Aerodynamic force six-component measuring rack for small unmanned aerial vehicle

Abstract

The invention provides a small unmanned aerial vehicle aerodynamic force six-component measuring rack, which relates to the technical field of small unmanned aerial vehicle aerodynamic force testing and comprises a base body, a six-component measuring device and a connecting device. The base body is arranged at the bottom of the rack and used for fixing and installing the whole device. The six-component measuring device is arranged above the base body and used for measuring aerodynamic force borne by the unmanned aerial vehicle, and the aerodynamic force comprises triaxial force and torque; and the connecting device is positioned above the six-component measuring device and is used for connecting the measured unmanned aerial vehicle model or the unmanned aerial vehicle component. The six-component aerodynamic force measuring device has the six-component aerodynamic force measuring capacity of the small unmanned aerial vehicle, can be used for testing various types of unmanned aerial vehicles with fixed wings, rotors, fan wings, flapping wings, rolling wings and the like, is wide in application range, can be mounted on mobile platforms such as automobiles and sliding rails or fixed platforms such as laboratory wind tunnels, is suitable for various measuring scenes and is convenient to mount. The purposes of accurate and reliable measurement result and effective cost control are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of small unmanned aerial vehicle (UAV) aerodynamic testing, and specifically to a six-component measurement bench for small UAV aerodynamic forces. Background Technique

[0002] In recent years, with the low-altitude economy becoming a national strategic emerging industry, small UAVs have thus developed rapidly and are widely used in fields such as film shooting, terrain surveying, agricultural plant protection, logistics transportation, and environmental monitoring. To ensure the flight performance of UAVs, it is necessary to conduct tests on their aerodynamic performance. Currently, UAV aerodynamic performance tests mainly rely on wind tunnel tests and static test benches, but they both have certain limitations. The construction and maintenance costs of wind tunnel test facilities are high, and it is difficult for small and medium-sized research and development institutions to bear them; existing static test benches focus on single-parameter testing, have a single function, and have a small adjustment range, making it difficult to achieve multi-degree-of-freedom dynamic simulation. Therefore, existing small UAV aerodynamic force testing devices are difficult to meet the diverse, low-cost, and high-efficiency detection requirements of existing small UAVs.

[0003] Traditional test benches can only measure one or two components. Currently, there are also direct six-axis force sensors or six-component balances that can achieve the same effect as this product, but their prices are relatively high, more than 10 times that of this product, and the usage cost is too high for small UAVs. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-component measurement bench for small UAV aerodynamic forces, which can measure six components and can detect various types such as fixed-wing, rotary-wing, flapping-wing, and rolling-wing UAVs, so as to solve the problems raised in the above background technique.

[0005] To achieve the above object, the present invention provides the following technical solution: A six-component measurement bench for small UAV aerodynamic forces, including a base body, a six-component measurement device, and a connection device;

[0006] The base body is arranged at the bottom of the bench for the overall fixation and installation of the device;

[0007] The six-component measurement device is arranged above the base body for measuring the aerodynamic forces received by the UAV, and the aerodynamic forces include three-axis forces and moments;

[0008] The three-axis forces include lift force, drag force, and side force;

[0009] The moments include pitch moment, roll moment, and yaw moment;

[0010] The connection device is located above the six-component measurement device for connecting the UAV model or UAV components to be measured.

[0011] As an embodiment of the present invention, the base includes a base pedestal and a column,

[0012] The base pedestal includes a base connecting rod, and the base connecting rods are connected by corner brackets.

[0013] The columns are symmetrically arranged on the left and right along the middle plane above the base connecting rods on the front side of the base pedestal.

[0014] As an embodiment of the present invention, the six-component measuring device includes a linear guide rail, a lower frame, a turntable, a horizontal slider, an upper frame, and a measuring element;

[0015] The lower frame includes lower frame connecting rods, and the lower frame connecting rods are connected in a square structure by corner brackets. The lower frame connecting rods are slidably mounted on the surface of the linear guide rail through L-shaped connecting plates;

[0016] The turntable is fixed in the center of the lower frame by bolts and nuts. The turntable includes a turntable lower end cover, a thrust bearing, and a turntable upper end cover;

[0017] The turntable upper end cover is rotatably connected to the turntable lower end cover through a thrust bearing;

[0018] The horizontal sliders are arranged symmetrically in the front and back and are fixed to the turntable upper end cover by bolts and nuts.

[0019] As an embodiment of the present invention, the upper frame is formed by connecting upper frame connecting rods through corner brackets and is in an eye shape as a whole. The upper frame connecting rods are slidably connected to the horizontal sliders and have degrees of freedom in the left-right and yaw directions.

[0020] As an embodiment of the present invention, the measuring element includes measuring element one, measuring element two, and measuring element three.

[0021] Measuring element one is arranged between the column and the horizontal slider, symmetrically distributed on the left and right, and arranged vertically for measuring resistance and yaw moment;

[0022] Measuring element two is arranged between the upper frame and the turntable, symmetrically distributed on the left and right, and arranged horizontally for measuring lateral force;

[0023] Measuring element three is arranged on the upper frame connecting rod for measuring lift force, pitch moment, and roll moment.

[0024] As an embodiment of the present invention, the connecting device includes an I-shaped frame, an angle adjusting device, and a drone connecting frame. The connecting device is rotatably connected to the I-shaped frame through the angle adjusting device;

[0025] The I-shaped frame is formed by connecting I-shaped frame connecting rods through angle codes and is arranged above the lift pitch moment roll moment measuring element;

[0026] The angle adjusting device includes a vertical beam and a semi-circular connecting plate. The vertical beam is fixed on the I-shaped frame, and the semi-circular connecting plate is installed on the vertical beam through bolts and nuts;

[0027] The UAV connecting frame is fixed above the angle adjusting device through bolts and nuts.

[0028] As an embodiment of the present invention: Two groups of support pulleys are symmetrically distributed left and right inside the horizontal slider, and three groups of support pulleys are distributed on the lower side;

[0029] The pulley assembly is composed of an internally threaded cylindrical pin and a bearing, and is fixedly connected to the semi-surrounding support frame on the outer side of the horizontal slider;

[0030] The bearing is in rolling connection with the surface of the upper layer frame connecting rod.

[0031] As an embodiment of the present invention, the measuring element is an S-type force sensor with the model of SBT620-10kg.

[0032] The technical solution of the application has the following technical effects:

[0033] The present invention breaks through the structural limitations of traditional UAV aerodynamic test benches, solves problems such as low degrees of freedom, single function, and small application range of traditional test benches. By designing the layout and structure of the measuring device, it has the ability to measure six-component aerodynamic forces, and can conduct tests on various types of UAVs such as fixed-wing, rotary-wing, flapping-wing, and rolling-wing. It has a wide application range. The measurement bench can be installed on mobile platforms such as cars and sliding rails or fixed platforms such as laboratory wind tunnels, is suitable for various measurement scenarios, and is convenient to install. The measuring element uses a high-precision S-type force sensor, effectively ensuring the accuracy and reliability of the measurement results.

[0034] As a measurement bench, the present invention can measure six components: lift, drag, side force, pitch moment, roll moment, and yaw moment. The main innovation of the present invention is to realize the function of a six-dimensional force sensor or a six-component balance by arranging eight single-direction force sensors and combining mechanical components such as guide rails and turntables, meeting the measurement needs of small UAV aerodynamic forces and effectively controlling costs. Description of the Drawings

[0035] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0036] Figure 1Axonometric view of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention;

[0037] Figure 2 Axonometric view of the base of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention;

[0038] Figure 3 Axonometric view of the six-component measurement device of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention;

[0039] Figure 4 Axonometric view of the connecting device of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention

[0040] Figure 5 Exploded view of the turntable of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention

[0041] Figure 6 Main sectional view of the horizontal slider of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention.

[0042] Figure 7 Schematic diagram of the S-type force sensor of the present invention;

[0043] Figure 8 Axonometric view of a horizontal slider of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention.

[0044] Figure 9 Schematic diagram of the connection between the horizontal slider and the connecting rod of the upper layer frame of the small unmanned aerial vehicle aerodynamic six-component measurement bench of the present invention.

[0045] Wherein 1 is the base body; 1-1 is the base body base; 1-1-1 is the base connecting rod; 1-2 is the column; 2 is the six-component measurement device; 2-1 is the linear guide rail; 2-2, 2-2-1 are the lower layer frame connecting rods; 2-2-2 is the L-shaped connecting plate; the lower layer frame; 2-3 is the turntable; 2-3-1 is the lower end cover of the turntable; 2-3-2 is the thrust bearing; 2-3-3 is the upper end cover of the turntable; 2-4 is the horizontal slider; 2-4-1 is the bearing; 2-4-2 is the internal thread cylindrical pin; 2-4-3 is the semi-surrounding support frame; 2-5 is the upper layer frame; 2-5-1 is the upper layer frame connecting rod; 2-6 is the measuring element; 2-6-1 is the measuring element one; 2-6-2 is the measuring element two; 2-6-3 is the measuring element three; 3 is the connecting device; 3-1 is the I-shaped frame; 3-1-1 is the I-shaped frame connecting rod; 3-2 is the angle adjusting device; 3-2-1 is the vertical beam; 3-2-2 is the semi-circular connecting plate; 3-3 is the unmanned aerial vehicle connecting frame. Detailed implementation method

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In order to better understand the technical content of the present invention, specific embodiments are given and described in conjunction with the accompanying drawings as follows. In the present disclosure, aspects of the present invention are described with reference to the accompanying drawings, and many illustrative embodiments are shown in the drawings. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0047] A small unmanned aerial vehicle aerodynamic six-component measurement bench, comprising a base 1, a six-component measurement device 2, and a connecting device 3;

[0048] The base 1 is arranged at the bottom of the bench for the overall fixation and installation of the device;

[0049] The six-component measurement device 2 is arranged above the base 1 for measuring the aerodynamic forces received by the unmanned aerial vehicle, and the aerodynamic forces include three-axis forces and moments;

[0050] The three-axis forces include lift force, drag force, and side force;

[0051] The moments include pitching moment, rolling moment, and yawing moment;

[0052] The connecting device 3 is located above the six-component measurement device 2 for connecting the unmanned aerial vehicle model or unmanned aerial vehicle components to be measured.

[0053] The base 1 includes a base pedestal 1-1 and columns 1-2,

[0054] The base pedestal 1-1 includes a base connecting rod 1-1-1, and the base connecting rods 1-1-1 are connected by angle brackets,

[0055] The columns 1-2 are symmetrically arranged on the left and right along the middle plane above the base connecting rods 1-1-1 on the front side of the base pedestal 1-1.

[0056] The six-component measurement device 2 includes a linear guide 2-1, a lower layer frame 2-2, a turntable 2-3, a horizontal slider 2-4, an upper layer frame 2-5, and a measuring element 2-6;

[0057] The lower layer frame 2-2 includes lower layer frame connecting rods 2-2-1, and the lower layer frame connecting rods 2-2-1 are connected in a square structure by angle brackets, and the lower layer frame connecting rods 2-2-1 are slidably installed on the surface of the linear guide 2-1 through L-shaped connecting plates 2-2-2;

[0058] The turntable 2-3 is fixed at the center of the lower layer frame 2-2 by bolts and nuts. The turntable 2-3 includes a turntable lower end cover 2-3-1, a thrust bearing 2-3-2, and a turntable upper end cover 2-3-3;

[0059] The turntable upper end cover 2-3-1 and the turntable lower end cover 2-3-3 are rotationally connected through the thrust bearing 2-3-2;

[0060] The horizontal sliders 2-4 are arranged symmetrically in the front and back and are fixed to the turntable upper end cover 2-3-3 by bolts and nuts.

[0061] The upper layer frame 2-5 is formed by connecting upper layer frame connecting rods 2-5-1 through angle codes and is in an overall shape of a Chinese character 'Mu'. The upper layer frame connecting rods 2-5-1 are slidably connected to the horizontal sliders 2-4 and have degrees of freedom in the left-right and yaw directions.

[0062] The measuring element 2-6 includes a measuring element one 2-6-1, a measuring element two 2-6-2, and a measuring element three 2-6-3.

[0063] The measuring element one 2-6-1 is arranged between the column 1-2 and the horizontal slider 2-4, symmetrically distributed left and right, and arranged vertically for measuring resistance and yaw moment;

[0064] The measuring element two 2-6-2 is arranged between the upper layer frame 2-5 and the turntable 2-3, symmetrically distributed left and right, and arranged horizontally for measuring lateral force;

[0065] The measuring element three 2-6-3 is arranged on the upper layer frame connecting rod 2-5-1 for measuring lift force, pitch moment, and roll moment.

[0066] The connecting device 3 includes an I-shaped frame 3-1, an angle adjusting device 3-2, and a drone connecting frame 3-3. The connecting device 3 is rotationally connected to the I-shaped frame 3-1 through the angle adjusting device 3-2;

[0067] The I-shaped frame 3-1 is formed by connecting I-shaped frame connecting rods 3-1-1 through angle codes and is arranged above the lift force pitch moment roll moment measuring element 2-6-3;

[0068] The angle adjusting device 3-2 includes a vertical beam 3-2-1 and a semi-circular connecting plate 3-2-2. The vertical beam 3-2-1 is fixed to the I-shaped frame 3-1, and the semi-circular connecting plate 3-2-2 is installed on the vertical beam 3-2-1 by bolts and nuts;

[0069] The drone connecting frame 3-3 is fixed above the angle adjusting device 3-2 by bolts and nuts.

[0070] There are two sets of support pulleys symmetrically distributed inside the horizontal slider 2-4 from left to right, and three sets of support pulleys are distributed on the lower side;

[0071] The pulley assembly is composed of an internally threaded cylindrical pin 2-4-2 and a bearing 2-4-1, and is fixedly connected to the semi-surrounding support frame 2-4-3 on the outer side of the horizontal slider 2-4;

[0072] The bearing 2-4-1 is in rolling connection with the surface of the upper frame connecting rod 2-5-1.

[0073] The measuring element 2-6 is an S-type force sensor, and the model is SBT620-10kg.

[0074] The working principle of the present invention: Before measurement, each measuring element needs to be zeroed. Fix the unmanned aerial vehicle on the connecting device 3, and fix the unmanned aerial vehicle at the target angle of attack through the angle adjustment device. The aerodynamic force and moment of the unmanned aerial vehicle can be measured. By reading the data of the first measuring element, the drag and yaw moment of the unmanned aerial vehicle can be obtained. By reading the data of the second measuring element, the side force of the unmanned aerial vehicle can be obtained. By reading the data of the third measuring element, the lift, pitch moment and roll moment of the unmanned aerial vehicle can be obtained.

[0075] The above embodiments are only used to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the protection scope of the present invention.

[0076] Those of ordinary skill in the art should understand that the discussion of any above embodiment is only exemplary, and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the idea of the present invention, the technical features between the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0077] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A small unmanned aerial vehicle aerodynamic six-component measurement bench, characterized in that: It includes a base body (1), a six-component measuring device (2), and a connecting device (3); The base body (1) is arranged at the bottom of the bench and is used for the overall fixation and installation of the device; The six-component measuring device (2) is arranged above the base body (1) and is used for measuring the aerodynamic forces received by the unmanned aerial vehicle, and the aerodynamic forces include three-axis forces and moments; The three-axis forces include lift force, drag force, and side force; The moments include pitch moment, roll moment, and yaw moment; The connecting device (3) is located above the six-component measuring device (2) and is used for connecting the unmanned aerial vehicle model or unmanned aerial vehicle components to be measured.

2. The aerodynamic six-component measurement bench for a small unmanned aerial vehicle according to claim 1, characterized in that The base body (1) includes a base body base (1-1) and a column (1-2), The base body base (1-1) includes a base connecting rod (1-1-1), and the base connecting rods (1-1-1) are connected by angle codes, The column (1-2) is symmetrically arranged on the left and right along the middle plane above the base connecting rod (1-1-1) on the front side of the base body base (1-1).

3. The small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 1, characterized in that, The six-component measuring device (2) includes a linear guide rail (2-1), a lower layer frame (2-2), a turntable (2-3), a horizontal slider (2-4), an upper layer frame (2-5), and a measuring element (2-6); The lower layer frame (2-2) includes lower layer frame connecting rods (2-2-1), and the lower layer frame connecting rods (2-2-1) are connected in a square structure by angle codes, and the lower layer frame connecting rods (2-2-1) are slidably installed on the surface of the linear guide rail (2-1) through L-shaped connecting plates (2-2-2); The turntable (2-3) is fixed at the center of the lower layer frame (2-2) by bolts and nuts, and the turntable (2-3) includes a turntable lower end cover (2-3-1), a thrust bearing (2-3-2), and a turntable upper end cover (2-3-3); The turntable upper end cover (2-3-1) is rotatably connected to the turntable lower end cover (2-3-3) through a thrust bearing (2-3-2); The horizontal sliders (2-4) are symmetrically arranged front and back and are fixed to the turntable upper end cover (2-3-3) by bolts and nuts.

4. The small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 3, characterized in that, The upper layer frame (2-5) is formed by connecting upper layer frame connecting rods (2-5-1) through angle codes, and the whole is in a shape like a Chinese character 'Mu'. The upper layer frame connecting rods (2-5-1) are slidably connected to the horizontal sliders (2-4) and have degrees of freedom in the left-right and yaw directions.

5. The small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 4, characterized in that, The measuring element (2-6) includes a measuring element one (2-6-1), a measuring element two (2-6-2), and a measuring element three (2-6-3), The measuring element one (2-6-1) is arranged between the column (1-2) and the horizontal slider (2-4), symmetrically distributed left and right and arranged vertically, and is used for measuring the drag force and the yaw moment; The measuring element two (2-6-2) is arranged between the upper layer frame (2-5) and the turntable (2-3), symmetrically distributed left and right and arranged horizontally, and is used for measuring the side force; The measuring element three (2-6-3) is arranged on the upper layer frame connecting rod (2-5-1) and is used for measuring the lift force, the pitch moment, and the roll moment.

6. The small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 5, characterized in that The connecting device (3) includes an I-shaped frame (3-1), an angle adjustment device (3-2), and a drone connecting frame (3-3). The connecting device (3) is rotatably connected to the I-shaped frame (3-1) through the angle adjustment device (3-2). The I-shaped frame (3-1) is formed by connecting I-shaped frame connecting rods (3-1-1) through angle codes and is arranged above the lift pitch moment roll moment measuring element (2-6-3). The angle adjustment device (3-2) includes a vertical beam (3-2-1) and a semi-circular connecting plate (3-2-2). The vertical beam (3-2-1) is fixed to the I-shaped frame (3-1), and the semi-circular connecting plate (3-2-2) is installed on the vertical beam (3-2-1) through bolts and nuts. The drone connecting frame (3-3) is fixed above the angle adjustment device (3-2) through bolts and nuts.

7. A small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 5, characterized in that: Two groups of support pulleys are symmetrically distributed inside the horizontal slider (2-4) from left to right, and three groups of support pulleys are distributed on the lower side. The pulley assembly is composed of an internally threaded cylindrical pin (2-4-2) and a bearing (2-4-1), and is fixedly connected to the outer semi-surrounding support frame (2-4-3) of the horizontal slider (2-4). The bearing (2-4-1) is in rolling connection with the surface of the upper layer frame connecting rod (2-5-1).

8. The small unmanned aerial vehicle aerodynamic six-component measurement bench according to claim 5, characterized in that The measuring element (2-6) is an S-type force sensor with a model of SBT620-10kg.

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