CN206804019U - A kind of unmanned plane debugs platform - Google Patents
A kind of unmanned plane debugs platform Download PDFInfo
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- CN206804019U CN206804019U CN201720455360.XU CN201720455360U CN206804019U CN 206804019 U CN206804019 U CN 206804019U CN 201720455360 U CN201720455360 U CN 201720455360U CN 206804019 U CN206804019 U CN 206804019U
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- unmanned plane
- guide rail
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- debugged
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Abstract
The utility model provides a kind of unmanned plane debugging platform, including top fixing plate, X-axis roller, X-axis guide rail, Y-axis roller, Y-axis guide rail, overhead pedestal, Z axis fix bar, 4DOF attachment means, the bottom of top fixing plate is provided with X-axis roller, X-axis roller moves horizontally along X-axis guide rail, so as to realize top fixing plate moving horizontally along X-direction；Y-axis roller is installed, Y-axis roller moves horizontally along Y-axis guide rail, so as to realize top fixing plate moving horizontally along Y direction below X-axis guide rail；The both ends of Y-axis guide rail are fixed on overhead pedestal；The top of top fixing plate is connected with 4DOF attachment means；Z axis fix bar is fixed in 4DOF attachment means；Bulb joint bearing is installed below Z axis fix bar and is connected debugged unmanned plane by bulb joint bearing.The utility model is used to debug the self-stability energy and exercise performance of UAS, while ensures experiment safety.
Description
Technical field
Unmanned air vehicle technique field is the utility model is related to, in particular it relates to which a kind of unmanned plane debugs platform.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Depopulated helicopter, unmanned fixed-wing aircraft,
Unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane take photo by plane, express delivery, post-disaster search and rescue, field, the unmanned plane such as data acquisition have all been shown up prominently.Although
Still there is bottleneck in aspect, the Development of UAV such as supervision, but at present, flourishing for unmanned plane industrial chain, be
Undisputable fact.
At present there are some outstanding problems in the test equipment of China's unmanned plane, such as lack unified planning, function unification,
Standardization, seriation and generalization degree are low etc..This requires the unmanned plane comprehensive performance testing system of modernization disclosure satisfy that
More fully experiment needs：In the unmanned plane development stage, UAV Flight Control rate can be carried out effectively to detect and assess；
In the flight preparation stage, accommodating and comprehensive feature detection can be entered to flight control system；, can be with after flight terminates
Ex-post analysis, simulation and failure zero are carried out to failure in-flight；, can be to amended flight in follow-up development
Control system is tested and verified.
Existing debugging platform scheme exist debugging platform feature is single, debugging platform influences the measurement of unmanned plane sensor,
Unmanned plane debug platform on mobile range it is small the problem of.
Through retrieval：
A kind of multi-rotor unmanned aerial vehicle flies control debugging protection device (201510210148.2), discloses a kind of multi-rotor unmanned aerial vehicle
Fly control debugging protection device, can be debugged for the self-stability to multi-rotor unmanned aerial vehicle flight control system, while ensure experiment peace
Entirely；A kind of six degree of freedom UAV Attitude control test device (201510719079.8), discloses a kind of six degree of freedom unmanned plane
Gesture stability test device；A kind of a kind of UAV Attitude control test device (201510718505.6), there is provided unmanned plane appearance
State control test device, the device amount to six spatial degrees of freedom, i.e., pitching, driftage, roll, around, lifting；It is a kind of
A kind of UAV Attitude control test device (201510719090.4) of external frame, there is provided UAV Attitude of external frame
Control test device, the invention by unmanned plane module is fixed on to the installation module of device come realize the pitching of fuselage, driftage,
The comprehensive simulating of omnidirectional's flight attitude of three rotary freedoms of rolling.
Debugging apparatus involved by above-mentioned patent be all based on uav bottom connection debugging platform, due to generally nobody
Motor spindle needs to fill multiple sensors, such as：Ultrasonic sensor, vision sensor.Ultrasonic sensor is used to measure nobody
Machine height, if there are attachment means lower section, may influence ultrasonic measurement result.Down depending on vision sensor be mounted in nothing
A kind of camera of people's motor spindle, unmanned plane parameter is measured based on image recognition technology, may if there is attachment means in its visual field
Vision sensor measurement result can be influenceed.
Debugging apparatus involved by above-mentioned 4 patents does not include platform rail.The guide rail of horizontal direction can increase nothing
Man-machine debugging horizontal moving ranges, this is not available for both the above device.The guide rail of vertical direction can increase unmanned plane
Vertical direction moving range is debugged, the method for the debugging apparatus involved by both the above patent is the above-below direction shifting of connecting rod
It is dynamic, the debugging scope of the length limitation unmanned plane of bar；If the long bar of increase may influence unmanned plane normal operation.
Utility model content
For in the prior art the defects of, the purpose of this utility model is to provide a kind of unmanned plane debugging platform, for pair
The self-stability of UAS can be debugged with exercise performance, while ensure experiment safety.
To realize object above, the utility model provides a kind of unmanned plane debugging platform, including：Top fixing plate, X-axis rolling
Wheel, X-axis guide rail, Y-axis roller, Y-axis guide rail, overhead pedestal, Z axis fix bar, 4DOF attachment means；Wherein：
The bottom of the top fixing plate is provided with some X-axis rollers；The X-axis roller is matched somebody with somebody with the X-axis guide rail
Close, X-axis roller moves horizontally along the X-axis guide rail, so as to realize the top fixing plate moving horizontally along X-direction；Institute
State and some Y-axis rollers are installed below X-axis guide rail；The Y-axis roller coordinates with the Y-axis guide rail, the Y-axis roller
Moved horizontally along the Y-axis guide rail, so as to realize the top fixing plate moving horizontally along Y direction；The Y-axis guide rail
Both ends are fixed on the overhead pedestal；The top of the top fixing plate is connected with the 4DOF attachment means；The Z
Axle fix bar is fixed in the 4DOF attachment means；Bulb joint bearing is installed below the Z axis fix bar and led to
The bulb joint bearing is crossed to be connected debugged unmanned plane.
Preferably, the X-axis guide rail is provided with position coder, for measuring the position of top fixing plate in the X-axis direction
Put.
Preferably, the quantity of the X-axis roller is no less than four.
Preferably, the quantity of the X-axis guide rail is no less than two, the set location of X-axis roller regard X-axis guide rail quantity and
Position determines.
It is highly preferred that the lower section of every X-axis guide rail is at least provided with two Y-axis rollers.
Preferably, position coder is installed in the Y-axis guide rail, for measuring the position of Y-axis guide rail in the Y-axis direction
Put, namely the position of top fixing plate in the Y-axis direction.
Preferably, the quantity of the Y-axis guide rail is no less than two, the set location of Y-axis roller regard Y-axis guide rail quantity and
Position determines.
In the utility model, by increase the X-axis guide rail, Y-axis guide rail, X-axis roller, Y-axis roller quantity, Neng Gouyou
Effect improves the stability and load of the debugging platform.
Preferably, the Z axis fix bar is respectively arranged with fixed stopping means in the upper and lower of 4DOF attachment means,
What the fixed stopping means was used to limiting the Z axis fix bar moves up and down scope, so that debugged unmanned plane is spacing
In the range of move freely.
Preferably, inertia measuring module is additionally provided with the Z axis fix bar, the inertia measuring module is used to measure institute
State the posture of Z axis fix bar.
Preferably, the overhead pedestal is provided with bottom support frame, and bottom support frame is respectively arranged at the both ends of Y-axis guide rail；
The bottom support frame is the support frame of variable-length, the elongation of bottom support frame and shortens the height for adjusting Y-axis guide rail,
Namely the height of top fixing plate.
Preferably, the overhead pedestal is provided with top suspension cord, and rope hangs on the both ends of Y-axis guide rail respectively；It is described
Rope is the rope of adjustable length, the elongation of rope and shortens the height for adjusting Y-axis guide rail, namely top fixing plate
Highly.
Preferably, the 4DOF attachment means include：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angle
Encoder, Z axis linear bearing, fixed pedestal, 4DOF attachment means skeleton；Wherein：
The both ends of the X-axis bearing are fixed on the fixed pedestal；The fixed pedestal is fixed on the top and fixed
The top of plate；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angle is compiled
Code device is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, institute are fixed with the 4DOF attachment means skeleton
Y-axis angular encoder and the Z axis linear bearing are stated, and the Z axis fix bar is passed through in the Z axis linear bearing；
X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angle are fixed with the 4 free attachment means skeleton
Encoder, for debugging movement of the debugged unmanned plane in 4 directions in front, rear, left and right, while by X-axis angular encoder and
The measurement of Y-axis angular encoder draws the deflection pose of Z axis fix bar；Z axis fix bar, Z axis are passed through in the Z axis linear bearing
Fix bar is fixed in 4DOF attachment means, while is fixed below Z axis fix bar by bulb joint bearing and be debugged nobody
Machine, for debugging movement of the debugged unmanned plane in upper and lower 2 directions；The connection of the debugging platform and debugged unmanned plane
Position, will not be to being installed on the debugged direction of unmanned plane front, back, left, right, up, down 6 at the top of debugged unmanned plane
Sensor produces interference.
Preferably, the debugging platform is additionally provided with the host computer for participating in debugged unmanned plane debugging, the host computer with
Wired or wireless data communication is carried out between debugged unmanned plane.
Debugged unmanned plane described in the utility model can be multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle includes：
Four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles, eight rotor wing unmanned aerial vehicles, three rotor wing unmanned aerial vehicles etc.；Either fixed-wing unmanned plane, it is described
Fixed-wing unmanned plane includes：Common layout unmanned plane, all-wing aircraft unmanned plane etc.；Either VUAV, described vertical
Drop unmanned plane includes：Tilting rotor wing unmanned aerial vehicle, vert fuselage formula unmanned plane etc..
This hair makes debugged unmanned plane be moved freely in spacing scope by the fixed stopping means of setting, while described flat
The link position of platform and debugged unmanned plane at the top of debugged unmanned plane, will not to debugged unmanned plane it is forward and backward, it is left,
The sensor installed on right, lower 5 directions produces interference.When being debugged unmanned plane using the platform testing, for debugged
For unmanned plane performance parameter, just correspond to add a Z axis fix bar at the top of debugged unmanned plane using the platform
Heavy burden, other structures will not act power when without departing from spacing scope to debugged unmanned plane.The platform is being transported
During row, the deflection pose of Z axis fix bar is drawn by the measurement of X-axis angular encoder and Y-axis angular encoder；The platform is certainly
Dynamic control top fixing plate moves horizontally along X-axis guide rail, and X-axis guide rail moves horizontally along Y-axis guide rail, so that Z axis
Fix bar tends to vertical state.
Compared with prior art, the utility model has following beneficial effect：
The utility model can play effective protective effect to debugged unmanned plane, reduce nobody when debugging unmanned plane
Loss caused by machine control system imperfection is blindly debugged to unmanned plane；The utility model can be to the part of debugged unmanned plane
Parameter is measured and gathered, the accuracy of the debugged unmanned aerial vehicle onboard control system parameter measurement of auxiliary checking；Using this
When utility model carries out unmanned plane debugging, the measurement result of the present utility model to unmanned plane can be used to participate in unmanned plane control
System so that tuner still is possible to complete the checking work of unmanned aerial vehicle (UAV) control algorithm when airborne measuring system is incomplete；This
Utility model and the attachment means of debugged unmanned plane effectively reduce the sensor measurement below unmanned plane at the top of unmanned plane
As a result impact.
Platform rail possessed by the utility model, can effectively increase the debugging scope of unmanned plane, and horizontal direction is led
Rail can increase unmanned plane debugging horizontal moving ranges, and the guide rail of vertical direction can increase unmanned plane debugging vertical direction movement
Scope.The debugging platform of the present utility model debugging platform single than traditional function, has abundant function, can be in the platform
On more comprehensive debugging is carried out to unmanned plane.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram of the preferred embodiment of the utility model one；
Fig. 2 is the 4DOF attachment means structural representation of the preferred embodiment of the utility model one；
Fig. 3, Fig. 4 are respectively the overhead pedestal alternative construction schematic diagram of the utility model unmanned plane debugging platform；
Fig. 5 is the wire communication mode schematic diagram of the preferred embodiment of the utility model one；
Fig. 6 is the wireless communication mode schematic diagram of the preferred embodiment of the utility model one；
In figure：
Top fixing plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis roller 4, Y-axis guide rail 5, overhead pedestal 6, Z axis fix bar 7,
4DOF attachment means 8, bulb joint bearing 9, fixed stopping means 10, it is debugged unmanned plane 11, X-axis bearing 12, X-axis angle
Spend encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axis linear bearing 16, fixed pedestal 17,4DOF attachment means
Skeleton 18, rope 19, position coder 20, inertia measuring module 21, host computer 22, data wire 23, radio station 24, bottom branch
Support 25.
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These belong to the scope of protection of the utility model.
As shown in figure 1, a kind of unmanned plane debugging platform, including：Top fixing plate 1, X-axis roller 2, X-axis guide rail 3, Y-axis rolling
Wheel 4, Y-axis guide rail 5, overhead pedestal 6, Z axis fix bar 7,4DOF attachment means 8, bulb joint bearing 9, fixed stopping means
10, it is debugged unmanned plane 11；Wherein：
The lower section of top fixing plate 1 is fixed with some X-axis rollers 2, and some X-axis rollers 2 are symmetricly set in top fixing plate 1
Two bottom sides；X-axis guide rail 3 is two closed slides, and X-axis roller 2 can move horizontally along X-axis guide rail 3；The lower section of X-axis guide rail 3
Some Y-axis rollers 4 are fixed with, some Y-axis rollers 4 are symmetricly set in the lower section of two parallel X-axis guide rails 3；Y-axis guide rail 5 is
Two closed slides, Y-axis roller 4 can move horizontally along Y-axis guide rail 5；The both ends of two Y-axis guide rails 5 are separately fixed at overhead base
On seat 6；4DOF attachment means 8 are fixed with top fixing plate 1；Z axis fix bar 7 is fixed in 4DOF attachment means 8,
The lower section of Z axis fixed plate 7 is connected debugged unmanned plane 11 by bulb joint bearing 9；Z axis fix bar 7 connects in 4DOF
The upper and lower of connection device 8 is provided with fixed stopping means 10, and fixed stopping means 10 is used to limit moving up and down for Z axis fix bar 7
Scope.
As shown in Fig. 2 as a preferred embodiment, the 4DOF attachment means 8 include：X-axis bearing 12, X-axis
Angular encoder 13, Y-axis bearing 14, Y-axis angular encoder 15, Z axis linear bearing 16, fixed pedestal 17,4DOF connection dress
Put skeleton 18；Wherein：
The both ends of X-axis bearing 12 are separately fixed on fixed pedestal 17；The fixed pedestal 17 is fixed on the top and consolidated
The top of fixed board 1；X-axis angular encoder 13 is arranged on one end of X-axis bearing 12；4DOF attachment means skeleton 18 is fixed on X
The medium position of axle bearing 12；Y-axis bearing 14, Y-axis angular encoder 15, Z axis are fixed with 4DOF attachment means skeleton 18
Linear bearing 16, and Z axis fix bar 7 is passed through in Z axis linear bearing 16.
X-axis bearing 12, X-axis angular encoder 13, Y-axis bearing 14 are fixed with the 4 free attachment means skeleton 18
With Y-axis angular encoder 15, for debugging debugged unmanned plane 11 in the direction movement of front, rear, left and right 4, while pass through X-axis
The measurement of angular encoder 13 and Y-axis angular encoder 15 draws the deflection pose of Z axis fix bar 7.
Z axis fix bar 7 is passed through in the Z axis linear bearing 16, Z axis fix bar 7 is fixed in 4DOF attachment means 8,
Debugged unmanned plane 11 is fixed in the lower section of Z axis fix bar 7 by bulb joint bearing 9, for debug debugged unmanned plane 11,
Lower 2 directions movement.
As a preferred embodiment, the debugged unmanned plane 11 can be multi-rotor unmanned aerial vehicle, more rotors nobody
Machine includes：Four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles, eight rotor wing unmanned aerial vehicles, three rotor wing unmanned aerial vehicles.
As a preferred embodiment, the debugged unmanned plane 11 can be fixed-wing unmanned plane, fixed-wing nobody
Machine includes：Common layout unmanned plane, all-wing aircraft unmanned plane.
As a preferred embodiment, the debugged unmanned plane 11 can be VUAV, VTOL
Unmanned plane includes：Tilting rotor wing unmanned aerial vehicle, vert fuselage formula unmanned plane.
As a preferred embodiment, the quantity of the X-axis roller 2 is no less than four.
As a preferred embodiment, the lower section of every X-axis guide rail 3 is at least provided with two Y-axis rollers 4.
By increase X-axis guide rail 3, Y-axis guide rail 5, X-axis roller 2, Y-axis roller 4 quantity, the tune can be effectively improved
Try the stability and load of platform.
As shown in figure 1, as a preferred embodiment, the installation site encoder 20 in the X-axis guide rail 3, it is used for
Measure the position of top fixing plate 1 in the X-axis direction.
As shown in figure 1, as a preferred embodiment, the installation site encoder 20 in the Y-axis guide rail 5, it is used for
Measure the position of Y-axis guide rail 5 in the Y-axis direction, namely the position of top fixing plate 1 in the Y-axis direction.
As preferable, the shown use of position coder 20 magnetic-grid-type position coder.The magnetic-grid-type position coder
With precision is high, cost is low and the characteristics of being easily installed and use.
As shown in Fig. 2 as a preferred embodiment, inertia measuring module 21 is installed in the Z axis fix bar 7,
For measuring the posture of Z axis fix bar 7.
As shown in figure 3, as a preferred embodiment, the overhead pedestal 6 is by the way of bottom support frame 25, bottom
Portion's support frame 25 is respectively arranged at the both ends of two Y-axis guide rails 5；The bottom support frame 25 be variable-length support frame, bottom
The elongation of support frame 25 and shorten the height for adjusting Y-axis guide rail 5, namely the height of top fixing plate 1.
As shown in figure 4, as a preferred embodiment, the overhead pedestal 6 by the way of the suspension cord 19 of top,
Rope 19 hangs on the both ends of two Y-axis guide rails 5 respectively；The rope 19 be adjustable length rope, the elongation of rope 19 and
Shorten the height for adjusting Y-axis guide rail 5, namely the height of top fixing plate 1.
As a preferred embodiment, the unmanned plane debugging platform is additionally provided with host computer 22 and participates in debugging, described
Host computer 22 carries out data communication with debugged unmanned plane 11；Wherein：
As shown in figure 5, the host computer 22 is communicated with debugged unmanned plane 11 by the way of wired, i.e., described host computer
22 are connected by data wire 23 with debugged unmanned plane 11, by data wire 23 realize host computer 22 and debugged unmanned plane 11 it
Between data communication；
Wirelessly communicated as shown in fig. 6, the host computer 22 uses with debugged unmanned plane 11, i.e., respectively described
Radio station 24 is set on host computer 22, debugged unmanned plane 11, host computer 22 and debugged nothing are realized by radio station 24
Data communication between man-machine 11.
The debugging platform can be such that debugged unmanned plane 11 is moved freely in spacing scope, while the debugging platform
With the link position of debugged unmanned plane 11 at the top of debugged unmanned plane 11, will not to debugged unmanned plane 11 it is forward and backward,
The sensor installed on left and right, lower 5 directions produces interference.
When being debugged unmanned plane 11 using the debugging platform testing, for the debugged performance parameter of unmanned plane 11,
Just correspond to add the heavy burden of a Z axis fix bar 7 at the top of debugged unmanned plane 11 using the debugging platform, other knots
Structure will not act power when without departing from spacing scope to debugged unmanned plane 11.
The debugging platform operationally, Z is drawn by the measurement of X-axis angular encoder 13 and Y-axis angular encoder 15
The deflection pose of axle fix bar 7；The debugging platform automatically controls top fixing plate 1 and moved horizontally along X-axis guide rail 3, and X-axis
Guide rail 3 moves horizontally along Y-axis guide rail 5, so that Z axis fix bar 7 tends to vertical state.
, can be with default X-axis angular encoder 13 and Y-axis angular encoder 15 in other embodiment.Furthermore it is possible to increase
X-axis guide rail 3 or the quantity of Y-axis guide rail 5.These can be set according to being actually needed, and not influenceed for essence of the present utility model.
The autostability energy and exercise performance to unmanned plane that the utility model is capable of safe ready are debugged；This practicality
New existing debugging stage+module scheme influence unmanned plane sensor, the unmanned plane of solving is in debugging platform up-regulation examination range of movement
The problems such as small；The utility model can also measure the position letter of unmanned plane in real time while the debugged unmanned plane of protection is safe
Breath.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on substantive content of the present utility model.
Claims (10)
1. a kind of unmanned plane debugs platform, it is characterised in that including：Top fixing plate, X-axis roller, X-axis guide rail, Y-axis roller, Y
Axis rail, overhead pedestal, Z axis fix bar, and 4DOF attachment means；Wherein：
The bottom of the top fixing plate is provided with some X-axis rollers, and the X-axis roller moves along the X-axis guide rail is horizontal
It is dynamic, realize the top fixing plate moving horizontally along X-direction；The Y-axis roller is installed below the X-axis guide rail；
The Y-axis roller moves horizontally along the Y-axis guide rail, realizes the top fixing plate moving horizontally along Y direction；The Y
The both ends of axis rail are fixed on the overhead pedestal, and the top of the top fixing plate is connected with the 4DOF connection dress
Put, the Z axis fix bar is fixed in the 4DOF attachment means, and bulb joint is provided with below the Z axis fix bar
Bearing is simultaneously connected debugged unmanned plane by the bulb joint bearing.
2. a kind of unmanned plane debugging platform according to claim 1, it is characterised in that the X-axis guide rail is provided with position
Encoder, for measuring the position of top fixing plate in the X-axis direction.
3. a kind of unmanned plane debugging platform according to claim 1, it is characterised in that the quantity of the X-axis roller is many
In four, the quantity of the X-axis guide rail is no less than two, and the lower section of every X-axis guide rail is rolled at least provided with two Y-axis
Wheel；The quantity of the Y-axis guide rail is no less than two.
4. a kind of unmanned plane debugging platform according to claim 1, it is characterised in that be provided with position in the Y-axis guide rail
Encoder is put, for measuring the position of Y-axis guide rail in the Y-axis direction.
A kind of 5. unmanned plane debugging platform according to claim 1, it is characterised in that the Z axis fix bar described 4 from
Fixed stopping means is respectively arranged with by the upper and lower of degree attachment means, the fixed stopping means is consolidated for limiting the Z axis
Fixed pole moves up and down scope.
6. a kind of unmanned plane debugging platform according to claim 5, it is characterised in that also set up in the Z axis fix bar
There is inertia measuring module, the inertia measuring module is used for the posture for measuring the Z axis fix bar.
7. a kind of unmanned plane debugging platform according to claim 1, it is characterised in that the overhead pedestal is provided with bottom branch
Support, the bottom support frame are respectively arranged at the both ends of Y-axis guide rail；
The bottom support frame is the support frame of variable-length, the elongation of bottom support frame and is shortened for adjusting Y-axis guide rail
Highly, i.e. the height of top fixing plate.
8. a kind of unmanned plane debugging platform according to claim 1, it is characterised in that the overhead pedestal hangs provided with top
Lanyard rope, the rope hang on the both ends of Y-axis guide rail respectively；
The rope is the rope of adjustable length, the elongation of rope and shortens the height for adjusting Y-axis guide rail, i.e., top is consolidated
The height of fixed board.
9. a kind of unmanned plane debugging platform according to claim any one of 1-8, it is characterised in that the 4DOF connects
Connection device includes：X-axis bearing, X-axis angular encoder, Y-axis bearing, Y-axis angular encoder, Z axis linear bearing, fixed pedestal,
And 4DOF attachment means skeleton；Wherein：
The both ends of the X-axis bearing are fixed on the fixed pedestal；The fixed pedestal is fixed on the top fixing plate
Top；The 4DOF attachment means skeleton is fastened on the medium position of the X-axis bearing；The X-axis angular encoder
It is connected and fixed on one end of the X-axis bearing；The Y-axis bearing, the Y are fixed with the 4DOF attachment means skeleton
Axle angular encoder and the Z axis linear bearing, and the Z axis fix bar passes through the Z axis linear bearing；
X-axis bearing, X-axis angular encoder, Y-axis bearing and Y-axis angular coding are fixed with the 4 free attachment means skeleton
Device, for debugging movement of the debugged unmanned plane in 4 directions in front, rear, left and right, while pass through X-axis angular encoder and Y-axis
The measurement of angular encoder draws the deflection pose of Z axis fix bar；Pass through Z axis fix bar in the Z axis linear bearing, Z axis is solid
Fixed pole is fixed in 4DOF attachment means, while is fixed below Z axis fix bar by bulb joint bearing and be debugged nobody
Machine, for debugging movement of the debugged unmanned plane in upper and lower 2 directions；The connection of the debugging platform and debugged unmanned plane
Position, will not be to being installed on the debugged direction of unmanned plane front, back, left, right, up, down 6 at the top of debugged unmanned plane
Sensor produces interference.
10. a kind of unmanned plane debugging platform according to claim 9, it is characterised in that the debugging platform is additionally provided with
The host computer of debugged unmanned plane debugging is participated in, wired or wireless data is carried out between the host computer and debugged unmanned plane
Communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455360.XU CN206804019U (en) | 2017-04-27 | 2017-04-27 | A kind of unmanned plane debugs platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455360.XU CN206804019U (en) | 2017-04-27 | 2017-04-27 | A kind of unmanned plane debugs platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206804019U true CN206804019U (en) | 2017-12-26 |
Family
ID=60738552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720455360.XU Withdrawn - After Issue CN206804019U (en) | 2017-04-27 | 2017-04-27 | A kind of unmanned plane debugs platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206804019U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063235A (en) * | 2017-04-27 | 2017-08-18 | 上海交通大学 | A kind of unmanned plane debugs platform |
| CN110844112A (en) * | 2019-10-14 | 2020-02-28 | 北京航空航天大学 | Suspension type unmanned aerial vehicle debugging device |
-
2017
- 2017-04-27 CN CN201720455360.XU patent/CN206804019U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063235A (en) * | 2017-04-27 | 2017-08-18 | 上海交通大学 | A kind of unmanned plane debugs platform |
| CN107063235B (en) * | 2017-04-27 | 2023-07-21 | 上海交通大学 | Unmanned aerial vehicle debugging platform |
| CN110844112A (en) * | 2019-10-14 | 2020-02-28 | 北京航空航天大学 | Suspension type unmanned aerial vehicle debugging device |
| CN110844112B (en) * | 2019-10-14 | 2021-07-02 | 北京航空航天大学 | Suspension type unmanned aerial vehicle debugging device |
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