CN209192274U - Unmanned aerial vehicle rotor hub-rotor blade static balance test system - Google Patents
Unmanned aerial vehicle rotor hub-rotor blade static balance test system Download PDFInfo
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- CN209192274U CN209192274U CN201822077515.8U CN201822077515U CN209192274U CN 209192274 U CN209192274 U CN 209192274U CN 201822077515 U CN201822077515 U CN 201822077515U CN 209192274 U CN209192274 U CN 209192274U
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Abstract
The utility model provides an unmanned aerial vehicle rotor hub-rotor blade static balance test system, include: the rotor-hub-type wind power generation device comprises a frame base part, a rotor wing driving part consisting of a driving motor, a coupler, a rotor wing shaft, a shaft sleeve and a rotor wing hub, a vibration detection part consisting of an angular displacement sensor and a stress sensor, and an acquisition and recording part consisting of a data processing unit and a data recorder; the centrifugal stress of the rotor hub in the horizontal plane can be accurately detected in real time through the stress sensor; the azimuth angle and the angular speed of the rotor hub can be accurately detected in real time through the angular displacement sensor; by comparing and analyzing the centrifugal stress, azimuth angle and angular speed data of the rotor hub, the static balance level of the rotor hub and the overall static balance level of the rotor hub-rotor blade can be accurately analyzed; the utility model has the advantages that: the device has the advantages of accurate measurement, simple structure, good overall test effect and wide speed change range, and is suitable for the rotor system test of the rotor vertical take-off and landing aircraft.
Description
Technical field
The utility model relates to a kind of unmanned plane rotor hub-rotor blade static balance test macros, can be accurate real
When safely detect the static balance characteristic of rotor hub and rotor blade, be mainly used in the technologies such as aerospace and unmanned plane neck
Domain.
Background technique
The rotor of the rotors class vertically taking off and landing flyer such as helicopter, multi-rotor aerocraft is usually made of multi-disc blade, often
There are a degree of differences for the weight and position of centre of gravity of piece blade.In the case where rotor high speed rotation, above-mentioned difference can be
The stress loading of alternation is generated in rotor hub plane, so as to cause the vibration of rotor class vertically taking off and landing flyer.On reducing
State level of vibration, it is necessary to carry out the static balance analysis work of rotor.Current static balance analysis be mostly in a static condition,
It weighs and the work of the check weighing heart for what blade carried out.Due to being influenced by measuring device and mode, above-mentioned static balance analysis essence
Spend rotary work state that is limited, and can not really reflecting rotor.In addition, rotor hub is also possible to, there are quiet injustice
Weighing apparatus.It in the case, still can be due in the rotor hub for being mounted on static unbalance even if blade reaches balance in a static condition
Lead to whole static unbalance.In order to analyze the static balance state of rotor propeller hub and rotor blade comprehensively, it is necessary to develop nothing
Man-machine rotor hub-rotor blade static balance test macro.
The present invention can accurately detect the centrifugation of rotor hub in the horizontal plane by using strain gauge group in real time
Stress；By using angular displacement sensor, azimuth and the angular speed of rotor hub can be accurately detected in real time；Pass through comparison
Centrifugal stress, azimuth and the angular velocity data for analyzing rotor hub, the static balance that can accurately analyze rotor hub is horizontal, with
And the whole static balance of rotor hub-rotor blade is horizontal.The present invention has the advantages that measurement is accurate, structure is simple, whole survey
Examination effect is good, speed variation is wide, is suitble to the rotor system test of rotor class vertically taking off and landing flyer.
Utility model content
The technical problem to be solved by the utility model is in order to overcome the shortcomings in the prior art, the utility model mentions
For a kind of unmanned plane rotor hub-rotor blade static balance test macro.
The utility model solves its technical problem technical solution to be taken: a kind of unmanned plane rotor hub-rotor
Blade static-balance test macro, contains: framework bottom portions, rotor driving portion, vibration detecting part and acquisition and recording portion, in which:
Framework bottom portions, contain: the branch to play a supportive role between top panel, lower panel and plate located above and lower panel
Dagger component；The lower panel contains fixed device, for whole system to be securely fixed in ground；
Rotor driving portion, contains: driving motor, shaft coupling, rotor shaft, axle sleeve and rotor hub；The driving motor
Bottom surface is fixed on lower panel, and the output shaft of the driving motor connects one end of rotor shaft by shaft coupling, and allows institute
It states rotor shaft and generates a degree of angular variation；The rotor shaft other end passes through the top panel and the rotor hub phase
Even, the rotor hub upper end connects rotor blade；The axis is set between the rotor shaft and top panel, and the axis
Set is internal to pass through bearing and rotor axis connection, is fixedly connected outside the axle sleeve with top panel, with the axial position being kept fixed；
Vibration detecting part contains: angular displacement sensor and strain gauge group；The angular displacement sensor is for detecting institute
State the azimuth of rotor hub；The strain gauge group contains multiple circumferentially divides between the axle sleeve and the top panel
The strain gauge of cloth arrangement, for detecting the axle sleeve to the horizontal stress of the top panel；Wherein, strain gauge group
A variety of and multiple distribution modes can be used in strain gauge, and including but not limited to 2,3,4,5 or more, stress passes
The type of sensor can be same type, can also be different type.If should be carried out in advance using different types of strain gauge
The staking-out work of strain gauge.
Acquisition and recording portion, containing data processing unit and data logger, the data processing unit and the angular displacement
Sensor is connected with strain gauge, for acquiring the stress data of strain gauge and the orientation of angular displacement sensor in real time
Angular data, to obtain the data sample that stress, azimuth and angular speed are formed；The data processing unit is also remembered with the data
It records instrument to be connected, for the data sample to be recorded in real time in the data logger, is used for off-line analysis；At the data
Reason unit can also be connected with host computer, by the data sample real-time Transmission to host computer, be used for on-line analysis.
Angular velocity calculation method: the angular displacement detected according to angular displacement sensor in the unit time, divided by the unit time
Angular speed is obtained, and obtains angular velocity data by filtering；
The detection data that record all the sensors are recorded (such as 0.01s) at every point of time: stress data, azimuth number
According to, angular velocity data, data sample is obtained.Data sample is a two-dimensional array.Every a line is that the whole of time point pass
Sensor data, each column are total data of the sensor in All Time point.
Further, strain gauge is generally planar structure, therefore, for the ease of the installation and measurement of strain gauge,
Circumferentially arranged with the first stress plane identical with the strain gauge quantity, the top panel on the lateral wall of the axle sleeve
Be equipped with mounting hole for installing axle sleeve, on the inner sidewall of the mounting hole circumferentially arranged with first stress plane one
One corresponding second stress plane, the strain gauge are arranged between the first stress plane and the second stress plane, and with first
Stress plane and the rigid connection of the second stress plane.
In the case where rotor blade static unbalance, high-speed rotating rotor blade can generate centrifugal force in the horizontal direction,
And it acts on the rotor shaft and axle sleeve；The strain gauge group is made of multiple strain gauges arranged evenly, is led to
It crosses and detects the upper stress of rotor shaft set, stress data suffered by real-time rotor hub can be obtained.The angular displacement sensor
For detecting azimuth and the angular speed of the rotor hub.
Strain gauge detects stress, and angular displacement sensor can detect azimuth, according to some moment strain gauge
With the testing result of angular displacement sensor, stress and azimuthal corresponding data suffered by available real-time rotor hub.
By analyzing the corresponding relationship of rotor hub stress, azimuth, angular speed and time, rotor hub and rotation are obtained
The static balance of wing propeller hub-rotor blade quantifies detection data, to reflect the static balance level and rotor of rotor hub
The whole static balance of hub-rotor blade is horizontal.
The beneficial effects of the utility model are: a kind of unmanned plane rotor hub-rotor blade provided by the utility model is quiet
Balance test system can accurately detect the centrifugation of rotor hub in the horizontal plane by using strain gauge group in real time
Stress；By using angular displacement sensor, azimuth and the angular speed of rotor hub can be accurately detected in real time；Pass through comparison
Centrifugal stress, azimuth and the angular speed for analyzing rotor hub, the static balance that can accurately analyze rotor hub is horizontal, Yi Jixuan
The whole static balance of wing propeller hub-rotor blade is horizontal；Utility model has the advantages that measurement is accurate, structure is simple, whole survey
Examination effect is good, speed variation is wide, is suitble to the rotor system test of rotor class vertically taking off and landing flyer.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is the structural schematic diagram of the best embodiment of the utility model.
Fig. 2 is unmanned plane rotor hub-rotor blade static balance test macro side view.
Fig. 3 is unmanned plane rotor hub-rotor blade static balance test macro top view.
Fig. 4 is unmanned plane rotor hub-rotor blade static balance test macro outline drawing.
Fig. 5 is unmanned plane rotor hub-rotor blade static balance test macro schematic diagram.
Fig. 6 is unmanned plane rotor hub-rotor blade static balance test macro hardware connection architecture diagram.
Fig. 7 is unmanned plane rotor hub-rotor blade static balance test macro typical test flow figure.
In figure: 1a. top panel, 1b. support column assembly, 1c. lower panel, 2. driving motors, 3. shaft couplings, 4. rotor shafts,
5. angular displacement sensor, 6. axle sleeves, 601. bearings, 7. strain gauge groups, 701. strain gauges, 702. strain gauges,
703. strain gauges, 704. strain gauges, 8. rotor hubs, 9. data processing units, 10. data loggers, 11. rotors
Blade.
Specific embodiment
The utility model is described in detail presently in connection with attached drawing.This figure is simplified schematic diagram, only in a schematic way
Illustrate the basic structure of the utility model, therefore it only shows composition related with the utility model.
As Figure 1-Figure 4, a kind of unmanned plane rotor hub-rotor blade static balance test macro of the utility model,
It is made of framework bottom portions, rotor driving portion, vibration detecting part, acquisition and recording portion.
Framework bottom portions, contain: top panel 1a, lower panel 1c, and play a supportive role between upper and lower two pieces of panels
Support column assembly 1b；The lower panel 1c contains fixed device, for whole system to be securely fixed in ground；This reality
It applies and supports column assembly 1b using four columns in example, form distributed rectangular.
Rotor driving portion, contains: driving motor 2, shaft coupling 3, rotor shaft 4, axle sleeve 6, bearing 601 and rotor hub
8；The driving motor 2 connects rotor shaft 4 by shaft coupling 3, and the rotor shaft 4 is allowed to generate a degree of angular variation；
After the rotor shaft 4 passes through the bearing 601, the axle sleeve 6 and the top panel 1a, it is connected with the rotor hub 8；It is described
Axle sleeve 6 is connected by the bearing 601 and the rotation of rotor shaft 4, the axial direction that the axle sleeve 6 is kept fixed in the rotor shaft 4
Position；The bottom surface of the driving motor 2 is connected with the lower panel 1c.
As shown in figure 5, vibration detecting part, contains: angular displacement sensor 5 and strain gauge group 7；The angle displacement transducer
Device 5 is used to detect the azimuth of the rotor hub 8；The strain gauge group 7, by it is multiple the axle sleeve 6 with it is described on
Strain gauge 701,702,703 and 704 arranged evenly forms between panel 1a, for detecting the axle sleeve 6 to described
The horizontal stress of panel 1a；Wherein, the strain gauge of strain gauge group 7 can be used a variety of multiple distribution modes, including but
2,3,4,5 or more are not limited to, herein by taking 4 strain gauges 701,702,703,704 as an example, is asked with explanation
Topic；Angular displacement sensor 5 is mounted in the rotor shaft of 6 lower section of axle sleeve, and by rotating ring and not, rotating ring forms angular displacement sensor 5, is moved
Ring is connect with rotor shaft 4, and rotating ring is not connect with axle sleeve 6.
Strain gauge is generally planar structure, therefore, for the ease of the installation and measurement of strain gauge, the axle sleeve
Circumferentially arranged with the first stress plane identical with the strain gauge quantity on 6 lateral wall, set on the top panel 1a
Have the mounting hole for installation axle set 6, on the inner sidewall of the mounting hole circumferentially arranged with first stress plane one by one
Corresponding second stress plane, the strain gauge setting are answered between the first stress plane and the second stress plane, and with first
Power plane and the rigid connection of the second stress plane.The shape of axle sleeve 6 can be cylinder or prism, in outer side if using cylinder
Cutting forms the first stress plane, is bonded convenient for strain gauge, at this point, it is also cylindrical hole, mounting hole side wall that mounting hole is corresponding
To convexing to form the second stress plane；If the rib of prism can be formed the first stress plane along axial cutting using prism, this
When mounting hole it is corresponding also be prism hole, the shape of axle sleeve 6 includes but is not limited to above-mentioned shape.In addition axle sleeve 6 and top panel 1a
Between the connection of shape forming face, it is possible to prevente effectively from axial rotation.
As shown in fig. 6, acquisition and recording portion, containing data processing unit 9 and data logger 10, the data processing unit
9 are connected with the vibration detecting part, for acquiring the stress data and the angle displacement transducer of the strain gauge group 7 in real time
The angle-data of device 5；To obtain the data samples such as stress, azimuth and angular speed；The data processing unit 9 also with the number
It is connected according to recorder 10, for the data sample to be recorded in real time in the data logger 10, so as to off-line analysis；Institute
Stating data processing unit 9 can also be connected with host computer, by the data sample real-time Transmission to host computer, so as to on-line analysis.
In the case where 11 static unbalance of rotor hub 8 and rotor blade, high-speed rotating rotor hub 8 and rotor blade
11 can generate centrifugal force in the horizontal direction, and successively act on the rotor shaft 4, the bearing 601 and the axle sleeve 6；Institute
Strain gauge group 7 is stated by detecting the horizontal stress being subject on the axle sleeve 6, can be obtained and answered suffered by real-time rotor hub 8
Power ThubWith azimuth ψhubData.
The angular displacement sensor 5 is used to detect the azimuth ψ and angular velocity omega of the rotor hub 8.
By analysis 8 stress of rotor hub, azimuth, angular speed and time corresponding relationship, obtain rotor hub 8 and
The static balance of rotor hub 8- rotor blade 11 quantifies detection data, so that the static balance for reflecting rotor hub 8 is horizontal, and
The whole static balance of rotor hub 8- rotor blade 11 is horizontal.
The working principle of test macro: high-speed rotating in the case where 11 static unbalance of rotor hub 8 and rotor blade
Rotor hub 10 and rotor blade 11 can generate centrifugal force in the horizontal direction, and successively act on the rotor shaft 4, the bearing
601 and the axle sleeve 6 on；The strain gauge group 7 can be revolved by detecting the horizontal stress being subject on the axle sleeve 6
Horizontal stress T suffered by wing propeller hub 8hubWith deflection ψhubData.
By detecting the size of 8 horizontal stress of rotor hub, the uneven direction journey of rotor hub-rotor blade is determined
Degree；By detecting direction and the azimuthal deviation of rotor hub 8 of 8 horizontal stress of rotor hub, rotor hub-rotor is determined
The uneven direction of leaf.
Specific steps are as follows:
1) in 4 rotary course of rotor shaft, any time acquires each strain gauge 701,702,703,704 simultaneously and detects
Stress, synthesis obtain horizontal stress and the direction of the axle sleeve 6；And then obtain horizontal stress suffered by rotor shaft 4 and stress
Direction；
2) horizontal stress of the axle sleeve 6 and direction are corresponding with the horizontal stress of rotor hub 8 and direction, therefore can be by
Data processor 9, which is calculated, calculates horizontal stress T suffered by rotor hub 8hubWith deflection ψhub:
Wherein, T and ψTThe respectively amplitude of the detected resultant force of the strain gauge group 7 and azimuth, TyAnd TxRespectively
Component of the resultant force T along x-axis and y-axis, FiFor the stress of each strain gauge 701,702,703,704 detection, ψiIt is each
The installation position angle of the opposite x-axis of strain gauge 701,702,703,704,And to be clockwise
Positive direction, N are the number of strain gauge, K1For proportionality coefficient；
3) the horizontal stress T according to suffered by rotor hub 8hubSize, rotor hub 8 and rotor blade 11 can be perceived not
Balanced degree；
4) according to 8 azimuth ψ of rotor hub and suffered horizontal stress ψhubThe angle of deviation, it may be determined that rotor hub 8 and rotor
The uneven direction of blade 11 further determines that unbalanced rotor blade or propeller hub part；
5) rotor hub-rotor blade static balance characteristic as needed, can be analyzed under the conditions of different rotating speeds ω, obtained
Static balance characteristic of the rotor hub-rotor blade in the full range of speeds, revolving speed are calculated by angular displacement sensor data:
ω=f (Δ ψ/Δ T),
Wherein, according to the angular displacement sensor 5 in each sampling period Δ T, the rotor hub 8 that detects
Azimuthal variation delta ψ, f be use filtering algorithm, including but not limited to first-order filtering, second-order filter, smothing filtering,
IIR filtering, FIR filtering etc.；
As shown in fig. 7, typical testing process are as follows:
Firstly, individually testing the static balance characteristic of rotor hub 8: not installing rotor blade 11, test the quiet of rotor hub 8
Equilibrium response is such as unsatisfactory for static balance standard, related regulating measures should be taken, until up to standard；
Then, it tests the whole static balance characteristic of rotor hub 8 and rotor blade 11: rotor blade 11 to be measured is mounted on
In rotor hub 8, the whole static balance characteristic of rotor hub 8 and rotor blade 11 is tested, static balance standard, Ying Cai are such as unsatisfactory for
Related regulating measures are taken, until up to standard；
After above-mentioned static balance test, rotor hub 8 is up to static balance standard or rotor hub 8- rotor blade 11
Static balance standard will integrally be reached.
Static balance by successively carrying out rotor hub and rotor hub-rotor blade 11 is tested, and rotor can be gradually analyzed
The static balance characteristic and rotor hub 8 of propeller hub 8 and the whole static balance characteristic of rotor blade 11.The utility model is utilized and is answered
The cooperation of force snesor group 7 and angular displacement sensor 5 can be analyzed real-time and accurately and record rotor hub 8 and rotor blade
11 static balance data.
It is enlightenment, through the above description, relevant work with the above-mentioned desirable embodiment according to the utility model
Personnel can carry out various changes and amendments in without departing from the scope of the utility model completely.This item utility model
Technical scope is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (3)
1. a kind of unmanned plane rotor hub-rotor blade static balance test macro, it is characterised in that: contain: framework bottom portions, rotation
Wing driving portion, vibration detecting part and acquisition and recording portion, in which:
Framework bottom portions, contain: the support column to play a supportive role between top panel, lower panel and plate located above and lower panel
Component；The lower panel contains fixed device, for fixing whole system；
Rotor driving portion, contains: driving motor, shaft coupling, rotor shaft, axle sleeve and rotor hub；The driving motor bottom surface
It is fixed on lower panel, and the output shaft of driving motor connects rotor shaft one end by shaft coupling；The rotor shaft other end is worn
It crosses the top panel to be connected with the rotor hub, the rotor hub upper end connects rotor blade；The axis is set on institute
It states between rotor shaft and top panel, and passes through bearing and rotor axis connection inside the axle sleeve；The axle sleeve outside and top panel
It is fixedly connected, with the axial position being kept fixed；
Vibration detecting part contains: angular displacement sensor and strain gauge group；The angular displacement sensor is for detecting the rotation
The azimuth of wing propeller hub and angular speed；The strain gauge group contain it is multiple between the axle sleeve and the top panel along week
To strain gauge arranged evenly, for detecting the axle sleeve to the horizontal stress of the top panel；
Acquisition and recording portion, contains data processing unit and data logger；The data processing unit and the angle displacement transducer
Device is connected with strain gauge, for acquiring the stress data of strain gauge and the azimuth number of angular displacement sensor in real time
According to obtain the data sample that stress, azimuth and angular speed are formed；The data processing unit also with the data logger
It is connected, the data logger for recording the data sample in real time.
2. unmanned plane rotor hub as described in claim 1-rotor blade static balance test macro, it is characterised in that: described
Acquisition and recording portion further includes host computer；The data processing unit is connected with host computer, extremely by the data sample real-time Transmission
Host computer is used for on-line analysis.
3. unmanned plane rotor hub as described in claim 1-rotor blade static balance test macro, it is characterised in that: described
Circumferentially arranged with the first stress plane identical with the strain gauge quantity on the lateral wall of axle sleeve；It is set on the top panel
There is the mounting hole for installation axle set；Circumferentially arranged with a pair of with first stress plane one on the inner sidewall of the mounting hole
The second stress plane answered；The strain gauge is arranged between the first stress plane and the second stress plane, and with the first stress
Plane and the rigid connection of the second stress plane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822077515.8U CN209192274U (en) | 2018-12-12 | 2018-12-12 | Unmanned aerial vehicle rotor hub-rotor blade static balance test system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822077515.8U CN209192274U (en) | 2018-12-12 | 2018-12-12 | Unmanned aerial vehicle rotor hub-rotor blade static balance test system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562486A (en) * | 2019-09-24 | 2019-12-13 | 哈尔滨工业大学 | Lift-drag characteristic measuring device for single rotor system of vertical Mars aircraft |
| CN110920931A (en) * | 2019-12-04 | 2020-03-27 | 中国直升机设计研究所 | Static load and dynamic load separation method for flight test of rotating part |
| CN112407321A (en) * | 2020-10-30 | 2021-02-26 | 中国直升机设计研究所 | Method for generating azimuth angle signal based on helicopter rotor rotation speed |
| CN113173261A (en) * | 2021-04-20 | 2021-07-27 | 中国直升机设计研究所 | Composite loading field checking device and method for rotor wing balance loading test bed |
| WO2024020362A1 (en) * | 2022-07-21 | 2024-01-25 | Overair Inc. | Mast moment sensing for an aircraft |
-
2018
- 2018-12-12 CN CN201822077515.8U patent/CN209192274U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562486A (en) * | 2019-09-24 | 2019-12-13 | 哈尔滨工业大学 | Lift-drag characteristic measuring device for single rotor system of vertical Mars aircraft |
| CN110562486B (en) * | 2019-09-24 | 2022-10-28 | 哈尔滨工业大学 | Lift-drag characteristic measuring device for single rotor system of vertical Mars aircraft |
| CN110920931A (en) * | 2019-12-04 | 2020-03-27 | 中国直升机设计研究所 | Static load and dynamic load separation method for flight test of rotating part |
| CN110920931B (en) * | 2019-12-04 | 2022-09-30 | 中国直升机设计研究所 | Static load and dynamic load separation method for flight test of rotating part |
| CN112407321A (en) * | 2020-10-30 | 2021-02-26 | 中国直升机设计研究所 | Method for generating azimuth angle signal based on helicopter rotor rotation speed |
| CN113173261A (en) * | 2021-04-20 | 2021-07-27 | 中国直升机设计研究所 | Composite loading field checking device and method for rotor wing balance loading test bed |
| WO2024020362A1 (en) * | 2022-07-21 | 2024-01-25 | Overair Inc. | Mast moment sensing for an aircraft |
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Granted publication date: 20190802 |