CN209905094U

CN209905094U - Multi freedom rotor unmanned aerial vehicle synthesizes debugging platform

Info

Publication number: CN209905094U
Application number: CN201920431181.1U
Authority: CN
Inventors: 刘圣哲
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-01
Filing date: 2019-04-01
Publication date: 2020-01-07
Anticipated expiration: 2029-04-01

Abstract

The utility model provides a multi freedom rotor unmanned aerial vehicle synthesizes debugging platform relates to the automation engineering field, especially relates to middle-size and small-size unmanned aerial vehicle field. The platform uses two hinges and a linear bearing which are longitudinally arranged, the structure of the platform sequentially comprises a top movable platform, an upper spherical hinge, a hard shaft, a bearing bracket, a limiting ring, a bottom spherical hinge and a base from top to bottom, and the platform provides three degrees of freedom in six directions including three rotation and three translation, namely, the platform can provide a certain motion margin in a spherical shell-shaped space for the unmanned aerial vehicle during debugging; meanwhile, the device has a falling protection function, so that the safety of the device is guaranteed.

Description

Multi freedom rotor unmanned aerial vehicle synthesizes debugging platform

Technical Field

The utility model belongs to the automation engineering field especially relates to middle-size and small-size unmanned aerial vehicle field.

Background

The mainstream debugging methods of the rotor unmanned aerial vehicle at present comprise a rope pulling method, a baking four-axis method, a ball head method and a suspension method, and all the methods have defects. If the 'rope pulling method' is out of control and falls into the ground, equipment is easy to damage; the suspension method is easy to beat and has insufficient movement space; because the unmanned gyroplane has special technical requirements on debugging, namely the unmanned gyroplane needs to carry out attitude debugging in a critical takeoff state, and hinge points of a 'four-axis roasting method' and a 'ball head method' are fixed, so that the unmanned gyroplane is not beneficial to judgment and observation of technicians, and the like.

Related documents also describe a three-axis slide-based debugging platform, but the platform has a large floor space and high cost, and is not generally applicable to individual developers. Unmanned aerial vehicle engineering technical personnel need a debugging platform with low cost and good balance urgently.

Disclosure of Invention

In order to overcome the defect that the existing debugging scheme lacks protective measure, the motion space is not enough, be unfavorable for observing, fuse each side advantage simultaneously, the utility model provides a low-cost, multi freedom, multi-functional passive mechanical type rotor unmanned aerial vehicle debugging platform based on hinge and linear bearing.

The utility model discloses technical scheme as follows: the debugging platform mainly comprises a top movable platform, an upper spherical hinge, a hard shaft, a bearing support, a limiting ring, a bottom spherical hinge and a base. Two hinges and a linear bearing are used, the degree of freedom in six directions including three rotation directions and three translation directions is provided after motion synthesis, namely, a certain motion margin in a spherical shell-shaped space can be provided for the unmanned aerial vehicle during debugging, and reference is made to fig. 1.

The hinges are two spherical hinges, located respectively at the bottom and at the top of the platform, limiting its range of rotation, typically 120 °. The bottom spherical hinge is hinged with the base and the bearing support, and the upper spherical hinge is hinged with the hard shaft and the top movable platform; the hinges are of detachable design, namely are connected with hinged parts through bolts, the types of the hinges can be flexibly selected according to specific debugging requirements, for example, in order to eliminate yaw interference, the upper spherical hinge can be replaced by a Hooke hinge, and if rolling or pitching is independently debugged, the hinge is used.

The linear bearing is bonded with the bearing support and is positioned between the upper hinge point and the bottom hinge point, and when the bearing support rotates around the bottom hinge point, the central line of the bearing always points to the bottom hinge point; under the constraint of the bearing, the hard shaft can freely move along the central line of the bearing within a certain range.

During debugging, the unmanned aerial vehicle flies up to drive the top movable platform, and the upper spherical hinge pulls the hard shaft to slide, and simultaneously drives the bearing support to rotate around the bottom spherical hinge. The posture adjusting and motion control device can freely adjust the posture and control the motion in a certain space, cannot be restricted and is convenient for technical staff to observe. When the limit ring is contacted with the end face of the bearing, namely the hard shaft reaches the stroke limit, the airplane is immediately limited to move outwards, and the airplane is prevented from excessively drifting. When the aircraft was out of control, bearing bracket, top movable platform and unmanned aerial vehicle toppled over downwards together, because the rotation restriction of bottom ball pivot, the aircraft can not fall to ground, guarantee equipment safety.

The invention has the beneficial effects that: the unmanned aerial vehicle can provide a relatively large movement space, is convenient for technicians to observe, and has a ground falling protection function to ensure the safety of equipment; the structure is simple, the manufacturing cost is low, the parts are detachably designed, the maintenance cost is low, the occupied space after contraction is small, and the storage cost is low; different link elements can be replaced according to different debugging requirements, and the comprehensiveness is strong.

Drawings

Fig. 1 is a schematic view of a spherical shell-shaped space for debugging objects according to the present invention.

Fig. 2 is an isometric exploded view of an embodiment of the present invention.

Fig. 3 is a schematic view of an assembly according to an embodiment of the present invention.

Fig. 4 is the embodiment of the present invention shows a schematic diagram of a certain practical condition.

In fig. 2, 3, 4: 1. the device comprises a top movable platform, 2 parts of an upper hinge, 3 parts of a hard shaft, 4 parts of a thin rod, 5 parts of a bearing, 6 parts of an upper supporting plate, 7 parts of a limiting ring, 8 parts of a bottom supporting plate, 9 parts of a bottom spherical hinge and 10 parts of a base.

Detailed Description

In the embodiment shown in fig. 2: the base (10) is made of solid cast iron and is provided with a stud; the bottom of the bottom spherical hinge (9) is provided with a hole and can be screwed on the base (10), and the other end of the bottom spherical hinge is in bolt connection with the bottom supporting disk (8), namely the bottom spherical hinge (9) is hinged with the base (10) and the bottom supporting disk (8); similarly, the top movable platform (1) is provided with a threaded through hole, and the upper spherical hinge (2) is hinged with the top movable platform (1) and the hard shaft (3) and is also respectively connected by bolts; the upper and bottom supporting disks (6) and (8) and the top movable platform (1) are made of aluminum to reduce the moment of inertia, and the upper and bottom supporting disks (6) and (8) are provided with openings which are respectively inserted into and bonded with the three thin rods (4) to jointly form a cage-shaped bearing support; the end face of the limiting ring (7) is provided with a rubber cushion, the side face of the limiting ring is provided with a hole, and the limiting ring can be locked on one end of the hard shaft (3) by a screw; the hard shaft (3) is a chrome-plated light shaft or an equal-diameter carbon fiber rod; the upper and lower spherical hinges limit the rotation range to 120 degrees; the top movable platform (1) adopts a plurality of hollow-out designs to match with the gyroplanes with different wheelbases. During actual debugging, firstly, the landing gear of the gyroplane is dismounted, and the bottom plate of the gyroplane and the top movable platform (1) are fixed through screws. The aircraft takes off the back, can drive top movable platform (1) and move in the space together, through upper portion hinge (2) pulling or promote hard axle (3) along endwise slip, and drive and rotate around bottom ball pivot (9) by bottom supporting disk (8), the bearing bracket that three slender poles (4) and upper portion supporting disk (6) are constituteed, unmanned aerial vehicle also rotates around upper portion ball pivot (2) for maintaining level self simultaneously, unmanned aerial vehicle freely carries out gesture adjustment and motion control in certain space, can not receive the restraint, the technical staff of being convenient for observes. When the limiting ring (7) is contacted with the end face of the bearing (5), namely the hard shaft (3) reaches the stroke limit, the airplane is immediately limited to move outwards to prevent the airplane from excessively drifting. When the aircraft is out of control, bearing support, top movable platform (1) and unmanned aerial vehicle empty downwards together, because the rotation restriction of bottom ball pivot (9), the aircraft can not fall to ground, guarantee equipment safety.

Claims

1. The utility model provides a multi freedom rotor unmanned aerial vehicle synthesizes debugging platform, characterized by: the platform comprises a top movable platform, an upper spherical hinge, a hard shaft, a bearing support, a limiting ring, a bottom spherical hinge and a base in sequence from top to bottom.

2. The debug platform as claimed in claim 1, wherein: the hinges are two spherical hinges which are respectively positioned at the bottom and the upper part of the platform and limit the rotating range of the platform; the bottom spherical hinge is hinged with the base and the bearing support, and the upper spherical hinge is hinged with the hard shaft and the top movable platform; the hinges are all detachable in design, namely, are connected with the hinged parts through bolts.

3. The debug platform as claimed in claim 1, wherein: the linear bearing is bonded with the bearing support and is positioned between the upper hinge point and the bottom hinge point, and when the bearing support rotates around the bottom hinge point, the central line of the bearing always points to the bottom hinge point; under the constraint of the bearing, the hard shaft can freely move along the central line of the bearing within a certain range.