Multi-rotor aircraft dynamics test dedicated platform

Abstract

The application provides a multi-rotor aircraft dynamics test special platform, and relates to the field of unmanned aerial vehicle dynamics test, which comprises a fixed frame, a floating frame, an aircraft support assembly, an X-direction tension sensor, a Y-direction tension sensor and a Z-direction tension sensor; the floating frame is arranged inside the fixed frame; a plurality of longitudinal support rods are arranged between the floating frame and the fixed frame; the aircraft support assembly comprises a mounting platform, a central fixed seat, a Z-direction rotating shaft and an XY two-direction rotating mounting seat assembly comprising at least an X-direction rotating shaft and a Y-direction rotating shaft; an X-direction angle sensor is sleeved on the X-direction rotating shaft, a Y-direction angle sensor is sleeved on the Y-direction rotating shaft, and a Z-direction angle sensor is sleeved on the Z-direction rotating shaft. The application can conveniently obtain the traction data of the multi-rotor aircraft flying in the X, Y and Z directions, and can also obtain the deflection angles of the multi-rotor aircraft flying around the X, Y and Z directions, so that the test results are diversified, and the needs of unmanned aerial vehicle performance design can be well met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle power test, and particularly relates to a multi-rotor aircraft dynamics test special platform. BACKGROUND

[0002] The multi-rotor aircraft is an unmanned aerial vehicle driven by multiple propellers, and the quadcopter is the most common one, which can be used for low-altitude operation under remote control and has good flexibility.

[0003] With the expansion of the function of the multi-rotor unmanned aerial vehicle system, the airborne equipment is more and more advanced and complex, which makes the requirement for the power performance of the unmanned aerial vehicle more and more strict. If there is no real and accurate power data after the multi-rotor aircraft starts, it is difficult to design and update the performance index, which will hinder the development of the unmanned aerial vehicle to the multi-field application. Therefore, it is particularly necessary to test the dynamics of the multi-rotor aircraft.

[0004] At present, the test technology used by the unmanned aerial vehicle power test platform is not mature enough, and is not common in actual application. Moreover, some test platforms only test the vertical direction of the multi-rotor aircraft, and the test results are single, which cannot meet the needs of the performance design. SUMMARY

[0005] The present application aims to provide a multi-rotor aircraft dynamics test special platform to alleviate the technical problems in the prior art.

[0006] To achieve the above-mentioned purpose, the embodiments of the present application adopt the following technical solutions:

[0007] The embodiments of the present application provide a multi-rotor aircraft dynamics test special platform, which comprises a fixed frame, a floating frame, an aircraft support assembly, a tension sensor and an angle sensor.

[0008] Specifically: the tension sensor includes an X-direction tension sensor, a Y-direction tension sensor, and a Z-direction tension sensor; the floating frame is arranged inside the fixed frame; a plurality of longitudinal support rods are arranged between the floating frame and the fixed frame, the top end of each longitudinal support rod is respectively connected to the floating frame, the bottom end is respectively connected to the fixed frame, and at least one of the two between the top end of each longitudinal support rod and the floating frame and the bottom end of each longitudinal support rod and the fixed frame is connected through a support rod steering knuckle, the support rod steering knuckle has at least two rotation directions of X-direction and Y-direction; the first end of each of the X-direction tension sensor and the Y-direction tension sensor is respectively connected to the floating frame, and the second end is respectively connected to the fixed frame, and at least one of the two between the first end of each of the X-direction tension sensor and the Y-direction tension sensor and the floating frame and the second end of each of the X-direction tension sensor and the Y-direction tension sensor and the fixed frame is hinged, so that the floating frame can float inside the fixed frame; the aircraft support assembly includes a carrying platform, a center fixed seat, a Z-direction rotating shaft, and an XY two-way rotating mounting seat assembly including at least an X-direction rotating shaft and a Y-direction rotating shaft; the center fixed seat is fixedly installed on the floating frame and located on the longitudinal center axis of the floating frame; the carrying platform is connected to the center fixed seat through the XY two-way rotating mounting seat assembly; the Z-direction rotating shaft passes through the center fixed seat, and the top end of the Z-direction rotating shaft is fixedly connected to the XY two-way rotating mounting seat assembly, the first end of the Z-direction tension sensor is connected to the bottom end of the Z-direction rotating shaft, the second end of the Z-direction tension sensor is connected to the floating frame, and at least one of the two between the bottom end of the Z-direction rotating shaft and the first end of the Z-direction tension sensor and the second end of the Z-direction tension sensor and the floating frame is rotationally connected, so that the Z-direction rotating shaft can rotate around its own axis direction relative to the center fixed seat and the floating frame; the X-direction rotating shaft is sleeved with a rotation angle sensor around the X-direction, the Y-direction rotating shaft is sleeved with a rotation angle sensor around the Y-direction, and the Z-direction rotating shaft is sleeved with a rotation angle sensor around the Z-direction.

[0009] In the test, first, the multi-rotor aircraft to be tested is connected to the carrying platform of the aircraft support assembly, the carrying platform is connected with the Z-direction rotating shaft through the XY two-way rotating mounting seat assembly including the X-direction rotating shaft and the Y-direction rotating shaft, the Z-direction rotating shaft is arranged on the central axis of the floating frame through the central fixed seat and rotates around its own axis, the X-direction rotating shaft, the Y-direction rotating shaft and the Z-direction rotating shaft are respectively provided with the X-direction angle sensor, the Y-direction angle sensor and the Z-direction angle sensor, the three angle sensors can respectively measure the deflection angles of the multi-rotor aircraft around the X-direction, the Y-direction and the Z-direction when the multi-rotor aircraft flies on the carrying platform, so as to study the stability of the multi-rotor aircraft when flying; the X-direction tension sensor and the Y-direction tension sensor are arranged between the floating frame and the fixed frame, the multi-rotor aircraft flies horizontally and flies along the X-direction and away from the X-direction tension sensor or along the Y-direction and away from the Y-direction tension sensor, the multi-rotor aircraft can have the movement trend along the X-direction and the Y-direction through the aircraft support assembly driving the floating frame, and then the X-direction tension sensor and the Y-direction tension sensor respectively test the traction forces in the two directions when the multi-rotor aircraft flies horizontally, so as to study the horizontal dynamic performance of the multi-rotor aircraft; at least one end of the X-direction tension sensor is connected in the hinged mode, which can eliminate the constraint from the X-direction when the multi-rotor aircraft has the movement trend along the Y-direction, and similarly, at least one end of the Y-direction tension sensor is also connected in the hinged mode, which can eliminate the constraint from the Y-direction when the multi-rotor aircraft has the movement trend along the X-direction, in addition, the floating frame is connected with the fixed frame through the longitudinal support rod, at least one end of the longitudinal support rod has at least two rotating directions of the X-direction and the Y-direction, so as to eliminate the constraint from the longitudinal direction when the multi-rotor aircraft has the movement trend along the X-direction or the Y-direction, therefore, the longitudinal support rod mainly provides the constraint to the longitudinal direction of the floating frame, so that the floating frame floats in the horizontal plane and cannot move up and down; the Z-direction tension sensor is arranged between the bottom of the Z-direction rotating shaft and the floating frame, the Z-direction tension sensor can test the traction force when the multi-rotor aircraft has the movement trend along the Z-direction, so as to study the vertical dynamic performance of the multi-rotor aircraft, and at least one end of the Z-direction tension sensor is connected in the rotating mode, which can ensure the smooth rotation of the Z-direction rotating shaft.

[0010] In conclusion, the present application can conveniently obtain the traction force data of the multi-rotor aircraft flying in the X, Y and Z directions, and can also obtain the deflection angles of the multi-rotor aircraft around the X, Y and Z directions, the test components do not interfere with each other, the structure is ingenious, the test results are diversified, the test data are true and reliable, and the needs of the performance design of the unmanned aerial vehicle can be well met, which is beneficial to the design and update of the performance indicators of the unmanned aerial vehicle and promotes the development of the unmanned aerial vehicle to the application in multiple fields.

[0011] In an alternative embodiment of the present embodiment, preferably, the first end of each longitudinal support rod is connected to the floating frame and the longitudinal support rod to the fixed frame by a cross shaft type two-way connecting shaft, respectively.

[0012] In an alternative embodiment of the present embodiment, preferably, the floating frame comprises a horizontal top frame, a plurality of first intra-frame connecting rods, a plurality of second intra-frame connecting rods, two X-direction tension rods and two Y-direction tension rods; the first end of each of the two X-direction tension rods and the two Y-direction tension rods is connected to the horizontal top frame, respectively, and the second end of each of the two X-direction tension rods and the two Y-direction tension rods extends towards the outside of the horizontal top frame, respectively; the second end of each of the two X-direction tension rods is connected to the upper end of the fixed frame through an X-direction tension sensor, and the second end of each of the two Y-direction tension rods is connected to the upper end of the fixed frame through a Y-direction tension sensor; the central fixed seat is located on the longitudinal center axis of the horizontal top frame, and the central fixed seat is fixedly connected to the horizontal top frame through the plurality of first intra-frame connecting rods; the second end of each of the plurality of second intra-frame connecting rods extends towards the inside of the horizontal top frame and intersects at a same point on the longitudinal center axis of the horizontal top frame to form an auxiliary fixed seat; the bottom end of the Z-direction rotating shaft is connected to the auxiliary fixed seat through the Z-direction tension sensor; the top end of each longitudinal support rod is connected to the horizontal top frame.

[0013] Further preferably, the fixed frame comprises a base and a plurality of longitudinal frame rods; the bottom end of each longitudinal support rod is connected to the base; the bottom end of each longitudinal frame rod is fixedly connected to the base; the first end of each of the two X-direction tension rods and the two Y-direction tension rods is hingedly connected to the horizontal top frame, respectively; the second end of each of the two X-direction tension rods is connected to the top end of one longitudinal frame rod through an X-direction tension sensor, and the two ends of the X-direction tension sensor are hingedly connected to the second end of the corresponding X-direction tension rod and the top end of the corresponding longitudinal frame rod, respectively; the second end of each of the two Y-direction tension rods is connected to the top end of one longitudinal frame rod through a Y-direction tension sensor, and the two ends of the Y-direction tension sensor are hingedly connected to the second end of the corresponding Y-direction tension rod and the top end of the corresponding longitudinal frame rod, respectively.

[0014] Preferably, the fixed frame further comprises a plurality of inclined reinforcing rods, and the top end of each longitudinal frame rod is fixedly connected to the base through at least one reinforcing rod.

[0015] In an optional embodiment of the present embodiment, preferably, the aircraft support assembly further comprises a support tube, an angle sensor mounting seat and a tension sensor mounting seat; the support tube is sleeved on the outside of the Z-direction rotating shaft, and the top end is connected with the center fixing seat and the bottom end is connected with the auxiliary fixing seat; the angle sensor mounting seat is sleeved on the Z-direction rotating shaft and fixed on the top end of the center fixing seat, and the Z-direction angle sensor is fixedly connected with the angle sensor mounting seat; the tension sensor mounting seat is open at the top and hollow inside, and the top is fixedly connected with the bottom end of the auxiliary fixing seat; the Z-direction tension sensor is arranged inside the tension sensor mounting seat, and the bottom end of the Z-direction tension sensor is connected with the bottom of the tension sensor mounting seat and the top end of the Z-direction tension sensor is connected with the Z-direction rotating shaft.

[0016] Further preferably, the two ends of the Z-direction tension sensor are rotatably connected with the Z-direction rotating shaft and the tension sensor mounting seat through ball-type universal joints.

[0017] Preferably, the aircraft support assembly further comprises a first light pole sleeve and a second light pole sleeve; the first light pole sleeve is arranged inside the center fixing seat and sleeved on the Z-direction rotating shaft, the inner wall of the first light pole sleeve is attached to the outer wall of the Z-direction rotating shaft, and the top end of the first light pole sleeve is fixedly connected with the angle sensor mounting seat; the second light pole sleeve is arranged inside the auxiliary fixing seat and sleeved on the Z-direction rotating shaft, the inner wall of the second light pole sleeve is attached to the outer wall of the Z-direction rotating shaft, and the bottom end of the second light pole sleeve is fixedly connected with the tension sensor mounting seat.

[0018] In an optional embodiment of the present embodiment, preferably, the XY two-way rotating mounting seat assembly comprises a first mounting seat, a second mounting seat, an X-direction rotating shaft and a Y-direction rotating shaft; the first mounting seat and the second mounting seat are respectively provided with a U-shaped notch, the first mounting seat and the second mounting seat are arranged in a manner that the U-shaped notches face each other, the Y-direction rotating shaft is installed at the positions inside the U-shaped notch of the first mounting seat on both sides, and the first mounting seat can rotate around the Y-direction rotating shaft; the X-direction rotating shaft is installed at the positions inside the U-shaped notch of the second mounting seat on both sides, and the second mounting seat can rotate around the X-direction rotating shaft; the X-direction rotating shaft and the Y-direction rotating shaft are crossed and connected with each other; the top end of the Z-direction rotating shaft is fixedly connected with the second mounting seat, the top of the mounting platform is fixedly connected with the first mounting seat, and the bottom of the center fixing seat is fixedly connected with the second mounting seat.

[0019] Further preferably, the positions inside the U-shaped notches of the first mounting seat and the second mounting seat on both sides are respectively provided with a ball bearing, and the two ends of the X-direction rotating shaft and the two ends of the Y-direction rotating shaft are rotatably installed in the corresponding ball bearings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the dedicated platform for testing the dynamics of a multi-rotor aircraft provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the overall structure of the multirotor dynamics testing platform provided in an embodiment of the present invention from another angle.

[0023] Figure 3 This is a cross-sectional schematic diagram of a portion of the structure of an aircraft support assembly provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the XY bidirectional rotating mounting bracket assembly provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the X-axis tension sensor provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the cross-shaped bidirectional coupling provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the structure of the central fixing base provided in an embodiment of the present invention.

[0028] Icons: 1-X-direction tension sensor; 2-Y-direction tension sensor; 3-Z-direction tension sensor; 4-Longitudinal support rod; 5-Mounting platform; 6-X-direction rotating shaft; 7-Y-direction rotating shaft; 8-Z-direction rotating shaft; 9-Angle sensor around X-direction; 10-Angle sensor around Y-direction; 11-Angle sensor around Z-direction; 12-Cross-type bidirectional coupling; 13-Horizontal top frame; 14-Connecting rod inside the first frame; 15-Connecting rod inside the second frame; 16-X-direction tie rod; 17-Y-direction tie rod; 18-Center fixed seat; 19-Auxiliary fixed seat; 20-Base; 21-Longitudinal frame rod; 22-Reinforcing rod; 23-Support tube; 24-Angle sensor mounting seat; 25-Tension sensor mounting seat; 26-Ball universal joint; 27-First smooth rod sleeve; 28-Second smooth rod sleeve; 29-First mounting seat; 30-Second mounting seat; 31-Ball bearing. Detailed Implementation

[0029] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0031] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the description of the present application, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0033] In addition, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium, or can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] The following will be combined with the accompanying drawings to make a detailed description of some embodiments of the present application. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0036] This invention provides a dedicated platform for testing the dynamics of multirotors. Specifically, refer to... Figure 1 and Figure 2 The dedicated testing platform for multi-rotor aircraft dynamics includes a fixed frame, a floating frame, an aircraft support assembly, a tension sensor, and an angle sensor.

[0037] The tension sensors include an X-axis tension sensor 1, a Y-axis tension sensor 2, and a Z-axis tension sensor 3; a floating frame is located inside a fixed frame; multiple longitudinal support rods 4 are provided between the floating frame and the fixed frame, with the top end of each longitudinal support rod 4 connected to the floating frame and the bottom end connected to the fixed frame, and at least one of the connections between the top end of each longitudinal support rod 4 and the floating frame, and between the bottom end of each longitudinal support rod 4 and the fixed frame, is via a support rod steering knuckle; Figure 6 As shown, the support rod steering knuckle has at least two rotational directions, X and Y; the first end of the X-direction tension sensor 1 and the Y-direction tension sensor 2 are respectively connected to the floating frame, and the second end is respectively connected to the fixed frame, as shown in the specific reference. Figure 5 At least one of the following two connections is made: the first end of the X-axis tension sensor 1 and the Y-axis tension sensor 2 is connected to the floating frame, and the second end of the X-axis tension sensor 1 and the Y-axis tension sensor 2 is connected to the fixed frame, so that the floating frame can float inside the fixed frame. The aircraft support assembly includes a mounting platform 5, a central fixed seat 18, a Z-axis rotating shaft 8, and an XY bidirectional rotating mounting bracket assembly including at least an X-axis rotating shaft 6 and a Y-axis rotating shaft 7. The central fixed seat 18 is fixedly mounted on the floating frame and located on the longitudinal central axis of the floating frame. The mounting platform 5 is XY bidirectionally rotatably connected to the central fixed seat 18 via the XY bidirectional rotating mounting bracket assembly. The Z-axis rotating shaft 8 passes through the central fixed seat 18, and its top end is fixedly connected to the XY bidirectional rotating mounting bracket assembly. The first end of the Z-axis tension sensor 3 is connected to the bottom end of the Z-axis rotating shaft 8, and the second end of the Z-axis tension sensor 3 is connected to the floating frame. At least one of the following connections—between the bottom end of the Z-axis rotating shaft 8 and the first end of the Z-axis tension sensor 3, and between the second end of the Z-axis tension sensor 3 and the floating frame—is rotatably connected, allowing the Z-axis rotating shaft 8 to rotate relative to the central fixed seat 18 and the floating frame about its own axis. See details below. Figure 3 and Figure 4 An X-axis angle sensor 9 is mounted on the X-axis rotating shaft 6, a Y-axis angle sensor 10 is mounted on the Y-axis rotating shaft 7, and a Z-axis angle sensor 11 is mounted on the Z-axis rotating shaft 8.

[0038] More specifically, such as Figure 1As shown, a rectangular coordinate system is established, with the extension direction of the X-direction rotating shaft 6 as the X-direction, the extension direction of the Y-direction rotating shaft 7 as the Y-direction, and the extension direction of the Z-direction rotating shaft 8 as the Z-direction.

[0039] During testing, first, the multi-rotor aircraft to be tested is connected to the carrying platform 5 of the aircraft support assembly, the carrying platform 5 is connected to the Z-direction rotating shaft 8 through the XY two-direction rotating mounting seat assembly including the X-direction rotating shaft 6 and the Y-direction rotating shaft 7, the Z-direction rotating shaft 8 is rotationally arranged on the central axis of the floating frame through the central fixed seat 18, the X-direction rotating shaft 6, the Y-direction rotating shaft 7, and the Z-direction rotating shaft 8 are respectively provided with the X-direction angle sensor 9, the Y-direction angle sensor 10, and the Z-direction angle sensor 11, and the three angle sensors can respectively measure the deflection angles of the multi-rotor aircraft around the X-direction, around the Y-direction, and around the Z-direction during flight experiments on the carrying platform 5, so as to study the stability of the multi-rotor aircraft during flight in the subsequent research; the X-direction tension sensor 1 and the Y-direction tension sensor 2 are arranged between the floating frame and the fixed frame, the multi-rotor aircraft flies horizontally and flies in the direction away from the X-direction tension sensor 1 along the X-direction or in the direction away from the Y-direction tension sensor 2 along the Y-direction, respectively, the multi-rotor aircraft driven by the aircraft support assembly can have a movement trend along the X-direction and along the Y-direction, respectively, and then the X-direction tension sensor 1 and the Y-direction tension sensor 2 respectively test the pulling forces in the two directions when the multi-rotor aircraft flies horizontally, so as to study the horizontal dynamic performance of the multi-rotor aircraft in the subsequent research; at least one end of the X-direction tension sensor 1 is connected in a hinged manner, which can eliminate the constraint from the X-direction when the multi-rotor aircraft has a movement trend along the Y-direction, and similarly, at least one end of the Y-direction tension sensor 2 is also connected in a hinged manner to eliminate the constraint from the Y-direction when the multi-rotor aircraft has a movement trend along the X-direction, in addition, the floating frame is connected to the fixed frame through the longitudinal support rod 4, at least one end of the longitudinal support rod 4 has at least two rotating directions of the X-direction and the Y-direction, so as to eliminate the constraint from the longitudinal direction when the multi-rotor aircraft has a movement trend along the X-direction or along the Y-direction, therefore, the longitudinal support rod 4 mainly provides the constraint of the longitudinal direction of the floating frame, so that the floating frame floats in the horizontal plane and cannot move up and down; the Z-direction tension sensor 3 is arranged between the bottom of the Z-direction rotating shaft 8 and the floating frame, the Z-direction tension sensor 3 can test the pulling force when the multi-rotor aircraft has a movement trend along the Z-direction, so as to study the vertical dynamic performance of the multi-rotor aircraft in the subsequent research, and at least one end of the Z-direction tension sensor 3 is connected in a rotating manner, which can ensure the smooth rotation of the Z-direction rotating shaft 8.

[0040] In conclusion, the present application can conveniently obtain the traction data of the multi-rotor aircraft flying in X, Y and Z directions, and can obtain the deflection angles of the multi-rotor aircraft flying around X, Y and Z directions, the test components do not interfere with each other, the structure is ingenious, the test results are diversified, the test data are real and reliable, and the unmanned aerial vehicle performance design requirements can be well met, which is beneficial to the design and update of the unmanned aerial vehicle performance index, and promotes the development of unmanned aerial vehicles in multiple fields.

[0041] In the embodiment, preferably, as shown in Figure 6 , the first end of each longitudinal support rod 4 and the floating frame are connected by a cross shaft type two-way connecting shaft 12, and the longitudinal support rod 4 and the fixed frame are also connected by the cross shaft type two-way connecting shaft 12.

[0042] Preferably, referring to Figure 1 and Figure 2 , the floating frame at least includes a horizontal top frame 13, a plurality of first frame inner connecting rods 14, a plurality of second frame inner connecting rods 15, two X-direction pull rods 16 and two Y-direction pull rods 17; the first end of each of the two X-direction pull rods 16 and the two Y-direction pull rods 17 is respectively connected to the horizontal top frame 13, and the second end of each of the two X-direction pull rods 16 and the two Y-direction pull rods 17 extends towards the outside of the horizontal top frame 13, and the second end of each of the two X-direction pull rods 16 is connected to the upper end of the fixed frame through an X-direction tension sensor 1, and the second end of each of the two Y-direction pull rods 17 is connected to the upper end of the fixed frame through a Y-direction tension sensor 2. In the embodiment, two X-direction tension sensors 1 are connected to the two X-direction pull rods 16 respectively, so that the traction force of the multi-rotor aircraft in the X-direction can be obtained when the multi-rotor aircraft flies in both positive and negative directions of the X-direction, and similarly, two Y-direction tension sensors 2 are connected to the two Y-direction pull rods 17 respectively, so that the traction force of the multi-rotor aircraft in the Y-direction can be obtained when the multi-rotor aircraft flies in both positive and negative directions of the Y-direction, and the test is more convenient, and multiple data can be obtained for comparison, so that the data is more accurate.

[0043] Preferably, referring to Figure 1 , Figure 3 and Figure 7 , the center fixed seat 18 is arranged on the longitudinal center axis of the horizontal top frame 13, and the center fixed seat 18 is fixedly connected to the horizontal top frame 13 through a plurality of first frame inner connecting rods 14; the first end of each of the plurality of second frame inner connecting rods 15 is fixedly connected to the horizontal top frame 13, and the second end of each of the plurality of second frame inner connecting rods 15 extends towards the inside of the horizontal top frame 13 and intersects at the same point on the longitudinal center axis of the horizontal top frame 13 to form an auxiliary fixed seat 19; the bottom end of the Z-direction rotating shaft 8 is connected to the auxiliary fixed seat 19 through a Z-direction tension sensor 3; and the top end of each longitudinal support rod 4 is connected to the horizontal top frame 13.

[0044] In the above preferred embodiment, further preferably, referring to Figure 2, the fixed frame comprises a base 20 and a plurality of longitudinal frame rods 21; the bottom end of each longitudinal support rod 4 is connected to the base 20 respectively; the bottom end of each longitudinal frame rod 21 is fixedly connected to the base 20 respectively; the first end of each of the two X-direction pull rods 16 and the two Y-direction pull rods 17 is hingedly connected to the horizontal top frame 13 respectively; the second end of each of the two X-direction pull rods 16 is connected to the top end of one longitudinal frame rod 21 through an X-direction pull force sensor 1, and the two ends of the X-direction pull force sensor 1 are hingedly connected to the second end of the corresponding X-direction pull rod 16 and the top end of the corresponding longitudinal frame rod 21 respectively; the second end of each of the two Y-direction pull rods 17 is connected to the top end of one longitudinal frame rod 21 through a Y-direction pull force sensor 2, and the two ends of the Y-direction pull force sensor 2 are hingedly connected to the second end of the corresponding Y-direction pull rod 17 and the top end of the corresponding longitudinal frame rod 21 respectively.

[0045] Further preferably, referring to Figure 1 and Figure 2 , with reference to Figure 2 , the fixed frame further comprises a plurality of inclined reinforcing rods 22, the top end of each longitudinal frame rod 21 is fixedly connected to the base 20 through at least one reinforcing rod 22, so as to make each longitudinal frame rod 21 more stable through the reinforcing rod 22.

[0046] In addition, more preferably, referring to Figures 1 to 3 and Figure 7 , with reference to Figure 3 , the aircraft support assembly further comprises a support tube 23, an angle sensor mounting seat 24 and a pull force sensor mounting seat 25; the support tube 23 is sleeved on the outside of the Z-direction rotating shaft 8, and the top end is connected to the center fixing seat 18 and the bottom end is connected to the auxiliary fixing seat 19; the angle sensor mounting seat 24 is sleeved on the Z-direction rotating shaft 8 and is fixed to the top end of the center fixing seat 18, and the Z-direction angle sensor 11 is fixedly connected to the angle sensor mounting seat 24; the pull force sensor mounting seat 25 is open at the top and hollow inside, and the top end thereof is fixedly connected to the bottom end of the auxiliary fixing seat 19; the Z-direction pull force sensor 3 is arranged inside the pull force sensor mounting seat 25, and the bottom end of the Z-direction pull force sensor 3 is connected to the bottom of the pull force sensor mounting seat 25 and the top end of the Z-direction pull force sensor 3 is connected to the Z-direction rotating shaft 8.

[0047] Further preferably, referring to Figure 3 , the two ends of the Z-direction pull force sensor 3 are rotatably connected to the Z-direction rotating shaft 8 and the pull force sensor mounting seat 25 through a ball-type universal joint 26.

[0048] Preferably, referring to Figure 3The aircraft supporting assembly further comprises a first light sleeve 27 and a second light sleeve 28; the first light sleeve 27 is located inside the central fixed seat 18 and is sleeved on the Z-direction rotating shaft 8, the inner wall of the first light sleeve 27 is attached to the outer wall of the Z-direction rotating shaft 8, and the top end of the first light sleeve 27 is fixedly connected with the angle sensor mounting seat 24; the second light sleeve 28 is located inside the auxiliary fixed seat 19 and is sleeved on the Z-direction rotating shaft 8, the inner wall of the second light sleeve 28 is attached to the outer wall of the Z-direction rotating shaft 8, and the bottom end of the second light sleeve 28 is fixedly connected with the tension sensor mounting seat 25.

[0049] In the preferred embodiment, specifically, the first light sleeve 27 is connected with the angle sensor mounting seat 24, the second light sleeve 28 is connected with the tension sensor mounting seat 25, the first light sleeve 27 and the second light sleeve 28 are both sleeved on the Z-direction rotating shaft 8 and are both attached to the Z-direction rotating shaft 8, so as to ensure that the Z-direction rotating shaft 8 is vertical and does not shake in the supporting pipe 23; more specifically and preferably, lubricating oil is coated between the first light sleeve 27, the second light sleeve 28 and the Z-direction rotating shaft 8.

[0050] In addition, in the embodiment, preferably, referring to Figure 2 and Figure 4 , and specifically referring to Figure 4 , the XY two-way rotating mounting seat assembly comprises a first mounting seat 29, a second mounting seat 30, an X-direction rotating shaft 6 and a Y-direction rotating shaft 7; the first mounting seat 29 and the second mounting seat 30 are respectively provided with a U-shaped notch, the first mounting seat 29 and the second mounting seat 30 are arranged in a manner that the U-shaped notches are opposite to each other, the Y-direction rotating shaft 7 is installed at the positions inside the U-shaped notch of the first mounting seat 29 on both sides, and the first mounting seat 29 can rotate around the Y-direction rotating shaft 7; the X-direction rotating shaft 6 is installed at the positions inside the U-shaped notch of the second mounting seat 30 on both sides, and the second mounting seat 30 can rotate around the X-direction rotating shaft 6; the X-direction rotating shaft 6 and the Y-direction rotating shaft 7 are crossed and connected with each other; the top end of the Z-direction rotating shaft 8 is fixedly connected with the second mounting seat 30, the carrying platform 5 is fixedly connected with the top of the first mounting seat 29, and the central fixed seat 18 is fixedly connected with the bottom of the second mounting seat 30.

[0051] Further preferably but not limitedly, referring to Figure 4 , the positions inside the U-shaped notches of the first mounting seat 29 and the second mounting seat 30 on both sides are respectively installed with a ball bearing 31, and the two ends of the X-direction rotating shaft 6 and the two ends of the Y-direction rotating shaft 7 are respectively rotatably installed in the corresponding ball bearings 31.

[0052] Finally, it should be pointed out that:

[0053] 1. In the specification, "and / or" means that the structure before "and / or" and the structure after "and / or" are set at the same time or alternatively;

[0054] 2. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments in this specification are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multirotor vehicle dynamics testing dedicated platform, characterized by: The fixed frame, the floating frame, the aircraft supporting assembly, the tension sensor and the angle sensor are included. The tension sensor includes an X-direction tension sensor (1), a Y-direction tension sensor (2) and a Z-direction tension sensor (3). The floating frame is arranged inside the fixed frame; a plurality of longitudinal support rods (4) are arranged between the floating frame and the fixed frame, the top end of each longitudinal support rod (4) is connected to the floating frame and the bottom end is connected to the fixed frame, and at least one of the two between the top end of each longitudinal support rod (4) and the floating frame and the bottom end of each longitudinal support rod (4) and the fixed frame is connected through a support rod steering knuckle, the support rod steering knuckle has at least two rotation directions of X-direction and Y-direction; the first end of each of the X-direction tension sensor (1) and the Y-direction tension sensor (2) is connected to the floating frame and the second end is connected to the fixed frame, and at least one of the two between the first end of each of the X-direction tension sensor (1) and the Y-direction tension sensor (2) and the floating frame and the second end of each of the X-direction tension sensor (1) and the Y-direction tension sensor (2) and the fixed frame is hinged, so that the floating frame can float inside the fixed frame. The aircraft supporting assembly includes a carrying platform (5), a center fixed seat (18), a Z-direction rotating shaft (8) and an XY two-way rotating mounting seat assembly including at least an X-direction rotating shaft (6) and a Y-direction rotating shaft (7). The center fixed seat (18) is fixedly installed on the floating frame and located on the longitudinal center axis of the floating frame; the carrying platform (5) is connected to the center fixed seat (18) through the XY two-way rotating mounting seat assembly. The Z-direction rotating shaft (8) penetrates through the center fixed seat (18), the top end of the Z-direction rotating shaft (8) is fixedly connected to the XY two-way rotating mounting seat assembly, the first end of the Z-direction tension sensor (3) is connected to the bottom end of the Z-direction rotating shaft (8), the second end of the Z-direction tension sensor (3) is connected to the floating frame, and at least one of the two between the bottom end of the Z-direction rotating shaft (8) and the first end of the Z-direction tension sensor (3) and the second end of the Z-direction tension sensor (3) and the floating frame is rotationally connected, so that the Z-direction rotating shaft (8) can rotate around its own axis direction relative to the center fixed seat (18) and the floating frame. The X-direction angle sensor (9) is sleeved on the X-direction rotating shaft (6), the Y-direction angle sensor (10) is sleeved on the Y-direction rotating shaft (7), and the Z-direction angle sensor (11) is sleeved on the Z-direction rotating shaft (8). The floating frame includes at least a horizontal top frame (13), a plurality of first frame inner connecting rods (14), a plurality of second frame inner connecting rods (15), two X-direction tension rods (16) and two Y-direction tension rods (17). The first end of each of the two X-direction pull rods (16) and the two Y-direction pull rods (17) is connected to the horizontal top frame (13), and the second end of each of the two X-direction pull rods (16) and the two Y-direction pull rods (17) extends towards the outside of the horizontal top frame (13), and the second end of each of the two X-direction pull rods (16) is connected to the upper end of the fixed frame through an X-direction tension sensor (1), and the second end of each of the two Y-direction pull rods (17) is connected to the upper end of the fixed frame through a Y-direction tension sensor (2); The central fixed seat (18) is arranged on the longitudinal center axis of the horizontal top frame (13), and the central fixed seat (18) is fixedly connected to the horizontal top frame (13) through the plurality of first frame-internal connecting rods (14); the second end of each of the plurality of second frame-internal connecting rods (15) extends towards the inside of the horizontal top frame (13) and intersects at a same point on the longitudinal center axis of the horizontal top frame (13) to form an auxiliary fixed seat (19); the bottom end of the Z-direction rotating shaft (8) is connected to the auxiliary fixed seat (19) through the Z-direction tension sensor (3); The top end of each of the longitudinal support rods (4) is connected to the horizontal top frame (13).

2. The multi-copter dynamics test purpose-built platform of claim 1, wherein: The first end of each of the longitudinal support rods (4) and the floating frame, and the longitudinal support rod (4) and the fixed frame are connected through a cross shaft type bidirectional connecting shaft (12), respectively.

3. The multi-copter dynamics test purpose-built platform of claim 1, wherein: The fixed frame comprises a base (20) and a plurality of longitudinal frame rods (21); The bottom end of each of the longitudinal support rods (4) is connected to the base (20). The bottom end of each of the longitudinal frame rods (21) is fixedly connected to the base (20). The first end of each of the two X-direction pull rods (16) and the two Y-direction pull rods (17) is hingedly connected to the horizontal top frame (13); The second end of each of the two X-direction pull rods (16) is connected to the top end of one of the longitudinal frame rods (21) through an X-direction tension sensor (1), and the two ends of the X-direction tension sensor (1) are hingedly connected to the second end of the corresponding X-direction pull rod (16) and the top end of the corresponding longitudinal frame rod (21), respectively. The second end of each of the two Y-direction pull rods (17) is connected to the top end of one of the longitudinal frame rods (21) through a Y-direction tension sensor (2), and the two ends of the Y-direction tension sensor (2) are hingedly connected to the second end of the corresponding Y-direction pull rod (17) and the top end of the corresponding longitudinal frame rod (21), respectively.

4. The multi-copter dynamics test purpose-built platform of claim 3, wherein: The fixed frame further comprises a plurality of inclined reinforcing rods (22), and the top end of each of the longitudinal frame rods (21) is fixedly connected to the base (20) through at least one of the reinforcing rods (22).

5. The multi-copter dynamics test purpose-built platform of claim 1, wherein: The aircraft support assembly further comprises a support pipe (23), an angle sensor mounting seat (24), and a tension sensor mounting seat (25). The support tube (23) is sleeved on the outside of the Z-direction rotating shaft (8), and the top end is connected with the center fixed seat (18) and the bottom end is connected with the auxiliary fixed seat (19). The angle sensor mounting seat (24) is sleeved on the Z-direction rotating shaft (8) and is fixed on the top end of the center fixed seat (18), and the Z-direction angle sensor (11) is fixedly connected on the angle sensor mounting seat (24). The tension sensor mounting seat (25) is open at the top and hollow inside, and the top is fixedly connected with the bottom end of the auxiliary fixed seat (19); the Z-direction tension sensor (3) is arranged inside the tension sensor mounting seat (25), the bottom end of the Z-direction tension sensor (3) is connected with the bottom of the tension sensor mounting seat (25), and the top end of the Z-direction tension sensor (3) is connected with the Z-direction rotating shaft (8).

6. The multi-copter dynamics test purpose-built platform of claim 5, wherein: The two ends of the Z-direction tension sensor (3) are rotatably connected with the Z-direction rotating shaft (8) and the tension sensor mounting seat (25) through the ball-type universal joint (26).

7. The multi-copter dynamics test purpose-built platform of claim 5, wherein: The aircraft supporting assembly further comprises a first light pole sleeve (27) and a second light pole sleeve (28). The first light pole sleeve (27) is arranged inside the center fixed seat (18) and is sleeved on the Z-direction rotating shaft (8), the inner wall of the first light pole sleeve (27) is attached to the outer wall of the Z-direction rotating shaft (8), and the top end of the first light pole sleeve (27) is fixedly connected with the angle sensor mounting seat (24). The second light pole sleeve (28) is arranged inside the auxiliary fixed seat (19) and is sleeved on the Z-direction rotating shaft (8), the inner wall of the second light pole sleeve (28) is attached to the outer wall of the Z-direction rotating shaft (8), and the bottom end of the second light pole sleeve (28) is fixedly connected with the tension sensor mounting seat (25).

8. The multi-rotor aircraft dynamic test special platform according to claim 1, wherein: The XY two-way rotating mounting seat assembly comprises a first mounting seat (29), a second mounting seat (30), an X-direction rotating shaft (6) and a Y-direction rotating shaft (7). The first mounting seat (29) and the second mounting seat (30) are respectively provided with U-shaped notches, the first mounting seat (29) and the second mounting seat (30) are arranged in a U-shaped notch opposite manner, the Y-direction rotating shaft (7) is arranged at the two sides inside the U-shaped notch of the first mounting seat (29), and the first mounting seat (29) can rotate around the Y-direction rotating shaft (7); the X-direction rotating shaft (6) is arranged at the two sides inside the U-shaped notch of the second mounting seat (30), and the second mounting seat (30) can rotate around the X-direction rotating shaft (6); the X-direction rotating shaft (6) and the Y-direction rotating shaft (7) are crossed and connected with each other; The top end of the Z-direction rotating shaft (8) is fixedly connected with the second mounting seat (30), the top of the carrying platform (5) is fixedly connected with the first mounting seat (29), and the bottom of the center fixed seat (18) is fixedly connected with the second mounting seat (30).

9. The multi-copter dynamics testing platform of claim 8, wherein: The first mounting seat (29) and the second mounting seat (30) are respectively provided with a ball bearing (31) at the position of the inner two sides of the U-shaped notch, and the two ends of the X-direction rotating shaft (6) and the two ends of the Y-direction rotating shaft (7) are respectively rotatably installed in the corresponding ball bearing (31).

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