CN209795861U - Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft - Google Patents
Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft Download PDFInfo
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- CN209795861U CN209795861U CN201920487487.9U CN201920487487U CN209795861U CN 209795861 U CN209795861 U CN 209795861U CN 201920487487 U CN201920487487 U CN 201920487487U CN 209795861 U CN209795861 U CN 209795861U
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Abstract
the utility model discloses a three degree of freedom platforms that is used for many rotors low-altitude aircraft test to mark, including articulated rotary mechanism, jack mechanism and the support rack in proper order, rotary mechanism can let the aircraft possess three movable degree of freedom and have corresponding encoder can the measured angle position when the test, and home range is big, can obtain the real-time position appearance of aircraft, satisfies the test and debugging demand. The retraction mechanism can lock the connection bottom plate, so that the aircraft can be conveniently installed, the unlocking state of the retraction mechanism can be remotely controlled by the main control board, and the safety of testers is ensured. The anti-collision block on the support rack can protect the aircraft and the platform, so that the test loss is reduced, and the plate force sensor on the upper bearing can collect force/torque data, so that the relevant physical parameters of the aircraft can be obtained conveniently. The platform has strong bearing capacity and can adapt to the test of the aircraft with the grade of 50 kg-500 kg.
Description
Technical Field
The utility model relates to a many rotor crafts field, concretely relates to three degree of freedom platforms that are used for many rotors low-altitude aircraft test to markd.
background
In recent years, the technology of multi-rotor low-altitude aircrafts has been rapidly developed, and higher requirements on the load and the safety of aircrafts are made. But there is simple test equipment mainly to many rotor unmanned aerial vehicle of general small and medium-sized on the existing market. Among them, the heavy-load multi-rotor low-altitude aircraft is high in manufacturing cost and high in danger to people, and is not suitable for direct mooring experiments.
The corresponding test calibration platform is designed and developed, so that the safety of testers can be protected, the test loss is reduced, corresponding test data is obtained, and the debugging of the aircraft is assisted.
The patent document with the application publication number of CN207881710U discloses a flight attitude analysis platform of a multi-rotor aircraft, which comprises a base, a ball joint bearing, a lower sliding rod, an upper sliding rod, a universal joint, an aircraft tray and a force measuring mechanism; the upper end surface of the base is connected with a lower sliding rod through a ball joint bearing, one side of the lower sliding rod is provided with an upper sliding rod which can slide up and down relative to the lower sliding rod, the top end of the upper sliding rod is connected with the aircraft tray through a universal joint, and a force measuring mechanism measures force through the position change when the upper sliding rod and the lower sliding rod slide relative to each other. It can carry out the simulation test to small-size many rotor crafts, nevertheless can't use on many rotor crafts of heavy load, can't realize sufficient safety protection.
the multi-rotor aircraft stability testing system provided by patent document with application publication number CN206050099U can realize the attitude stability of adjusting, correcting and evaluating the aircraft, but cannot be applied to a heavy-load multi-rotor aircraft, cannot realize sufficient safety protection, and is inconvenient for aircraft installation.
Patent document CN206670610U discloses an attitude testing device for a multi-rotor aircraft, which includes: the base support, the relative first connecting rod and the second connecting rod that set up, the third connecting rod of level setting to and encoder. The base support is provided with a first support and a second support which are arranged in parallel, the first end of the first connecting rod is rotatably connected with the first support, and the first end of the second connecting rod is rotatably connected with the second support. The first end of third connecting rod and the second end of first connecting rod are connected, and its second end and the second of second connecting rod are connected, and many rotor crafts are fixed on the third connecting rod. The encoder is used for detecting the rotation angle of the first connecting rod relative to the first support, and the detection end of the encoder is connected with the first end of the first connecting rod. The method can realize simple flight attitude test, but cannot measure force/moment information and bear a heavy-load multi-rotor aircraft.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model provides a three degree of freedom platforms that is used for many rotors low-altitude aircraft test to mark. The problem of current platform load not enough, unable automatic receive and release, the security is not enough is solved.
The utility model adopts the following technical scheme:
A three-degree-of-freedom platform for testing and calibrating a multi-rotor low-altitude aircraft is characterized by comprising a rotating mechanism, a retracting mechanism, a supporting rack and a main control board;
The supporting rack comprises a foot margin fixing piece, a supporting frame, an anti-collision block and a bearing lower plate force sensor, wherein the foot margin fixing piece is used for being fixed with the ground;
The rotary mechanism comprises a rotary support bearing, a bearing upper plate, a cross universal joint, an encoder and a connecting bottom plate, wherein the outer ring of the rotary support bearing is fixed with a bearing lower plate force sensor, the inner ring of the rotary support bearing is fixed with the bearing upper plate, the bearing upper plate is fixedly connected with the lower part of the cross universal joint, the upper part of the cross universal joint is fixedly connected with the connecting bottom plate, the connecting bottom plate is used for being connected with a bottom frame or an undercarriage of an aircraft, and the encoder is respectively arranged on a shaft of the rotary support bearing and two shafts of the cross universal joint;
The folding and unfolding mechanism is of a bilaterally symmetrical structure, and the structure on one side of the folding and unfolding mechanism comprises a support frame connecting block, a lower rotating hinge, a motor support, a servo motor, a rotating connecting rod, a rotating shaft connecting block, a supporting cushion block and an upper rotating hinge, wherein the support frame connecting block is fixed on the support frame and fixed with one end of the lower rotating hinge, the other end of the lower rotating hinge is fixed on the motor support, the servo motor is fixed on the other end of the motor support, the servo motor is hinged with one end of the rotating connecting rod and can rotate with each other, the other end of the rotating connecting rod is hinged with the middle part of the rotating shaft, the two ends of the rotating shaft are respectively hinged with the upper end of the supporting cushion block through the rotating shaft connecting block, the lower end;
the main control board is fixed on the support frame and comprises a driving unit, a data acquisition unit and a communication unit, wherein the driving unit is used for controlling the control units of the left servo motor and the right servo motor so as to control the movement of the two folding and unfolding mechanisms; the data acquisition unit is used for acquiring data of the plate force sensor on the bearing, the encoder on the rotating shaft and the encoder on the cross universal joint; the communication unit is used for data transmission.
further, the bearing lower plate force sensor is a three-degree-of-freedom or six-degree-of-freedom force/moment sensor.
furthermore, 12 anti-collision blocks are uniformly distributed on the periphery of the upper surface of the plate force sensor under the bearing and correspond to four corners of the connecting bottom plate.
further, the communication unit comprises a wireless communication module and a Bluetooth module.
The utility model has the advantages that:
The utility model discloses can carry out ground test to the many rotor crafts in 50kg ~ 500kg rank to preliminary attitude parameter is set. The utility model discloses accessible remote control carries out the platform during use and locks and the unblock, can effectively ensure tester's security. The utility model discloses have the buffering part, when can effectively avoiding the parameter inaccurate, the aircraft is out of control and the equipment loss that causes. The utility model discloses the relevant physical parameter of aircraft that encoder and force sensor that have can effectively measure in the test process to accessible main control board real-time transmission gives outside computer, the tester control and analysis of being convenient for.
Drawings
fig. 1 is a perspective view of the three-degree-of-freedom platform of the present invention 1;
Fig. 2 is a perspective view 2 of the three-degree-of-freedom platform of the present invention;
Fig. 3 is a front view of the three-degree-of-freedom platform of the present invention;
fig. 4 is a block diagram of the main control board system of the three-degree-of-freedom platform of the present invention.
In the figure, 1-rotating mechanism, 2-retracting mechanism, 3-supporting rack, 4-lower rotating hinge, 5-anti-collision block, 6-rotating supporting bearing, 7-bearing upper plate, 8-connecting bottom plate, 9-cross universal joint, 10-bearing lower plate force sensor, 11-supporting cushion block, 12-upper rotating hinge, 13-rotating connecting rod, 14-servo motor, 15-motor bracket, 16-main control plate, 17-rotating shaft connecting block, 18-rotating shaft, 19-ground foot fixing piece, 20-supporting frame, 21-supporting frame connecting block and 22-encoder.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-3, a three-degree-of-freedom platform for testing and calibrating a multi-rotor low-altitude aircraft comprises a rotating mechanism 1, a retracting mechanism 2, a supporting rack 3 and a main control board 16;
Wherein, rotary mechanism 1 contains slewing bearing 6, bearing upper plate 7, cross universal joint 9, three encoder 22 and connection bottom plate 8. Slewing bearing 6 can carry out 360 degrees rotations, encoder 22 of epaxial installation of slewing bearing 6, an angular position for measuring the rotation axis, slewing bearing 6's inner circle upside is fixed with bearing upper plate 7, bearing upper plate 7 is connected fixedly with cross universal joint 9's lower, cross universal joint 9's last connection is fixed with connection bottom plate 8, cross universal joint 9 can carry out the rotation of two directions, the rotation range can reach unilateral 90 degrees, encoder of respectively installing on two axles of cross universal joint 9, can be used to measure corresponding axle angle, connection bottom plate 8 is used for being connected with the bottom frame or the undercarriage of aircraft.
The retraction mechanism 2 is symmetrically arranged at two sides of the support rack 3, the two sides have the same structure, one side of the structure comprises a support rack connecting block 21, a lower rotating hinge 4, a motor bracket 15, a servo motor 14, a rotating connecting rod 13, a rotating shaft 18, a rotating shaft connecting block 17, a support cushion block 11 and an upper rotating hinge 12, wherein, support frame connecting block 21 is fixed on support frame 20 and fixed with the one end of lower rotation hinge 4, motor support 15 is connected to the 4 other ends of lower rotation hinge, servo motor 14 is fixed to motor support 15 other end, servo motor 14 is articulated with the one end of rotating link 13, can the looks mutual rotation between the two, the other end and the 18 middle parts of rotation axis of rotating link 13 are articulated, 18 both ends of rotation axis are articulated with the upper end of cushion 11 through rotation axis connecting block 17 respectively, the lower extreme of cushion 11 is connected with the one end of last rotation hinge 12, the other end and the 3 fixed connection of support rack of last rotation hinge 12. The whole retraction mechanism can be regarded as two parallelograms, one on each of the left and right sides, and can be controlled by the servo motor 14. As shown in fig. 1, the left mechanism is in an unlocked state, the right mechanism is in a locked state, and in the locked state, the four supporting pads are used for assisting in supporting the connecting bottom plate 8 to keep horizontal, so that the connecting bottom plate 8 can be well supported.
The support bench 3 comprises a foot fixing piece 19, a support frame 20, an anti-collision block 5 and a bearing lower plate force sensor 10. The ground fixing pieces 19 are fixed to the ground through ground screws, four pillars of the support frame 20 are connected with the four ground fixing pieces 19 through screws, the support frame 20 can be formed by connecting a plurality of sections of 8080 aluminum profiles, and the upper surface of the support frame 20 is connected with the plate force sensor 10 under the bearing. The outer ring of the rotary support bearing 6 is fixed on the upper surface of the bearing lower plate force sensor 10, the three-degree-of-freedom or six-degree-of-freedom force/moment measurement type can be selected, the direction and the size of the multi-dimensional force/moment of the aircraft during the experiment can be measured, and the determination of the physical parameter mass center position, the inertia size and the like of the aircraft is facilitated. 12 anti-collision blocks are uniformly distributed and fixed on the periphery of the upper surface of the plate force sensor 10 on the bearing and used for protecting the aircraft and the test platform when an accident occurs in the test process.
as shown in fig. 4, the main control board 16 is fixed on the supporting frame 20, and includes a driving unit, a data collecting unit and a communication unit, wherein the driving unit is used for controlling the control units of the left and right servo motors, so as to control the movement of the two retraction mechanisms; the data acquisition unit is used for acquiring data of the encoders on the plate force sensor 10, the rotating shaft 18 and the cross universal joint 9 under the bearing; the communication unit comprises a wireless communication module and a Bluetooth module and is used for data transmission.
The utility model discloses the theory of operation, when connecting bottom plate 8 and being in the level, two jack mechanisms 2 all are in the lock-out condition, and connecting bottom plate 8 can remain stable, and the installation of the aircraft of being convenient for is fixed. When a person leaves the aircraft and starts testing, the remote control retraction jack 2 is unlocked through the main control board 16, the aircraft releases part of constraint at the moment, and can rotate in three directions by taking the cross center of the cross universal joint 9 as a rotation center, and corresponding testing is carried out at the moment. If an accident occurs in the test process, the aircraft is out of control, the connecting bottom plate 8 collides with the anti-collision block 5, and the anti-collision block 5 is distributed on the four sides of the upper side of the plate force sensor 10 on the bearing, so that the aircraft and the platform can be protected. The force/moment and angle data during testing can be collected by the main control board 16 and remotely transmitted to an external computer.
The utility model discloses rotary mechanism 1 can let the aircraft possess three movable degree of freedom and have corresponding encoder can measure angular position when the test, and home range is big, can obtain the real-time position appearance of aircraft, satisfies the test debugging demand. The utility model discloses a bottom plate 8 is connected to the 2 lockable of jack, the installation of the aircraft of being convenient for, and its unblock state accessible main control board 16 is by remote control, guarantees tester's safety. The anti-collision block 5 on the support rack 3 can protect the aircraft and the platform, so that the test loss is reduced, and the plate force sensor 10 on the bearing can collect force/moment data, so that the relevant physical parameters of the aircraft can be obtained conveniently.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention and is not intended to limit the invention, and although the present invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof. All modifications and equivalents made within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. a three-degree-of-freedom platform for testing and calibrating a multi-rotor low-altitude aircraft is characterized by comprising a rotating mechanism (1), a retracting mechanism (2), a supporting rack (3) and a main control board (16);
the supporting rack (3) comprises a foot fixing piece (19), a supporting frame (20), an anti-collision block (5) and a bearing lower plate force sensor (10), wherein the foot fixing piece (19) is used for being fixed with the ground, the supporting frame (20) is fixedly connected with the foot fixing piece (19), the bearing lower plate force sensor (10) is fixed on the upper surface of the supporting frame (20), and the anti-collision block (5) is fixed on the upper surface of the bearing lower plate force sensor (10);
The rotary mechanism (1) comprises a rotary support bearing (6), a bearing upper plate (7), a cross universal joint (9), an encoder (22) and a connecting bottom plate (8), wherein the outer ring of the rotary support bearing (6) is fixed with a bearing lower plate force sensor (10), the inner ring of the rotary support bearing (6) is fixed with the bearing upper plate (7), the bearing upper plate (7) is fixedly connected with the lower part of the cross universal joint (9), the upper part of the cross universal joint (9) is fixedly connected with the connecting bottom plate (8), the connecting bottom plate (8) is used for being connected with a bottom frame or an undercarriage of an aircraft, and the encoder (22) is respectively arranged on the shaft of the rotary support bearing (6) and two shafts of the cross universal joint (9);
The folding and unfolding mechanism (2) is of a bilateral symmetry structure, the structure on one side of the folding and unfolding mechanism comprises a support frame connecting block (21), a lower rotating hinge (4), a motor support (15), a servo motor (14), a rotating connecting rod (13), a rotating shaft (18), a rotating shaft connecting block (17), a supporting cushion block (11) and an upper rotating hinge (12), the support frame connecting block (21) is fixed on a support frame (20) and fixed with one end of the lower rotating hinge (4), the other end of the lower rotating hinge (4) is fixed on the motor support (15), the servo motor (14) is fixed at the other end of the motor support (15), the servo motor (14) is hinged with one end of the rotating connecting rod (13) and can rotate with each other, the other end of the rotating connecting rod (13) is hinged with the middle part of the rotating shaft (18), the two ends of the rotating shaft (18) are respectively hinged with the upper end of the supporting cushion block, the lower end of the supporting cushion block (11) is connected with one end of an upper rotating hinge (12), and the other end of the upper rotating hinge (12) is fixedly connected with the supporting rack (3);
The main control board (16) is fixed on the support frame (20) and comprises a driving unit, a data acquisition unit and a communication unit, wherein the driving unit is used for controlling the control units of the left servo motor and the right servo motor so as to control the movement of the two retraction mechanisms; the data acquisition unit is used for acquiring data of encoders on the plate force sensor (10) under the bearing, the rotating shaft (18) and the cross universal joint (9); the communication unit is used for data transmission.
2. The three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircrafts according to claim 1, wherein the bearing lower plate force sensor (10) is a three-degree-of-freedom or six-degree-of-freedom force/moment sensor.
3. the three-degree-of-freedom platform for testing and calibrating the multi-rotor-wing low-altitude aircraft according to claim 1 is characterized in that 12 anti-collision blocks (5) are uniformly distributed on the periphery of the upper surface of the plate force sensor (10) below the bearing and correspond to four corners of the connecting bottom plate (8).
4. The three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircrafts according to claim 1, wherein the communication unit comprises a wireless communication module and a Bluetooth module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920487487.9U CN209795861U (en) | 2019-04-11 | 2019-04-11 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920487487.9U CN209795861U (en) | 2019-04-11 | 2019-04-11 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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| CN209795861U true CN209795861U (en) | 2019-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896048A (en) * | 2019-04-11 | 2019-06-18 | 之江实验室 | A kind of 3-dimensional freedom platform for more rotor low flyer test calibrations |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109896048A (en) * | 2019-04-11 | 2019-06-18 | 之江实验室 | A kind of 3-dimensional freedom platform for more rotor low flyer test calibrations |
| CN109896048B (en) * | 2019-04-11 | 2024-02-27 | 之江实验室 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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