WO2019119422A1 - 无人飞行器的桨叶拆装老化的测试设备 - Google Patents

无人飞行器的桨叶拆装老化的测试设备 Download PDF

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Publication number
WO2019119422A1
WO2019119422A1 PCT/CN2017/118015 CN2017118015W WO2019119422A1 WO 2019119422 A1 WO2019119422 A1 WO 2019119422A1 CN 2017118015 W CN2017118015 W CN 2017118015W WO 2019119422 A1 WO2019119422 A1 WO 2019119422A1
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WO
WIPO (PCT)
Prior art keywords
blade
blades
disassembly
unmanned aerial
aerial vehicle
Prior art date
Application number
PCT/CN2017/118015
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English (en)
French (fr)
Inventor
张顺
钟志勇
金昊
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/118015 priority Critical patent/WO2019119422A1/zh
Priority to CN201780025206.1A priority patent/CN109071040A/zh
Publication of WO2019119422A1 publication Critical patent/WO2019119422A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems

Definitions

  • the technical solution disclosed in the present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a test device for blade disassembly and aging of an unmanned aerial vehicle.
  • the technical solution disclosed in the present application can solve at least the following technical problems: in the prior art, when the blade unloading and aging of the unmanned aerial vehicle is tested, the alignment between the blade and the structure of the mounting blade is difficult.
  • test apparatus for blade disassembly aging of an unmanned aerial vehicle, including:
  • a blade mounting portion for mounting and positioning one or more blades
  • a dismounting portion for removing one or more blades from the blade mounting portion and replacing the one or more blades back to the blade mounting portion for removal and/or installation During the process of detecting one or more blades, parameters for determining the degree of aging of the one or more blades are obtained.
  • the test apparatus for blade disassembly and aging of the unmanned aerial vehicle disclosed in the present application includes: a blade mounting portion and a dismounting portion. Since one or more blades are mounted on the blade mounting portion capable of positioning the blade, the mounting position of the blade on the blade mounting portion is determined, which facilitates the disassembly of the paddle The blade is accurately aligned with the blade mounting portion when the blade is replaced by the blade mounting portion.
  • the detaching portion can form a certain removal action and an installation action when the blade is removed from the blade mounting portion and the blade is returned to the blade mounting portion, which is beneficial to improving the aging of the blade assembly and disassembly. The efficiency of removing and installing the blades during the process and shortening the test cycle for the detachment of the blades.
  • FIG. 1 is an exploded view of a test apparatus for detachment of a blade of an unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 2 is an internal structural diagram of a test apparatus for detaching and detaching a blade of an unmanned aerial vehicle according to an embodiment of the present application;
  • FIG. 3 is an internal structural view of another angle of a test apparatus for detachment of a blade of an unmanned aerial vehicle according to an embodiment of the present application;
  • FIG. 4 is an overall structural view of a test apparatus for detachment of a blade of an unmanned aerial vehicle according to an embodiment of the present application
  • Figure 5 is an enlarged view of the area I of Figure 4.
  • Figure 6 is an enlarged view of a region II of Figure 5.
  • Blade mounting 1 Disassembly Department 2 Blade mounting structure 11 Blade positioning structure 12 Action mechanism twenty one Drive mechanism twenty two Parameter detection module twenty three Guiding structure twenty four Pinch cylinder 111, 211 cylinder 112
  • Positioning plate 121 Carrier board 122 Linear Bearings 123 Motor 212, 221 Mounting plate 213 Transmission mechanism 222 Pulley 223 Transmission belt 224, 228 Rotating shaft 225, 226 Support plate 227 Connector 229 Torque sensor 231 Tension sensor 232 Transfer structure 233 guide 241 Support frame 242 Slider 243 Guide rod 244 Guide sleeve 245 Protective cylinder 246 Cabinet 100
  • test equipment for the detachment of the blade of the unmanned aerial vehicle includes:
  • a blade mounting portion 1 for mounting and positioning one or more blades
  • a dismounting portion 2 for removing one or more blades from the blade mounting portion 1 and replacing the one or more blades back to the blade mounting portion 1 for removal and/or During the installation of the one or more blades, the parameters for determining the degree of aging of the one or more blades are obtained.
  • the mounting position of the blades on the blade mounting portion 1 is determined, which is advantageous for the dismounting portion 2
  • the blade is accurately aligned with the blade mounting portion 1.
  • the detachable portion 2 can remove the blade from the blade mounting portion 1 and replace the blade when the blade is returned to the blade mounting portion 1 to form a certain removal operation and installation action, which is advantageous for improving the blade disassembly and assembly.
  • the efficiency of removing and installing the blade during the aging test shortens the test cycle for the detachment of the blade.
  • the blade mounting portion 1 includes a blade mounting structure 11 for mounting a blade and a blade positioning structure 12 for positioning the blade.
  • the blade mounting structure 11 includes one or more jaw cylinders 111 for holding a motor (not shown) for rotating the blades.
  • the motor may be a motor for driving a blade on an unmanned aerial vehicle.
  • the blade mounting structure 11 includes one or more jaw cylinders 111 for gripping a blade connector (not shown) that is provided with a shaft on which the blades are mounted.
  • the shaft of the blade connector for mounting the blade is identical in specification to the shaft of the motor for driving the blade on the UAV, such that the blade is mounted on the blade connector and mounted on the blade
  • the motor has the same mounting effect.
  • the blade mounting structure 11 further includes one or more cylinders 112 for driving the blade positioning structure 12, the cylinders 112 driving the blade positioning structure 12 such that one or more blades and the paddle
  • the leaf positioning structure 12 is separated so that the detachable portion 2 holds the one or more blades.
  • the blade positioning structure 12 includes a positioning plate 121 for positioning the blade and a carrier plate 122 for carrying the positioning plate 121.
  • the positioning plate 121 and the carrier plate 122 are mounted in combination by a plurality of linear bearings 123 that drive the positioning plate 121 to slide along the plurality of linear bearings 123.
  • one or more jaw cylinders 111 clamp the motor or blade connector for driving the blade on one or more UAVs so that the mounting position of the blade is determined.
  • the one or more cylinders 112 pull the positioning plate 121 to slide along the plurality of linear bearings 123 to the carrier plate 122, so that one or more blades positioned on the positioning plate 121 are separated from the positioning plate 121, which is advantageous for the disassembly and assembly portion 2
  • One or more blades are removed from the motor or blade connector of one or more of the unmanned aerial vehicles used to drive the blades.
  • the one or more cylinders 112 may release the positioning plate 121 to Confirm the installation position of the blade and reposition the blade installation position.
  • the disassembly unit 2 includes:
  • One or more action mechanisms 21 for clamping one or more blades on the blade mounting portion 1 and twisting the one or more blades;
  • One or more drive mechanisms 22 for driving the one or more action mechanisms 21 to pull out one or more blades on the blade mounting portion 1 and driving the one or more action mechanisms 21 Pressing the one or more blades on the blade mounting portion 1;
  • One or more parameter detecting modules 23, configured to detect a torque and/or a rotation angle when the one or more motion mechanisms 21 are rotated to twist the one or more blades, and detect and acquire the one or more motion mechanisms 21 pulling force when the one or more blades are pulled out and/or pressure when pressing the one or more blades.
  • the action mechanism 21 includes a jaw cylinder 211 for gripping a blade and a motor 212 that supplies a torque to the jaw cylinder 211.
  • the motor 212 is drivingly coupled to the jaw cylinder 211.
  • FIG. 3 is an internal structural view of another angle of the test apparatus for blade disassembly and aging of an unmanned aerial vehicle according to an embodiment of the present application.
  • the drive mechanism 22 includes a motor 221, a transmission mechanism 222 that transmits torque output by the motor 221 to the one or more motion mechanisms 21.
  • the transmission mechanism 222 includes a plurality of pulleys 223, a plurality of transmission belts (224, 228), a plurality of rotating shafts (225, 226) for mounting the pulleys, and a plurality of support plates 227 for supporting the rotating shafts. As illustrated in FIG.
  • the motor 221 is coupled to a pulley 223, and the torque is transmitted through the belt 224 to the shaft 225 closest to the motor; the shaft 225 closest to the motor is the most
  • the remote shafts 226 are driven by a plurality of belts 228, and each belt 228 is fixed to a mounting plate 213 on which the one or more action mechanisms 21 are mounted to drive the one or more action mechanisms 21
  • One or more blades on the blade mounting portion 1 are pulled out and the one or more blades are pressed against the blade mounting portion 1.
  • each of the transmission belts 228 and the mounting plate 213 is fixed by a connecting block 229.
  • a portion of the connecting block 229 is secured to the mounting plate 213 and the other portion is secured to the drive belt 228 such that the drive belt 228 can pull the mounting plate 213, thereby driving one or more of the actuating mechanisms 21.
  • FIG. 4 is an overall structural diagram of a test apparatus for blade disassembly and aging of an unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 5 is a region I of FIG.
  • the enlarged view of Fig. 6 is an enlarged view of the area II of Fig. 5.
  • the parameter detecting module 23 includes: a torque sensor 231, a tension sensor 232, and/or a pressure sensor; the motor 212 is drivingly coupled to the torque sensor 231, the tension sensor 232, and/or a pressure sensor (not shown); The torque outputted by the motor 212 acts on the jaw cylinder 211 via the torque sensor 231, and the pulling force outputted by the driving mechanism 22 acts on the jaw cylinder 211 via the tension sensor 232, and the output of the driving mechanism 22 Pressure is applied to the jaw cylinder 211 via the pressure sensor.
  • the torque sensor 231, the tension sensor 232 and/or the pressure sensor are mounted on the rotating shaft of the motor 212, and the torque sensor 231 is coupled to the tension sensor 232 and/or the pressure sensor such that the motor 212 is
  • the torque can be transmitted through the sensor 231, the tension sensor 232, and/or the pressure sensor, and finally acts on the blade through the jaw cylinder 211 to complete the twisting action on the blade.
  • the tension sensor 232 or the pressure sensor can be axially coupled to the adapter structure 233 for mounting the jaw cylinder 211 for easy replacement of the jaw cylinders 211 of different specifications.
  • the blades of different specifications are gripped by replacing the jaw cylinders 211 of different specifications, so that the test apparatus for the blade disassembly and aging of the unmanned aerial vehicle can test the blades of various specifications.
  • the detachable portion 2 further includes a guiding structure 24 for guiding the one or more action mechanisms 21, the guiding structure 24 including one or more guide rails 241 and One or more support frames 242 for fixing the guide rails; the mounting plate 213 on which the one or more action mechanisms 21 are mounted are slid along the one or more guide rails 241 by a plurality of sliders 243.
  • the guiding structure 24 further includes one or more guiding rods 244 disposed on the mounting plate 213 and one or more guiding sleeves 245 sleeved on the one or more guiding rods 244, The position of one or more of the guide sleeves 245 is fixed.
  • a plurality of guard cylinders 246 are secured to the cabinet 100 of the blade test apparatus for the detachment of the unmanned aerial vehicle.
  • the guide sleeve 245 is fixed to the protection tube 246, so that the guide rod 244 moves in the protection tube 246, which is beneficial for preventing foreign matter such as dust from entering the gap between the guide sleeve 245 and the guide rod 244, and enhancing the movement of the guide rod 244 in the guide sleeve 245. reliability.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

一种无人飞行器的桨叶拆装老化的测试设备。该测试设备包括：桨叶安装部（1），用于安装并且定位一片或者多片桨叶；拆装部（2），用于将一片或者多片桨叶从所述桨叶安装部（1）上拆除，并且将所述一片或者多片桨叶装回所述桨叶安装部（1），在拆除和/或安装所述一片或者多片桨叶的过程中检测获取用于判断所述一片或者多片桨叶拆装老化程度的参数。该测试设备有利于拆装部将桨叶装回桨叶安装部时桨叶与桨叶安装部之间的对位，提高桨叶拆装老化的测试过程中拆除和安装桨叶的效率，缩短桨叶拆装老化的测试周期。

Description

无人飞行器的桨叶拆装老化的测试设备 【技术领域】
本申请公开的技术方案涉及无人飞行器技术领域，尤其涉及无人飞行器的桨叶拆装老化的测试设备。
【背景技术】
无人飞行器的桨叶与无人飞行器之间进行反复的拆装会影响到所述桨叶的使用寿命。
发明人在研究本申请的过程中，发现现有技术中测试无人飞行器的桨叶拆装老化时，桨叶与安装桨叶的结构之间对位困难。
【发明内容】
本申请公开的技术方案至少能够解决以下技术问题：现有技术中测试无人飞行器的桨叶拆装老化时，桨叶与安装桨叶的结构之间对位困难。
本申请的一个或者多个实施例公开了无人飞行器的桨叶拆装老化的测试设备，包括：
桨叶安装部，用于安装并且定位一片或者多片桨叶；
拆装部，用于将一片或者多片桨叶从所述桨叶安装部上拆除，并且将所述一片或者多片桨叶装回所述桨叶安装部，在拆除和/或安装所述一片或者多片桨叶的过程中检测获取用于判断所述一片或者多片桨叶拆装老化程度的参数。
与现有技术相比，本申请公开的技术方案主要有以下有益效果：
在本申请公开的无人飞行器的桨叶拆装老化的测试设备，包括：桨叶安装部和拆装部。由于一片或者多片桨叶被安装在能够对桨叶进行定位的桨叶安装部上，使得桨叶在所述桨叶安装部上的安装位置是确定的，有利于所述拆装部将桨叶装回所述桨叶安装部时桨叶与所述桨叶安装部之间进行精准的对位。所述拆装部将桨叶从所述桨叶安装部上拆除以及将桨叶装回所述桨叶安装部时能够形成确定的拆除动作和安装动作，有利于提高桨叶拆装老化的测试过程中拆 除和安装桨叶的效率，缩短桨叶拆装老化的测试周期。
【附图说明】
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的爆炸图；
图2为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的内部构造图；
图3为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备另一角度的内部构造图；
图4为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的整体构造图；
图5为图4区域Ⅰ的放大图；
图6为图5区域Ⅱ的放大图。
主要附图标记说明
桨叶安装部 1
拆装部 2
桨叶安装结构 11
桨叶定位结构 12
动作机构 21
驱动机构 22
参数检测模块 23
导向结构 24
夹爪气缸 111、211
气缸 112
定位板 121
载板 122
直线轴承 123
电机 212、221
安装板 213
传动机构 222
带轮 223
传动带 224、228
转轴 225、226
支撑板 227
连接块 229
扭力传感器 231
拉力传感器 232
转接结构 233
导轨 241
支撑架 242
滑块 243
导向杆 244
导向套 245
防护筒 246
机柜 100
【具体实施方式】
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。
参考图1，为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的爆炸图。如图1中所示意的，所述无人飞行器的桨叶拆装老化的测试设备，包括：
桨叶安装部1，用于安装并且定位一片或者多片桨叶；
拆装部2，用于将一片或者多片桨叶从所述桨叶安装部1上拆除，并且将所述一片或者多片桨叶装回所述桨叶安装部1，在拆除和/或安装所述一片或者多片桨叶的过程中检测获取用于判断所述一片或者多片桨叶拆装老化程度的参数。
由于一片或者多片桨叶被安装在能够对桨叶进行定位的桨叶安装部1上，使得桨叶在所述桨叶安装部1上的安装位置是确定的，有利于所述拆装部2将桨叶装回所述桨叶安装部1时桨叶与所述桨叶安装部1之间进行精准的对位。所述拆装部2将桨叶从所述桨叶安装部1上拆除以及将桨叶装回所述桨叶安装部1时能够形成确定的拆除动作和安装动作，有利于提高桨叶拆装老化的测试过程中拆除和安装桨叶的效率，缩短桨叶拆装老化的测试周期。
参考图2，为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的内部构造图。如图2中所示意的，所述桨叶安装部1包括用于安装桨叶的桨叶安装结构11和用于对桨叶进行定位的桨叶定位结构12。
所述桨叶安装结构11包括一个或者多个用于夹持电机(未图示)的夹爪气缸111，所述电机的转轴用于装设桨叶。具体的，所述电机可以是无人飞行器上用于驱动桨叶的电机。
所述桨叶安装结构11包括一个或者多个用于夹持桨叶连接件(未图示)的夹爪气缸111，所述桨叶连接件设置有安装桨叶的轴。具体的，所述桨叶连接件用于安装桨叶的轴与无人飞行器上用于驱动桨叶的电机的转轴在规格上一致，使得桨叶安装在所述桨叶连接件上与安装在所述电机上具有相同的安装效果。
所述桨叶安装结构11还包括一个或者多个用于驱动所述桨叶定位结构12的气缸112，所述气缸112驱动所述桨叶定位结构12使得一片或者多片桨叶与 所述桨叶定位结构12分离，以便所述拆装部2夹持所述一片或者多片桨叶。
所述桨叶定位结构12包括用于对桨叶进行定位的定位板121和用于承载所述定位板121的载板122。
所述定位板121与所述载板122通过多个直线轴承123组合安装，所述桨叶安装结构11驱动所述定位板121沿所述多个直线轴承123滑动。
对桨叶进行拆装老化测试时，一个或者多个夹爪气缸111夹持固定一个或者多个无人飞行器上用于驱动桨叶的电机或者桨叶连接件，使得桨叶的安装位置确定。一个或者多个气缸112拉动定位板121沿多个直线轴承123向载板122滑动，使得定位在定位板121上的一片或者多片桨叶与所述定位板121分离，有利于拆装部2将一片或者多片桨叶从一个或者多个无人飞行器上用于驱动桨叶的电机或者桨叶连接件上拆除。在拆装部2将一片或者多片桨叶装回一个或者多个无人飞行器上用于驱动桨叶的电机或者桨叶连接件后，可以让一个或者多个气缸112释放定位板121，以确认桨叶的安装位置，并可以对桨叶的安装位置进行重新定位。
如图2中所示意的，所述拆装部2包括：
一个或者多个动作机构21，用于夹持所述桨叶安装部1上的一片或者多片桨叶，并扭转所述一片或者多片桨叶；
一个或者多个驱动机构22，用于驱动所述一个或者多个动作机构21将所述桨叶安装部1上的一片或者多片桨叶拔出，并且驱动所述一个或者多个动作机构21将所述一片或者多片桨叶按压在所述桨叶安装部1上；
一个或者多个参数检测模块23，用于检测获取所述一个或者多个动作机构21扭转所述一片或者多片桨叶时的扭力和/或转动角度，检测获取所述一个或者多个动作机构21拔出所述一片或者多片桨叶时的拉力和/或按压所述一片或者多片桨叶时的压力。
所述动作机构21包括用于夹持桨叶的夹爪气缸211和向所述夹爪气缸211提供扭力的电机212。所述电机212与所述夹爪气缸211传动连接。
参考图2和图3，其中图3为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备另一角度的内部构造图。如图2和图3中所示意的，所述驱动机构22包括：电机221、将所述电机221输出的力矩传递到所述一个或者多 个动作机构21的传动机构222。
所述传动机构222包括：多个带轮223、多根传动带(224、228)、多根用于安装带轮的转轴(225、226)、多块用于支撑转轴的支撑板227。如图3中所示意的，所述电机221与一个带轮223轴接，通过传动带224将力矩传递到离所述电机最近的转轴225；离所述电机最近的转轴225与离所述电机最远的转轴226之间通过多根传动带228进行传动，并且每一根传动带228与装设所述一个或者多个动作机构21的安装板213固定，以带动所述一个或者多个动作机构21将所述桨叶安装部1上的一片或者多片桨叶拔出以及将所述一片或者多片桨叶按压在所述桨叶安装部1上。具体的，每一根传动带228与安装板213之间通过连接块229固定。连接块229的一部分固定在安装板213上，另一部分则与传动带228固定，使得传动带228能够拉动安装板213，进而带动一个或者多个动作机构21。
参考图2、图4、图5以及图6，其中图4为本申请的一实施例中一种无人飞行器的桨叶拆装老化的测试设备的整体构造图，图5为图4区域Ⅰ的放大图，图6为图5区域Ⅱ的放大图。所述参数检测模块23包括：扭力传感器231、拉力传感器232和/或压力传感器；所述电机212与所述扭力传感器231、拉力传感器232和/或压力传感器(未图示)传动连接；所述电机212输出的扭力经所述扭力传感器231作用于所述夹爪气缸211，所述驱动机构22输出的拉力经所述拉力传感器232作用于所述夹爪气缸211，所述驱动机构22输出的压力经所述压力传感器作用于所述夹爪气缸211。
在一种可能的实施方式中，扭力传感器231、拉力传感器232和/或压力传感器装设在电机212的转轴上，并且扭力传感器231与拉力传感器232和/或压力传感器轴接，使得电机212的力矩能够通过传感器231、拉力传感器232和/或压力传感器进行传递，并最终通过夹爪气缸211作用于桨叶，完成对桨叶的扭转动作。拉力传感器232或压力传感器可以轴接用于装设夹爪气缸211的转接结构233，以便简便地更换不同规格的夹爪气缸211。通过更换不同规格的夹爪气缸211夹取不同规格的桨叶，因而所述的无人飞行器的桨叶拆装老化的测试设备可以测试多种规格的桨叶。
如图2中所示意的，所述拆装部2还包括用于对所述一个或者多个动作机 构21进行运动导向的导向结构24，所述导向结构24包括一根或者多根导轨241和一个或者多个用于固定导轨的支撑架242；装设所述一个或者多个动作机构21的安装板213通过多块滑块243沿所述一根或者多根导轨241滑动。
所述导向结构24还包括设置在所述安装板213上的一根或者多根导向杆244以及套设在所述一根或者多根导向杆244上的一个或者多个导向套245，所述一个或者多个导向套245的位置固定。
如图2和图4中所示意的，无人飞行器的桨叶拆装老化的测试设备的机柜100上固定有多个防护筒246。导向套245固定在防护筒246，使得导向杆244在防护筒246内运动，有利于防止灰尘等异物进入导向套245与导向杆244之间的间隙内，增强导向杆244在导向套245运动的可靠性。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制。尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (14)

  1. 无人飞行器的桨叶拆装老化的测试设备，其特征在于，包括：
    桨叶安装部，用于安装并且定位一片或者多片桨叶；
    拆装部，用于将一片或者多片桨叶从所述桨叶安装部上拆除，并且将所述一片或者多片桨叶装回所述桨叶安装部，在拆除和/或安装所述一片或者多片桨叶的过程中检测获取用于判断所述一片或者多片桨叶拆装老化程度的参数。
  2. 根据权利要求1所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述拆装部包括：
    一个或者多个动作机构，用于夹持所述桨叶安装部上的一片或者多片桨叶，并扭转所述一片或者多片桨叶；
    一个或者多个驱动机构，用于驱动所述一个或者多个动作机构将所述桨叶安装部上的一片或者多片桨叶拔出，并且驱动所述一个或者多个动作机构将所述一片或者多片桨叶按压在所述桨叶安装部上；
    一个或者多个参数检测模块，用于检测获取所述一个或者多个动作机构扭转所述一片或者多片桨叶时的扭力和/或转动角度，检测获取所述一个或者多个动作机构拔出所述一片或者多片桨叶时的拉力和/或按压所述一片或者多片桨叶时的压力。
  3. 根据权利要求2所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述动作机构包括用于夹持桨叶的夹爪气缸和向所述夹爪气缸提供扭力的电机；所述电机与所述夹爪气缸传动连接。
  4. 根据权利要求3所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述参数检测模块包括：扭力传感器、拉力传感器和/或压力传感器；所述电机与所述扭力传感器、拉力传感器和/或压力传感器传动连接；所述电机输出的扭力经所述扭力传感器作用于所述夹爪气缸，所述驱动机构输出的拉力经所述拉力传感器作用于所述夹爪气缸，所述驱动机构输出的压力经所述压力传感器作用于所述夹爪气缸。
  5. 根据权利要求2所述的无人飞行器的桨叶拆装老化的测试设备，其特征在 于，所述驱动机构包括：电机、将所述电机输出的力矩传递到所述一个或者多个动作机构的传动机构。
  6. 根据权利要求5所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述传动机构包括：多个带轮、多根传动带、多根用于安装带轮的转轴、多块用于支撑转轴的支撑板；所述电机与一个带轮轴接，通过传动带将力矩传递到离所述电机最近的转轴；离所述电机最近的转轴与离所述电机最远的转轴之间通过多根传动带进行传动，并且每一根传动带与装设所述一个或者多个动作机构的安装板固定，以带动所述一个或者多个动作机构将所述桨叶安装部上的一片或者多片桨叶拔出以及将所述一片或者多片桨叶按压在所述桨叶安装部上。
  7. 根据权利要求2所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述拆装部还包括用于对所述一个或者多个动作机构进行运动导向的导向结构，所述导向结构包括一根或者多根导轨和一个或者多个用于固定导轨的支撑架；装设所述一个或者多个动作机构的安装板通过多块滑块沿所述一根或者多根导轨滑动。
  8. 根据权利要求7所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述导向结构还包括设置在所述安装板上的一根或者多根导向杆以及套设在所述一根或者多根导向杆上的一个或者多个导向套，所述一个或者多个导向套的位置固定。
  9. 根据权利要求1所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述桨叶安装部包括用于安装桨叶的桨叶安装结构和用于对桨叶进行定位的桨叶定位结构。
  10. 根据权利要求9所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述桨叶安装结构包括一个或者多个用于夹持电机的夹爪气缸，所述电机的转轴用于装设桨叶。
  11. 根据权利要求9所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述桨叶安装结构包括一个或者多个用于夹持桨叶连接件的夹爪气缸，所述桨叶连接件设置有安装桨叶的轴。
  12. 根据权利要求10或11所述的无人飞行器的桨叶拆装老化的测试设备， 其特征在于，所述桨叶安装结构还包括一个或者多个用于驱动所述桨叶定位结构的气缸，所述气缸驱动所述桨叶定位结构使得一片或者多片桨叶与所述桨叶定位结构分离，以便所述拆装部夹持所述一片或者多片桨叶。
  13. 根据权利要求9所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述桨叶定位结构包括用于对桨叶进行定位的定位板和用于承载所述定位板的载板。
  14. 根据权利要求13所述的无人飞行器的桨叶拆装老化的测试设备，其特征在于，所述定位板与所述载板通过多个直线轴承组合安装，所述桨叶安装结构驱动所述定位板沿所述多个直线轴承滑动。
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