Unmanned helicopter rotor force test experiment table

Abstract

The unmanned helicopter rotor force test experiment table belongs to the field of aviation and is used for verifying the accuracy of the mathematical model between the blade angle and the rotor force. The unmanned helicopter rotor force test experiment table is composed of an unmanned helicopter, a pipe clamp, a six-degree-of-freedom parallel motion platform, a tension and compression force sensor and a linear slide table. The force of the six supporting legs of the six-degree-of-freedom parallel motion platform is obtained through the tension and compression force sensor, and the rotor force and the moment are calculated accordingly. The attitude control of the six-degree-of-freedom parallel motion platform is realized by controlling the motion of the linear slide table, so that the experiment table can measure the rotor force of the unmanned helicopter under different attitudes. The whole unmanned helicopter is fixed on the six-degree-of-freedom parallel motion platform for experiment, so that the experiment operation is simple and convenient, and the six-rotor force experiment of the main rotor and the tail rotor can be carried out.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of aviation, and particularly relates to a rotor force test experiment table for unmanned helicopter. BACKGROUND

[0002] Unmanned helicopter is a vertical take-off and landing unmanned aircraft controlled by radio remote control or autonomous control. It belongs to rotor aircraft in structure and vertical take-off and landing aircraft in function. Unmanned helicopter has unique flight performance and use value. Compared with manned helicopter, unmanned helicopter has advantages of no personnel casualty, small size and low cost. Compared with fixed-wing unmanned aerial vehicle, unmanned helicopter has advantages of vertical take-off and landing, air hovering, flying in any direction and small take-off and landing site. Unmanned helicopter produces appropriate driving force and steering force (the two forces are collectively referred to as rotor force) by controlling the blade angle of main rotor and tail rotor (tail rotor), and its control system makes unmanned helicopter realize various movements according to the mathematical model between the blade angle and the rotor force, as well as the parameters such as the mass and moment of inertia of the machine body. It can be seen that the accuracy of the mathematical model between the blade angle and the rotor force has a great influence on the performance of unmanned helicopter. Therefore, a rotor force test experiment table for unmanned helicopter is needed to compare the calculation results of the mathematical model with experimental data, so as to verify the accuracy of the rotor force mathematical model and continuously optimize the mathematical model to meet the engineering requirements.

[0003] Domestic and foreign scholars have conducted a large amount of research on the rotor force test problem of helicopter, and established various experiment tables to meet the corresponding engineering requirements to different degrees and from different angles. However, there are still some problems. First, most of the experiment tables need to disassemble the rotor mechanism from the machine body and install it on the experiment table for experiment. Since the rotor mechanism is very complex and the installation process may need to modify its structure, it is time-consuming and laborious to operate. Second, most of the experiment tables can only conduct experiment on the main rotor or tail rotor alone, while the actual control process of unmanned helicopter is to control the rotor force of the two rotors at the same time. In addition, most of the experiment tables can only measure one or several rotor forces, and cannot measure six rotor forces (three forces and three moments) at the same time. SUMMARY

[0004] In order to fill this gap, the present application provides a rotor force test experiment table for unmanned helicopter, which can simplify installation and disassembly, make the experiment process easy, measure the combined effect of main rotor force and tail rotor force, and measure six rotor forces.

[0005] Reference is made to the accompanying drawings Figure 1 The rotor force test experiment table for unmanned helicopter provided by the present application is composed of unmanned helicopter I1, pipe clamp I2, pipe clamp II 3, pipe clamp III 4, pipe clamp IV 5 and six-degree-of-freedom parallel motion platform I 6.Figure 2 The six-degree-of-freedom parallel kinematic platform I 6 is composed of a moving platform aluminum plate I 7, a supporting leg I 8, a supporting leg II 9, a supporting leg III 10, a supporting leg IV 11, a supporting leg V 12, a supporting leg VI 13, and a fixed platform aluminum plate I 14. Refer to the attached drawings. Figure 3 The supporting leg I 8 is composed of a hook joint I 15, a connecting aluminum plate I 16, a piston rod assembly I 17, a piston cylinder assembly I 18, and a hook joint II 19. The structures of the supporting leg II 9, the supporting leg III 10, the supporting leg IV 11, the supporting leg V 12, and the supporting leg VI 13 are the same as those of the supporting leg I 8. Refer to the attached drawings. Figure 4 The hook joint I 15 is composed of a rhombic belt bearing I 20, a rhombic belt bearing II 21, a light shaft I 22, a T-shaped connecting piece I 23, an upright belt bearing I 24, a light shaft II 25, and an upright belt bearing II 26. The structure of the hook joint II 19 is the same as that of the hook joint I 15. Refer to the attached drawings. Figure 5 The piston rod assembly I 17 is composed of a round flange light shaft locking seat I 27, a light shaft III 28, and a tension and compression force sensor assembly I 29. Refer to the attached drawings. Figure 6 The tension and compression force sensor assembly I 29 is composed of a rhombic belt bearing III 30, a connecting aluminum plate II 31, a round flange light shaft locking seat I 32, a round flange linear bearing I 33, an angular aluminum plate I 34, a light shaft IV 35, a light shaft V 36, a round flange linear bearing II 37, a round flange light shaft locking seat II 38, and a tension and compression force sensor I 39. Refer to the attached drawings. Figure 7 The piston cylinder assembly I 18 is composed of a round flange linear bearing I 40, a grooved aluminum plate I 41, a square aluminum tube I 42, a linear sliding table I 43, and a grooved aluminum plate II 44. Refer to the attached drawings. Figure 8 The linear sliding table I 43 is composed of a sliding table main body I 45 and a sliding block I 46.

[0006] Refer to the attached drawings. Figure 1 The landing gear bottom pipe of the unmanned helicopter I 1 is fixedly connected with the moving platform aluminum plate I 7 of the six-degree-of-freedom parallel kinematic platform I 6 through pipe clamps I 2, II 3, III 4, and IV 5.

[0007] Refer to the attached drawings. Figure 2 The upper and lower surfaces of the moving platform aluminum plate I 7 are respectively attached to the mounting surfaces of the rhombic belt bearings I 20 and II 21 of the hook joint I 15 of the supporting leg I 8 and are fixedly connected through bolts. The connection forms of the moving platform aluminum plate I 7 with the supporting leg II 9, the supporting leg III 10, the supporting leg IV 11, the supporting leg V 12, and the supporting leg VI 13 are the same as those of the supporting leg I 8. The upper and lower surfaces of the fixed platform aluminum plate I 14 are respectively in contact with the mounting surfaces of the two rhombic belt bearings of the hook joint II 18 of the supporting leg I 8 and are fixedly connected through bolts. The connection forms of the fixed platform aluminum plate I 14 with the supporting leg II 9, the supporting leg III 10, the supporting leg IV 11, the supporting leg V 12, and the supporting leg VI 13 are the same as those of the supporting leg I 8.

[0008] Refer to the attached drawings.Figure 3 The mounting surface of the vertical bearing with seat Ⅰ 24 and the vertical bearing with seat Ⅱ 26 of the hooke joint Ⅰ 15 respectively abuts the upper surface of the connecting aluminum plate Ⅰ 16 and is fixed by bolts, the lower surface of the connecting aluminum plate Ⅰ 16 abuts the mounting surface of the circular flange light shaft locking seat Ⅰ 27 of the piston rod assembly Ⅰ 17 and is fixed by bolts, the axis of the light shaft Ⅲ 28 of the piston rod assembly Ⅰ 17 coincides with the axis of the circular flange linear bearing Ⅰ 40 of the piston cylinder assembly Ⅰ 18, the bottom mounting surface of the angle aluminum plate Ⅰ 34 of the tension and compression force sensor assembly Ⅰ 29 of the piston rod assembly Ⅰ 17 abuts the mounting surface of the slider Ⅰ 46 of the linear slide Ⅰ 43 of the piston cylinder assembly Ⅰ 18 and is fixed by bolts, and the mounting surface of the slot aluminum plate Ⅱ 44 of the piston cylinder assembly Ⅰ 18 abuts the mounting surface of the two vertical bearings of the hooke joint Ⅱ 19 and is fixed by bolts.

[0009] Wherein, refer to the accompanying drawings Figure 4 The axes of the diamond bearing with seat Ⅰ 20 and the diamond bearing with seat Ⅱ 21 coincide with the axis of the light shaft Ⅰ 22, the bearing inner rings of the diamond bearing with seat Ⅰ 20 and the diamond bearing with seat Ⅱ 21 are respectively fixed to the two pin holes of the light shaft Ⅰ 22 by locking bolts, the axis of the light shaft Ⅰ 22 coincides with the axis of the non-through hole of the T-shaped connecting piece Ⅰ 23, the end surface of the light shaft Ⅰ 22 abuts the end surface of the non-through hole of the T-shaped connecting piece Ⅰ 23 and is fixed by bolts, the axis of the light shaft Ⅱ 25 coincides with the axis of the through hole of the T-shaped connecting piece Ⅰ 23, the T-shaped connecting piece Ⅰ 23 is fixed to the pin hole of the light shaft Ⅱ 25 by a locking bolt, the axes of the vertical bearing with seat Ⅰ 24 and the vertical bearing with seat Ⅱ 26 coincide with the axis of the light shaft Ⅱ 25, and the bearing inner rings of the vertical bearing with seat Ⅰ 24 and the vertical bearing with seat Ⅱ 26 are respectively fixed to the two pin holes of the light shaft Ⅱ 25 by locking bolts.

[0010] Wherein, refer to the accompanying drawings Figure 5 The axis of the circular flange light shaft locking seat Ⅰ 27 coincides with the axis of the light shaft Ⅲ 28, the mounting surface of the circular flange light shaft locking seat Ⅰ 27 coincides with the end surface of the light shaft Ⅲ 28 and is fixed by locking bolts, the axis of the light shaft Ⅲ 28 coincides with the axis of the diamond bearing with seat Ⅲ 30 of the tension and compression force sensor assembly Ⅰ 29, and the bearing inner ring of the diamond bearing with seat Ⅲ 30 of the tension and compression force sensor assembly Ⅰ 29 is fixed to the pin hole of the light shaft Ⅲ 28 by a locking bolt.

[0011] Wherein, refer to the accompanying drawings Figure 6The mounting surface of the quadrilateral belt bearing III 30 is attached to the upper surface of the connecting aluminum plate II 31 and is fixed by bolts, the lower surface of the connecting aluminum plate II 31 is respectively attached to the mounting surface of the method lan light shaft locking seat I 32 and the method lan light shaft locking seat II 38 and is fixed by bolts, the axis of the light shaft IV 35 and the light shaft V 36 respectively coincides with the axis of the method lan light shaft locking seat I 32 and the method lan light shaft locking seat II 38, the end surface of the light shaft IV 35 and the light shaft V 36 is respectively attached to the mounting surface of the method lan light shaft locking seat I 32 and the method lan light shaft locking seat II 38 and is fixed by locking bolts, the axis of the light shaft IV 35 and the light shaft V 36 respectively coincides with the axis of the method lan linear bearing I 33 and the method lan linear bearing II 37, the axis of the method lan linear bearing I 33 and the method lan linear bearing II 37 respectively coincides with the axis of the two mounting holes of the corner aluminum plate I 34, the mounting surface of the method lan linear bearing I 33 and the method lan linear bearing II 37 respectively coincides with the inner surface of the corner aluminum plate I 34 and is fixed by bolts, the corner aluminum plate I 34 is fixed with one end mounting hole of the tension and pressure sensor I 39 by bolts, the other end mounting hole of the tension and pressure sensor I 39 is fixed with the lower surface of the connecting aluminum plate II 31 by bolts.

[0012] Wherein, referring to the accompanying drawings Figure 7 The axis of the circular flange linear bearing I 40 coincides with the axis of the mounting hole of the groove aluminum plate I 41, the mounting surface of the circular flange linear bearing I 40 is attached to the outer surface of the groove aluminum plate I 41 and is fixed by bolts, the inner surface of the groove aluminum plate I 41 is attached to the end surface and the side surface of the square aluminum pipe I 42 and is fixed by bolts, the inner surface of the square aluminum pipe I 42 is attached to the mounting surface of the linear sliding table I 43 and is fixed by bolts, the other end surface and the side surface of the square aluminum pipe I 42 are attached to the inner surface of the groove aluminum plate II 44 and are fixed by bolts.

[0013] The working principle of the present application is as follows:

[0014] The unmanned helicopter rotor force test platform measures the rotor force through the following process. First, the total moment control lever and the period variable moment control lever of the remote controller of the unmanned helicopter control the rotation angle of each rudder of the tilting disc, which can be measured by a protractor, and the blade angle of each rotor can be calculated through the rotation angle of each rudder. Then, the unmanned helicopter is started, and the force and torque generated by the rotor are transmitted to the moving platform aluminum plate I 7 of the six-degree-of-freedom parallel kinematic platform I 6 through the fuselage. Since the moving platform aluminum plate I 7 is supported between the fixed platform aluminum plate I 14 through the supporting legs I 8, the supporting legs II 9, the supporting legs III 10, the supporting legs IV 11, the supporting legs V 12 and the supporting legs VI 13, the force and torque acting on the moving platform aluminum plate I 7 can be measured and calculated through the tension and pressure sensors in each supporting leg, so as to obtain the rotor force. Finally, the calculation results of the mathematical model between the blade angle and the rotor force are compared with the experimental data to verify the accuracy of the mathematical model, and the mathematical model is continuously optimized to meet the engineering requirements.

[0015] The beneficial effects of the present application are:

[0016] Firstly, the unmanned helicopter rotor force test bench can not only measure the rotor force in the horizontal attitude of the unmanned helicopter, but also measure the rotor force in different attitudes or even in dynamic state, because the displacement of the slider 146 of the linear slide table 143 of each leg of the six-degree-of-freedom parallel motion platform 6 relative to the slide table body 145 can change the length of each leg, thereby controlling the posture of the motion platform aluminum plate 7 relative to the fixed platform aluminum plate 114; secondly, the present application does not need to disassemble the rotor mechanism from the machine for experiment, but fixes the entire unmanned helicopter on the six-degree-of-freedom parallel motion platform 6, so that the experimental operation is more simple and convenient; in addition, the present application can not only perform the experiment of the main rotor or tail rotor alone, but also perform the experiment of the combined effect of the main rotor and tail rotor working together; finally, the present application can simultaneously measure six rotor forces (three forces and three moments). BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the unmanned helicopter rotor force test bench

[0018] Figure 2 is a structural schematic diagram of the six-degree-of-freedom parallel motion platform 6

[0019] Figure 3 is a structural schematic diagram of the leg 8

[0020] Figure 4 is a structural schematic diagram of the hook joint 115

[0021] Figure 5 is a structural schematic diagram of the piston rod assembly 117

[0022] Figure 6 is a structural schematic diagram of the tension and compression force sensor assembly 129

[0023] Figure 7 is a structural schematic diagram of the piston cylinder assembly 118

[0024] Figure 8 is a structural schematic diagram of the linear slide table 143

[0025] Figure 9 is a structural schematic diagram of the square aluminum pipe 142

[0026] Figure 10 is a structural schematic diagram of the grooved aluminum plate 141

[0027] Figure 11 is a structural schematic diagram of the grooved aluminum plate 144

[0028] Figure 12Structure diagram of round flange linear bearing 140

[0029] Figure 13 Structure diagram of angle aluminum plate 134

[0030] Figure 14 Structure diagram of tension and compression force sensor 139

[0031] Figure 15 Structure diagram of rhombic belt bearing 120

[0032] Figure 16 Structure diagram of method flange linear bearing 132

[0033] Figure 17 Structure diagram of method flange linear bearing 133

[0034] Figure 18 Structure diagram of round flange linear bearing 127

[0035] Figure 19 Structure diagram of vertical belt bearing 124

[0036] Figure 20 Structure diagram of pipe clamp 2

[0037] 1. unmanned helicopter 2. pipe clamp 3. pipe clamp 4. pipe clamp 5. pipe clamp 6. six degree of freedom parallel motion platform 7. motion platform aluminum plate 8. support leg 9. support leg 10. support leg 11. support leg 12. support leg 13. support leg 14. fixed platform aluminum plate 15. hooke joint 16. connecting aluminum plate 17. piston rod assembly 18. piston cylinder assembly 19. hooke joint 20. rhombic belt bearing 21. rhombic belt bearing 22. linear shaft 23. T-shaped connecting piece 24. vertical belt bearing 25. linear shaft 26. vertical belt bearing 27. round flange linear bearing 28. linear shaft 29. tension and compression force sensor assembly 30. rhombic belt bearing 31. connecting aluminum plate 32. method flange linear bearing 33. method flange linear bearing 34. angle aluminum plate 35. linear shaft 36. linear shaft 37. method flange linear bearing 38. method flange linear bearing 39. tension and compression force sensor 40. round flange linear bearing 41. slot aluminum plate 42. square aluminum pipe 43. linear slide 44. slot aluminum plate 45. slide main body 46. slide block DETAILED DESCRIPTION

[0038] Please refer to the attached Figures 1-20 , the unmanned helicopter rotor force test bench described in the application, the specific implementation is as follows:

[0039] See appendix Figure 1 The unmanned helicopter rotor force testing test bench of the present invention consists of an unmanned helicopter I1, pipe clamps I2, II3, III4, IV5, and a six-degree-of-freedom parallel motion platform I6. (See attached document.) Figure 2 The six-degree-of-freedom parallel motion platform I6 is composed of motion platform aluminum plate I7, support legs I8, II9, III10, IV11, V12, VI13, and fixed platform aluminum plate I14. (See attached diagram.) Figure 3 The outrigger I8 is composed of Hooke's hinge I15, connecting aluminum plate I16, piston rod assembly I17, piston cylinder assembly I18, and Hooke's hinge II19. The structures of outriggers II9, III10, IV11, V12, and VI13 are the same as those of outrigger I8. See Appendix. Figure 4 The Hooke hinge I15 is composed of a rhomboid seated bearing I20, a rhomboid seated bearing II21, an optical shaft I22, a T-type connector I23, a vertical seated bearing I24, an optical shaft II25, and a vertical seated bearing II26. The structure of the Hooke hinge II19 is the same as that of the Hooke hinge I15. See Appendix. Figure 5 The piston rod assembly I17 consists of a circular flange optical axis locking seat I27, an optical axis III28, and a tension / compression sensor assembly I29. (See attached document.) Figure 6 The tension / compression sensor assembly I29 comprises a rhomboid bearing III30, a connecting aluminum plate II31, a flange optical axis locking seat I32, a flange linear bearing I33, an angle aluminum plate I34, an optical axis IV35, an optical axis V36, a flange linear bearing II37, a flange optical axis locking seat II38, and a tension / compression sensor I39. (See attached diagram.) Figure 7 The piston cylinder assembly I18 consists of a round flange linear bearing I40, a slotted aluminum plate I41, a square aluminum tube I42, a linear slide I43, and a slotted aluminum plate II44. (See attached diagram.) Figure 8 The linear slide I43 is composed of a slide body I45 and a slider I46.

[0040] See attached Figure 1 The landing gear bottom tube of the unmanned helicopter I1 is fixedly connected to the motion platform aluminum plate I7 ​​of the six-degree-of-freedom parallel motion platform I6 through pipe clamps I2, II3, III4, and IV5 respectively.

[0041] See attached Figure 2The upper and lower surfaces of the moving platform aluminum plate 17 are respectively attached to the mounting surfaces of the two rectangular belt bearing 120 and the rectangular belt bearing 121 of the hooke joint 115 of the supporting leg 18 and are fixed by bolts, the connecting mode of the moving platform aluminum plate 17 with the supporting leg 29, the supporting leg 310, the supporting leg 411, the supporting leg 512 and the supporting leg 613 is the same as that of the supporting leg 18, the upper and lower surfaces of the fixed platform aluminum plate 114 are respectively contacted with the mounting surfaces of the two rectangular belt bearings of the hooke joint 118 of the supporting leg 18 and are fixed by bolts, the connecting mode of the fixed platform aluminum plate 114 with the supporting leg 29, the supporting leg 310, the supporting leg 411, the supporting leg 512 and the supporting leg 613 is the same as that of the supporting leg 18.

[0042] Wherein, referring to the attached Figure 3 The mounting surfaces of the vertical belt bearing 124 and the vertical belt bearing 126 of the hooke joint 115 are respectively attached to the upper surface of the connecting aluminum plate 116 and are fixed by bolts, the lower surface of the connecting aluminum plate 116 is attached to the mounting surface of the circular flange optical shaft locking seat 127 of the piston rod assembly 117 and is fixed by bolts, the axis of the optical shaft 128 of the piston rod assembly 117 coincides with the axis of the circular flange linear bearing 140 of the piston cylinder assembly 118, the bottom mounting surface of the aluminum angle plate 134 of the tension and pressure sensor assembly 129 of the piston rod assembly 117 is attached to the mounting surface of the slider 146 of the linear slide 143 of the piston cylinder assembly 118 and is fixed by bolts, the mounting surface of the slot aluminum plate 144 of the piston cylinder assembly 118 is attached to the mounting surfaces of the two vertical belt bearings of the hooke joint 119 and is fixed by bolts.

[0043] Wherein, referring to the attached Figure 4 The axes of the rectangular belt bearing 120 and the rectangular belt bearing 121 coincide with the axis of the optical shaft 122, the inner rings of the rectangular belt bearing 120 and the rectangular belt bearing 121 are respectively fixed to the two pin holes of the optical shaft 122 by locking bolts, the axis of the optical shaft 122 coincides with the axis of the non-through hole of the T-shaped connecting piece 123, the end surface of the optical shaft 122 is attached to the end surface of the non-through hole of the T-shaped connecting piece 123 and is fixed by bolts, the axis of the optical shaft 125 coincides with the axis of the through hole of the T-shaped connecting piece 123, the T-shaped connecting piece 123 is fixed to the pin hole of the optical shaft 125 by a locking bolt, the axes of the vertical belt bearing 124 and the vertical belt bearing 126 coincide with the axis of the optical shaft 125, the inner rings of the vertical belt bearing 124 and the vertical belt bearing 126 are respectively fixed to the two pin holes of the optical shaft 125 by locking bolts.

[0044] Wherein, referring to the attached Figure 5, the axis of the circular flange optical axis locking seat 127 coincides with the axis of the optical axis 128, the mounting surface of the circular flange optical axis locking seat 127 coincides with the end surface of the optical axis 128 and is fixed by locking bolts, the axis of the optical axis 128 coincides with the axis of the diamond belt seat bearing 130 of the tensile and compressive force sensor assembly 129, and the bearing inner ring of the diamond belt seat bearing 130 of the tensile and compressive force sensor assembly 129 is fixed to the pin hole of the optical axis 128 by locking bolts.

[0045] Wherein, referring to the accompanying drawings Figure 6 , the mounting surface of the diamond belt seat bearing 130 coincides with the upper surface of the connecting aluminum plate 131 and is fixed by bolts, the lower surface of the connecting aluminum plate 131 coincides with the mounting surface of the circular flange optical axis locking seat 132 and the circular flange optical axis locking seat 138 respectively and is fixed by bolts, the axes of the optical axis 135 and the optical axis 136 respectively coincide with the axes of the circular flange optical axis locking seat 132 and the circular flange optical axis locking seat 138, the end surfaces of the optical axis 135 and the optical axis 136 respectively coincide with the mounting surfaces of the circular flange optical axis locking seat 132 and the circular flange optical axis locking seat 138 and are fixed by locking bolts, the axes of the optical axis 135 and the optical axis 136 respectively coincide with the axes of the circular flange linear bearing 133 and the circular flange linear bearing 137, the axes of the circular flange linear bearing 133 and the circular flange linear bearing 137 respectively coincide with the axes of the two mounting holes of the angle aluminum plate 134, the mounting surfaces of the circular flange linear bearing 133 and the circular flange linear bearing 137 respectively coincide with the inner surfaces of the angle aluminum plate 134 and are fixed by bolts, the angle aluminum plate 134 is fixed to one end mounting hole of the tensile and compressive force sensor 139 by bolts, and the other end mounting hole of the tensile and compressive force sensor 139 is fixed to the lower surface of the connecting aluminum plate 131 by bolts.

[0046] Wherein, referring to the accompanying drawings Figure 7 , the axis of the circular flange linear bearing 140 coincides with the axis of the mounting hole of the groove aluminum plate 141, the mounting surface of the circular flange linear bearing 140 coincides with the outer surface of the groove aluminum plate 141 and is fixed by bolts, the inner surface of the groove aluminum plate 141 coincides with the end surface and the side surface of the square aluminum pipe 142 and is fixed by bolts, the inner surface of the square aluminum pipe 142 coincides with the mounting surface of the linear sliding table 143 and is fixed by bolts, and the other end surface and the side surface of the square aluminum pipe 142 coincide with the inner surface of the groove aluminum plate 144 and are fixed by bolts.

[0047] The unmanned helicopter rotor force test experiment table realizes the measurement of the rotor force through the following process. First, the angles of the respective rudders of the tilt disc are controlled through the total moment control lever and the period variable moment control lever of the remote controller of the unmanned helicopter, and the angle can be measured through a protractor, and the blade angle of each rotor can be calculated through the angle of each rudder. Then, the unmanned helicopter is started, and the force and moment generated by the rotor are transmitted to the moving platform aluminum plate 17 of the six-degree-of-freedom parallel motion platform 16 through the fuselage, and the force and moment borne by the moving platform aluminum plate 17 can be measured and calculated through the tension and compression force sensors in the legs, so as to obtain the rotor force. Finally, the calculation results of the mathematical model between the blade angle and the rotor force are compared with the experimental data to verify the accuracy of the mathematical model, and the mathematical model is continuously optimized to meet the engineering requirements.

[0048] The unmanned helicopter rotor force F = [F x F y F z ] T and the moment M = [M x M y M z ] T and the force (tension is positive and pressure is negative) f = [f1 f2 f3 f4 f5 f6] T measured by the tension and compression force sensors in the legs 18, 19, 110, 111, 112, 113 are as follows:

[0049]

[0050] In the formula, e1 is the unit vector of the intersection of the two axes of the T-shaped connecting piece of the hook joint 119 of the leg 18 to the intersection of the two axes of the T-shaped connecting piece of the hook joint 115, e i (i = 2, 3, 4, 5, 6) are similar to e1, which are the respective unit vectors of the legs 19, 110, 111, 112, 113; r1 is the position vector of the intersection of the two axes of the T-shaped connecting piece of the hook joint 119 of the leg 18 in a certain connected coordinate system oxyz of the fixed platform aluminum plate 114 of the six-degree-of-freedom parallel motion platform 16, and r i (i = 2, 3, 4, 5, 6) are similar to r1, which are the respective position vectors of the legs 19, 110, 111, 112, 113.

Claims

1. A test bench for measuring the rotor thrust of an unmanned helicopter, characterized in that The utility model provides a kind of unmanned helicopter, which is composed of unmanned helicopter I (1), pipe clamp I (2), pipe clamp II (3), pipe clamp III (4), pipe clamp IV (5) and six degrees of freedom parallel kinematic platform I (6). Six degrees of freedom parallel kinematic platform I (6) is composed of moving platform aluminum plate I (7), support leg I (8), support leg II (9), support leg III (10), support leg IV (11), support leg V (12), support leg VI (13) and fixed platform aluminum plate I (14). All support legs are composed of hooke joint I (15), connecting aluminum plate I (16), piston rod assembly I (17), piston cylinder assembly I (18) and hooke joint II (19). Hooke joint I (15) is composed of rhombic belt bearing I (20), rhombic belt bearing II (21), light shaft I (22), T-shaped connecting piece I (23), vertical belt bearing I (24), light shaft II (25) and vertical belt bearing II (26). Piston rod assembly I (17) is composed of circular flange light shaft locking seat I (27), light shaft III (28) and tension and compression force sensor assembly I (29). Tension and compression force sensor assembly I (29) is composed of rhombic belt bearing III (30), connecting aluminum plate II (31), method blue light shaft locking seat I (32), method blue linear bearing I (33), angular aluminum plate I (34), light shaft IV (35), light shaft V (36), method blue linear bearing II (37), method blue light shaft locking seat II (38) and tension and compression force sensor I (39). Piston cylinder assembly I (18) is composed of circular flange linear bearing I (40), slot aluminum plate I (41), square aluminum pipe I (42), linear slide I (43) and slot aluminum plate II (44). Linear slide I (43) is composed of slide main body I (45) and slide block I (46). The landing gear bottom pipe of unmanned helicopter I (1) is fixedly connected with the moving platform aluminum plate I (7) of six degrees of freedom parallel kinematic platform I (6) through pipe clamp I (2), pipe clamp II (3), pipe clamp III (4) and pipe clamp IV (5). The upper and lower surfaces of moving platform aluminum plate I (7) are respectively attached to the mounting surfaces of rhombic belt bearing I (20) and rhombic belt bearing II (21) of hooke joint I (15) and are fixedly connected by bolts. The upper and lower surfaces of fixed platform aluminum plate I (14) are respectively in contact with the mounting surfaces of two rhombic belt bearings of hooke joint II (19) and are fixedly connected by bolts. The mounting surfaces of vertical belt bearing I (24) and vertical belt bearing II (26) of hooke joint I (15) are respectively attached to the upper surface of connecting aluminum plate I (16) and are fixedly connected by bolts. The lower surface of connecting aluminum plate I (16) is attached to the mounting surface of circular flange light shaft locking seat I (27) of piston rod assembly I (17) and is fixedly connected by bolts. The axis of light shaft III (28) of piston rod assembly I (17) coincides with the axis of circular flange linear bearing I (40) of piston cylinder assembly I (18).The bottom mounting surface of the angle aluminum plate I (34) of the tension and compression force sensor assembly I (29) of the piston rod assembly I (17) is attached to and fixed by bolts to the mounting surface of the slider I (46) of the linear slide I (43) of the piston cylinder assembly I (18), the mounting surface of the slot aluminum plate II (44) of the piston cylinder assembly I (18) is attached to and fixed by bolts to the mounting surfaces of the two vertical bearing seat bearings of the hooke joint II (19), the axes of the diamond bearing seat bearing I (20) and the diamond bearing seat bearing II (21) coincide with the axis of the optical shaft I (22), the inner rings of the diamond bearing seat bearing I (20) and the diamond bearing seat bearing II (21) are fixed by locking bolts at the two pin holes of the optical shaft I (22), the axis of the optical shaft I (22) coincides with the axis of the non-through hole of the T-shaped connecting piece I (23), the end surface of the optical shaft I (22) is attached to and fixed by bolts to the end surface of the non-through hole of the T-shaped connecting piece I (23), the axis of the optical shaft II (25) coincides with the axis of the through hole of the T-shaped connecting piece I (23), the T-shaped connecting piece I (23) is fixed by a locking bolt at the pin hole of the optical shaft II (25), the axes of the vertical bearing seat bearing I (24) and the vertical bearing seat bearing II (26) coincide with the axis of the optical shaft II (25), the inner rings of the vertical bearing seat bearing I (24) and the vertical bearing seat bearing II (26) are fixed by locking bolts at the two pin holes of the optical shaft II (25), the axis of the circular flange optical shaft locking seat I (27) coincides with the axis of the optical shaft III (28), the mounting surface of the circular flange optical shaft locking seat I (27) coincides with the end surface of the optical shaft III (28) and is fixed by locking bolts, the axis of the optical shaft III (28) coincides with the axis of the diamond bearing seat bearing III (30) of the tension and compression force sensor assembly I (29), the inner ring of the diamond bearing seat bearing III (30) of the tension and compression force sensor assembly I (29) is fixed by a locking bolt at the pin hole of the optical shaft III (28), the mounting surface of the diamond bearing seat bearing III (30) is attached to and fixed by bolts to the upper surface of the connecting aluminum plate II (31), the lower surface of the connecting aluminum plate II (31) is respectively attached to and fixed by bolts to the mounting surfaces of the method flange optical shaft locking seat I (32) and the method flange optical shaft locking seat II (38), the axes of the optical shaft IV (35) and the optical shaft V (36) respectively coincide with the axes of the method flange optical shaft locking seat I (32) and the method flange optical shaft locking seat II (38), the end surfaces of the optical shaft IV (35) and the optical shaft V (36) respectively coincide with the mounting surfaces of the method flange optical shaft locking seat I (32) and the method flange optical shaft locking seat II (38) and are fixed by locking bolts, the axes of the optical shaft IV (35) and the optical shaft V (36) respectively coincide with the axes of the method flange linear bearing I (33) and the method flange linear bearing II (37), the axes of the method flange linear bearing I (33) and the method flange linear bearing II (37) respectively coincide with the axes of the two mounting holes of the angle aluminum plate I (34), the mounting surfaces of the method flange linear bearing I (33) and the method flange linear bearing II (37) respectively coincide with the inner surfaces of the angle aluminum plate I (34) and are fixed by bolts,The corner aluminum plate I (34) is fixedly connected with one end of the tensile and compressive force sensor I (39) through a bolt, the other end of the tensile and compressive force sensor I (39) is fixedly connected with the lower surface of the connecting aluminum plate II (31) through a bolt, the axis of the circular flange linear bearing I (40) coincides with the axis of the mounting hole of the grooved aluminum plate I (41), the mounting surface of the circular flange linear bearing I (40) is attached to the outer surface of the grooved aluminum plate I (41) and is fixedly connected through a bolt, the inner surface of the grooved aluminum plate I (41) is attached to the end surface and the side surface of the square aluminum pipe I (42) and is fixedly connected through a bolt, the inner surface of the square aluminum pipe I (42) is attached to the mounting surface of the linear slide table I (43) and is fixedly connected through a bolt, the other end surface and the side surface of the square aluminum pipe I (42) are attached to the inner surface of the grooved aluminum plate II (44) and are fixedly connected through a bolt, and the experimental method is as follows: the total moment control lever and the period variable moment control lever of the remote controller of the unmanned helicopter are used to control the rotation angle of each rudder of the tilting disc, the angle is measured through a protractor, the blade angle of each rotor is calculated through the rotation angle of each rudder, the unmanned helicopter is started, the force and the moment generated by the rotor are transmitted to the moving platform aluminum plate I (7) of the six-degree-of-freedom parallel motion platform I (6) through the fuselage, the force and the moment borne by the moving platform aluminum plate I (7) are measured and calculated through the tensile and compressive force sensors in each leg, the rotor force is obtained, the calculation result of the mathematical model between the blade angle and the rotor force is compared with the experimental data, the accuracy of the mathematical model is verified, and the mathematical model is continuously optimized to meet the engineering requirements.

Images