CN209117256U - Small drone weight center of gravity measuring device - Google Patents
Small drone weight center of gravity measuring device Download PDFInfo
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- CN209117256U CN209117256U CN201821873013.XU CN201821873013U CN209117256U CN 209117256 U CN209117256 U CN 209117256U CN 201821873013 U CN201821873013 U CN 201821873013U CN 209117256 U CN209117256 U CN 209117256U
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Abstract
The utility model discloses a kind of small drone weight center of gravity measuring devices, the measuring device includes symmetrically arranged upper bracket, lower bracket, the scale plate of the position coordinates for marking unmanned plane is fixed on the upper bracket, the upper bracket and the lower bracket respectively include multiple vertex, it is connected between multiple vertex of the upper bracket and multiple vertex of the lower bracket by multiple pillars, multiple pressure sensors are installed on multiple vertex of the upper bracket respectively, and one of pillar is electric push rod.The small drone weight center of gravity measuring device and measuring method, can accurately measure the coordinate position of unmanned plane, obtain the weight center of gravity of unmanned plane, reduce human error；The design of tiltable table top can effectively show that the Z axis coordinate of measurement unmanned plane, practical function are strong.
Description
Technical field
The utility model relates to weight center of gravity to measure Technology of Comprehensive Experiment field, specifically, being related to a kind of miniature self-service
Machine weight center of gravity measuring device.
Background technique
Flight performance calculation, flight control design case field in small drone, it is often necessary to weight, the center of gravity of unmanned plane
Data, for these parameters for the accuracy of small drone flight performance calculation, the correctness of flight control design case has ten
Divide crucial effect, is required supplemental characteristic.
Currently, the weight measurement instrument of small drone is commonplace, but small drone center of gravity measurement instrument is fewer
See, the difficult point of small drone center of gravity measurement is that measurement accuracy is relatively low, and can only generally measure X and Y-axis position of centre of gravity, Z axis
Position of centre of gravity is not easy to measure.
Therefore, it is necessary to a kind of new technical solutions to solve the above technical problems.
Summary of the invention
To solve the deficiencies in the prior art, the utility model proposes a kind of small drone weight center of gravity measuring device, energy
The weight center of gravity of enough quick obtaining small drone, while reducing human factor and giving measurement bring error, and reducing survey
Time required for measuring improves the accuracy of small drone weight center of gravity measurement.
In order to achieve the above objectives, the utility model adopts the following technical solutions: a kind of small drone weight center of gravity
Measuring device, the measuring device include symmetrically arranged upper bracket, lower bracket, and one is fixed on the upper bracket for marking
The scale plate of the position coordinates of unmanned plane, the upper bracket and the lower bracket respectively include multiple vertex, the upper bracket
It is connected between multiple vertex and multiple vertex of the lower bracket by multiple pillars, multiple vertex of the upper bracket are pacified respectively
Multiple pressure sensors are filled, one of pillar is electric push rod.
In a specific embodiment, the upper bracket and the lower bracket are symmetrically arranged tripod, it is described on
Bracket and the lower bracket respectively include three vertex.
In a specific embodiment, three vertex of the upper bracket include the first vertex, the second vertex and third
Vertex, three vertex of the lower bracket include the 4th vertex, the 5th vertex and the 6th vertex, and the multiple pillar includes first
Pillar, the second pillar and electronic to pull rod, first vertex is connected with the 4th vertex by the first pillar, and described second
Vertex is connected with the 5th vertex by the second pillar, and the third vertex and the 6th vertex are connected by electric push rod
It connects.
In a specific embodiment, the pressure sensor include first pressure sensor, second pressure sensor,
Third pressure sensor, the first pressure sensor are connect by first axle with the first pillar, the second pressure sensing
Device is connect by second hinge with the second pillar, and the third pressure sensor is connect by third hinge with electric push rod.
In a specific embodiment, the 6th top that the lower end of the electric push rod passes through hinges and lower bracket
Point connection.
In a specific embodiment, the stretching motion of the electric push rod can control scale plate and horizontal plane it
Between tilt angle.
In a specific embodiment, the electric push rod pushes up, and third pressure sensor is driven to transport upwards
Dynamic, one end that the scale plate is connect with third pressure sensor tilts upwards, so that scale plate and horizontal plane have certain angle.
The utility model proposes small drone weight center of gravity measuring device, can accurately measure the coordinate bit of unmanned plane
It sets, obtains the weight center of gravity of unmanned plane, reduce human error；The design of tiltable table top can effectively obtain measurement unmanned plane
Z axis coordinate, practical function are strong.
Detailed description of the invention
Fig. 1 is the utility model small drone weight center of gravity measuring device main body figure；
Fig. 2 is the utility model small drone weight center of gravity measuring device pressure sensor distribution schematic diagram；
Fig. 3 is the utility model small drone weight center of gravity measuring device electric pushrod schematic device.
Specific embodiment
The preferred embodiment of utility model device and method is described in further detail with reference to the accompanying drawing.
Refering to Figure 1, a kind of small drone weight center of gravity measuring device, the measuring device include symmetrically arranged
Upper bracket 2, lower bracket 4 fix the scale plate 1 of the position coordinates for marking unmanned plane, 2 He of upper bracket on upper bracket 2
Lower bracket 4 respectively includes multiple vertex, passes through multiple pillars between multiple vertex of upper bracket 2 and multiple vertex of lower bracket 4
Multiple pressure sensors are installed on connection, multiple vertex of upper bracket 2 respectively, and one of pillar is electric push rod 3.
Scale plate 1 is fixed on upper bracket 2, and lower bracket 4 is placed on the ground, and electric push rod 3 is located at scale plate 1 under
Between bracket 4.The stretching motion of electric push rod 3 can control the tilt angle between scale plate 1 and horizontal plane.Scale plate 1
It is capable of the position coordinates of accurate marker measurement object, and record position of centre of gravity coordinate can be facilitated.
In a specific embodiment, upper bracket 2 and lower bracket 4 are symmetrically arranged tripod, upper bracket 2 and lower branch
Frame 4 respectively includes three vertex.Three vertex of upper bracket 2 include the first vertex, the second vertex and third vertex, lower bracket 4
Three vertex include the 4th vertex, the 5th vertex and the 6th vertex, multiple pillars include the first pillar 6, the second pillar 5 and electricity
Dynamic push-pull rod 3, the first vertex and the 4th vertex are connected by the first pillar 6, and the second vertex and the 5th vertex pass through the second pillar 5
Connection, third vertex and the 6th vertex are connected by electric push rod 3.
In a specific embodiment, upper bracket 2 and lower bracket 4 build for aluminum profile, the first pillar 6, and second
5 material of pillar is aluminum profile, and main function is to provide installation site for each component of measuring device and guarantee the steady of device
It is qualitative.
In a specific embodiment, as shown in Fig. 2, pressure sensor includes first pressure sensor 7, second pressure
Sensor 12, third pressure sensor 9, first pressure sensor 7, third pressure sensor 9 and second pressure sensor 12 divide
It is not mounted on three vertex of device, is connect with upper bracket 2.First pressure sensor 7 passes through first axle 8 and the first pillar
6 connections, second pressure sensor 12 are connect by second hinge 11 with the second pillar 5, and third pressure sensor 9 is cut with scissors by third
Chain 10 is connect with electric push rod 3.It will be appreciated that first pressure sensor 7, third pressure sensor 9 and second pressure pass
Sensor 12 can measure the pressure value that respectively point is suffered.
As shown in figure 3, in a specific embodiment, the lower end of electric push rod 3 passes through hinges 13 and lower branch
6th vertex of frame 4 connects.Electric push rod 3 pushes up, and third pressure sensor 9 is driven to move upwards, scale plate 1 and the
One end of three pressure sensors 9 connection tilts upwards, so that scale plate 1 and horizontal plane have certain angle.
The utility model also proposed the measurement method of the measuring device of the small drone weight center of gravity, the measuring device
Including first pressure sensor 7, second pressure sensor 12, third pressure sensor 9, third pressure sensor 9 pushes away with electronic
Pull rod connection 3, this method comprises:
It is that coordinate origin establishes rectangular coordinate system in space with 3rd sensor 9；
Unmanned plane is placed on scale plate 1, first record first pressure sensor 7, third pressure sensor 9 and the second pressure
The measurement data of force snesor 12 measures the weight w of unmanned plane；
Measure unmanned plane x-axis direction barycentric coodinates X；
Starting electric push rod 3 makes 1 angle with horizontal plane of scale plate be σ；
Again first pressure sensor 7, the measurement data of third pressure sensor 9 and second pressure sensor 12 are recorded；
Unmanned plane x-axis direction barycentric coodinates X2 is measured,
X2 is projected in scale plate horizontal plane coordinate system, obtaining coordinate value is X22, then unmanned plane z in horizontal plane
Axis position of centre of gravity Z are as follows:
Wherein,W11 attach most importance to new record first pressure sensor measurement number
According to W33 is the measurement data of second pressure sensor, and x11 is the x-axis coordinate value of first pressure sensor, and x33 is second pressure
The x-axis coordinate value of sensor；
Wherein,X1 is the x-axis coordinate value of first pressure sensor, and x3 is second pressure
The x-axis coordinate value of sensor, W1 are the measurement data of the first pressure sensor of first record, and W3 is second pressure sensor
Measurement data.
It will be appreciated that unmanned plane weight W are as follows: W=W1+W2+W3-W4,
Wherein, W1 is the measurement data of the first pressure sensor of first record, and W2 is the measurement of third pressure sensor
Data, W3 are second pressure sensor measurement data, W4 be scale plate and upper bracket weight and.
Unmanned plane y-axis direction barycentric coodinates Y are as follows:
Wherein, y1 is the y-axis coordinate value of first pressure sensor, and y3 is the y-axis coordinate value of third pressure sensor.
Specifically, the concrete operating principle of the above method are as follows: be with third pressure sensor 9 on scale plate 1 first
Coordinate origin establishes rectangular coordinate system in space, and unmanned plane is placed on scale plate 1, then unmanned plane weight W are as follows:
W=W1+W2+W3-W4
Wherein, W1 is the measurement data of first pressure sensor 7, and W2 is the measurement data of third pressure sensor 9, and W3 is
The measurement data of second pressure sensor 12, W4 be scale plate 1 and upper bracket 2 weight and.
Unmanned plane x-axis direction barycentric coodinates X are as follows:
Wherein, x1 is the x-axis coordinate value of first pressure sensor 7, and x3 is the x-axis coordinate value of second pressure sensor 12.
Unmanned plane y-axis direction barycentric coodinates Y are as follows:
Wherein, y1 is the y-axis coordinate value of first pressure sensor 7, and y3 is the y-axis coordinate value of third pressure sensor 12.
Starting electric pushrod 3 makes 1 angle with horizontal plane of scale plate be that σ (places a level meter on scale plate 1
Measure the angle value).First pressure sensor 7 at this time, 12 measurement result of third pressure sensor 9 and second pressure sensor
It changes, records first pressure sensor 7, the measurement data of third pressure sensor 9 and second pressure sensor 12 again.
On clinoplain, rectangular space coordinate is established for coordinate origin with third pressure sensor 9 on scale plate 1
System, unmanned plane keep origin-location constant.
Unmanned plane x-axis direction barycentric coodinates X2 are as follows:
Wherein, W11 is the measurement data of first pressure sensor 7, and W33 is the measurement data of second pressure sensor 12,
X11 is the x-axis coordinate value of first pressure sensor 7, and x33 is the x-axis coordinate value of second pressure sensor 12.
X2 is projected into scale plate horizontal plane coordinate system, coordinate value is X22 at this time, then unmanned plane z-axis in horizontal plane
Position of centre of gravity Z are as follows:
The weight center of gravity of unmanned plane is finally obtained by the above measuring device.
The basic principles and main features and advantage of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that examples detailed above does not limit the utility model, all institutes by the way of equivalent substitution or equivalent transformation in any form
The technical solution of acquisition, all falls in the protection scope of the utility model.
Claims (7)
1. a kind of small drone weight center of gravity measuring device, which is characterized in that the measuring device includes on symmetrically arranged
Bracket, lower bracket fix the scale plate of the position coordinates for marking unmanned plane on the upper bracket, the upper bracket and
The lower bracket respectively includes multiple vertex, passing through between multiple vertex of the upper bracket and multiple vertex of the lower bracket
Multiple pressure sensors are installed on multiple pillar connections, multiple vertex of the upper bracket respectively, and one of pillar is electronic pushes away
Pull rod.
2. small drone weight center of gravity measuring device according to claim 1, which is characterized in that the upper bracket and institute
Stating lower bracket is symmetrically arranged tripod, and the upper bracket and the lower bracket respectively include three vertex.
3. small drone weight center of gravity measuring device according to claim 2, which is characterized in that the three of the upper bracket
A vertex includes the first vertex, the second vertex and third vertex, and three vertex of the lower bracket include the 4th vertex, the 5th top
Point and the 6th vertex, the multiple pillar include the first pillar, the second pillar and electronic to pull rod, first vertex and described
4th vertex is connected by the first pillar, and second vertex is connected with the 5th vertex by the second pillar, the third
Vertex is connected with the 6th vertex by electric push rod.
4. small drone weight center of gravity measuring device according to claim 3, which is characterized in that the pressure sensor
Including first pressure sensor, second pressure sensor, third pressure sensor, the first pressure sensor passes through the first hinge
Chain is connect with the first pillar, and the second pressure sensor is connect by second hinge with the second pillar, and the third pressure passes
Sensor is connect by third hinge with electric push rod.
5. small drone weight center of gravity measuring device according to claim 3, which is characterized in that the electric push rod
Lower end connected by the 6th vertex of hinges and lower bracket.
6. small drone weight center of gravity measuring device according to claim 1, which is characterized in that the electric push rod
Stretching motion can control the tilt angle between scale plate and horizontal plane.
7. small drone weight center of gravity measuring device according to claim 6, which is characterized in that the electric push rod
It pushes up, drives third pressure sensor to move upwards, one end that the scale plate is connect with third pressure sensor is upward
Inclination, so that scale plate and horizontal plane have certain angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873013.XU CN209117256U (en) | 2018-11-14 | 2018-11-14 | Small drone weight center of gravity measuring device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873013.XU CN209117256U (en) | 2018-11-14 | 2018-11-14 | Small drone weight center of gravity measuring device |
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| CN209117256U true CN209117256U (en) | 2019-07-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387329A (en) * | 2018-11-14 | 2019-02-26 | 南京航空航天大学 | Small drone weight center of gravity measuring device and measuring method |
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2018
- 2018-11-14 CN CN201821873013.XU patent/CN209117256U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387329A (en) * | 2018-11-14 | 2019-02-26 | 南京航空航天大学 | Small drone weight center of gravity measuring device and measuring method |
| CN109387329B (en) * | 2018-11-14 | 2024-04-12 | 南京航空航天大学 | Device and method for measuring weight center of gravity of unmanned aerial vehicle |
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