CN114313306A - Rotor manipulator experiment platform - Google Patents
Rotor manipulator experiment platform Download PDFInfo
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- CN114313306A CN114313306A CN202210079928.8A CN202210079928A CN114313306A CN 114313306 A CN114313306 A CN 114313306A CN 202210079928 A CN202210079928 A CN 202210079928A CN 114313306 A CN114313306 A CN 114313306A
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- 238000002474 experimental method Methods 0.000 title claims abstract description 16
- 238000012360 testing method Methods 0.000 claims abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
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- 230000003139 buffering effect Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
The invention relates to a rotor manipulator experiment platform which comprises a straight rod and a supporting top plate, wherein a spherical universal joint is arranged at the bottom of the straight rod and is connected with an upper top plate of a rotor craft to be tested, a sleeve with an opening in the vertical direction is arranged on the supporting top plate, the straight rod penetrates through the sleeve and is movably connected with the sleeve, a pair of height limiting blocks are arranged on the straight rod, and a certain distance is reserved between each height limiting block and the sleeve. Compared with the prior art, the invention has the advantages of strong reliability, capability of testing various flight attitudes of the rotor craft and the like.
Description
Technical Field
The invention relates to the technical field of rotor manipulators, in particular to a rotor manipulator experiment platform.
Background
At present, the application of many rotor unmanned aerial vehicle is more and more extensive, especially transports fields such as express delivery or military reconnaissance. In these fields, it is necessary for the rotorcraft to suspend loads, and the movement of these loads during flight has a great influence on the attitude of the rotorcraft, which requires studying the influence of the load movement on the attitude of the rotorcraft in flight and adjusting the attitude of the rotorcraft so as to stabilize it.
The rotor manipulator can meet different working condition requirements due to the fact that the rotor manipulator has strong working capacity, and the rotor manipulator becomes a main research object in the field of flight operation. However, because the rotorcraft has weaker load capacity and is sensitive to disturbance, and the rotorcraft and the manipulator have more serious coupling effect on the aspects of kinematics and dynamics, the Chinese patent application CN108398885A provides a rotorcraft manipulator self-adaptive RBFNNs noise measurement active disturbance rejection control method, and the problems can be solved by controlling the rotorcraft and the manipulator through the method. However, because the control method requires the rotary wing aircraft to be in a flight mode, if an experimental platform capable of fixing the relative position of the aircraft does not exist, the aircraft provided with the manipulator can fly around to cause potential safety hazards.
Chinese patent CN209650582U discloses a fixed platform for posture test of a four-rotor aircraft, which fixes the aircraft under the top plate of the test platform to fix the position of the aircraft. But aircraft and roof are through plastic hose connection in this scheme, and this has led to the aircraft to have very strong limitation when carrying out the gesture change, and owing to plastic hose can produce deformation when the altitude variation, causes the damage easily, and life is short, and the benefit is relatively poor.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a rotor manipulator experimental platform.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a rotor manipulator experiment platform, includes straight-bar and roof support, the bottom of straight-bar is provided with spherical universal joint, spherical universal joint connects the last roof of the rotor craft that awaits measuring, be provided with the sleeve at vertical direction upper shed on the roof support, the straight-bar passes sleeve and sleeve swing joint, be provided with a pair of high stopper on straight-bar (3), the certain distance has between high stopper and the sleeve.
Furthermore, a buffering sponge is arranged on one side, close to the sleeve, of the height limiting block.
Further, the height limiting blocks are detachably mounted on the straight rods.
Furthermore, a plurality of threaded holes are formed in the straight rod, and the height limiting block is in threaded connection with the straight rod.
Furthermore, a plurality of through holes are formed in the straight rod, the height limiting block penetrates through the through holes, and the height limiting block is a round rod with the length larger than the radius of the sleeve.
Further, the ball joint connects the upper head plate of the rotorcraft to be tested.
Further, still include external controller, the rotor craft flight is controlled according to different instructions to the controller to acquire rotor craft's altitude information and attitude information in real time.
Further, the bottom of rotorcraft is provided with the manipulator.
Further, the tail end of the rotorcraft is provided with an ultrasonic sensor for acquiring the height information of the rotorcraft.
Furthermore, nine-axis inertial sensor is arranged on the rotorcraft and used for acquiring attitude information of the rotorcraft.
Furthermore, an ultrasonic sensor and an alarm are arranged on the supporting top plate and used for avoiding false collision.
Compared with the prior art, the invention has the following advantages:
1. compared with the existing experiment platform, the height limiting mechanism with the straight rod and the sleeve replaces a plastic hose in the prior art, the structure strength is high, the service life is long, and the safety is high when the aircraft is connected with a manipulator and various posture tests are carried out. And be provided with spherical universal joint in the junction of straight-bar and aircraft, can satisfy simulation flight modes such as lift, every single move, roll, driftage in the aircraft certain limit through spherical universal joint, it is wider to the test range of gesture to through setting up high stopper, guarantee that the straight-bar can not drop from the sleeve, and inject the altitude range of flight of aircraft, improved whole experiment platform's security.
2. The height limiting block is detachably connected with the straight rod, so that the height can be adjusted, the height limiting block is convenient to detach and overhaul, and the convenience is high.
3. According to the invention, the buffering sponge is additionally arranged on the height limiting block, so that the impact force generated when the height limiting block touches the sleeve is reduced, and the service life is prolonged.
Drawings
FIG. 1 is a schematic view of a straight rod and sleeve connection according to the present invention.
Figure 2 is a schematic view of the structure of the present invention after the rotorcraft and robot are connected.
Fig. 3 is a schematic structural diagram of the robot of the present invention.
Reference numerals: the system comprises a support top plate 1, a sleeve 2, a straight rod 3, a height limiting block 31, a height limiting block 32, a spherical universal joint 33, a top plate on a multi-rotor aircraft 4, a flight control plate 5, a lower bottom plate of a multi-rotor aircraft 6, a manipulator 7, a steering engine 8, a rotary encoder 9, a multi-rotor aircraft 10, a propeller 11 and a brushless motor 11.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
This embodiment provides a rotor manipulator experiment platform, as shown in fig. 1, including straight-bar 3 and supporting roof 1, the bottom of straight-bar 3 is provided with ball joint 33, and ball joint 33 connects the last roof of the rotor craft 9 that awaits measuring, is provided with on the supporting roof 1 at vertical direction upper shed's sleeve 2, and straight-bar 3 passes sleeve 2 and sleeve 2 swing joint, is provided with a pair of high stopper 31 that prevents that straight-bar 3 from breaking away from the sleeve on the straight-bar 3, has the certain distance between high stopper 31 and the sleeve 2 to ensure that rotor craft 9 can be at the activity of take the altitude. In the present embodiment, the straight rod 3 is preferably a metal straight rod, which ensures strength.
In this embodiment, the height limiting block 31 is detachably mounted on the straight rod, and specifically, the height limiting block may be preferably screwed to the straight rod or disposed in the through hole of the straight rod as a round rod having a length greater than the radius of the sleeve, so that the height of the straight rod can be adjusted, the height limiting block is convenient to detach and repair, and the straight rod is convenient to use.
In this embodiment, the buffering sponge is arranged on one side of the height limiting block 31 close to the sleeve, so that the impact force generated when the height limiting block 31 touches the sleeve is reduced, and the service life is prolonged.
In this embodiment, the length of the sleeve 2 is long enough to ensure that the rotorcraft has enough room to perform ± 60 ° attitude motions when it rises to the highest point.
In this embodiment, a sufficient distance is left between the height limiting block 32 located at the lower portion of the straight rod 3 and the ball joint 33, so that the rotorcraft 9 has enough space to perform ± 60 ° attitude motion when reaching the lowest point.
The supporting top plate 1 is also provided with an ultrasonic sensor and an alarm, so that the danger of mistaken collision caused by too close distance between an experimenter and an experiment platform is prevented.
The experimental platform of this example is shown schematically in fig. 2 after the attachment of a rotorcraft 9 equipped with a robot 7.
Wherein, manipulator 7 passes through screw fixed mounting at rotor craft 9's many rotor craft lower plate 6, and manipulator self can't be rotatory around the base, need adjust the direction through turning to of many rotor craft. As shown in fig. 3, each joint of the manipulator 7 is provided with a steering engine and a rotary encoder 8 which are connected with an STM32 controller, so as to transmit angular displacement and torque signals, and an actuator at the tail end of the manipulator 7 is provided with an ultrasonic sensor, so as to obtain height information.
The multi-rotor craft upper top plate 4 of the rotor craft 9 is connected with the ball-shaped universal joint 33 on the straight rod 3, and therefore four-degree-of-freedom simulated flight of lifting, pitching, rolling and yawing within a certain range is provided for the multi-rotor craft. When rotor craft 9 flies, straight-bar 3 is in the activity of fixed length scope in sleeve 2, and rotor craft 9 accessible height stopper 31 is fixed in roof 1 below under initial condition, and when the test was flown, the altitude range of flight also restricted between two height stoppers 31, has improved experiment platform's reliability.
In this embodiment, rotorcraft 9 and manipulator 7 may be controlled by a computer that executes computer instructions to control stable flight of rotorcraft 9 and the action of manipulator 7, and to obtain attitude information of rotorcraft 9. Wherein, set up nine inertial sensor of MPU9250 on rotorcraft 9, each control parameter of rotorcraft 9 can read through MPU9250 inertial measurement sensor. The acceleration of the rotor craft 9 in the x, y and z directions can be read through the sensor, the speed is obtained after the integration is once, and the displacement can be obtained after the integration is once again. The sensor can also read the angular acceleration of the body rotating around the x, y and z axes, obtain the angular velocity after once integration, and obtain the angles Roll, Pitch and Yaw after once integration. These read values are the actual values of the current attitude of rotorcraft 9. And 9 fuselage main parts of rotor craft extend the horn all around, and brushless motor 11 is installed to the horn end, brushless motor 11 drive screw 10 is rotatory, provides power for rotor craft 9. The main body of the airplane is provided with a flight control panel 5, and the flight control panel 5 is communicated with a computer. The computer stores four control instructions in common, and the four control instructions correspond to four control modes, including an integrated control instruction, a separated control instruction, an interference control instruction and a single aircraft control instruction.
The integrated control instruction regards the rotorcraft and the manipulator as an integrated mechanical system, and comprises the step of calling a controller in a computer to control the rotorcraft and the manipulator to stably move at the same time.
The separated control instruction regards the rotor craft and the manipulator as two independent mechanical systems, and the two controllers in the calling computer respectively control the rotor craft and the manipulator, and specifically control the rotor craft to fly in different postures and control the manipulator to grab objects and the like.
The interference control command regards the manipulator as an uncontrolled suspended weight, which can cause disturbances to the rotorcraft to simulate the situation where the object is suspended in the actual flight of the unmanned aerial vehicle, including invoking a controller in the computer to only perform stability control on the rotorcraft.
The single aircraft control instruction comprises that when the manipulator is dismounted, one controller in the computer is called to independently adjust the rotor aircraft, so that the basic function is realized.
The above four control instructions are control algorithms in the control algorithm library, and the embodiment may also execute self-written and imported control algorithms, which is not limited to the above four control instructions.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a rotor manipulator experiment platform, its characterized in that, includes straight-bar (3) and roof support (1), the bottom of straight-bar (3) is provided with ball joint (33), the last roof of the rotor craft (9) that awaits measuring is connected in ball joint (33), be provided with on roof support (1) at vertical direction upper shed sleeve (2), sleeve (2) and sleeve (2) swing joint are passed in straight-bar (3), be provided with a pair of high stopper (31) on straight-bar (3), certain distance has between high stopper (31) and sleeve (2).
2. A rotorcraft manipulator experiment platform according to claim 1, wherein a buffer sponge is provided on the side of the height limiting block (31) near the sleeve (2).
3. A rotorcraft testing platform according to claim 1, in which the height stoppers (31) are removably mounted on the straight bars (3).
4. A rotorcraft manipulator experiment platform according to claim 3, wherein the straight rod (3) is provided with a plurality of threaded holes, and the height limiting block (31) is in threaded connection with the straight rod.
5. A rotor manipulator experimental platform according to claim 3, wherein a plurality of through holes are provided on the straight rod (3), the height limiting block (31) is provided by passing through the through holes, and the height limiting block (31) is a round rod with a length greater than the radius of the sleeve.
6. A rotorcraft testing platform according to claim 1, wherein the bottom of the rotorcraft (9) is provided with a robot (7).
7. The experimental platform of the rotor manipulator according to claim 1, further comprising an external controller, wherein the controller controls the rotor craft (9) to fly according to different instructions, and obtains the altitude information and the attitude information of the rotor craft (9) in real time.
8. A rotorcraft manipulator experiment platform according to claim 7, wherein the rotorcraft (9) is provided with an ultrasonic sensor at its distal end for obtaining altitude information of the rotorcraft (9).
9. A rotorcraft manipulator experiment platform according to claim 7, wherein nine-axis inertial sensors are provided on the rotorcraft (9) for obtaining attitude information of the rotorcraft (9).
10. A rotorcraft testing platform according to claim 1, wherein the top support plate (1) is provided with an ultrasonic sensor and an alarm for avoiding false collisions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079928.8A CN114313306B (en) | 2022-01-24 | 2022-01-24 | Rotor manipulator experiment platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079928.8A CN114313306B (en) | 2022-01-24 | 2022-01-24 | Rotor manipulator experiment platform |
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| Publication Number | Publication Date |
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| CN114313306A true CN114313306A (en) | 2022-04-12 |
| CN114313306B CN114313306B (en) | 2024-02-27 |
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| CN202210079928.8A Active CN114313306B (en) | 2022-01-24 | 2022-01-24 | Rotor manipulator experiment platform |
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| CN114313306B (en) | 2024-02-27 |
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