A test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions

Abstract

The present application relates to experimental device technical field, aims at solving the problem that the existing technology cannot test the lift, torque and hinge moment of coaxial rotor aircraft in different motion states, and provides a kind of rotor unmanned aerial vehicle motion characteristic testing device under multiple working conditions, including test connecting disc;Test connecting disc shaft center is detachably connected with the action control system of coaxial rotor unmanned aerial vehicle;The action control system of coaxial rotor unmanned aerial vehicle has main shaft, and main shaft is sequentially sleeved with rotor drive motor, rotor system, cross operating disc system and steering machine from top to bottom, one side of cross operating disc system is connected with rotor system, the other side of cross operating disc system is connected with steering machine, and steering machine is connected with steering machine support seat, and steering machine is fixed on main shaft through steering machine support seat, and one end of main shaft is detachably fixedly connected on test connecting disc.The beneficial effects of the present application are that the lift, torque and hinge moment of coaxial rotor unmanned aerial vehicle in different motion states can be tested.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of experimental devices, in particular to a testing device for motion characteristics of a rotor unmanned aerial vehicle under various working conditions. BACKGROUND

[0002] At present, a coaxial dual-rotor unmanned aerial vehicle has outstanding capabilities that other fixed-wing unmanned aerial vehicles do not have, such as vertical take-off and landing, long-time hovering, covert low-altitude flight, etc. At the same time, the coaxial dual-rotor unmanned aerial vehicle also has high maneuverability, such as being able to quickly realize rapid pitching, rolling, etc. actions, and the take-off and landing are less affected by the terrain, without the need for special runways, airports and other auxiliary facilities.

[0003] At present, the experimental devices for testing the coaxial dual-rotor unmanned aerial vehicle mainly include the application number 2019109057243, the invention name is a vertical hanging type Mars flying vehicle single-rotor system aerodynamic characteristic testing device, and the application number 2019109067993, the invention name is a pitch adjustable Mars flying vehicle coaxial rotor hovering characteristic measuring device. These two patents mainly test the aerodynamic characteristics of the unmanned aerial vehicle in the hovering state, and cannot realize the test for other motion states, such as pitching, rolling, etc. SUMMARY

[0004] The present application aims to provide a testing device for motion characteristics of a rotor unmanned aerial vehicle under various working conditions, so as to solve the problem that the existing technology cannot test the lift, torque and hinge moment of the coaxial dual-rotor flying vehicle under different motion states.

[0005] The embodiments of the present application are implemented as follows:

[0006] The embodiments of the present application provide a testing device for motion characteristics of a rotor unmanned aerial vehicle under various working conditions, which comprises a power test bench;

[0007] The power test bench has a power test bench and a test connecting disc, and the test connecting disc is rotatably connected to the power test bench;

[0008] A coaxial dual-rotor unmanned aerial vehicle action control system is arranged on the axis of the test connecting disc, and the coaxial dual-rotor unmanned aerial vehicle action control system is detachably fixedly connected to the test connecting disc;

[0009] The coaxial dual-rotor unmanned aerial vehicle motion control system has a main shaft, the rotor driving motor, the rotor system, the cross operation disc system and the rudder are sequentially sleeved on the main shaft from top to bottom, one side of the cross operation disc system is connected with the rotor system, the other side of the cross operation disc system is connected with the rudder, the rudder is connected with the rudder support seat, the rudder is fixed on the main shaft through the rudder support seat, and one end of the main shaft is detachably fixed and connected on the test connecting disc.

[0010] Optionally, the rotor system has mutually symmetrical rotors, and the rotors are perpendicular to the main shaft.

[0011] In this way, the vertical take-off and landing, long-time hovering and concealed low-altitude flight of the unmanned aerial vehicle can be realized.

[0012] Optionally, the cross operation disc system has an upper rotating disc and a lower fixed disc, T-shaped pull arms and L-shaped pull arms are arranged between the upper rotating disc and the rotors, the T-shaped pull arms and the L-shaped pull arms are rotationally connected with each other, one end of the T-shaped pull arms is hingedly connected to the upper rotating disc, and one end of the L-shaped pull arms is fixedly connected to the outer side wall of the rotors.

[0013] Optionally, the side surface of the lower fixed disc has three groups of ball head pull rods, ball heads of the ball head pull rods are connected with rudder rocker arms in a matched mode, and the other ends of the rudder rocker arms are connected to the rudder.

[0014] Optionally, a U-shaped fixing piece is arranged between the lower fixed disc and the rudder support seat, the ball head pull rods of the lower fixed disc are provided with fixing rods, the fixing rods are limited in the elongated holes at one end of the U-shaped fixing piece, and the other end of the U-shaped fixing piece is fixedly connected to the rudder support seat.

[0015] Optionally, the rudder support seat has a sleeve, the sleeve is sleeved on the main shaft, three groups of support pieces are arranged in the radial direction of the sleeve, the support pieces are uniformly fixed to the outer wall of the sleeve, the outer ends of the support pieces are fixedly connected with buckles, the rudder is fixedly connected to the buckles, and the other end of the U-shaped fixing piece is fixedly connected to the buckles.

[0016] In this way, the periodic pitch angle and the total pitch angle of the rotors can be changed through the movement of the rudder.

[0017] Optionally, the power test bench has a fixed bench and a horizontal slide bar, the power test bench is fixedly connected to one end of the fixed bench, and the other end of the fixed bench is fixedly connected to the horizontal slide bar in a perpendicular mode.

[0018] The horizontal sliding rod is further provided with a movable vertical rod, one end of the movable vertical rod is vertically and slidably connected to the horizontal sliding rod, the movable vertical rod is parallel to the fixed rack, and the other end of the movable vertical rod is fixedly connected to another set of the power test bench.

[0019] In this way, the movable vertical rod cooperates with the fixed rack to facilitate measurement of the rotating speed, torque and lift of the rotor at different paddle spacings.

[0020] Optionally, the bottom of the lower fixed disc is fixedly connected with a cross disc fixing piece, the bottom of the cross disc fixing piece is provided with a sensor support seat, and three groups of tension and pressure sensors are arranged between the sensor support seat and the cross disc fixing piece, and each tension and pressure sensor is fixed on the sensor support seat.

[0021] Each tension and pressure sensor is provided with a sensor connecting frame, and a double-headed screw rod is connected between each sensor connecting frame and the cross disc fixing piece.

[0022] In this way, the rotating speed, torque and lift of the rotor can be tested by the above-mentioned components.

[0023] Optionally, a plurality of through installation holes are formed in the cross disc fixing piece, one end of each double-headed screw rod is threadedly connected in the corresponding installation hole, and the other end of each double-headed screw rod is threadedly connected to the corresponding sensor connecting frame.

[0024] The ball head of the ball head tension rod, the installation hole, the axis of the sensor connecting frame and the axis of the tension and pressure sensor are located on the same axis.

[0025] Optionally, a rack connecting piece is arranged between the coaxial dual-rotor unmanned aerial vehicle motion control system and the test connecting disc, and the main shaft in the coaxial dual-rotor unmanned aerial vehicle motion control system is fixedly connected to the test connecting disc through the rack connecting piece.

[0026] In this way, the rack connecting piece is arranged to facilitate the test connecting disc to connect the main shafts of different sizes, so that the power test rack can test the motion characteristics of different types of coaxial dual-rotor unmanned aerial vehicles under various working conditions.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the periodic pitch angle and total pitch angle of the rotor can be changed through the movement of the steering engine.

[0029] The application provides a testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions.

[0030] The application provides a testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions.

[0031] The application provides a testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions.

[0032] The application provides a testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions.

[0033] In summary, the testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions has the beneficial effect of testing the lift, torque and hinge moment of a coaxial dual-rotor aircraft under different motion states. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0035] Figure 1 It is a side view of the testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions in the embodiments of the application.

[0036] Figure 2 It is a structural schematic view of the power test stand in the embodiments of the application.

[0037] Figure 3 It is a structural schematic view of the testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions in the embodiments of the application.

[0038] Figure 4 It shows the component composition of the testing device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions in the embodiments of the application.

[0039] Figure 5 Figure 1 shows a schematic diagram of a rudder support seat structure in an embodiment of the present application;

[0040] Figure 6 Figure 2 shows a schematic diagram of a variable pitch distance testing device structure in an embodiment of the present application (pitch is rotor);

[0041] Figure 7 Figure 3 shows a schematic diagram of a variable pitch distance in a large state structure in an embodiment of the present application (pitch is rotor);

[0042] Figure 8 Figure 4 shows a schematic diagram of a hinge moment testing device structure in an embodiment of the present application;

[0043] Figure 9 Figure 5 shows a schematic diagram of a hinge moment testing device installation structure in an embodiment of the present application.

[0044] Figure 1 shows a schematic diagram of a rudder support seat structure in an embodiment of the present application; DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part 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 drawings herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present 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.

[0047] Embodiment one

[0048] Reference Figure 1 , Figure 2 ,Figure 3 , Figure 4 and Figure 5 This embodiment proposes a testing device for the motion characteristics of a rotary-wing unmanned aerial vehicle under various working conditions, including a power test bench 1;

[0049] The power test bench 1 has a power test bench 2 and a test connection plate 3, and the test connection plate 3 is rotatably connected to the power test bench 2;

[0050] The test connection plate 3 is equipped with a coaxial dual-rotor UAV motion control system 4 on its axis. The coaxial dual-rotor UAV motion control system 4 is detachably and fixedly connected to the test connection plate 3.

[0051] The coaxial dual-rotor UAV motion control system 4 has a main shaft 5. From top to bottom, the main shaft 5 is fitted with a rotor drive motor 6, a rotor system 7, a cross control disk system 8, and a servo motor 9. One side of the cross control disk system 8 is connected to the rotor system 7, and the other side of the cross control disk system 8 is connected to the servo motor 9. The servo motor 9 is connected to a servo motor support 10 and is fixed to the main shaft 5 through the servo motor support 10. One end of the main shaft 5 is detachably fixed to the test connection disk 3.

[0052] The rotor system 7 has symmetrical rotors 11, which are perpendicular to the main shaft 5. This facilitates the UAV's ability to take off and land vertically, hover for a long time, and fly stealthily at low altitudes.

[0053] The cross control system 8 has an upper rotating disk 12 and a lower fixed disk 13. A T-shaped pull arm 14 and an L-shaped pull arm 15 are provided between the upper rotating disk 12 and the rotor 11. The T-shaped pull arm 14 and the L-shaped pull arm 15 are rotatably connected to each other. One end of the T-shaped pull arm 14 is hinged to the upper rotating disk 12, and one end of the L-shaped pull arm 15 is fixedly connected to the outer wall of the rotor 11.

[0054] The side of the lower fixed plate 13 has three sets of ball joint rods 16, and a servo rocker arm 17 is connected to the ball joint of the ball joint rod 16. The other end of the servo rocker arm 17 is connected to the servo 9.

[0055] A U-shaped fastener 18 is provided between the lower fixed plate 13 and the servo support 10. The ball joint rod 16 of the lower fixed plate 13 has a fixing rod 19. The fixing rod 19 is limited to the elongated hole at one end of the U-shaped fastener 18, and the other end of the U-shaped fastener 18 is fixedly connected to the servo support 10.

[0056] The rudder support base 10 has a sleeve 20 sleeved on the main shaft 5, three groups of support members 21 are arranged in the radial direction of the sleeve 20, each support member 21 is uniformly fixed to the outer wall of the sleeve 20, and the outer end of each support member 21 is fixedly connected with a fastener 22, the rudder 9 is fixedly connected with the fastener 22, and the other end of the U-shaped fixing member 18 is fixedly connected with the fastener 22. Through the movement of the rudder 9, the cyclic pitch angle and the total pitch angle of the rotor 11 can be changed.

[0057] Example two

[0058] Referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , on the basis of example one, the power test bench 1 has a fixed bench 23 and a horizontal slide bar 24, the power test bench 2 is fixedly connected to one end of the fixed bench 23, and the other end of the fixed bench 23 is fixedly connected to the horizontal slide bar 24 in a vertical manner.

[0059] The horizontal slide bar 24 is further provided with a movable vertical rod 25, one end of the movable vertical rod 25 is slidably connected to the horizontal slide bar 24 in a vertical manner, the movable vertical rod 25 is parallel to the fixed bench 23, and the other end of the movable vertical rod 25 is fixedly connected with another group of power test benches 2. The movable vertical rod 25 and the fixed bench 23 cooperate with each other, so as to facilitate the measurement of the rotation speed, torque and lift of the rotor 11 at different paddle spacings.

[0060] Example three

[0061] Referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 , in combination with example one and example two, the bottom of the lower fixed disc 13 is fixedly connected with a cross disc fixing member 26, the bottom of the cross disc fixing member 26 is provided with a sensor support base 27, three groups of tension and pressure sensors 28 are arranged between the sensor support base 27 and the cross disc fixing member 26, and each tension and pressure sensor 28 is fixed to the sensor support base 27. Each tension and pressure sensor 28 is provided with a sensor connecting frame 29, and a double-headed screw rod 30 is connected between each sensor connecting frame 29 and the cross disc fixing member 26. Through the above-mentioned components, the hinge moment of the rotor 11 around its own axis can be tested.

[0062] A plurality of through installation holes 31 are formed in the cross plate fixing member 26, one end of each double-headed screw rod 30 is threadedly connected in a corresponding installation hole 31, and the other end of each double-headed screw rod 30 is threadedly connected on a corresponding sensor connecting frame 29; the ball head of the ball head pull rod 16, the installation hole 31, the axis of the sensor connecting frame 29 and the axis of the tension and compression sensor 28 are all located on the same axis.

[0063] A test connecting plate 3 is arranged on the power test bench 1, and the coaxial dual-rotor unmanned aerial vehicle motion control system 4 is arranged on the test connecting plate 3.

[0064] Compared with the prior art, the present application has the following beneficial effects:

[0065] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the periodic pitch angle and total pitch angle of the rotor can be changed through the movement of the steering engine.

[0066] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the speed of the rotor 11 can be changed through the rotor driving motor 6, so that the coaxial dual-rotor unmanned aerial vehicle can complete hovering, forward flight, pitching, rolling and other actions.

[0067] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the speed, torque and lift of the rotor 11 can be tested through the power test bench 2, so that the lift and torque of the coaxial dual-rotor unmanned aerial vehicle under different motion states can be obtained.

[0068] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the experimental data of the speed, torque and lift of the rotor 11 under different blade spacings can be detected through the arrangement of the movable vertical rod 25.

[0069] The present application provides a test device for the motion characteristics of a rotor unmanned aerial vehicle under various working conditions, and the test of the hinge moment of the coaxial dual-rotor unmanned aerial vehicle is realized through the arrangement of the cross plate fixing member 26, the sensor support seat 27, the tension and compression sensor 28, the sensor connecting frame 29 and the double-headed screw rod 30.

[0070] The above description is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rotor unmanned aerial vehicle motion characteristic test device under various working conditions, characterized in that: it comprises a power test bench; the power test bench has a power test table and a test connecting disc, the test connecting disc is rotatably connected to the power test table; a coaxial dual-rotor unmanned aerial vehicle action control system is arranged on the axis of the test connecting disc, and the coaxial dual-rotor unmanned aerial vehicle action control system is detachably fixedly connected to the test connecting disc; the coaxial dual-rotor unmanned aerial vehicle action control system has a main shaft, the main shaft is sequentially sleeved with a rotor driving motor, a rotor system, a cross operation disc system and a rudder machine from top to bottom, one side of the cross operation disc system is connected to the rotor system, the other side of the cross operation disc system is connected to the rudder machine, the rudder machine is connected with a rudder machine support seat, the rudder machine is fixed to the main shaft through the rudder machine support seat, and one end of the main shaft is detachably fixedly connected to the test connecting disc; the rotor system has mutually symmetrical rotors, and the rotors are perpendicular to the main shaft; the cross operation disc system has an upper rotating disc and a lower fixed disc, T-shaped pull arms and L-shaped pull arms are arranged between the upper rotating disc and the rotors, the T-shaped pull arms and the L-shaped pull arms are rotatably connected to each other, one end of the T-shaped pull arm is hingedly connected to the upper rotating disc, and one end of the L-shaped pull arm is fixedly connected to the outer side wall of the rotor; the side surface of the lower fixed disc has three groups of ball head pull rods, rudder machine rocker arms are connected to the ball heads of the ball head pull rods, and the other ends of the rudder machine rocker arms are connected to the rudder machine; a bench connecting piece is arranged between the coaxial dual-rotor unmanned aerial vehicle action control system and the test connecting disc, and the main shaft in the coaxial dual-rotor unmanned aerial vehicle action control system is fixedly connected to the test connecting disc through the bench connecting piece.

2. The rotor unmanned aerial vehicle motion characteristic test device under various working conditions according to claim 1, characterized in that: a U-shaped fixing piece is arranged between the lower fixed disc and the rudder machine support seat, the ball head pull rods of the lower fixed disc are provided with fixed rods, the fixed rods are limited in the elongated holes at one end of the U-shaped fixing piece, and the other end of the U-shaped fixing piece is fixedly connected to the rudder machine support seat.

3. The rotor unmanned aerial vehicle motion characteristic test device under various working conditions according to claim 2, characterized in that: the rudder machine support seat has a sleeve, the sleeve is sleeved on the main shaft, three groups of support pieces are arranged in the radial direction of the sleeve, the support pieces are uniformly fixed to the outer wall of the sleeve, the outer ends of the support pieces are fixedly connected with buckles, the rudder machine is fixedly connected to the buckles, and the other end of the U-shaped fixing piece is fixedly connected to the buckles.

4. The rotor unmanned aerial vehicle motion characteristic test device under various working conditions according to claim 1, characterized in that: the power test bench has a fixed bench and a horizontal sliding rod, the power test table is fixedly connected to one end of the fixed bench, and the other end of the fixed bench is fixedly connected to the horizontal sliding rod. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The horizontal slide rod is further provided with a movable vertical rod, one end of which is slidably connected to the horizontal slide rod vertically, the movable vertical rod is parallel to the fixed rack, and the other end of the movable vertical rod is fixedly connected to another set of power test benches.

5. The device for testing the motion characteristics of a rotary-wing unmanned aerial vehicle under various working conditions according to claim 1, characterized in that: The bottom of the lower fixed disc is fixedly connected with a cross disc fixing member, the bottom of the cross disc fixing member is provided with a sensor support seat, three groups of tension and pressure sensors are arranged between the sensor support seat and the cross disc fixing member, and each tension and pressure sensor is fixed on the sensor support seat. Each tension and pressure sensor is provided with a sensor connecting frame, and each sensor connecting frame is connected with the cross disc fixing member through a double-headed screw rod.

6. The device for testing the motion characteristics of a rotary-wing unmanned aerial vehicle under various working conditions according to claim 5, characterized in that: A plurality of through installation holes are formed in the cross disc fixing member, one end of each double-headed screw rod is threadedly connected in a corresponding installation hole, and the other end of each double-headed screw rod is threadedly connected to a corresponding sensor connecting frame. The ball head of the ball head tension rod, the installation hole, the axis of the sensor connecting frame and the axis of the tension and pressure sensor are located on the same axis.

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