CN206312418U - Four rotor wing unmanned aerial vehicle teaching experiment platforms - Google Patents
Four rotor wing unmanned aerial vehicle teaching experiment platforms Download PDFInfo
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- CN206312418U CN206312418U CN201621380450.9U CN201621380450U CN206312418U CN 206312418 U CN206312418 U CN 206312418U CN 201621380450 U CN201621380450 U CN 201621380450U CN 206312418 U CN206312418 U CN 206312418U
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Abstract
The utility model discloses four rotor wing unmanned aerial vehicle teaching experiment platforms, including base, left support is to axle head and the axle head of right support four, in left support to being fixed with two T-shaped support heads of triangular support corner fittings composition at the top of axle head, it is T-shaped support head be fixedly arranged in the middle of can single shaft activity hinge, left frame balancing seesaw pallet is installed on the hinge of activity, cross support corner fittings is fixed with the top of the axle head of right support four, universal hole seat is provided with the end face center of cross support corner fittings, and right frame balancing seesaw pallet is installed, there is universal joint upper end mechanism in the bottom center of right frame balancing seesaw pallet for installing right frame balancing seesaw pallet, left frame balancing seesaw pallet or right frame balancing seesaw pallet are provided with four rotor lower bearing brackets and four blades.Structure setting of the present utility model rationally, solves the technical deficiency that unmanned plane teaching cannot be applied in conventional art, and stability in use is good and strong applicability.
Description
Technical field
The utility model belongs to unmanned plane instructional technology field, and in particular to four rotor wing unmanned aerial vehicle teaching experiment platforms.
Background technology
Unmanned plane is mainly and is made up of body, control structure, and existing market is for the correlator of unmanned plane teaching
Device, all occurs with enclosed whole machine substantially mainly due to existing unmanned plane, and propeller strength is big in use, debugging
In be susceptible to danger, and manipulation uncertain air crash possibility of getting up is big, so the site area requirement to flying is higher, together
When the effect of careful observation debugging control is not easy under without intuitively feedback condition.Mainly it is summarized as follows：It is existing nobody
Machine cannot provide it is a kind of can opening and developing study experiment porch；Existing unmanned plane cannot provide a kind of achievable repeatedly repeatedly real
The study experiment porch tested；Cannot provide and a kind of ensure safe unmanned plane study experiment porch；One kind cannot be provided can be by
Unmanned plane equilibrium principle disassembles the experiment porch explained for four rotor equilibrium principles；One kind cannot be provided can be by flight control
The function that experimentation is preserved and uploaded with result data.
The content of the invention
The purpose of this utility model is to provide the four rotor wing unmanned aerial vehicles religion that a kind of structure setting is reasonable and stability in use is good
Learn experiment porch, it is intended to solve that in conventional art the technical deficiency that unmanned plane is imparted knowledge to students cannot be applied to.
Realizing the technical scheme of the utility model purpose is：Four rotor wing unmanned aerial vehicle teaching experiment platforms, including base, bottom
The left support on base is fixed on to axle head and the axle head of right support four, it is characterised in that：In the left support to axle head
Top be fixed with the T-shaped support heads of two triangular support corner fittings composition, consolidate at the middle part of the T-shaped support head
Surely have can single shaft activity hinge, activity hinge on left frame balancing seesaw pallet is installed, lucite spacing block passes through
Connector is connected on T-shaped support head, and cross support corner fittings is fixed with the top of the axle head of the right support four,
Four end edges of the cross support corner fittings have four lucite cut-off blocks respectively, are installed on four lucite cut-off blocks
There is hollow round tray, universal hole seat is provided with the end face center of cross support corner fittings, ten thousand are disposed on universal hole seat
To saving and being connected to right balancing seesaw pallet, there are universal joint upper end mechanism, Zuo Ping in the bottom center of right frame balancing seesaw pallet
Four rotor wing unmanned aerial vehicle frames are installed by connector on weighing apparatus seesaw pallet or right balancing seesaw pallet, upper spider is provided with wing protection
Cover, is provided with four rotor lower bearing brackets and four blades, there is control board and each in the middle part of the top surface of four rotor wing unmanned aerial vehicle frames
Class sensor, is respectively and fixedly provided with brushless electric machine and its starter, the brushless electric machine inside four ends of four rotor wing unmanned aerial vehicle frames
Rotary shaft be connected with blade.
The control board includes microcontroller, navigation attitude sensor, the highly sensing being connected with the microcontroller
Device, GPS sensor, the first drive circuit being connected with the microcontroller, the second drive circuit, the 3rd drive circuit and
Four drive circuits, the wireless communication line being connected with the microcontroller and power-switching circuit, first drive circuit,
Second drive circuit, the 3rd drive circuit and the 4th drive circuit are connected with the brushless electric machine on four rotor lower bearing bracket end points respectively
Connect.
Battery is fixed with the top surface of cross support corner fittings, the battery is connected with power-switching circuit.
The wireless communication line includes bluetooth communication circuit, 2.4G communicating circuits, and the bluetooth communication circuit, 2.4G lead to
News circuit is connected with microcontroller.
The utility model has positive effect：Rationally, it when in use not only can be with for structure setting of the present utility model
Balance or constant tilt angle are kept, and aircraft can also be facilitated to separate and be fixed on frame balancing seesaw pallet, from
And facilitate teaching operation, solve the technical deficiency that unmanned plane teaching cannot be applied in conventional art, stability in use it is good and
Strong applicability.
Brief description of the drawings
In order that content of the present utility model is more likely to be clearly understood, below according to specific embodiment and with reference to attached
Figure, is described in further detail to the utility model, wherein：
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is support section structure chart of the present utility model；
Fig. 3 is circuit block diagram of the present utility model.
Specific embodiment
(embodiment 1)
Fig. 1 to Fig. 3 shows a kind of specific embodiment of the present utility model, and wherein Fig. 1 is solid of the present utility model
Structural representation；Fig. 2 is support section structure chart of the present utility model；Fig. 3 is circuit block diagram of the present utility model.
See Fig. 1 to Fig. 3, four rotor wing unmanned aerial vehicle teaching experiment platforms, including base 1, bottom is fixed on the left branch on base 1
Support is fixed with two triangular supports to the top of axle head 2 to axle head 2 and the axle head 3 of right support four in the left support
The T-shaped support head 4 of corner fittings composition, consolidates at the middle part of the T-shaped support head 4 of described two triangular support corner fittings composition
Surely having can the movable hinge 5 of single shaft, the top surface two ends of the T-shaped support head 4 constituted in described two triangular support corner fittings
Fixed abutting lucite spacing block 6, is additionally provided with left frame balancing seesaw pallet 7, the left frame balancing seesaw pallet 7
Bottom center fix lucite spacing block 8, the lucite spacing block 8 by connector 9 be connected to can single shaft work
On dynamic hinge 5, cross support corner fittings 10 is fixed with the top of the axle head 3 of the right support four, in the cross branch
Four end edges of support angle part 10 have four lucite cut-off blocks 11 respectively, and the end face center of corner fittings 10 is supported in the cross
Universal hole seat 13 is provided with, hollow round tray 14 is fixed with the top of four lucite cut-off block 11, described
The center of hollow round tray 14 is provided with through hole penetrating up and down, is additionally provided with right frame balancing seesaw pallet 15, the right machine
The bottom center of frame balancing seesaw pallet is fixed with universal joint upper end mechanism 16, and the bottom of the universal joint upper end mechanism passes through and leads to
The universal hole seats of Kong Bingyu are connected, and the left frame balancing seesaw pallet or right frame balancing seesaw pallet are provided with four rotors
Frame 17 and four blades 18, four blades are separately fixed in four end edges of four rotor lower bearing brackets, in described four rotations
The top surface of wing lower bearing bracket is fixedly arranged in the middle of control board 12 and various kinds of sensors, at four ends of the four rotors lower bearing bracket
Portion is respectively and fixedly provided with the brushless electric machine 19 being connected with the control board, and the connector of the brushless electric machine is connected with blade
Connect.
The control board 12 includes microcontroller 121, the navigation attitude sensor being connected with the microcontroller 121
122nd, height sensor 123, GPS sensor 124, the first drive circuit 125, second being connected with the microcontroller 121
Drive circuit 126, the 3rd drive circuit 127 and the 4th drive circuit 128, the channel radio being connected with the microcontroller 121
News circuit 129 and power-switching circuit 1210, first drive circuit, the second drive circuit, the 3rd drive circuit and the 4th
Drive circuit is connected with the brushless electric machine on four rotor lower bearing bracket end points respectively.
In the frame balancing seesaw pallet, battery 14 is fixed between frame upper plate and vertical pole, the electric power storage
Pond is connected with power-switching circuit.
The wireless communication line 129 includes bluetooth communication circuit 1291,2.4G communicating circuits 1292, the bluetooth communication
Circuit, 2.4G communicating circuits are connected with microcontroller.
Plug in line and motor supply lines, and master control borad is resetted carries out electricity tune with the initialization of motor.
Open the hollow round tray of PC control, after setting up communication with master control borad, the motion of four spindle balances of selection or
X-Y compound motions are tested.
Motion state of the aircraft on universal joint head is shown in real time in 3D Simulation Interfaces；In the real-time curve of X-Y axles
Reflect the homologous thread of 3 axle athletic postures and time on interface.
The desired value (Pitch, Rol l) for setting aircraft motion state at unmanned plane parameter setting interface is for 0 ° and right
The pid parameter answered, makes four rotor wing unmanned aerial vehicles be kept on universal joint head to shaft balancing state.
The desired value (Yaw) for setting aircraft motion state at unmanned plane parameter setting interface is unspecified angle, and right
The pid parameter answered, the poised state for making four rotor wing unmanned aerial vehicles be gone as course on universal joint head.
Unmanned plane parameter setting interface change of flight device motion state desired value (within Pitch and Rol l ± 30 °,
Yaw may be configured as arbitrarily angled) and corresponding pid parameter, make four rotor wing unmanned aerial vehicles that certain model is carried out on universal joint head
Attitude in enclosing changes.
Aircraft X-Y axle complication experiments are carried out, design object value curve movement (circle, side, ellipse etc.) is adjusted corresponding
Pid parameter, makes aircraft be moved around target curve movement, generates actual motion curve, and song is moved by contrasting target
Line and actual motion curve finally show that error analysis and experiment are scored.
According to the curve for returning to angle and time in real time, parameter regulation repeatedly can be carried out, be imitated with reaching optimal control
Really, it is final to preserve and upload real time data, and response curve is intercepted, complete the learning tasks on universal joint head.
In four rotor wing unmanned aerial vehicles when frame balancing seesaw pallet is separated, still above-mentioned can be completed by bluetooth communication
Business, and carry out height-lock control experiment.
Rationally, it can not only keep balance or constant tilt angle to structure setting of the present utility model when in use, and
And aircraft can also be facilitated to separate and be fixed on frame balancing seesaw pallet, so as to facilitate teaching operation, solve tradition
The technical deficiency of unmanned plane teaching cannot be applied in technology, stability in use is good and strong applicability.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to implementation method of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all of implementation method
It is exhaustive.And these belong to obvious change that connotation of the present utility model extends out or variation still falls within this practicality
New protection domain.
Claims (4)
1. four rotor wing unmanned aerial vehicle teaching experiment platform, including base, bottom is fixed on left support on base to axle head and the right side
Support four axle heads, it is characterised in that：In the left support to being fixed with two triangular support corner fittings groups at the top of axle head
Into T-shaped support head, it is described it is T-shaped support head be fixedly arranged in the middle of can single shaft activity hinge, activity hinge
On left frame balancing seesaw pallet is installed, lucite spacing block is connected on T-shaped support head by connector, in institute
State and cross support corner fittings is fixed with the top of the axle head of right support four, in four end edges difference of cross support corner fittings
There are four lucite cut-off blocks, hollow round tray is installed on four lucite cut-off blocks, in the cross branch
The end face center of support angle part is provided with universal hole seat, disposes universal joint on universal hole seat and is connected to right balancing seesaw pallet, right machine
There is universal joint upper end mechanism in the bottom center of frame balancing seesaw pallet, passes through on left balancing seesaw pallet or right balancing seesaw pallet
Connector installs four rotor wing unmanned aerial vehicle frames, and upper spider is provided with wing protective cover, is provided with four rotor lower bearing brackets and four blades,
There are control board and various kinds of sensors in the top surface middle part of four rotor wing unmanned aerial vehicle frames, at four ends of four rotor wing unmanned aerial vehicle frames
Inside is respectively and fixedly provided with brushless electric machine and its starter, and the rotary shaft of the brushless electric machine is connected with blade.
2. four rotor wing unmanned aerial vehicles teaching experiment platform according to claim 1, it is characterised in that：The control board bag
Microcontroller is included, navigation attitude sensor, height sensor, the GPS sensor being connected with the microcontroller, with the microcontroller
The first drive circuit, the second drive circuit, the 3rd drive circuit and the 4th drive circuit that device is connected, with the microcontroller
The wireless communication line and power-switching circuit being connected, first drive circuit, the second drive circuit, the 3rd drive circuit
It is connected with the brushless electric machine on four rotor lower bearing bracket end points respectively with the 4th drive circuit.
3. four rotor wing unmanned aerial vehicles teaching experiment platform according to claim 2, it is characterised in that：Corner fittings is supported in cross
Top surface be fixed with battery, the battery is connected with power-switching circuit.
4. four rotor wing unmanned aerial vehicles teaching experiment platform according to claim 3, it is characterised in that：The wireless communication line
Including bluetooth communication circuit, 2.4G communicating circuits, the bluetooth communication circuit, 2.4G communicating circuits are connected with microcontroller
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621380450.9U CN206312418U (en) | 2016-12-15 | 2016-12-15 | Four rotor wing unmanned aerial vehicle teaching experiment platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621380450.9U CN206312418U (en) | 2016-12-15 | 2016-12-15 | Four rotor wing unmanned aerial vehicle teaching experiment platforms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206312418U true CN206312418U (en) | 2017-07-07 |
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ID=59252264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621380450.9U Active CN206312418U (en) | 2016-12-15 | 2016-12-15 | Four rotor wing unmanned aerial vehicle teaching experiment platforms |
Country Status (1)
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| CN (1) | CN206312418U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108364524A (en) * | 2018-03-17 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of the flight training device and exercising method of unmanned plane |
| CN111332494A (en) * | 2020-04-21 | 2020-06-26 | 苏州恒井泰信息技术有限公司 | Unmanned aerial vehicle debugging, measuring and controlling system and method |
-
2016
- 2016-12-15 CN CN201621380450.9U patent/CN206312418U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108364524A (en) * | 2018-03-17 | 2018-08-03 | 广东容祺智能科技有限公司 | A kind of the flight training device and exercising method of unmanned plane |
| CN111332494A (en) * | 2020-04-21 | 2020-06-26 | 苏州恒井泰信息技术有限公司 | Unmanned aerial vehicle debugging, measuring and controlling system and method |
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