CN211010551U - Four rotor crafts PID parameter debugging frame - Google Patents
Four rotor crafts PID parameter debugging frame Download PDFInfo
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- CN211010551U CN211010551U CN201922215575.6U CN201922215575U CN211010551U CN 211010551 U CN211010551 U CN 211010551U CN 201922215575 U CN201922215575 U CN 201922215575U CN 211010551 U CN211010551 U CN 211010551U
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- fixing base
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Abstract
The utility model discloses a PID parameter debugging frame of a four-rotor aircraft, which comprises four parts, namely a frame, a coaxial double-rod structure with adjustable space, an aircraft fixing base component with adjustable rotation center position, and a limit plate component with simultaneously adjustable height and angle; the interval-adjustable coaxial double-rod structure is arranged on the frame, the aircraft fixing base assembly is connected with an aircraft bottom plate and the interval-adjustable coaxial double-rod structure, and the limiting plate assembly is arranged on the frame and located below the interval-adjustable coaxial double-rod structure. The utility model discloses the commonality is good, the debugging precision is high, easy and simple to handle, safe and reliable.
Description
Technical Field
The utility model relates to an aircraft technical field, concretely relates to four rotor crafts PID parameter debugging frame.
Background
At present, the PID parameter debugging of the four-rotor aircraft mostly adopts a debugging frame of a round bar penetrating aircraft and a debugging platform based on a universal joint. In the patent "universal aircraft three-freedom-degree and single-freedom-degree attitude comprehensive debugging platform" grant number: 109795715A, the debugging frame adopts the through rotary rod to pass through adapting unit and connects the aircraft bottom plate, has restricted the installation of aircraft bottom plate like functional module such as camera, cloud platform, ultrasonic wave, and the device can't be at Z axle direction regulation aircraft focus, makes the debugging parameter effect can not reach the optimum in the in-service use. In granted patent "universal platform is debugged to many rotor crafts" grant number: 105114777B, the free rotation of the aircraft is realized through the rotating ball and the cylindrical cavity, and the PID parameters of the aircraft can not be debugged in a single degree of freedom, so that the debugging difficulty is high and the accuracy is not high. Meanwhile, in the debugging process of the aircraft, the propeller blades rotate at a high speed, and personal injury is extremely easy to cause to operators.
The existing PID parameter debugging mode has high requirements on the design of an aircraft mechanical structure, the two-way through of the horizontal and vertical extension line of the gravity center of the unmanned aerial vehicle must be kept, the bottom of the horizontal and vertical extension line of the gravity center of the unmanned aerial vehicle can be fixedly penetrated through a cylindrical rod, the flight power structure and the gravity center structure of the unmanned aerial vehicle are easily damaged, and the appearance design of the aircraft is. At present, a PID parameter debugging device which is generally used for aircrafts with different specifications does not exist in the industry.
With the rapid development of the rotorcraft market and the learning and development of the aircrafts by scientific research units in colleges and universities, the parameter adjustment of the rotorcraft becomes an important link for the development and research of the aircrafts. The utility model discloses four rotor crafts PID parameter debugging device has that the commonality is good, the debugging precision is high, easy and simple to handle, safe and reliable's advantage.
Disclosure of Invention
The utility model discloses the problem that will solve is: the PID parameter debugging frame for the four-rotor aircraft is good in universality, high in debugging precision, simple and convenient to operate, safe and reliable.
The utility model discloses a solve the technical scheme that above-mentioned problem provided and do: a four-rotor aircraft PID parameter debugging frame comprises a frame, a coaxial double-rod structure with adjustable space, an aircraft fixing base assembly with adjustable rotation center position, and a limiting plate assembly with simultaneously adjustable height and angle; the interval-adjustable coaxial double-rod structure is arranged on the frame, the aircraft fixing base assembly is connected with an aircraft bottom plate and the interval-adjustable coaxial double-rod structure, and the limiting plate assembly is arranged on the frame and located below the interval-adjustable coaxial double-rod structure.
Preferably, the coaxial double-rod structure with the adjustable distance comprises two mounting fixing pieces and two movable rods; the frame is provided with two mounting holes, and the two mounting fasteners are matched with the two mounting holes to fix the two movable rods respectively.
Preferably, the aircraft fixing base assembly comprises an aircraft fixing base, a rotating fixing piece and a top fixing piece, wherein the aircraft fixing base is provided with three connecting holes and is connected with an aircraft bottom plate in a screw and nut and flat gasket mode; the aircraft fixing base is connected with the rotating firmware in a nested mode and is adjustable up and down in the Z-axis direction, the top fixing piece is connected with the aircraft fixing base, the extension line of the movable rod penetrates through the gravity center of the Z-axis of the aircraft by adjusting the height of the rotating firmware in the Z-axis direction, and the rotating firmware is provided with a mounting hole and is fixed with the aircraft fixing base in a sliding groove screw nut and flat gasket mode; one end of the movable rod penetrates through the rotating fixing piece, threads are engraved at the outer end of the cylindrical side of the movable rod, and the limiting nut is combined to prevent the aircraft from sliding off from the movable rod in the debugging process.
Preferably, the limiting plate assembly comprises a limiting plate mounting shaft, a limiting plate angle adjusting frame and two limiting plates; the frame is provided with a slide rail, mounting rails are arranged on two sides of the slide rail, the limiting plate mounting shaft is matched with the slide rail, the two limiting plates are rotatably arranged on the limiting plate mounting shaft, and the limiting plate angle adjusting frame is arranged between the two limiting plates.
Compared with the prior art, the utility model has the advantages that: the utility model adopts a coaxial double-rod structure with adjustable space, which is suitable for four-rotor aircraft with a plurality of mechanical structures; the gravity center of the aircraft in the Z-axis direction is adjustable, and the accuracy and the practical effect of debugging parameters are better; meanwhile, a closed frame structure is adopted, so that the use is safe and the operation is convenient.
Drawings
The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic structural view of the aircraft docking station assembly of the present invention;
fig. 4 is a schematic structural view of the limiting plate assembly of the present invention;
Detailed Description
The following detailed description will be made with reference to the accompanying drawings and examples, so that how to implement the technical means of the present invention to solve the technical problems and achieve the technical effects can be fully understood and implemented.
A four-rotor aircraft PID parameter debugging frame comprises a frame 1, a coaxial double-rod structure 2 with adjustable space, an aircraft fixing base assembly 3 with adjustable rotation center position, and a limiting plate assembly 4 with simultaneously adjustable height and angle; the interval-adjustable coaxial double-rod structure is arranged on the frame, the aircraft fixing base assembly is connected with an aircraft bottom plate and the interval-adjustable coaxial double-rod structure, and the limiting plate assembly is arranged on the frame and located below the interval-adjustable coaxial double-rod structure.
Further, the coaxial double-rod structure with the adjustable distance comprises two mounting fixing pieces 5 and two movable rods 7; two mounting holes 18 are formed in the frame, and the two mounting fasteners are fixed with the frame through bolts 6 and then matched with the two mounting holes 18 to fix the two movable rods respectively.
Furthermore, the aircraft fixing base assembly comprises an aircraft fixing base 12, a rotating fixing piece 10 and a top fixing piece 11, wherein the aircraft fixing base is provided with three connecting holes 13 and is connected with an aircraft bottom plate in a screw nut and flat gasket mode; the aircraft fixing base is connected with the rotating firmware in a nested mode and is adjustable up and down in the Z-axis direction, the top fixing piece is connected with the aircraft fixing base, the extension line of the movable rod penetrates through the gravity center of the Z-axis of the aircraft by adjusting the height of the rotating firmware in the Z-axis direction, and the rotating firmware is provided with a mounting hole 15 and is fixed with the aircraft fixing base in a sliding groove 14 screw nut and flat gasket mode; one end of the movable rod penetrates through the rotating fixing piece, threads 8 are engraved at the outer end of the cylindrical side of the movable rod, and the limiting nut 9 is combined to prevent the aircraft from sliding off from the movable rod in the debugging process.
Further, the limiting plate assembly comprises a limiting plate mounting shaft 16, a limiting plate angle adjusting frame 17 and two limiting plates 21; the frame is provided with a slide rail, mounting rails are arranged on two sides of the slide rail, the limiting plate mounting shaft is matched with the slide rail, the two limiting plates are rotatably arranged on the limiting plate mounting shaft, and the limiting plate angle adjusting frame is arranged between the two limiting plates. Limiting plate installation shafts 16 and limiting plate angle adjusting frames 17 are provided with built-in hexagon nut installation holes at two ends, and the limiting plate devices are adjusted and fixed by combining slide rails 19 and installation rails 20 on two sides. The limiting plate 4 is in height in the frame can be adjusted from top to bottom according to the aircraft structure, and the distance between the limiting plate angle setting frame and the limiting plate installation shaft is adjusted to set the limiting plate opening angle, so that the pivoting angle in the aircraft debugging process is prevented.
The utility model discloses a height and angle are adjustable spacing board subassembly simultaneously, are suitable for different specification aircrafts through adjusting the position of limiting plate subassembly 4 on frame 1, open the angle through the relative distance control limiting plate of adjusting limiting plate installation pole 16 and limiting plate angle modulation frame 17, restrict the pivoting angle of aircraft. One end of the limiting plate mounting rod is combined by adopting built-in threads and is internally provided with hexagonal nut mounting holes at two ends of the limiting plate adjusting frame. The limiting plate integral device is connected with the frame through track combination, and the height of the limiting plate is adjusted according to the specification of the aircraft; the limiting plate angle adjusting frame is arranged below the limiting plate, and the opening angle of the limiting plate can be set according to the specification of the aircraft.
The foregoing is illustrative of the preferred embodiments of the present invention only, and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to be changed. All changes which come within the scope of the independent claims of the invention are to be embraced within their scope.
Claims (4)
1. The utility model provides a four rotor crafts PID parameter debugging frame which characterized in that: the aircraft fixing device comprises a frame, a coaxial double-rod structure with adjustable space, an aircraft fixing base assembly with adjustable rotation center position, and a limiting plate assembly with simultaneously adjustable height and angle; the interval-adjustable coaxial double-rod structure is arranged on the frame, the aircraft fixing base assembly is connected with an aircraft bottom plate and the interval-adjustable coaxial double-rod structure, and the limiting plate assembly is arranged on the frame and located below the interval-adjustable coaxial double-rod structure.
2. The quadrotor PID parameter commissioning frame of claim 1, wherein: the coaxial double-rod structure with the adjustable distance comprises two mounting fixing pieces and two movable rods; the frame is provided with two mounting holes, and the two mounting fasteners are matched with the two mounting holes to fix the two movable rods respectively.
3. The quadrotor PID parameter commissioning frame of claim 2, wherein: the aircraft fixing base assembly comprises an aircraft fixing base, a rotating fixing piece and a top fixing piece, wherein the aircraft fixing base is provided with three connecting holes and is connected with an aircraft bottom plate in a screw nut and flat gasket mode; the aircraft fixing base is connected with the rotating firmware in a nested mode and is adjustable up and down in the Z-axis direction, the top fixing piece is connected with the aircraft fixing base, the extension line of the movable rod penetrates through the gravity center of the Z-axis of the aircraft by adjusting the height of the rotating firmware in the Z-axis direction, and the rotating firmware is provided with a mounting hole and is fixed with the aircraft fixing base in a sliding groove screw nut and flat gasket mode; one end of the movable rod penetrates through the rotating fixing piece, threads are engraved at the outer end of the cylindrical side of the movable rod, and the limiting nut is combined to prevent the aircraft from sliding off from the movable rod in the debugging process.
4. The quadrotor PID parameter commissioning frame of claim 1, wherein: the limiting plate assembly comprises a limiting plate mounting shaft, a limiting plate angle adjusting frame and two limiting plates; the frame is provided with a slide rail, mounting rails are arranged on two sides of the slide rail, the limiting plate mounting shaft is matched with the slide rail, the two limiting plates are rotatably arranged on the limiting plate mounting shaft, and the limiting plate angle adjusting frame is arranged between the two limiting plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922215575.6U CN211010551U (en) | 2019-12-12 | 2019-12-12 | Four rotor crafts PID parameter debugging frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922215575.6U CN211010551U (en) | 2019-12-12 | 2019-12-12 | Four rotor crafts PID parameter debugging frame |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211010551U true CN211010551U (en) | 2020-07-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922215575.6U Expired - Fee Related CN211010551U (en) | 2019-12-12 | 2019-12-12 | Four rotor crafts PID parameter debugging frame |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211010551U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882379A (en) * | 2021-01-13 | 2021-06-01 | 哈尔滨工业大学 | Airplane longitudinal gravity center allocation control method |
| CN115285388A (en) * | 2022-10-08 | 2022-11-04 | 南京航空航天大学 | Coaxial double-rotor testing device for mars |
-
2019
- 2019-12-12 CN CN201922215575.6U patent/CN211010551U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882379A (en) * | 2021-01-13 | 2021-06-01 | 哈尔滨工业大学 | Airplane longitudinal gravity center allocation control method |
| CN115285388A (en) * | 2022-10-08 | 2022-11-04 | 南京航空航天大学 | Coaxial double-rotor testing device for mars |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200714 Termination date: 20201212 |