrust cone 4 of a structural adapter of the booster rocket and the unmanned aerial vehicle 1, if the actual center of gravity 2 is overlapped with a theoretical center of gravity 9, an extension line of the hanging rope 7 passes through the actual center of gravity 2 and is overlapped with the thrust line 3, a sleeve 5 is installed on the thrust cone 4, distances in front and back directions and left and right directions of the upper end surface 6 of the sleeve and the hanging rope 7 are measured. After lifting up unmanned aerial vehicle 1 usually, lifting rope 7 and thrust line 3 are the coincidence collineation not, when 7 directions of lifting rope and 5 axis directions of sleeve have the deviation or the deviation is great, then it is great to explain that unmanned aerial vehicle actual focus 2 deviates from theoretical focus 9, needs to carry out the counter weight adjustment to unmanned aerial vehicle.
In the device, the thrust cone 4 is an outer conical surface under the thrust of the rocket, and a waist-shaped hole 25 is formed in a base flange 36; the lifting rope 7 is a steel wire rope or a high-strength composite material rope, and the lifting ball 15 at one end of the rope is a die-cast or fine-machined ball; the hoisting device 8 is of a hollow cylindrical structure and consists of a hoisting rope 7, a hoisting cylinder 20, a bolt 16, a hoisting connector 17 and a bolt assembly 18; the measuring cylinder 11 is a cylindrical steel pipe; the indicating hammer 12 is a pointed hammer; the fine wires 14 are made of ultra-high molecular weight polyethylene fibers; the hoisting joint 17 is of a flange structure; the hanging cylinder 20 is a circular tube with a taper hole in the middle; the base 21 is a combined structure of a cone and a base fixing lug 28, and a bolt connecting hole is formed in the base fixing lug 28; the rubber fixing sleeve 22 is a rubber sleeve; the wire fixing rod 23 is a round rod with a hole in the middle.
Meanwhile, the thrust cone 4 is connected with the belly of the unmanned aerial vehicle 1 through a bolt, and the thrust cone 4 can move and be adjusted along the waist-shaped hole 25; after the back of the unmanned aerial vehicle 1 is hoisted by the lifting rope 7, the unmanned aerial vehicle 1 can freely swing along the ball head center of the lifting rope 7; the lifting cylinder 20 is connected with the lifting rope 7 and the lifting joint 17 through bolts 16, and the lifting joint 17 is connected to the back of the unmanned aerial vehicle 1 through bolts; the outer grinding circle at one end of the measuring cylinder 11 is tightly matched with the base 21, and the inner grinding circle at the other end is in transition fit with the reticle 13; after the base 21 is in conical fit with the thrust cone 4, the base fixing lug 28 is fixed on a base flange of the thrust cone 4 by a bolt; after the thin line 14 is connected with the indicating hammer 12, the free swing length of the indicating hammer 12 along the line fixing rod 23 and the height of the indicating hammer 12 are equal to the distance between the center of the lifting ball 15 and the theoretical gravity center 9, after the unmanned aerial vehicle 1 is lifted, the measuring cylinder 11 is fixedly connected to the unmanned aerial vehicle 1, and the thin line 14 is vertically downward under the action of the gravity of the indicating hammer 12; after the unmanned aerial vehicle 1 is hoisted through the back hoisting ball 15, the unmanned aerial vehicle 1 deflects along the hoisting ball 15, and the distance between the actual gravity center 2 of the unmanned aerial vehicle 1 and the thrust line 3 can be obtained by multiplying the distance between the hoisting ball 15 and the design gravity center 9 by the tangent value of the deflection angle.
Example 2:
the invention provides a method for measuring the distance between the gravity center of an unmanned aerial vehicle and a thrust line, which is characterized in that as shown in fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12 and fig. 13, a lifting point is arranged at the intersection point of the back of the unmanned aerial vehicle 1 and the thrust line 3, the lifting point is ensured to be on the thrust line 3, a thrust cone 4 is arranged on the belly of the unmanned aerial vehicle 1, and a measuring device 35 is arranged on the thrust cone 4 to measure the gravity center of the unmanned aerial vehicle 1 and the thrust line 3.
The specific measurement steps of the gravity center and the thrust line 3 of the unmanned aerial vehicle 1 are as follows:
firstly, a hoisting device 8 is required to be installed on the back of the unmanned aerial vehicle 1;
then installing a thrust cone 4 on the belly of the unmanned aerial vehicle 1, and installing a measuring cylinder 11 on the thrust cone 4;
then, a thrust line 3 is arranged on the unmanned aerial vehicle 1, and the thrust line 3 is a connecting line between a thrust point of the thrust cone 4 on the unmanned aerial vehicle 1 and a lifting ball 15 of a lifting device 8;
then determining the measurement gravity center 9 of the unmanned aerial vehicle 1 through the thrust line 3; the measuring gravity center 9 is positioned on the thrust line 3, and the distance between the measuring gravity center and the lifting ball 15 is equal to the effective length of the thin line 14 in the measuring cylinder 11 plus the indicating hammer 12.
After the measurement gravity center 9 of the unmanned aerial vehicle 1 is determined, the unmanned aerial vehicle 1 is vertically hoisted from a back single point through a hoisting rope 7; meanwhile, the unmanned aerial vehicle 1 is driven to swing by swinging the lifting balls 15 in the inner conical surface of the lifting cylinder 20; there are two kinds of situations after unmanned aerial vehicle 1 stops the swing:
case 1: when the actual gravity center 2 of the unmanned aerial vehicle 1 is consistent with the measured gravity center 9, the length of a distance line between the actual gravity center 2 of the unmanned aerial vehicle 1 and the lifting ball 15 is equal to the sum of the thin line 14 and the effective length of the indicating hammer 12;
in the case 2, when the actual gravity center 2 of the unmanned aerial vehicle 1 is inconsistent with the measurement gravity center 9, the deflection angle of the unmanned aerial vehicle 1 along the lifting ball 15 is set to be α, namely the angle of an included angle between a connecting line of the lifting ball 15 and the actual gravity center 2 and a connecting line of the lifting ball 15 and the measurement gravity center 9 is set to be α;
the measuring cylinder 11 is fixedly connected with the unmanned aerial vehicle 1 through the thrust cone 4, the angle of the measuring cylinder is always consistent with that of the unmanned aerial vehicle 1, the indicating hammer 12 is always hung vertically, the deflection angle of the thin line 14 relative to the unmanned aerial vehicle 1 is set to be β, the angle α and the angle β are in the same side interior angle, namely the angle α is equal to the angle β;
when the offset distance between the indicating weight 12 and the center of the scale 13 is set to be x1, the offset distance between the actual gravity center 2 and the measured gravity center 9 is set to be x2, and the distance between the measured gravity center 9 and the lifting ball 15 is set to be y2, the offset distance x1 is equal to the offset distance x2, which is also equal to the product of the distance y2 between the measured gravity center 9 and the lifting ball 15 and the tangent value of the angle β, and the deviation of the orientation and the distance between the actual gravity center 2 and the measured gravity center 9 on the thrust line 3 can be obtained by measuring the deviation of the orientation and the distance between the indicating weight 12 and the center of the scale 13.
The working principle is as follows: a lifting device 8 is installed on the back of the unmanned aerial vehicle 1, and a measuring cylinder 11 is installed on the belly of the unmanned aerial vehicle 1; the hoisting device 8 comprises a hoisting rope 7, a hoisting point 15, a hoisting cylinder 20, a hoisting connector 17, a bolt 16, a locking nut 19, a bolt assembly 18 and the like; the measuring cylinder 11 comprises a base 21, a measuring cylinder 11, a rubber fixing sleeve 22, a graduated scale 13, an indicating hammer 12, a thin line 14, a line fixing rod 23, a screw 24, a line fixing rod avoiding groove 26, a line fixing rod fixing hole 27, a base fixing lug 28 and the like; the distance y2 between the lifting point 15 and the theoretical centre of gravity 9 is equal to the thin line 14 plus the length y1 of the indicator weight 12.
The hoisting device 8 fixedly connects the hoisting connector 17 with the back of the unmanned aerial vehicle 1 through the bolt assembly 18; one end of the lifting rope 7 is connected with a crane, the other end of the lifting rope is a die-cast ball head, and the center of the ball head is a lifting point 15; the lifting cylinder 20 is a hollow cylindrical cylinder with one end provided with a conical hole on the end surface and a cylindrical hole on the side surface, the ball head of the lifting rope 7 penetrates through the conical hole to be matched, the lifting ball 15 can freely swing along the conical hole, and the inner hole of the lifting cylinder 20 is matched with the cylinder of the lifting joint 17 and is fixed through a bolt 16 and a locking nut 19.
A base 21 in the measuring cylinder 11 is matched with the conical surface of the thrust cone 4, the base 21 is fixed on the thrust cone 4 through a screw 24, the upper end of the measuring cylinder 11 is tightly matched with the base 21, a reticle 13 is arranged in the lower end of the measuring cylinder 11, and the reticle is fixed through a rubber fixing sleeve 22; before the base 21 and the thrust cone 4 are assembled, the thread fixing rod 23 is installed in a fixing hole 27 of the thread fixing rod B, then a hole is punched in the centroid of the thread fixing rod 23, the thin thread 14 penetrates through the hole and is tied, the other end of the thin thread 14 is connected with the indicating hammer 12, and the thread fixing rod is assembled with the base and then assembled with the thrust cone in a way of avoiding the thread fixing rod avoiding groove 26.
Based on above-mentioned measuring device, the measurement step of unmanned aerial vehicle focus and thrust line distance is as follows:
firstly, a lifting device 8 is installed on the back of an unmanned aerial vehicle 1, and a measuring cylinder 11 is installed on a thrust cone 4 on the belly;
then, the unmanned aerial vehicle 1 is lifted from a single point at the back through the lifting rope 7, the unmanned aerial vehicle 1 is vertically lifted under the action of gravity, and meanwhile, the lifting ball 15 at the end of the lifting rope 7 swings along the inner conical surface of the lifting cylinder 20;
when the unmanned aerial vehicle 1 stops swinging and is in a completely static state, the deflection angle of the unmanned aerial vehicle 1 along the lifting point 15 is recorded as α, meanwhile, because the measuring device is fixedly connected with the unmanned aerial vehicle 1, the angle of the measuring cylinder 11 inside the unmanned aerial vehicle and the unmanned aerial vehicle 1 rotating together is recorded as β, the indicating hammer 12 is vertically downward under the action of gravity, β and α are the same inside angle and are equal to each other, the distance between the actual gravity center 2 and the thrust line 3 of the unmanned aerial vehicle is recorded as x2 which is equal to the distance of the indicating hammer on the measuring device deviating from the center of the graduated scale 12, namely x1= x2= y1 tan β, the position and the distance of the indicating hammer 12 from the center of the graduated scale are observed on the graduated scale 13, the position is the deviation position of the actual gravity center 2 and the thrust line 3 of the unmanned aerial vehicle;
and finally, descending the unmanned aerial vehicle 1, respectively removing the lifting device 8 and the measuring device, and correspondingly adjusting the position of the thrust cone 4 according to the measurement deviation.
Example 3:
the invention also discloses a device for measuring the distance between the gravity center and the thrust line of the unmanned aerial vehicle, which is connected with the unmanned aerial vehicle 1, and as shown in fig. 5, 6, 7, 14 and 15, the device comprises a hoisting device 8, a thrust cone 4 and a measuring device 35;
the lifting device 8 is arranged on the back of the unmanned aerial vehicle 1; the measuring device 35 is arranged at the lower part of the thrust cone 4; thrust awl 4 is outer conical shape, and the great one end of opening sets up the base flange 36 of being connected with unmanned aerial vehicle 1 machine belly, set up waist type hole 25 that is used for fixing on the base flange 36.
In order to better implement the invention, further, the hoisting device 8 comprises a hoisting rope 7, a hoisting ball 15, a bolt 16, a hoisting joint 17, a bolt assembly 18, a hoisting nut 19 and a hoisting cylinder 20;
the lifting joint 17 comprises a lifting plate provided with a threaded hole and a cylindrical joint vertically arranged on the lifting plate; the lifting joint 17 is fixedly connected with the back of the unmanned aerial vehicle 1 through a bolt assembly 18 and a threaded hole in a lifting plate;
a lifting cylinder 20 is sleeved on the cylindrical joint of the lifting joint 17, bolt threaded holes are formed in the corresponding positions of the lifting cylinder 20 and the cylindrical joint, and the lifting cylinder 20 and the lifting joint 17 are fixedly connected through a bolt 16 penetrating through the bolt threaded hole and a lifting nut 19 arranged at the tail end of the bolt 16;
the wall surface of the top end of the hanging cylinder 20 is provided with a round table-shaped through hole, the diameter of the upper end of the round table-shaped through hole is smaller than that of the lower end of the round table-shaped through hole, a hoisting ball 15 is arranged in the round table-shaped small hole, the diameter of the hoisting ball 15 is larger than that of the upper end of the round table-shaped through hole and smaller than that of the lower end of the round table-shaped through hole, and the upper end of the hoisting ball 15 is connected with a hoisting rope 7 which penetrates out of the
In order to better realize the invention, further, an open slot a 26 is further arranged on the thrust cone 4, and a limiting annular structure which is reduced inwards is arranged at the lower end opening of the thrust cone 4 with a smaller opening; the measuring device 35 comprises an inclination angle sensor 29, a sensor tool 30, a locking nut 31, a tensioning screw 32 and a stop square nail 33;
the upper end of the sensor tool 30 is of a truncated cone-shaped cavity structure, the truncated cone-shaped cavity is attached to the thrust cone 4, and an open slot B39 corresponding to the open slot A26 on the thrust cone 4 is further arranged on the truncated cone-shaped cavity structure; the lower end of the sensor tool 30 is of a square cavity structure, a partition plate is arranged between the square cavity structure and the outer circular truncated cone-shaped cavity structure, a threaded hole is formed in the center of the partition plate, the tensioning screw 32 enters the outer circular truncated cone-shaped cavity structure through an open groove A26 and an open groove B39 and is matched with a locking nut 31 arranged in the square cavity structure, the thrust cone 4 and the sensor tool 30 are installed and fixed, and a stop square nail 33 used for fixing the tensioning screw 32 is arranged in the outer circular truncated cone-shaped cavity structure through the open groove A26 and the open groove B39; the tilt sensor 29 is fixedly mounted at the bottom end of the sensor tool 30.
The working principle is as follows: this embodiment differs from embodiment 1 in that a tilt sensor 29 is used instead of the measuring cylinder 11; the angle of the unmanned aerial vehicle 1 along the lifting point 15 is measured through the tilt angle sensor 29, and is converted into the distance between the gravity center of the unmanned aerial vehicle and the thrust line through the angle, and it is noted that the installation bottom surface of the tilt angle sensor 29 is perpendicular to the thrust line 4.
Example 4:
the invention also provides a method for measuring the distance between the gravity center of the unmanned aerial vehicle and the thrust line, as shown in fig. 2, fig. 3, fig. 5, fig. 6, fig. 7, fig. 14 and fig. 15, a lifting point is arranged at the intersection of the back of the unmanned aerial vehicle 1 and the thrust line 3, the lifting point is ensured to be on the thrust line 3, the thrust cone 4 is arranged on the belly of the unmanned aerial vehicle 1, and a measuring device 35 is arranged on the thrust cone 4 to measure the gravity center of the unmanned aerial vehicle 1 and the thrust line 3.
In order to better implement the present invention, further, the specific measurement steps of the center of gravity and the thrust line 3 of the unmanned aerial vehicle 1 are as follows:
firstly, a hoisting device 8 is required to be installed on the back of the unmanned aerial vehicle 1;
then installing a thrust cone 4 on the belly of the unmanned aerial vehicle 1, and installing an inclination angle sensor 29 on the thrust cone 4;
then, a thrust line 3 is arranged on the unmanned aerial vehicle 1, and the thrust line 3 is a connecting line between a thrust point of the thrust cone 4 on the unmanned aerial vehicle 1 and a lifting ball 15 of a lifting device 8;
then determining the measurement gravity center 9 of the unmanned aerial vehicle 1 through the thrust line 3; the measurement center of gravity 9 is on the thrust line 3.
In order to better realize the invention, further, after the measurement gravity center 9 of the unmanned aerial vehicle 1 is determined, the unmanned aerial vehicle 1 is vertically hoisted from a single point at the back of the machine through the hoisting rope 7; meanwhile, the unmanned aerial vehicle 1 is driven to swing by swinging the lifting balls 15 in the inner conical surface of the lifting cylinder 20; there are two kinds of situations after unmanned aerial vehicle 1 stops the swing:
case 1: when the actual gravity center 2 of the unmanned aerial vehicle 1 is consistent with the measured gravity center 9, the distance between the actual gravity center 2 of the unmanned aerial vehicle 1 and the lifting ball 15 is equal to the effective length of the thin line 14 plus the indicating hammer 12;
in the case 2, when the actual gravity center 2 of the unmanned aerial vehicle 1 is inconsistent with the measurement gravity center 9, the deflection angle of the unmanned aerial vehicle 1 along the lifting ball 15 is set to be α, namely the angle of an included angle between a connecting line of the lifting ball 15 and the actual gravity center 2 and a connecting line of the lifting ball 15 and the measurement gravity center 9 is set to be α;
the tilt angle sensor 29 is fixedly connected with the unmanned aerial vehicle 1 through the thrust cone 4, the angle of the tilt angle sensor 29 is always consistent with that of the unmanned aerial vehicle 1, the angle of the tilt angle sensor 29 deflected along with the unmanned aerial vehicle 1 is set to be gamma, the angle α and the angle gamma are the same interior angle, and the angle α is equal to the angle gamma;
and setting the offset distance between the actual gravity center 2 and the measured gravity center 9 as x2, and the distance between the measured gravity center 9 and the lifting ball 15 as y2, wherein the offset distance x2 is equal to the product of the distance y2 between the measured gravity center 9 and the lifting ball 15 and the tangent value of the angle gamma, and the deviation of the azimuth and the distance between the actual gravity center 2 and the measured gravity center 9 on the thrust line 3 is obtained by measuring the angle α, the angle gamma, the distance x2 and the distance y 2.
The working principle is as follows: the difference is only that the inclination angle sensor 29 is used to replace the measuring cylinder device in the embodiment 1, the sensor tool 30 is installed on the thrust cone 4, the sensor tool 30 is matched with the conical surface of the thrust cone and fixed with the locking nut 31 through the tensioning screw rod 32, the stopping square nail 33 clamps the sensor tool to prevent circumferential rotation, and the inclination angle sensor 29 is fixed on the sensor tool through a screw. The measurement process is similar to that of embodiment 1, except that the angle γ is directly measured by the tilt sensor 29, and then the distance between the actual center of gravity of the unmanned aerial vehicle and the thrust line is directly obtained by conversion of the formula x1= x2= y1 · tan γ (the orientation can be measured by the three-axis sensor).
Other parts of this embodiment are the same as any of embodiments 1 to 3, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A device for measuring the distance between the gravity center and a thrust line of an unmanned aerial vehicle is connected with the unmanned aerial vehicle (1), and is characterized by comprising a lifting device (8), a thrust cone (4) and a measuring device;
the lifting device (8) is arranged on the back of the unmanned aerial vehicle (1); the measuring device is arranged at the lower part of the thrust cone (4); thrust awl (4) are outer conical shape, and the great one end of opening sets up base flange (36) of being connected with unmanned aerial vehicle (1) ventral, set up waist type hole (25) that are used for fixing on base flange (36).
2. The device for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle as claimed in claim 1, wherein the lifting device (8) comprises a lifting rope (7), a lifting ball (15), a bolt (16), a lifting joint (17), a bolt assembly (18), a lifting nut (19) and a lifting cylinder (20);
the lifting joint (17) comprises a lifting plate provided with a threaded hole and a cylindrical joint vertically arranged on the lifting plate; the lifting joint (17) is fixedly connected with the back of the unmanned aerial vehicle (1) through a bolt assembly (18) and a threaded hole in a lifting plate;
a lifting cylinder (20) is sleeved on the cylindrical joint of the lifting joint (17), bolt threaded holes are formed in the corresponding positions of the lifting cylinder (20) and the cylindrical joint, and the lifting cylinder (20) and the lifting joint (17) are fixedly connected through a bolt (16) penetrating through the bolt threaded hole and a lifting nut (19) installed at the tail end of the bolt (16);
the wall surface of the top end of the lifting cylinder (20) is provided with a circular truncated cone-shaped through hole, the diameter of the upper end of the circular truncated cone-shaped through hole is smaller than that of the lower end of the circular truncated cone-shaped through hole, a lifting ball (15) is arranged in the circular truncated cone-shaped small hole, the diameter of the lifting ball (15) is larger than that of the upper end of the circular truncated cone-shaped through hole and smaller than that of the lower end of the circular truncated cone-shaped through hole, and the upper end of the lifting ball (15) is connected with a lifting rope (7).
3. The device for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle as claimed in claim 2, further comprising a wire fixing rod (23); the thrust cone (4) is also provided with a fixing hole (37) of a wire fixing rod A; the measuring device comprises a measuring cylinder (11), an indicating hammer (12), a graduated scale (13), a thin line (14), a base (21), a rubber fixing sleeve (22) and a screw (24);
the base (21) comprises a cylindrical cavity structure positioned at the upper part and an outer conical cavity structure connected below the cylindrical cavity structure; the cylindrical cavity structure and the outer conical cavity structure are integrally formed, and an inner cavity space formed by the cylindrical cavity structure and the outer conical cavity structure is matched with the thrust cone (4); a base fixing lug (28) is arranged at the upper end of the cylindrical cavity structure, a threaded small hole corresponding to the waist-shaped hole (25) is formed in the base fixing lug (28), and the base (21) and the thrust cone (4) are fixedly connected with the unmanned aerial vehicle through a screw (24) penetrating through the waist-shaped hole (25) and the threaded small hole; a wire fixing rod B fixing hole (27) corresponding to the wire fixing rod A fixing hole (37) is formed in the outer conical cavity structure of the base (21), and the wire fixing rod (23) penetrates through the wire fixing rod A fixing hole (37) and the wire fixing rod B fixing hole (27) to be installed on the thrust cone (4);
the lower end of the outer conical cavity structure of the dispensing needle valve of the base (21) is also provided with a sleeve (38), and the sleeve (38) is inserted into the inner cavity at the upper end of the measuring cylinder (11) and fixedly connected with the measuring cylinder (11); the thin line (14) is arranged in the measuring cylinder (14), one end of the thin line (14) is fixed on the line fixing rod (23), and the other end of the thin line (14) is connected with the indicating hammer (12); the indicating hammer (12) is hung at the bottom end of the inner cavity of the measuring barrel (11), the graduated scale (13) is arranged at the bottom end of the measuring barrel (11) and is close to the indicating hammer (12), and the indicating hammer (12) just points to the center of the graduated scale (13) when the measuring barrel (11) is vertical to the ground; the rubber fixing sleeve (22) is sleeved at the bottom end of the measuring cylinder (11).
4. The device for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle as claimed in claim 2, wherein the thrust cone (4) is further provided with an open slot a (26), and a lower end opening of the thrust cone (4) with a smaller opening is provided with a limiting annular structure which is reduced inwards; the measuring device comprises a tilt angle sensor (29), a sensor tool (30), a locking nut (31), a tensioning screw rod (32) and a stop square nail (33);
the upper end of the sensor tool (30) is of an excircle frustum-shaped cavity structure, the excircle frustum-shaped cavity is attached to the thrust cone (4), and an open slot B (39) corresponding to the open slot A (26) on the thrust cone (4) is further arranged on the excircle frustum-shaped cavity structure; the lower end of the sensor tool (30) is of a square cavity structure, a partition plate is arranged between the square cavity structure and the outer circular truncated cone-shaped cavity structure, a threaded hole is formed in the center of the partition plate, the tensioning screw (32) enters the outer circular truncated cone-shaped cavity structure through an open groove A (26) and an open groove B (39) and is matched with a locking nut (31) arranged in the square cavity structure, the thrust cone (4) and the sensor tool (30) are fixedly installed, and a stop square nail (33) used for fixing the tensioning screw (32) is arranged in the outer circular truncated cone-shaped cavity structure through the open groove A (26) and the open groove B (39); the inclination angle sensor (29) is fixedly installed at the bottom end of the sensor tool (30).
5. A method for measuring the distance between the gravity center and the thrust line of an unmanned aerial vehicle is based on the device of claim 3, and is characterized in that a lifting ball (15) is arranged at the intersection of the back of the unmanned aerial vehicle (1) and the thrust line (3), the lifting ball (15) is ensured to be arranged on the thrust line (3), a thrust cone (4) is arranged on the belly of the unmanned aerial vehicle (1), and a measuring device is arranged on the thrust cone (4) to measure the gravity center and the thrust line (3) of the unmanned aerial vehicle (1).
6. The method for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle (1) is characterized in that the specific measurement steps of the center of gravity and the thrust line (3) of the unmanned aerial vehicle (1) are as follows:
firstly, a hoisting device (8) is required to be installed on the back of an unmanned aerial vehicle (1);
then installing a thrust cone (4) on the belly of the unmanned aerial vehicle (1), and installing a measuring cylinder (11) on the thrust cone (4);
then, a thrust line (3) is arranged on the unmanned aerial vehicle (1), and the thrust line (3) is a connecting line between a thrust point of the thrust cone (4) to the unmanned aerial vehicle (1) and a lifting ball (15) of a lifting device (8);
then determining the theoretical gravity center (9) of the unmanned aerial vehicle (1) through the thrust line (3); the distance between the theoretical gravity center (9) on the thrust line (3) and the lifting ball (15) is equal to the sum of the effective length of the thin line (14) in the measuring cylinder (11) and the effective length of the indicating hammer (12).
7. The method for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle as claimed in claim 6, wherein after the theoretical center of gravity (9) of the unmanned aerial vehicle (1) is determined, the unmanned aerial vehicle (1) is vertically lifted from a single point at the back of the vehicle through the lifting rope (7); meanwhile, the unmanned aerial vehicle (1) is driven to swing by swinging the lifting ball (15) in the inner conical surface of the lifting cylinder (20); there are two kinds of condition after unmanned aerial vehicle (1) stops the swing:
case 1: when the actual gravity center (2) of the unmanned aerial vehicle (1) is consistent with the theoretical gravity center (9), the length of a distance line between the actual gravity center (2) of the unmanned aerial vehicle (1) and a lifting ball (15) is equal to the effective length of a thin line (14) plus an indicating hammer (12);
in the situation 2, when the actual gravity center (2) of the unmanned aerial vehicle (1) is inconsistent with the theoretical gravity center (9), the deflection angle of the unmanned aerial vehicle (1) along the lifting ball (15) is set to be α, namely, the angle of an included angle between a connecting line of the lifting ball (15) and the actual gravity center (2) and a connecting line of the lifting ball (15) and the theoretical gravity center (9) is set to be α;
the measuring cylinder (11) is fixedly connected with the unmanned aerial vehicle (1) through the thrust cone (4), the angle of the measuring cylinder is always consistent with that of the unmanned aerial vehicle (1), the indicating hammer (12) is always hung vertically, the deflection angle of the thin line (14) relative to the unmanned aerial vehicle (1) is set to be β, the angle α and the angle β are in the same side interior angle, namely the angle α is equal to the angle β;
setting the offset distance between the indicating hammer (12) and the center of the reticle (13) as x1, the offset distance between the actual gravity center (2) and the theoretical gravity center (9) as x2, and the distance between the theoretical gravity center (9) and the lifting ball (15) as y2, wherein the offset distance x1 is equal to the offset distance x2 and also equal to the product of the distance y2 from the theoretical gravity center (9) to the lifting ball (15) and the tangent value of the angle β, and measuring the deviation of the azimuth and the distance between the indicating hammer (12) and the center of the reticle (13) can obtain the deviation of the azimuth and the distance between the actual gravity center (2) and the theoretical gravity center (9) on the thrust line (3).
8. A method for measuring the distance between the gravity center and the thrust line of an unmanned aerial vehicle is based on the device of claim 4, and is characterized in that a lifting ball is arranged at the intersection of the back of the unmanned aerial vehicle (1) and the thrust line (3), the lifting ball is ensured to be arranged on the thrust line (3), a thrust cone (4) is arranged on the belly of the unmanned aerial vehicle (1), and a measuring device is arranged on the thrust cone (4) to measure the gravity center and the thrust line (3) of the unmanned aerial vehicle (1).
9. The method for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle (1) is characterized in that the specific measurement steps of the center of gravity and the thrust line (3) of the unmanned aerial vehicle (1) are as follows:
firstly, a hoisting device (8) is required to be installed on the back of an unmanned aerial vehicle (1);
then installing a thrust cone (4) on the belly of the unmanned aerial vehicle (1), and installing an inclination angle sensor (29) on the thrust cone (4);
then, a thrust line (3) is arranged on the unmanned aerial vehicle (1), and the thrust line (3) is a connecting line between a thrust point of the thrust cone (4) to the unmanned aerial vehicle (1) and a lifting ball (15) of a lifting device (8);
then determining the theoretical gravity center (9) of the unmanned aerial vehicle (1) through the thrust line (3); the theoretical center of gravity (9) is on the thrust line (3).
10. The method for measuring the distance between the center of gravity and the thrust line of the unmanned aerial vehicle (1) according to claim 9, wherein after the theoretical center of gravity (9) of the unmanned aerial vehicle (1) is determined, the unmanned aerial vehicle (1) is vertically lifted from a single point at the back of the vehicle through a lifting rope (7); meanwhile, the unmanned aerial vehicle (1) is driven to swing by swinging the lifting ball (15) in the inner conical surface of the lifting cylinder (20); there are two kinds of condition after unmanned aerial vehicle (1) stops the swing:
case 1: when the actual gravity center (2) of the unmanned aerial vehicle (1) is consistent with the theoretical gravity center (9), the distance length between the actual gravity center (2) of the unmanned aerial vehicle (1) and the lifting ball (15) is equal to the effective length of the thin line (14) plus the indicating hammer (12);
in the situation 2, when the actual gravity center (2) of the unmanned aerial vehicle (1) is inconsistent with the theoretical gravity center (9), the deflection angle of the unmanned aerial vehicle (1) along the lifting ball (15) is set to be α, namely, the angle of an included angle between a connecting line of the lifting ball (15) and the actual gravity center (2) and a connecting line of the lifting ball (15) and the theoretical gravity center (9) is set to be α;
the inclination angle sensor (29) is fixedly connected with the unmanned aerial vehicle (1) through the thrust cone (4), the angle of the inclination angle sensor is always consistent with that of the unmanned aerial vehicle (1), the angle of the inclination angle sensor (29) deflected along with the unmanned aerial vehicle (1) is set to be gamma, the angle α and the angle gamma are in the same side interior angle, namely the angle α is equal to the angle gamma;
and setting the offset distance between the actual gravity center (2) and the theoretical gravity center (9) as x2, and the distance between the theoretical gravity center (9) and the lifting ball (15) as y2, wherein the offset distance x2 is equal to the product of the distance y2 between the theoretical gravity center (9) and the lifting ball (15) and the tangent value of the angle gamma, and measuring the angle α, the angle gamma, the distance x2 and the distance y2 to obtain the deviation of the azimuth and the distance between the actual gravity center (2) and the theoretical gravity center (9) on the thrust line (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010295496.5A CN111504280B (en) | 2020-04-15 | 2020-04-15 | Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010295496.5A CN111504280B (en) | 2020-04-15 | 2020-04-15 | Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111504280A true CN111504280A (en) | 2020-08-07 |
| CN111504280B CN111504280B (en) | 2021-03-30 |
Family
ID=71877592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010295496.5A Active CN111504280B (en) | 2020-04-15 | 2020-04-15 | Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111504280B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158357A (en) * | 2020-08-28 | 2021-01-01 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring deviation between thrust line and gravity center of unmanned aerial vehicle booster rocket |
| CN112224447A (en) * | 2020-12-14 | 2021-01-15 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line |
| CN112407251A (en) * | 2020-10-28 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Method for adjusting counterweight gravity center of rocket ejection unmanned aerial vehicle |
| CN112904361A (en) * | 2020-12-10 | 2021-06-04 | 成都飞机工业（集团）有限责任公司 | Engine thrust line accurate measurement method based on laser scanning |
| CN113148213A (en) * | 2021-04-29 | 2021-07-23 | 四川傲势科技有限公司 | Unmanned aerial vehicle point structure of jettisoninging |
| CN113465578A (en) * | 2021-06-25 | 2021-10-01 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring horizontal measuring point of aircraft fuselage |
| CN115610693A (en) * | 2022-09-28 | 2023-01-17 | 成都飞机工业（集团）有限责任公司 | Thrust cone assembly for rocket launching unmanned aerial vehicle |
| CN116750204A (en) * | 2023-06-27 | 2023-09-15 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle overturning device and overturning method thereof |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130299634A1 (en) * | 2010-04-15 | 2013-11-14 | Hunter Defense Technologies, Inc. | Aerodynamically controlled grapple assembly |
| CN105564663A (en) * | 2014-10-07 | 2016-05-11 | 刘跃进 | Airplane suspension type full-automatic take-off and landing system and take-off and landing method |
| CN205707414U (en) * | 2016-04-05 | 2016-11-23 | 浙江大学 | The device of thrust line precision is hung in a kind of raising |
| CN206528651U (en) * | 2017-02-20 | 2017-09-29 | 西安爱生技术集团公司 | A kind of unmanned plane booster rocket adjusts positioner |
| US20170322101A1 (en) * | 2016-05-09 | 2017-11-09 | Fong Bong Enterprise Co., Ltd. | Calibrating Device for Measuring and Calibrating the Center of Gravity of a Remote Control Aircraft or an Airfoil Thereof |
| CN107933946A (en) * | 2017-12-11 | 2018-04-20 | 浙江大学 | Unmanned plane two point form rocket assist emitter and its method |
| CN108910679A (en) * | 2018-07-06 | 2018-11-30 | 西安爱生技术集团公司 | A kind of unmanned plane flexible hanger |
| CN109625322A (en) * | 2019-01-24 | 2019-04-16 | 西安爱生无人机技术有限公司 | A kind of rocket launching unmanned plane thrust line measuring device |
| CN109737914A (en) * | 2018-12-11 | 2019-05-10 | 武汉航空仪表有限责任公司 | The detection device and method of installation site on a kind of sideslip angle transducer machine |
| CN110398317A (en) * | 2019-08-20 | 2019-11-01 | 中国科学院工程热物理研究所 | Drone center of unmanned aerial vehicle and thrust line deviation measurement device and method |
| CN209600782U (en) * | 2018-12-28 | 2019-11-08 | 湖南航天远望科技有限公司 | A kind of dirigible of gravity centre position adjustable |
| CA3006445A1 (en) * | 2018-05-29 | 2019-11-29 | Randy Martel | Rocket propelled drone |
| CN110887632A (en) * | 2019-12-09 | 2020-03-17 | 中航沈飞民用飞机有限责任公司 | Unmanned aerial vehicle whole machine drop test device and test method thereof |
| CN110990947A (en) * | 2019-11-19 | 2020-04-10 | 中国人民解放军总参谋部第六十研究所 | Multi-field coupling simulation analysis method for launching process of rocket-assisted unmanned aerial vehicle |
-
2020
- 2020-04-15 CN CN202010295496.5A patent/CN111504280B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130299634A1 (en) * | 2010-04-15 | 2013-11-14 | Hunter Defense Technologies, Inc. | Aerodynamically controlled grapple assembly |
| CN105564663A (en) * | 2014-10-07 | 2016-05-11 | 刘跃进 | Airplane suspension type full-automatic take-off and landing system and take-off and landing method |
| CN205707414U (en) * | 2016-04-05 | 2016-11-23 | 浙江大学 | The device of thrust line precision is hung in a kind of raising |
| US20170322101A1 (en) * | 2016-05-09 | 2017-11-09 | Fong Bong Enterprise Co., Ltd. | Calibrating Device for Measuring and Calibrating the Center of Gravity of a Remote Control Aircraft or an Airfoil Thereof |
| CN206528651U (en) * | 2017-02-20 | 2017-09-29 | 西安爱生技术集团公司 | A kind of unmanned plane booster rocket adjusts positioner |
| CN107933946A (en) * | 2017-12-11 | 2018-04-20 | 浙江大学 | Unmanned plane two point form rocket assist emitter and its method |
| CA3006445A1 (en) * | 2018-05-29 | 2019-11-29 | Randy Martel | Rocket propelled drone |
| CN108910679A (en) * | 2018-07-06 | 2018-11-30 | 西安爱生技术集团公司 | A kind of unmanned plane flexible hanger |
| CN109737914A (en) * | 2018-12-11 | 2019-05-10 | 武汉航空仪表有限责任公司 | The detection device and method of installation site on a kind of sideslip angle transducer machine |
| CN209600782U (en) * | 2018-12-28 | 2019-11-08 | 湖南航天远望科技有限公司 | A kind of dirigible of gravity centre position adjustable |
| CN109625322A (en) * | 2019-01-24 | 2019-04-16 | 西安爱生无人机技术有限公司 | A kind of rocket launching unmanned plane thrust line measuring device |
| CN110398317A (en) * | 2019-08-20 | 2019-11-01 | 中国科学院工程热物理研究所 | Drone center of unmanned aerial vehicle and thrust line deviation measurement device and method |
| CN110990947A (en) * | 2019-11-19 | 2020-04-10 | 中国人民解放军总参谋部第六十研究所 | Multi-field coupling simulation analysis method for launching process of rocket-assisted unmanned aerial vehicle |
| CN110887632A (en) * | 2019-12-09 | 2020-03-17 | 中航沈飞民用飞机有限责任公司 | Unmanned aerial vehicle whole machine drop test device and test method thereof |
Non-Patent Citations (3)
| Title |
|---|
| 张文军: "一种新型组合式起吊装置的设计", 《机械工程师》 * |
| 杨铁江: "无人机助推火箭推力线调整装置及方法", 《制造业自动化》 * |
| 陈慧杰: "某型无人机助推火箭推力线偏差影响分析", 《电子测试》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112158357A (en) * | 2020-08-28 | 2021-01-01 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring deviation between thrust line and gravity center of unmanned aerial vehicle booster rocket |
| CN112407251A (en) * | 2020-10-28 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Method for adjusting counterweight gravity center of rocket ejection unmanned aerial vehicle |
| CN112904361A (en) * | 2020-12-10 | 2021-06-04 | 成都飞机工业（集团）有限责任公司 | Engine thrust line accurate measurement method based on laser scanning |
| CN112224447A (en) * | 2020-12-14 | 2021-01-15 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line |
| CN113148213A (en) * | 2021-04-29 | 2021-07-23 | 四川傲势科技有限公司 | Unmanned aerial vehicle point structure of jettisoninging |
| CN113465578A (en) * | 2021-06-25 | 2021-10-01 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring horizontal measuring point of aircraft fuselage |
| CN113465578B (en) * | 2021-06-25 | 2022-08-12 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring horizontal measuring point of aircraft fuselage |
| CN115610693A (en) * | 2022-09-28 | 2023-01-17 | 成都飞机工业（集团）有限责任公司 | Thrust cone assembly for rocket launching unmanned aerial vehicle |
| CN115610693B (en) * | 2022-09-28 | 2024-05-14 | 成都飞机工业（集团）有限责任公司 | Rocket launching unmanned aerial vehicle is with thrust cone subassembly |
| CN116750204A (en) * | 2023-06-27 | 2023-09-15 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle overturning device and overturning method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111504280B (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111504280B (en) | Device and method for measuring distance between gravity center and thrust line of unmanned aerial vehicle | |
| CN108657393B (en) | A kind of underwater towing formula high-precision weight Magnetic Detection System and method | |
| CN112556491B (en) | Automatic missile horizontal filling system based on visual alignment and operation method thereof | |
| CN102706224B (en) | Friction load loading device | |
| CN104534924A (en) | Rotatable light-gas gun device | |
| CN104807646B (en) | Solid propellant rocket is centrifuged the erecting device of overload test | |
| CN206087371U (en) | A ground testing device for testing many rotor unmanned aerial vehicle | |
| CN102815614A (en) | Detecting and monitoring device for displaying real-time lifting hook declination angle | |
| CN209783542U (en) | Dual-purpose target ball of total station scanner | |
| CN110654570B (en) | Plant protection unmanned aerial vehicle medical kit and rock performance detection test bench | |
| CN112007305B (en) | Ten-ton-level liquid phase material filling shell capable of automatically overturning through mass center position adjustment | |
| CN113280962A (en) | Axial load detection device of turntable bearing and shield machine | |
| CN209445883U (en) | A kind of gun barrel detection device | |
| CN112158357B (en) | Device and method for measuring deviation between thrust line and gravity center of unmanned aerial vehicle booster rocket | |
| CN218085982U (en) | Underwater device for releasing and measuring torsion of mooring rope | |
| CN209553468U (en) | A kind of aerostat sacculus locking device | |
| CN107356184B (en) | Pavilion roof ridge-supporting radian mounting and positioning device | |
| CN203772511U (en) | Vibration test clamp, capable of rapidly reversing, for solid rocket engine compartment segment | |
| CN215173428U (en) | Self-leveling tripod for measuring construction site | |
| CN109211935B (en) | Intelligent rope detection device | |
| CN208802157U (en) | A kind of helicopter pitch leveller | |
| CN204405058U (en) | A kind of device measuring PHC pile tube taper pile inclination angle | |
| CN207096439U (en) | Movable reflecting pole for AGV laser navigations | |
| CN108414933B (en) | A kind of aerial survey unmanned plane motor testing apparatus and test method for field | |
| CN219492480U (en) | Wind driven generator tower foundation settlement monitoring device |
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 |