A multi-mode single-degree-of-freedom UAV test platform

Abstract

The present invention discloses a multi-mode single-degree-of-freedom UAV test platform. Through the reconfigurable characteristics of a motion bifurcation mechanism, the single-degree-of-freedom test platform can be switched between multiple test modes. The test platform includes: a base assembly, first and second motion branch chain assemblies, and a load-bearing platform assembly. The test platform is formed by connecting the base assembly and the load-bearing platform assembly through the first to second motion branch chain assemblies. Through the motion bifurcation structural characteristics of the first to second motion branch chain assemblies and the locking and releasing of the platform in the load-bearing platform assembly, the test platform can be switched between multiple measurement modes. The invention has good reconfigurable characteristics and can realize separate debugging of the yaw, roll and pitch angles of the UAV.

Description

Technical Field

[0001] The invention patent relates to the field of unmanned aerial vehicles, and in particular to a multi-mode single-degree-of-freedom test platform for unmanned aerial vehicles. Background Art

[0002] With the continuous development of UAV technology, the attitude control algorithm of UAV is becoming more and more complex, and it is necessary to design a test platform that can meet the UAV attitude debugging. For the initial attitude debugging of UAV, it is often necessary to debug only one of the three attitudes of yaw, pitch and roll. However, the existing single-degree-of-freedom test platform only has a single motion mode and cannot meet the separate debugging of the three attitudes of UAV. In order to solve this problem, it is necessary to improve the structure of the UAV test platform. Based on this, it is extremely important to design a UAV single-degree-of-freedom attitude test platform with multiple modes. Summary of the invention

[0003] Aiming at the problem of single motion mode of existing UAV single degree of freedom test platform, a multi-mode single degree of freedom UAV test platform is proposed.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A multi-mode single-degree-of-freedom UAV test platform, characterized in that the platform comprises a base assembly, a bearing platform assembly, a branch chain assembly 1 and a branch chain assembly 2;

[0006] The base assembly includes a base chassis and a base moving rod, wherein the base moving rod is a telescopic rod that can move in a vertical direction, and the lower end of the base moving rod is rotatably connected to the base chassis so that the base moving rod can rotate in a vertical direction, and the upper end can contact or separate from the bearing platform assembly by extending or contracting;

[0007] The branch chain assembly 1 and the branch chain assembly 2 have the same structure and connection relationship, and are arranged symmetrically relative to the base assembly. The two ends of the branch chain assembly 1 and the branch chain assembly 2 are respectively connected between the base assembly and the supporting platform assembly, so as to realize the rotation around the vertical direction relative to the base assembly and drive the flipping of the supporting platform assembly, thereby realizing the testing modes of various drones.

[0008] Further, the branch chain assembly 1 includes a rotating bracket 1, a branch chain connecting rod 1, a branch chain bearing seat 1, a branch chain forked left connecting rod 1 and a branch chain forked right connecting rod 1. The rotating bracket 1 is rotatably connected to the base chassis, and its movement axis is A-1; one end of the rotating bracket is fixedly connected to the base chassis, and the other end is fixedly connected to the lower end of the branch chain connecting rod 1, the upper end of the branch chain connecting rod 1 is fixedly connected to the branch chain bearing seat 1, the branch chain forked left connecting rod 1 is rotatably connected to the branch chain bearing seat 1, and its movement axis is B-1, the branch chain forked left connecting rod 1 is rotatably connected to the branch chain forked right connecting rod 1, and its movement axis is C-1, and the branch chain forked right connecting rod 1 is fixedly connected to the bearing platform assembly;

[0009] The branch chain assembly 2 includes a rotating bracket 2, a branch chain connecting rod 2, a branch chain bearing seat 2, a branch chain forked right connecting rod 2 and a branch chain forked left connecting rod 2. The movement axis of the rotating bracket 2 and the base chassis is A-2, the movement axis of the branch chain forked right connecting rod 2 and the branch chain bearing seat 2 is B-2, and the movement axis of the branch chain forked left connecting rod 2 and the branch chain forked right connecting rod 2 is C-2.

[0010] Among them, A-1 is parallel to A-2, A-1 is collinear with C-1, A-2 is collinear with C-2, and B-1 is collinear with B-2.

[0011] Furthermore, the load-bearing platform assembly includes a load-bearing connecting rod with a cavity, a load-bearing platform and a spring;

[0012] The two ends of the load-bearing connecting rod are fixedly connected to the right connecting rod 1 of the branch chain and the left branch chain fork connecting rod 2 respectively. A groove is provided at the bottom of the cavity of the load-bearing connecting rod, and the load-bearing platform is placed in the groove. A through hole is provided on the bottom surface of the cavity for being sleeved with the base moving rod. The spring is arranged between the load-bearing connecting rod and the load-bearing platform for squeezing the load-bearing platform into the groove.

[0013] Furthermore, the groove in the cavity of the load-bearing connecting rod is a cross groove or a Pozidriv groove.

[0014] Furthermore, the branch chain forked left connecting rod 1, the branch chain forked right connecting rod 1, the branch chain forked left connecting rod 2, and the branch chain forked right connecting rod 2 are all arc-shaped.

[0015] The beneficial effects of the present invention are as follows:

[0016] The use of a motion bifurcation mechanism allows the test platform to switch between multiple motion modes. Compared with traditional single-degree-of-freedom test platforms, it has reconfigurable characteristics, further improving the test efficiency and economy of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a multi-mode single-degree-of-freedom test platform;

[0018] Figure 2 It is a schematic diagram of the X-axis and Y-axis test mode;

[0019] Figure 3 It is a schematic diagram of the Z-axis test mode;

[0020] Figure 4 It is a partial cross-sectional schematic diagram of the load-bearing platform;

[0021] In the figure, base assembly 1, branch chain assembly 2-1, branch chain assembly 2-2, bearing platform assembly 3, base chassis 4, base moving rod 5, rotating bracket 1 6-1, rotating bracket 2 6-2, branch chain link 1 7-1, branch chain link 2 7-2, branch chain bearing seat 1 8-1, branch chain bearing seat 2 8-2, branch chain fork left link 1 9-1, branch chain fork right link 1 10-1, branch chain fork left link 2 10-2, branch chain fork right link 2 9-2, bearing link 11, bearing platform 12, spring 13. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become more clear. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] like Figure 1-4 As shown, the multi-mode single-degree-of-freedom UAV test platform of the present invention comprises a base assembly 1, a bearing platform assembly 3, a branch chain assembly 1 2-1 and a branch chain assembly 2-2;

[0024] The base assembly 1 includes a base chassis 4 and a base moving rod 5. The base moving rod 5 is a telescopic rod, which is installed on the base chassis 4 through a rotating pair, and can translate along the vertical direction and rotate around the vertical direction. The upper end can contact or separate from the load-bearing platform assembly 3 by extending or contracting;

[0025] The branch chain assembly 1 2 - 1 and the branch chain assembly 2 2 - 2 have the same structure and connection relationship, and are arranged symmetrically relative to the base assembly.

[0026] The branch chain assembly 2-1 includes a rotating bracket 6-1, a branch chain connecting rod 7-1, a branch chain bearing seat 8-1, a branch chain forked left connecting rod 9-1 and a branch chain forked right connecting rod 10-1. One end of the rotating bracket 6-1 is rotatably connected to the base chassis 4 through a cylindrical pair, and its motion axis is A-1, and the other end is fixedly connected to the lower end of the branch chain connecting rod 7-1, and the upper end of the branch chain connecting rod 7-1 is fixedly connected to the branch chain bearing seat 8-1. The branch chain forked left connecting rod 9-1 is rotatably connected to the branch chain bearing seat 8-1 through a cylindrical pair, and its motion axis is B-1. The branch chain forked left connecting rod 9-1 is rotatably connected to the branch chain forked right connecting rod 10-1 through a cylindrical pair, and its motion axis is C-1. The branch chain forked right connecting rod 10-1 is fixedly connected to the bearing platform assembly 3;

[0027] The branch chain assembly 2-2 includes a rotating bracket 2-6-2, a branch chain connecting rod 2-7-2, a branch chain bearing seat 2-8-2, a branch chain forked right connecting rod 2-9-2 and a branch chain forked left connecting rod 2-10-2. The axis of motion of the rotating bracket 2-6-2 and the base chassis 4 is A-2, the axis of motion of the branch chain forked right connecting rod 2-9-2 and the branch chain bearing seat 2-8-2 is B-2, and the axis of motion of the branch chain forked left connecting rod 2-10-2 and the branch chain forked right connecting rod 2-9-2 is C-2.

[0028] Among them, A-1 is parallel to A-2, A-1 is collinear with C-1, A-2 is collinear with C-2, and B-1 is collinear with B-2.

[0029] The load-bearing platform assembly 3 includes a load-bearing connecting rod 11 with a cavity, a load-bearing platform 12 and a spring 13;

[0030] The two ends of the load-bearing connecting rod 11 are respectively fixedly connected to the right connecting rod 10-1 of the branch chain and the left branch chain fork connecting rod 2 10-2. A groove is provided at the bottom of the cavity of the load-bearing connecting rod 11, and the load-bearing platform 12 is placed in the groove. A through hole is provided on the bottom surface of the cavity for sleeve connection with the base moving rod 5. The spring 13 is provided between the load-bearing connecting rod 11 and the load-bearing platform 12 for squeezing the load-bearing platform 12 into the groove. The load-bearing platform 12 has the degree of freedom of rotation around the connection axis and the degree of freedom of movement along the connection axis. The spring 13 is installed between the load-bearing connecting rod 11 and the load-bearing platform 12 and can be expanded and compressed.

[0031] The branch chain assembly 2-2 with the same configuration has the same structure as the branch chain assembly 2-1 and is installed in a mirror image.

[0032] Preferably, the groove in the cavity of the load-bearing connecting rod 11 is a cross groove or a Pozidriv groove.

[0033] In order to have good force bearing performance, the branch chain forked left link 1 9-1, the branch chain forked right link 10-1, the branch chain forked left link 2 10-2, and the branch chain forked right link 2 9-2 are all set to be arc-shaped.

[0034] The mechanical structure of the multi-mode single-degree-of-freedom UAV test platform of the present invention mainly adopts a motion bifurcation mechanism, which has different degree-of-freedom characteristics under different topological structures. Furthermore, the test platform can switch between multiple measurement modes by changing the directions of axes A, B and C and coordinating the locking positions of the supporting platform 12 and the base moving rod 5.

[0035] like Figure 2 As shown, the measuring platform is in a roll or pitch freedom test state. At this time, since the axes B-1 and B-2 are collinear, the axes C-1 and C-2 are collinear with the axes A-1 and A-2 respectively. The rotating brackets 6-1 and 6-2 are in the same straight line with the base chassis 4. At the same time, the bearing platform 12 and the base moving rod 5 are separated from each other. At this time, under the pressure of the spring 13, the bearing platform 12 and the bearing connecting rod 11 are fixed to each other, so that the roll or pitch freedom test of the drone can be realized. In this state, by changing the position of the bearing platform 12 in the cross groove or the Pozigzag groove, the test state of the roll or pitch freedom perpendicular to the left and right directions can be tested.

[0036] like Figure 3 As shown in Figure 2, the measuring platform is in the yaw freedom test state at this time. Figure 2 In the case shown, the test platform rotates 90 degrees along the axes A and B. At this time, the axes B-1 and B-2 are parallel but not colinear, and the axes C-1 and C-2 are colinear with the axes A-1 and A-2 respectively. The rotating brackets 6-1 and 6-2 are in a vertical state with the base chassis 4. At the same time, the base moving rod 5 lifts the bearing platform 12, the spring 13 is in a fully compressed state, the bearing platform 12 is separated from the bearing connecting rod 11, and the bearing platform 12 can rotate freely, so that the yaw freedom test of the UAV can be realized.

[0037] Those skilled in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention is described in detail with reference to the above examples, those skilled in the art can still modify the technical solutions recorded in the above examples or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

1. A multi-mode single-degree-of-freedom UAV test platform, characterized in that: The platform comprises a base assembly (1), a bearing platform assembly (3), a branch chain assembly 1 (2-1) and a branch chain assembly 2 (2-2); The base assembly comprises a base chassis (4) and a base moving rod (5), wherein the base moving rod (5) is a telescopic rod that can move in a vertical direction, and the lower end of the base moving rod (5) is rotatably connected to the base chassis (4) so ​​that the base moving rod can rotate in a vertical direction, and the upper end can contact or separate from the bearing platform assembly (3) by extending or contracting. The branch chain assembly 1 (2-1) and the branch chain assembly 2 (2-2) have the same structure and connection relationship, and are symmetrically arranged relative to the base assembly. Both ends of the branch chain assembly 1 (2-1) and the branch chain assembly 2 (2-2) are respectively connected between the base assembly (1) and the bearing platform assembly (3), so as to realize rotation around the vertical direction relative to the base assembly and drive the bearing platform assembly (3) to flip, thereby realizing a variety of UAV test modes; The branch chain assembly 1 (2-1) comprises a rotating bracket 1 (6-1), a branch chain connecting rod 1 (7-1), a branch chain bearing seat 1 (8-1), a branch chain forked left connecting rod 1 (9-1) and a branch chain forked right connecting rod 1 (10-1); the rotating bracket 1 (6-1) is rotatably connected to the base chassis (4), and its movement axis is A-1; one end of the rotating bracket 1 (6-1) is fixedly connected to the base chassis (4), and the other end is fixedly connected to the branch chain connecting rod 1 (7-1). The lower end of the branch chain connecting rod 1 (7-1) is fixedly connected, the upper end of the branch chain connecting rod 1 (7-1) is fixedly connected to the branch chain bearing seat 1 (8-1), the branch chain fork left connecting rod 1 (9-1) is rotatably connected to the branch chain bearing seat 1 (8-1), and its movement axis is B-1, the branch chain fork left connecting rod 1 (9-1) is rotatably connected to the branch chain fork right connecting rod 1 (10-1), and its movement axis is C-1, and the branch chain fork right connecting rod 1 (10-1) is fixedly connected to the bearing platform component (3); The branch chain assembly 2 (2-2) comprises a rotating bracket 2 (6-2), a branch chain connecting rod 2 (7-2), a branch chain bearing seat 2 (8-2), a branch chain forked right connecting rod 2 (9-2) and a branch chain forked left connecting rod 2 (10-2); the axis of motion of the rotating bracket 2 (6-2) and the base chassis (4) being rotatably connected is A-2, the axis of motion of the branch chain forked right connecting rod 2 (9-2) and the branch chain bearing seat 2 (8-2) being rotatably connected is B-2, and the axis of motion of the branch chain forked left connecting rod 2 (10-2) and the branch chain forked right connecting rod 2 (9-2) being rotatably connected is C-2; Among them, A-1 is parallel to A-2, A-1 is collinear with C-1, A-2 is collinear with C-2, and B-1 is collinear with B-2; The load-bearing platform assembly (3) comprises a load-bearing connecting rod (11) with a cavity, a load-bearing platform (12) and a spring (13); The two ends of the load-bearing connecting rod (11) are respectively fixedly connected to the branch chain fork right connecting rod 1 (10-1) and the branch chain fork left connecting rod 2 (10-2); a groove is provided at the bottom of the cavity of the load-bearing connecting rod (11), and the load-bearing platform (12) is placed in the groove; a through hole is provided on the bottom surface of the cavity for sleeve connection with the base moving rod (5); the spring (13) is arranged between the load-bearing connecting rod (11) and the load-bearing platform (12), and is used to squeeze the load-bearing platform (12) into the groove; The branch chain forked left connecting rod 1 (9-1), the branch chain forked right connecting rod 1 (10-1), the branch chain forked left connecting rod 2 (10-2), and the branch chain forked right connecting rod 2 (9-2) are all arc-shaped.

2. The test platform according to claim 1, characterized in that: The groove in the cavity of the load-bearing connecting rod (11) is a cross groove or a Pozidriv groove.

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