CN114313306B - Rotor manipulator experiment platform - Google Patents
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- CN114313306B CN114313306B CN202210079928.8A CN202210079928A CN114313306B CN 114313306 B CN114313306 B CN 114313306B CN 202210079928 A CN202210079928 A CN 202210079928A CN 114313306 B CN114313306 B CN 114313306B
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- 238000002474 experimental method Methods 0.000 title claims abstract description 12
- 238000012360 testing method Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 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
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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 which is opened 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 the height limiting blocks and the sleeve. Compared with the prior art, the invention has the advantages of strong reliability, capability of testing various flight attitudes of the rotary wing aircraft, and the like.
Description
Technical Field
The invention relates to the technical field of rotary wing manipulators, in particular to a rotary wing manipulator experimental platform.
Background
At present, the application of the multi-rotor unmanned aerial vehicle is more and more extensive, and especially in the fields of express delivery, military reconnaissance and the like. In these fields, there is a need for a rotorcraft to hang loads whose movements have a great influence on the attitude of the rotorcraft during flight, and there is a need to study the influence of the load movements on the attitude of the rotorcraft in flight and to adjust the attitude of the rotorcraft to stabilize it.
The rotor manipulator has stronger working capacity, so that different working condition requirements can be met, and the rotor manipulator has become a main research object in the field of flight operation. However, because the rotor craft has weaker load capacity and disturbance sensitivity and has serious coupling effect between the rotor craft and the manipulator in the aspects of kinematics and dynamics, the Chinese patent application CN108398885A proposes a rotor craft manipulator self-adaptive RBFNNs noise measurement and active disturbance rejection control method, and the method is used for controlling the craft and the manipulator, so that the problems can be solved. However, since the control method requires the rotorcraft to be in a flight mode, if an experimental platform capable of fixing the relative position of the rotorcraft is not available, the aircraft equipped with the manipulator can fly around to cause potential safety hazards.
Chinese patent CN209650582U discloses a four rotor aircraft attitude test fixture platform that achieves position fixing of the aircraft by fixing the aircraft under the roof of the test platform. But in this scheme aircraft and roof are through the flexible hose connection that can mould, this has very strong limitation when having caused the aircraft to carry out the gesture change, and because the flexible hose can produce deformation when highly changing, causes the damage easily, and life is short, and the benefit is relatively poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a rotor manipulator experimental platform.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a rotor manipulator experiment platform, includes straight-bar and supporting roof, the bottom of straight-bar is provided with spherical universal joint, spherical universal joint connects the last roof of the rotor craft of waiting to test, be provided with on the supporting roof at vertical direction open-ended sleeve, the straight-bar passes sleeve and sleeve swing joint, be provided with a pair of high stopper on straight-bar (3), have certain distance between high stopper and the sleeve.
Further, a buffer sponge is arranged on one side, close to the sleeve, of the height limiting block.
Further, the height limiting block is detachably arranged on the straight rod.
Further, a plurality of threaded holes are formed in the straight rod, and the height limiting block is in threaded connection with the straight rod.
Further, 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 being greater than the radius of the sleeve.
Further, the ball joint is connected to an upper roof of the rotorcraft to be tested.
Further, the aircraft control system further comprises an external controller, wherein the controller controls the rotor craft to fly according to different instructions, and acquires the altitude information and the attitude information of the rotor craft in real time.
Further, a manipulator is arranged at the bottom of the rotorcraft.
Further, the tail end of the rotorcraft is provided with an ultrasonic sensor for acquiring altitude information of the rotorcraft.
Further, nine-axis inertial sensors are arranged on the rotor craft and used for acquiring attitude information of the rotor craft.
Further, 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 experimental platform, the invention uses the straight rod and sleeve height limiting mechanism to replace the plastic hose in the prior art, has high structural strength and long service life, and has strong safety when the aircraft is connected with the manipulator and various gesture tests are carried out. And be provided with the spherical universal joint in the junction of straight-bar and aircraft, can satisfy the simulation flight mode such as lift, every single move, roll, driftage in the aircraft certain limit through the spherical universal joint, the test range to the gesture is wider to through setting up high stopper, guarantee that the straight-bar can not drop from the sleeve, and limited the flight altitude scope of aircraft, improved whole experiment platform's security.
2. The height limiting block is connected with the straight rod in a detachable way, so that the height can be adjusted, the disassembly and the maintenance are convenient, and the convenience is high.
3. According to the invention, the buffer sponge is additionally arranged on the height limiting block, so that the impact force when the height limiting block touches the sleeve is reduced, and the service life is prolonged.
Drawings
FIG. 1 is a schematic view of the connection of the straight rod and the sleeve according to the present invention.
Fig. 2 is a schematic view of the structure of the present invention after attachment of a rotorcraft to a manipulator.
Fig. 3 is a schematic view of a manipulator structure according to the present invention.
Reference numerals: 1-supporting top plate, 2-sleeve, 3-straight rod, 31-height limit block, 32-height limit block, 33-spherical universal joint, 4-multi-rotor aircraft upper top plate, 5-flight control plate, 6-multi-rotor aircraft lower plate, 7-manipulator, 8-steering engine and rotary encoder, 9-multi-rotor aircraft, 10-screw, 11-brushless motor.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The 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 spherical universal joint 33, and spherical universal joint 33 connects the last roof of rotor craft 9 to be tested, is provided with on supporting roof 1 in vertical direction open-ended sleeve 2, and straight-bar 3 passes sleeve 2 and sleeve 2 swing joint, is provided with a pair of high stopper 31 that prevent straight-bar 3 break away from the sleeve on the straight-bar 3, has certain distance between high stopper 31 and the sleeve 2 to ensure that rotor craft 9 can be at certain altitude activity. In this embodiment, the straight rod 3 is preferably a metal straight rod, so that strength is ensured.
In this embodiment, the height limiting block 31 is detachably mounted on the straight rod, and may be preferably in threaded connection with the straight rod by using a screw, or be a round rod with a length greater than the radius of the sleeve and disposed in the through hole of the straight rod, so that not only the height of the movable rod can be adjusted, but also the disassembly and the maintenance are convenient, and the convenience is strong.
In this embodiment, the side of the height limiting block 31, which is close to the sleeve, is provided with a buffer sponge, so that the impact force when the height limiting block 31 hits 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 there is enough room for a 60 ° attitude movement when the rotorcraft is raised to the highest point.
In this embodiment, a sufficient distance is left between the height limiting block 32 and the ball joint 33 at the lower part of the straight rod 3, so that there is enough space for carrying out a posture movement of ±60° when the rotorcraft 9 bottoms out.
The supporting top plate 1 is also provided with an ultrasonic sensor and an alarm, so that the danger of false collision caused by the fact that an experimenter is too close to an experimental platform is prevented.
A schematic diagram of the experimental platform of the present embodiment after the rotorcraft 9 equipped with the manipulator 7 is attached is shown in fig. 2.
Wherein, manipulator 7 passes through screw fixed mounting at many rotor crafts of rotor craft 9 lower plate 6, and the manipulator itself can't rotate around the base, need adjust the direction through many rotor crafts's the direction of turning to. 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, angular displacement and moment signals are transmitted, and an actuator at the tail end of the manipulator 7 is provided with an ultrasonic sensor, so that the effect of acquiring height information is achieved.
The upper roof 4 of the multi-rotor aircraft of the rotorcraft 9 is connected with the spherical universal joint 33 on the straight rod 3, which provides a range of four degrees of freedom simulated flight of lift, pitch, roll and yaw for the multi-rotor aircraft. When the rotor craft 9 flies, the straight rod 3 moves in the sleeve 2 in a fixed length range, the rotor craft 9 is fixed below the supporting top plate 1 in an initial state through the height limiting block 31, and when the test flies, the flying height range is limited between the two height limiting blocks 31, so that the reliability of the experimental platform is improved.
In this embodiment, the rotorcraft 9 and the manipulator 7 may be controlled by a computer, and the computer executes computer instructions to control the rotorcraft 9 to fly stably and the manipulator 7 to perform actions, and obtain attitude information of the rotorcraft 9. Wherein, the rotor craft 9 is provided with an MPU9250 nine-axis inertial sensor, and each control parameter of the rotor craft 9 can be read by the MPU9250 inertial measurement sensor. The acceleration in the x, y, z direction of the rotorcraft 9 can be read out by the sensor, the velocity is obtained after once integration, and the displacement is obtained after once integration. The sensor can also read the angular acceleration of the machine body rotating around the x, y and z axes, the angular velocity is obtained after integration once, and the angles Roll, pitch and Yaw are obtained after integration once again. These values are the actual values of the current attitude of the rotorcraft 9. And the fuselage main part of rotorcraft 9 extends 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 rotorcraft 9. And the main body of the machine body is provided with a flight control board 5, and the flight control board 5 is communicated with a computer. The computer stores four control instructions corresponding 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 integral mechanical system, and comprises the step of calling a controller in the computer to simultaneously control the rotorcraft and the manipulator to stably move.
The separated control instruction regards the rotorcraft and the manipulator as two independent mechanical systems, and comprises the steps of calling two controllers in the computer to respectively control the rotorcraft and the manipulator, and specifically comprises the steps of controlling the rotorcraft to fly in different postures, controlling the manipulator to grasp objects and the like.
The disturbance control command treats the manipulator as an uncontrolled suspended weight, and can cause disturbance to the rotorcraft so as to simulate the condition of suspending objects in actual flight of the unmanned aerial vehicle, including invoking a controller in a computer to perform stable control only on the rotorcraft.
The single aircraft control instruction comprises the step of calling a controller in the computer to independently regulate the rotor aircraft when the manipulator is removed, so that basic functions are realized.
The above four control instructions are control algorithms in the control algorithm library, and the embodiment can execute a control algorithm which is written and imported by itself, and is not limited to the above four control instructions.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (5)
1. The rotor manipulator experiment platform is characterized by comprising a straight rod (3) and a supporting top plate (1), wherein a spherical universal joint (33) is arranged at the bottom of the straight rod (3), the spherical universal joint (33) is connected with an upper top plate of a rotor craft (9) to be tested, a sleeve (2) which is open in the vertical direction is arranged on the supporting top plate (1), the straight rod (3) penetrates through the sleeve (2) to be movably connected with the sleeve (2), a pair of height limiting blocks (31) are arranged on the straight rod (3), and a certain distance is reserved between the height limiting blocks (31) and the sleeve (2);
the height limiting block (31) is detachably arranged on the straight rod (3);
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;
the straight rod (3) is provided with a plurality of through holes, the height limiting block (31) penetrates through the through holes, and the height limiting block (31) is a round rod with the length being larger than the radius of the sleeve;
a manipulator (7) is arranged at the bottom of the rotor craft (9);
the platform further comprises an external controller, and the controller controls the rotor craft (9) to fly according to different instructions and acquires the height information and the attitude information of the rotor craft (9) in real time.
2. The rotary wing manipulator experiment platform according to claim 1, wherein a buffer sponge is arranged on one side of the height limiting block (31) close to the sleeve (2).
3. A rotorcraft experiment platform according to claim 1, wherein the end of the rotorcraft (9) is provided with an ultrasonic sensor for acquiring altitude information of the rotorcraft (9).
4. The rotor manipulator experiment platform according to claim 1, wherein the rotor craft (9) is provided with nine inertial sensors for acquiring attitude information of the rotor craft (9).
5. The rotary wing manipulator experiment platform according to claim 1, wherein the supporting top 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079928.8A CN114313306B (en) | 2022-01-24 | 2022-01-24 | Rotor manipulator experiment platform |
Publications (2)
| Publication Number | Publication Date |
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| CN114313306A CN114313306A (en) | 2022-04-12 |
| CN114313306B true 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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