Comprehensive test bed for vehicle-mounted launcher of unmanned aerial vehicle

Abstract

The invention discloses a comprehensive test bed for a vehicle-mounted launcher of an unmanned aerial vehicle, which belongs to the technical field of aviation equipment test, adopts a module combination design and comprises four modules, namely a base, a measuring unit, an upper framework and a slideway device, and the four modules are combined for use to form various configurations to meet different use scenes. The base is used for installing the test bed on a launching vehicle, the upper framework is installed on the base and used for carrying and locking an airplane and unlocking and releasing the airplane through the electric push rod, the measuring unit is used for measuring force of the airplane in the specific direction and is installed between the base and the upper framework in the using process, and the sliding way device is installed on the upper framework. The slideway at the upper part is matched with a cylindrical pin shaft on a mounting joint at the bottom of an airplane, so that test subjects such as single-transverse-axis constraint lifting-hovering test and the like are carried out. The device comprehensively meets different use requirements, is unique in overall design, simple and reliable in structure, multiple in function, wide in application range and easy and convenient to use and operate, and has good practical value.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation equipment testing and relates to a comprehensive test bench for a vehicle-mounted launcher of an unmanned aerial vehicle. Background Art

[0002] Vehicle-mounted launch is one of the ways for UAVs to take off. Relevant domestic and foreign organizations and individuals have designed some vehicle-mounted launch devices / launch pads. Generally speaking, these vehicle-mounted launch pads have some shortcomings, such as: 1) The functions are relatively simple, and they only have the function of a launch pad, without the function of measuring the characteristics and parameters of the aircraft's aerodynamics / overall, power system, and aircraft system; 2) The flexibility of use is low, and they cannot effectively meet different usage requirements; 3) The versatility is poor, and most of them are designed to adapt to specific models, and there is room for optimization and improvement in the structure and mechanism design. Summary of the Invention

[0003] Aiming at the needs of vehicle-mounted launch, aerodynamic overall and system characteristics and parameter measurement for (small and medium-sized) patrol UAVs, the present invention provides a comprehensive test bench for a vehicle-mounted launcher for UAVs. The bench has the functions of aircraft launch, aircraft and system characteristics and parameter measurement, comprehensive testing, simulated launch-single horizontal axis constrained lift-hover test, etc. It adopts a modular design, and the measurement unit and slide device can be configured as needed to form different configurations to meet different usage requirements.

[0004] The technical solution of the present invention:

[0005] A comprehensive test bench for a vehicle-mounted launcher of an unmanned aerial vehicle (UAV) adopts a modular combination design and comprises four modules: a base 1, a measuring unit 2, an upper frame 3 and a slide device 4.

[0006] The base 1 includes a fixed base 11, an upper mounting plate 12 and an adapter plate 13; the fixed base 11 is a rectangular frame formed by fixedly connecting crossbeams and longitudinal beams, arranged forward and backward along the aircraft's heading, and the upper mounting plate 12 is installed on the fixed base 11 and can adjust the front and rear position. The upper mounting plate 12 is used to fix the measuring unit 2, and the circular hole in the center is used for dodging; the adapter plate 13 is used when the measuring unit 2 does not need to be installed. It is installed on the upper mounting plate 12, and the upper surface is fixedly connected to the upper frame 3.

[0007] The measuring unit 2 includes a force sensor array and mounting structure 21, a ring base 22, a data acquisition and processing subsystem, and a display subsystem; the force sensor array and mounting structure 21 uses multiple cantilever beam resistance strain force sensors evenly arranged along the circumference, which together constitute a force sensor array for accurately measuring the force in a specific direction of the aircraft. The ring base 22 is an annular mounting platform at the same height as the force sensor array and mounting structure 21, which is used to confine the force sensor array and mounting structure 21 within the ring base 22. The data acquisition and processing subsystem calculates the three-axis force and torque based on the sensor data and the lever arm data and displays the data in a specific format through the display subsystem. The data acquisition and processing subsystem and the display subsystem are arranged in the launch vehicle; the ring base 22 is fixed on the upper mounting plate 12 of the base 1, and the upper frame 3 is installed on the force sensor array and mounting structure 21.

[0008] The upper structure includes a basic frame 31 , a front fuselage bracket 32 ​​, a wing bracket 33 , a U-shaped main mounting frame 34 , a locking hook assembly 35 , an electric push rod 36 , and a rear fuselage bracket 37 .

[0009] The main body of the basic frame 31 is a central column, the lower end of the central column is fixedly connected to the base 1 or the measuring unit 2, and the upper end is provided with a horizontal plate, the front and rear ends of the horizontal plate are provided with mounting holes, and a double ear piece is provided in front of the rear end mounting hole.

[0010] The main bodies of the front fuselage bracket 32 ​​and the rear fuselage bracket 37 are studs, which are respectively installed in the mounting holes at the front and rear ends of the horizontal plate and can be adjusted in height. Arc brackets are provided on the top of the studs, which are used to support the front fuselage and the lower part of the rear fuselage of the aircraft respectively, and the arc brackets are adapted to the fuselage shape at the corresponding position. The outside of the arc brackets is covered with a protective rubber tube. By adjusting the height of the two brackets, the pitch angle of the aircraft can be adjusted.

[0011] The U-shaped main mounting frame 34 includes vertical plates fixedly mounted on the left and right sides of the middle of the horizontal plate. The two vertical plates are arranged in a mirror-symmetrical manner. Both have through holes at their centers and slots at their tops. The openings of the slots are oblong and fit into the cylindrical pins of the mounting joints at the bottom of the aircraft. Both vertical plates have mounting holes at their lower front ends and baffles at their middle rear end faces.

[0012] The wing brackets 33 are provided with two groups of identical structures, which are symmetrically mounted on the two vertical plates in the U-shaped main mounting frame 34, and each includes a Z-shaped wing support arm, a tube seat and a basket screw. The tube seat is fixedly mounted on the lower end of the outer side of the vertical plate of the U-shaped main mounting frame 34; the Z-shaped wing support arm includes a middle long arm and two side short arms parallel to the center plane of symmetry. The inner short arm is mounted in the tube seat and can rotate around the axis of the tube seat. The outer short arm is close to the lower surface of the wing to support the wing. One end of the basket screw is mounted on the middle long arm, and the other end is connected to the mounting hole on the front side of the vertical plate of the U-shaped main mounting frame 34. The support height of the two Z-shaped wing support arms is achieved by adjusting the basket screw. The support height of the Z-shaped wing support arms on both sides is consistent, which is used to ensure the stability of the rolling attitude of the aircraft during launch.

[0013] The locking hook assembly 35 includes two L-shaped locking hooks with the same structure, which are symmetrically arranged on the inner sides of the two vertical plates in the U-shaped main mounting frame 34. The upper ends of the two L-shaped locking hooks are locking hook heads, and the position of the locking hook mouths corresponds to the notches on the tops of the vertical plates, which are used to cooperate with the cylindrical pin shafts of the aircraft mounting joints placed in the notches to achieve locking and unlocking. Both are provided with mounting holes in the middle and lower ends. The mounting holes in the middle of the two L-shaped locking hooks and the through holes in the center of the two vertical plates are installed with the same long bolt, which serves as the rotating axis 351 of the two L-shaped locking hooks. A transverse connecting rod is installed between the mounting holes at the lower ends of the two L-shaped locking hooks.

[0014] The fixed end of the electric push rod 36 is connected to the double ear piece on the rear side of the horizontal plate of the basic frame 31, and the push rod end hole is installed in the center position of the transverse connecting rod between the lower ends of the two L-shaped lock hooks of the lock hook assembly 35, so that the electric push rod 36 is installed as a whole on the symmetrical center plane of the upper frame. The electric push rod 36 is extended and retracted to drive the lock hook assembly 35 to rotate around the rotating shaft 351 to achieve locking and unlocking of the bottom mounting joint of the aircraft. The electric push rod 36 is manually controlled; when the electric push rod 36 is retracted, the lock hook head of the lock hook assembly 35 locks the bottom mounting joint of the aircraft in the groove of the U-shaped main mounting frame 34; when the electric push rod 36 is extended, the lock hook head of the lock hook assembly 35 disengages backwards, releasing the constraint on the mounting joint, and the aircraft is released.

[0015] The slide device 4 includes a left slide plate 41 and a right slide plate 42 that are completely identical and symmetrically arranged, as well as a limit bolt 43; the two slide plates are arranged on the outside of the vertical plates on both sides of the U-shaped main mounting frame 34, and the upper parts of the two slide plates are each formed with an oblong slide 411, and the slide 411 is arranged vertically. In the installed state, the position of the slide 411 corresponds to the notch on the upper ends of the vertical plates on both sides of the U-shaped main mounting frame 34, and the upper ends of the slide 411 are higher than the notch; the lower parts of the two slide plates are each formed with front and rear mounting holes, and a limit bolt 43 is connected between the two rear mounting holes to connect the two slide plates into one, and the two front mounting holes can be detachably mounted on the rotating shaft 351, which also serves as the rotating shaft of the two slide plates. The limit bolt 43 3 cooperates with the rear end faces of the vertical plates on both sides of the U-shaped main mounting frame 34 and the baffles on the rear end faces to serve as forward and backward rotation limits for the slide device 4; the outer contours of the two slide plates are approximately parallelograms. In the installed state, the front edges of the slide plates of the slide device 4 are parallel to the front edges of the vertical plates on both sides of the U-shaped main mounting frame 34, and the distance between the front edges of the slide plates and the front edges of the vertical plates is 5.0 to 10.0 mm, so that the rotation of the slide plates relative to the vertical plates can be observed easily; when in use, the two ends of the cylindrical pin shaft of the lower mounting joint of the aircraft are inserted into the slide 411. The slide 411 serves as the aircraft lifting track and also provides a hovering constraint at the lifting end point, which is used to realize aircraft simulation launch tests and measurement of lifting and hovering characteristics. The entire slide device can rotate around the installation axis.

[0016] Furthermore, the forward and backward rotation limit of the slide device 4 can also be achieved by matching the cylindrical pin shaft of the aircraft bottom mounting joint with the slot shape at the top of the vertical plate of the U-shaped main mounting frame 34. Specifically: the top of the vertical plate of the U-shaped main mounting frame 34 adopts a double-layer slot design, the width of the lower slot is set according to the diameter of the cylindrical pin shaft of the aircraft bottom mounting joint, and the width of the upper slot is determined according to the designed forward and backward rotation angle range. The overall height of the two-layer slot is adapted to the length of the slide. Accordingly, no baffles are set on the rear end surfaces of the vertical plates on both sides of the U-shaped main mounting frame 34.

[0017] The four modules of the UAV vehicle-mounted launcher integrated test bench are used in combination to form a variety of configurations, including aircraft launchers, integrated test benches, and simulated launch configurations:

[0018] (1) Aircraft launcher structure, which is composed of a base 1 and an upper frame 3. A measurement unit 2 is installed between the two according to measurement requirements. When in use, the base 1 is installed on the roof of the vehicle, and the vehicle accelerates in a straight line on a flat road (0 slope or a slight slope). When the speed reaches the take-off speed (with a lift margin of about 20% to 30%), the aircraft is released. Under the action of lift, the aircraft overcomes gravity and takes off with a certain vertical acceleration, completing the launch.

[0019] (2) Comprehensive test bench configuration: It is composed of a base 1, a measuring unit 2 and an upper frame 3, and is used for ground simulated flight tests of vehicle-mounted aircraft. The base 1 carries the measuring unit 2 and the upper frame 3 and is installed on a launch vehicle. The launch vehicle travels in a straight line on a flat road to enable the aircraft to obtain flight speed. Under specific speed conditions, the measuring unit 2 is used to measure the characteristics and parameters of the aircraft, as well as the thrust characteristics and parameters of the aircraft's electric power system.

[0020] (3) Simulated launch configuration: It is composed of a base 1, a measurement unit 2, an upper frame 3 and a slide device 4, and is used for aircraft simulated launch tests, pitch trim rudder angle measurements, and single-axis restrained lift-hover tests.

[0021] Aircraft simulation launch test: The base 1 is equipped with a measurement unit 2, an upper structure 3 and a slide device 4, and is installed on a launch vehicle. The launch vehicle travels in a straight line on a flat road to allow the aircraft to gain flight speed. The aircraft is unlocked and released at a specific speed. Under the action of lift, the aircraft rises upward along the slide 411 of the slide device 4 until it hovers at the top of the slide 411. The aircraft's lifting speed (lift) and lifting characteristics are observed and measured.

[0022] Pitch trim rudder angle measurement: Adjust the rudder angle and observe the aircraft's attitude retention at a specific pitch attitude angle / angle of attack to determine the rudder trim angle in this state.

[0023] Single-axis restrained lift-hover test, thrust-drag balance throttle value measurement: After the aircraft gains flight speed and is unlocked and released at a specific speed, the aircraft throttle is gradually increased to observe the relative position change of the leading edge of the slide plate of the slide device 4 relative to the leading edge of the vertical plate of the U-shaped main mounting frame 34. When the two lines change from parallel to an acute angle, that is, the slide plate rotates around the rotation axis 351, at this time, according to the torque balance relationship relative to the rotation axis 351, ignoring the deviation between the aircraft drag action line and the thrust action line and other small errors, it can be approximately assumed that the aircraft drag D is equal to the propeller thrust T at this time, and the equilibrium state throttle value can be obtained.

[0024] Beneficial effects of the present invention:

[0025] The present invention adopts a modular combination design, with multiple configurations / states and multiple uses, fully meeting different usage requirements. The overall design is unique, the structure is simple and reliable, the functions are multiple, the applications are wide, the operation is simple, and it has good practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the assembly of the base, measuring unit and upper frame.

[0027] Figure 2 Schematic diagram of the base and upper frame assembly.

[0028] Figure 3 Schematic diagram of the assembly of the base, measuring unit, upper frame and slide device locked to the aircraft.

[0029] Figure 4 Schematic diagram of the base structure, where (a) is a schematic diagram of the assembly of the fixed base and the upper mounting plate, and (b) is a schematic diagram of the adapter plate.

[0030] Figure 5 Schematic diagram of the measurement unit.

[0031] Figure 6 Schematic diagram of the upper structure.

[0032] Figure 7 Schematic diagram of the slide device, wherein (a) is the mechanism diagram of the slide device, and (b) is the installation diagram of the slide device.

[0033] Figure 8 Schematic diagram of the rotation angle range limitation of the slide device, where (a) is the forward rotation limit and (b) is the backward rotation limit.

[0034] Figure 9 This is the measurement principle diagram of the aircraft single lateral axis restraint lift-hover experiment.

[0035] In the figure: 1 base, 2 measuring unit, 3 upper frame, 4 slide device, 11 fixed base, 12 upper mounting plate, 13 adapter plate, 21 force sensor array and mounting structure, 22 ring base, 31 basic frame, 32 front fuselage bracket, 33 wing bracket, 34 U-shaped main mounting frame, 35 locking hook assembly, 36 electric push rod, 37 rear fuselage bracket, 351 rotating shaft, 41 left slide plate, 42 right slide plate, 43 limit bolt, 411 slide, D-aerodynamic drag, O-axis, T-propeller thrust, L-aerodynamic lift, G-gravity. DETAILED DESCRIPTION

[0036] Example 1

[0037] A comprehensive test bench for a vehicle-mounted launcher for a UAV is designed with a modular combination, including four modules: a base 1, a measurement unit 2, an upper frame 3, and a slide device 4. In addition, one or more cameras are configured as needed to focus on monitoring and recording the aircraft status, such as Figure 3 .

[0038] like Figure 4The base 1 includes a fixed base 11, an upper mounting plate 12 and an adapter plate 13; the fixed base 11 is a standard square steel tube profile welded structure, consisting of two longitudinal beams and four cross beams, the two longitudinal beams are arranged parallel to the front and rear directions of the aircraft, the four cross beams are fixedly installed between the two longitudinal beams, the two outer cross beams are fixed at the ends of the two longitudinal beams, and the two inner cross beams are installed near the two outer cross beams. Long circular holes of specific sizes are made on the upper and lower surfaces of the longitudinal beams and the cross beams for installing T-shaped bolts while reducing weight. The upper mounting plate 12 includes a rectangular mounting plate and two supports fixedly connected to its lower part The supporting beams, the two supporting beams and the two longitudinal beams of the fixed base 11 are connected by T-shaped bolts. The oblong holes on the longitudinal beams are adapted to the bolt heads of the T-shaped bolts, so that the position of the upper mounting plate 12 on the longitudinal beams is adjustable. The size and shape of the upper mounting plate 12 are adapted to the bottom of the outer ring 22 of the measuring unit 2. The two are fixed by bolts and nuts. A circular hole is made in the center of the upper mounting plate 12 for dodging; the adapter plate 13 is made of thick steel plate material. When the measuring unit 2 does not need to be installed, the adapter plate 13 is installed on the upper mounting plate 12, and its upper surface is mounted on the upper frame 3 by bolts and nuts.

[0039] like Figure 5 The measuring unit 2 is used to measure the three-axis force and torque of the aircraft system at a specific speed, and includes a force sensor array and mounting structure 21, a ring base 22, a data acquisition and processing subsystem, and a display subsystem; the force sensor array and mounting structure 21 uses a plurality of cantilever beam resistance strain type force sensors evenly arranged along the circumference, which together constitute a force sensor array, can accurately measure the force in a specific direction (aircraft heading, lateral and vertical directions), and can eliminate the influence of the force application point position (additional torque), the ring base 22 is an annular mounting platform with the same height as the force sensor array and mounting structure 21, used to confine the force sensor array and mounting structure 21 within the ring base 22, the data acquisition and processing subsystem calculates the three-axis force and torque according to the sensor data and the lever arm data and displays the data in a specific format through the display subsystem, and the data acquisition and processing subsystem and the display subsystem are arranged in the launch vehicle; when in use, the ring base 22 is fixed on the upper mounting plate 12 of the base 1, and the upper frame 3 is installed on the force sensor array and mounting structure 21.

[0040] The upper structure includes a basic frame 31, a front fuselage bracket 32, a wing bracket 33, a U-shaped main mounting frame 34, a locking hook assembly 35, an electric push rod 36, and a rear fuselage bracket 37. Figure 6 .

[0041] The main body of the basic frame 31 is a central column, and a disc bottom plate is provided at the lower end of the central column for fixed connection with the base 1 or the measuring unit 2. Four reinforcing plates are welded between the central column and the disc bottom plate. The central column adopts a square steel tube profile, and the disc bottom plate adopts a thick steel plate. Its size and shape are adapted to the force sensor array of the measuring unit 2; a long horizontal plate is provided at the upper end of the central column, which is narrow at the front and rear ends and wide in the middle. A reinforcing vertical plate is provided on the bottom surface of the horizontal plate along the central axis, and the horizontal plate, the reinforcing vertical plate and the top of the central column are welded into a load-bearing whole; mounting holes are made at the front and rear ends of the horizontal plate, and a double ear plate is provided in front of the rear end mounting hole. A through hole is made in the middle of the horizontal plate for the cable of the electric push rod 36 to pass through.

[0042] The main bodies of the front fuselage bracket 32 ​​and the rear fuselage bracket 37 are studs, which are respectively installed in the mounting holes at the front and rear ends of the horizontal plate. Arc brackets are welded on the top of the studs, which are used to support the front fuselage and the lower part of the rear fuselage of the aircraft respectively, and the arc brackets are adapted to the fuselage shape at the corresponding position. The outside of the arc brackets is covered with a protective rubber tube; nuts are provided on the upper and lower surfaces of the mounting holes on the studs of the two brackets, which are used to adjust and fix the height of the two brackets. By adjusting the height of the two brackets, the pitch angle of the aircraft can be adjusted (the maximum adjustment range is about ±20°~30°, and the launch state is about 0°~12°).

[0043] The U-shaped main mounting frame 34 includes vertical plates fixedly mounted on the left and right sides of the middle of the horizontal plate. The two vertical plates are arranged in a mirror-symmetrical manner and are U-shaped together with the horizontal plate. Both have through holes at their centers and slots at their tops. The openings of the slots are oblong and fit into the cylindrical pins of the mounting joints at the bottom of the aircraft. Both vertical plates have mounting holes at their front lower parts and baffles at their rear end middle parts.

[0044] The wing brackets 33 are provided with two groups of identical structures, which are symmetrically mounted on the two vertical plates in the U-shaped main mounting frame 34, and both include Z-shaped wing support arms, tube seats and basket screws. The tube seats are fixedly mounted on the lower outer ends of the vertical plates of the U-shaped main mounting frame 34; the Z-shaped wing support arms are made of steel bars, including a middle long arm and two side short arms parallel to the center plane of symmetry, the inner short arm is mounted in the tube seat, and the exposed threaded end mounting nuts connect the inner short arm and the tube seat into one, and the entire Z-shaped wing support arm can rotate around the axis of the tube seat, and a protective rubber hose is installed on the outside of the outer short arm, which clings to the lower surface of the wing to lift the wing, one end of the basket screw is mounted on the middle long arm, and the other end is connected to the mounting hole on the front side of the vertical plate of the U-shaped main mounting frame 34. The support height of the two Z-shaped wing support arms is achieved by adjusting the basket screws, and the support height of the Z-shaped wing support arms on both sides is consistent, which is used to ensure the stability of the rolling attitude of the aircraft during launch.

[0045] The locking hook assembly 35 includes two L-shaped locking hooks with the same structure, which are made of thick steel plates. The two are symmetrically arranged on the inner sides of the two vertical plates in the U-shaped main mounting frame 34. The upper ends of the two L-shaped locking hooks are locking hook heads, and the position of the locking hook mouths corresponds to the notches on the top of the vertical plates, which are used to cooperate with the cylindrical pin shafts of the aircraft mounting joints placed in the notches to achieve locking and unlocking. Both are provided with mounting holes in the middle and lower ends. The same long bolt is installed in the mounting holes in the middle of the two L-shaped locking hooks and the through holes in the center positions of the two vertical plates as the rotating axis 351 of the two L-shaped locking hooks. Flat washers, spring washers and nuts are installed at specific positions on the long bolts, so that the two L-shaped locking hooks form an integrated locking hook assembly, and the locking hook assembly is connected to the U-shaped main mounting frame 34 and can rotate relative to it; a transverse connecting rod is installed between the mounting holes at the lower ends of the two L-shaped locking hooks.

[0046] The fixed end of the electric push rod 36 is connected to the double ear piece on the rear side of the horizontal plate of the basic frame 31, and the push rod end hole is installed in the center position of the transverse connecting rod between the lower ends of the two L-shaped lock hooks of the lock hook assembly 35, so that the electric push rod 36 is installed as a whole on the symmetrical center plane of the upper frame. The electric push rod 36 is extended and retracted to drive the lock hook assembly 35 to rotate around the rotating shaft 351 to achieve locking and unlocking of the bottom mounting joint of the aircraft. The electric push rod 36 is manually controlled; when the electric push rod 36 is retracted, the lock hook head of the lock hook assembly 35 locks the bottom mounting joint of the aircraft in the groove of the U-shaped main mounting frame 34; when the electric push rod 36 is extended, the lock hook head of the lock hook assembly 35 disengages backwards, releasing the constraint on the mounting joint, and the aircraft is released.

[0047] like Figure 7 The slide device 4 includes a left slide plate 41 and a right slide plate 42 that are completely identical and symmetrically arranged, as well as a limit bolt 43; the two slide plates are made of thick aluminum plate material (thickness of about 3.0 to 5.0 mm), which is light in weight and has sufficient strength and rigidity; the two slide plates are arranged on the outside of the vertical plates on both sides of the U-shaped main mounting frame 34, and the upper part of the two slide plates is formed with an oblong slide 411, and the slide 411 is arranged vertically. In the installed state, the position of the slide 411 corresponds to the notch on the upper end of the vertical plates on both sides of the U-shaped main mounting frame 34, and the upper end of the slide 411 is higher than the notch; the two The lower part of the slide plate is provided with two front and rear mounting holes, and a limiting bolt 43 is connected between the two rear mounting holes to connect the two slide plates into one. The two front mounting holes are detachably mounted on the rotating shaft 351 connecting the U-shaped main mounting frame 34 and the lock hook assembly 35, which also serves as the rotating shaft of the two slide plates. Standard flat washers are installed between the slide plates and the vertical plates of the U-shaped main mounting frame 34 to reduce the friction of relative rotation. The limiting bolts 43 cooperate with the rear end surfaces of the vertical plates on both sides of the U-shaped main mounting frame 34 and the baffles on the rear end surface to serve as the forward and backward rotation limit of the slide device 4 (such as Figure 8) The two slide plates are designed to match the plane projection shape of the vertical plates on both sides of the U-shaped main mounting frame 34. The outer contour line of the slide plate is approximately a parallelogram, and the four corners are rounded. In the installed state, the front edge of the slide plate of the slide device 4 is parallel to the front edges of the vertical plates on both sides of the U-shaped main mounting frame 34, and the distance between the front edge of the slide plate and the front edge of the vertical plate is 5.0 to 10.0 mm, so as to facilitate the observation of the rotation of the slide plate relative to the vertical plate; when in use, the two ends of the cylindrical pin shaft of the lower mounting joint of the aircraft are inserted into the slide 411, and the slide 411 serves as the aircraft lifting track and provides a hovering constraint at the lifting end point at the same time, which is used to realize the aircraft simulation launch test and the measurement of the lifting and hovering characteristics. The entire slide device can rotate around the installation axis.

[0048] The four modules of the UAV vehicle-mounted launcher integrated test bench are suitable for forming a variety of configurations, including aircraft launchers, integrated test benches, and simulated launch configurations:

[0049] (1) Aircraft launcher structure, which is composed of a base 1 and an upper frame 3 (such as Figure 2 ), and a measurement unit 2 is installed between the two according to measurement requirements. When in use, the base 1 is installed on the roof of the vehicle, and the vehicle accelerates in a straight line on a flat road (0 slope or a slight slope). When the speed reaches the take-off speed (there is about 20% to 30% lift margin), the aircraft is released. Under the action of lift, the aircraft overcomes gravity and takes off with a certain vertical acceleration, completing the launch.

[0050] The launch vehicle should be a high-performance off-road vehicle or pickup truck. Its performance and loading capacity meet the requirements for equipment installation and personnel loading, and its maximum stable driving speed during testing should exceed the aircraft's designed launch and takeoff speed. The off-road vehicle uses a roof-mounted loading system, which can accommodate a test luggage rack and a comprehensive test bench for the vehicle-mounted UAV launcher. The luggage rack is designed to fit snugly on the base 1 and connected to it via bolts and straps. The pickup truck uses a rear-loading system with a sufficiently high lower support system.

[0051] (2) Comprehensive test bench configuration: It is composed of a base 1, a measuring unit 2 and an upper frame 3 (such as Figure 1 ), which is used for ground simulated flight tests of vehicle-mounted aircraft. The base 1 is equipped with a measuring unit 2 and an upper frame 3 and is installed on a launch vehicle. The launch vehicle travels in a straight line on a flat road to enable the aircraft to obtain a flight speed. Under specific speed conditions, the measuring unit 2 is used to measure the aircraft characteristics and parameters (aerodynamic and overall force, torque, etc.), as well as the thrust characteristics and parameters of the aircraft's electric power system.

[0052] (3) Simulated launch configuration: It is composed of a base 1, a measurement unit 2, an upper frame 3 and a slide device 4, and is used for aircraft simulated launch tests, pitch trim rudder angle measurements, and single-axis restrained lift-hover tests.

[0053] Aircraft simulation launch test: The base 1 is equipped with a measurement unit 2, an upper structure 3 and a slide device 4, and is installed on a launch vehicle. The launch vehicle travels in a straight line on a flat road to allow the aircraft to gain flight speed. The aircraft is unlocked and released at a specific speed. Under the action of lift, the aircraft rises upward along the slide 411 of the slide device 4 until it hovers at the top of the slide 411. The aircraft's lifting speed (lift) and lifting characteristics are observed and measured.

[0054] Pitch trim rudder angle measurement: Adjust the rudder angle and observe the aircraft's attitude retention at a specific pitch attitude angle / angle of attack to determine the rudder trim angle in this state.

[0055] Single-axis restrained lift-hover test, thrust-drag balance throttle value measurement: After the aircraft gains flight speed and is unlocked and released at a specific speed, the aircraft throttle is gradually increased to observe the relative position change of the leading edge of the slide plate of the slide device 4 relative to the leading edge of the vertical plate of the U-shaped main mounting frame 34. When the two lines change from parallel to an acute angle, that is, the slide plate rotates around the rotation axis 351, at this time, according to the torque balance relationship relative to the rotation axis 351, ignoring the deviation between the aircraft drag action line and the thrust action line and other small errors, it can be approximately assumed that the aircraft drag D is equal to the propeller thrust T at this time, and the equilibrium state throttle value can be obtained.

[0056] After the test subjects are completed, the launch vehicle decelerates gently, the aircraft throttle is reduced to zero (or the power system is powered off), the aircraft descends along the slide 411 to the locked position, the locking hook assembly 35 locks the aircraft, and the aircraft is parked in a safe position.

[0057] The measurement method and principle of the aircraft single lateral axis restrained lift-hover test are as follows:

[0058] In the single-axis constrained lift-hover state, the aircraft and the slide device 4 are subjected to the aerodynamic drag D, which generates a torque M around the axis O (i.e., the rotation axis 351). OD (like Figure 9 Clockwise), in the moment M OD Under the action of the force, the aircraft and the slide device 4 rotate to the rear limit position. At the same time, the aircraft and the slide device 4 are also affected by the combined force LG of the aerodynamic lift L and the gravity G in the vertical direction. LG forms a moment M OL-G (like Figure 9 Adjust the aircraft throttle (start from the minimum throttle and gradually increase it) to increase the tail propeller speed and propeller thrust T, which generates a torque M. OT (like Figure 9 counterclockwise).

[0059] When M OT ≤M OD -M OL-G +M OFWhen the aircraft keeps the rear limit position, M OF is the friction resistance torque.

[0060] When M OT >M OD -M OL-G +M OF When the aircraft rotates forward from the rear limit position, it can be observed that the leading edge lines of the two slide plates rotate relative to the leading edge line of the vertical plate of the U-shaped main mounting frame 43, and the two lines change from being parallel to forming an acute angle.

[0061] Adjust the throttle-propeller thrust T so that M OT =M OD -M OL-G +M OF After the moment is balanced, the aircraft and the slide device 4 remain in a specific position. Considering the various terms in the equation, the lever arm of LG on the axis O is very small (or when designing the slide, make the lever arm equal to 0), M OL-G The value is very small; the friction resistance torque M OF The value is also small and can be ignored; the force arms of the propeller thrust T and the aerodynamic drag D on the axis O are approximately equal, and the throttle value for level flight of the aircraft at the predetermined speed and angle of attack is obtained accordingly. The throttle value at this time is approximately equal to the propeller thrust T and the aerodynamic drag D, with an error of 5 to 10%, which is acceptable.

[0062] Example 2

[0063] This embodiment is basically the same as the embodiment 1, except that: the forward and backward rotation limit of the slide device 4 is achieved by matching the cylindrical pin of the aircraft bottom mounting joint with the notch shape of the top of the U-shaped main mounting frame 34 vertical plate. Specifically: the top of the U-shaped main mounting frame 34 vertical plate adopts a double-layer notch design, the width of the lower notch is set according to the diameter of the cylindrical pin of the aircraft bottom mounting joint, and the width of the upper notch is determined according to the designed forward and backward rotation angle range. The overall height of the two-layer notch is adapted to the length of the slide. Accordingly, the two sides of the U-shaped main mounting frame 34 No baffle is provided on the rear end surface of the vertical plate; the problem with this limiting method is that the height of the slide 411, that is, the lifting stroke of the aircraft is small, so the forward and backward rotation angle range is small. In fact, after the aircraft takes off and hovers, its aerodynamic drag exerts a large rotational torque on the slide 411 to cause it to rotate backward, and a limiting device is required to effectively balance this torque. When measuring the propeller thrust-aerodynamic drag balance throttle, the slide device rotates forward under the action of the propeller thrust, and the forward rotation angle should be larger for easy observation. Therefore, a small backward rotation angle of the slide 411 is sufficient.

Claims

1. A comprehensive test bench for UAV vehicle-mounted launchers, characterized in that: It comprises four modules: a base (1), a measuring unit (2), an upper frame (3) and a slide device (4); The base (1) is a frame structure and is fixedly mounted on the launch vehicle; The measuring unit (2) is installed on the base (1) and is used to measure the force in a specific direction of the aircraft. Whether to install it is determined according to the needs. The upper frame includes a basic frame (31), a front fuselage bracket (32), a U-shaped main mounting frame (34), a locking hook assembly (35), an electric push rod (36), and a rear fuselage bracket (37); The main body of the basic frame (31) is a central column, the lower end of the central column is fixedly connected to the base (1), and the upper end is provided with a horizontal plate, and the front and rear ends of the horizontal plate are both provided with mounting holes; the main bodies of the front fuselage bracket (32) and the rear fuselage bracket (37) are studs, which are respectively installed in the mounting holes at the front and rear ends of the horizontal plate and can be adjusted in height, and arc brackets are provided on the top of the studs, which are respectively used to support the front fuselage and the lower part of the rear fuselage of the aircraft to achieve the pitch angle adjustment of the aircraft; the U-shaped main mounting frame (34) includes vertical plates fixedly installed on the left and right sides of the middle of the horizontal plate, and the two vertical plates are arranged in a mirror-symmetrical manner, and the center positions of the two are both provided with through holes, the tops are both provided with notches, and the lower front sides are both provided with mounting holes; the locking hook assembly (35) includes two L-shaped locking hooks with the same structure, symmetrically The upper ends of the two L-shaped lock hooks are arranged on the inner sides of the two vertical plates in the U-shaped main mounting frame (34), and the upper ends of the two L-shaped lock hooks are lock hook heads. The cylindrical pin shafts of the aircraft mounting joints placed in the slots are matched to achieve locking and unlocking. The middle and lower ends of the two are provided with mounting holes. The middle mounting hole and the through holes at the center positions of the two vertical plates are installed with a rotating shaft (351). A transverse connecting rod is installed between the mounting holes at the lower ends of the two L-shaped lock hooks. The fixed end of the electric push rod (36) is connected to the rear end center axis of the horizontal plate of the basic frame (31), and the push rod end hole is installed at the center position of the transverse connecting rod between the lower ends of the two L-shaped lock hooks of the lock hook assembly (35). The electric push rod (36) is telescopically driven to drive the lock hook assembly (35) to rotate around the rotating shaft (351), thereby achieving locking and unlocking of the aircraft bottom mounting joint. The slide device (4) includes two slide plates connected as one body, which are installed on the outside of the two vertical plates of the U-shaped main mounting frame (34), and the two slide plates can rotate around the rotation axis (351). The upper parts of the two slide plates are both equipped with slides (411), which cooperate with the cylindrical pin shaft of the aircraft bottom mounting joint to provide a hovering constraint at the lifting end point, and whether to use it is selected according to needs.

2. The UAV vehicle-mounted launcher comprehensive test bench according to claim 1 is characterized in that: The base (1) comprises a fixed base (11), an upper mounting plate (12) and an adapter plate (13). The fixed base (1) is a frame structure. The upper mounting plate (12) is fixed on the fixed base (1) and is used to install the measuring unit (2). The adapter plate (13) is used when the measuring unit (2) does not need to be installed. It is installed on the upper mounting plate (12), and the upper surface is fixedly connected to the upper frame (3).

3. The UAV vehicle-mounted launcher comprehensive test bench according to claim 1 is characterized in that: The measuring unit (2) comprises a force sensor array and mounting structure (21), a ring base (22), a data acquisition and processing subsystem and a display subsystem; the force sensor array and mounting structure (21) adopt a plurality of cantilever beam resistance strain type force sensors uniformly arranged along the circumference to form a force sensor array; the ring base (22) is an annular mounting platform with the same height as the force sensor array and mounting structure (21) and is used to confine the force sensor array and mounting structure (21) within the ring base (22); the data acquisition and processing subsystem calculates the three-axis force and torque according to the sensor data and the force arm data and displays the data in a specific format through the display subsystem; the data acquisition and processing subsystem and the display subsystem are arranged in the launch vehicle; the ring base (22) is fixed on the base (1), and the upper frame (3) is installed on the force sensor array and mounting structure (21).

4. The UAV vehicle-mounted launcher comprehensive test bench according to claim 1 is characterized in that: The upper frame (3) also includes a wing bracket (33). The wing bracket (33) is provided with two groups of identical structures, each including a Z-shaped wing support arm, a tube seat and a turnbuckle. The tube seat is fixedly mounted on the lower end of the outer side of the vertical plate of the U-shaped main mounting frame (34); the Z-shaped wing support arm includes a middle long arm and two side short arms parallel to the symmetry center plane, the inner short arm is mounted in the tube seat and can rotate around the axis of the tube seat, and the outer short arm is close to the lower surface of the wing to lift the wing. One end of the turnbuckle is mounted on the middle long arm, and the other end is connected to the vertical plate of the U-shaped main mounting frame (34). The support height of the two Z-shaped wing support arms is achieved by adjusting the turnbuckle, so as to ensure the stability of the rolling attitude of the aircraft during launch.

5. The UAV vehicle-mounted launcher comprehensive test bench according to claim 1 is characterized in that: The slide device (4) includes a left slide plate (41) and a right slide plate (42) that are completely identical and symmetrically arranged, and a limit bolt (43); the two slide plates are arranged on the outside of the vertical plates on both sides of the U-shaped main mounting frame (34), and the upper parts of the two slide plates are each provided with an oblong slide (411), and the slide (411) is arranged vertically, and the position of the slide (411) corresponds to the notch on the upper ends of the vertical plates on both sides of the U-shaped main mounting frame (34); the lower parts of the two slide plates are each provided with two front and rear mounting holes, and a limit bolt is connected between the two rear mounting holes. The bolts (43) connect the two slide plates into one body, and the two front mounting holes are detachably mounted on the rotation axis (351), which also serves as the rotation axis of the two slide plates; the middle part of the rear end surface of the two vertical plates of the U-shaped main mounting frame (34) is formed with a blocking piece, and the limiting bolts (43) cooperate with the rear end surface of the vertical plates on both sides of the U-shaped main mounting frame (34) and the blocking piece on the rear end surface to serve as the forward and backward rotation limit of the slide device (4); in the installed state, the front edges of the two slide plates are parallel to the front edges of the vertical plates on both sides of the U-shaped main mounting frame (34).

6. The UAV vehicle-mounted launcher comprehensive test bench according to claim 5 is characterized in that: The distance between the front edges of the two slide plates and the front edges of the vertical plates on both sides of the U-shaped main mounting frame (34) is 5.0-10.0 mm.

7. The UAV vehicle-mounted launcher comprehensive test bench according to claim 1 is characterized in that: The slide device (4) includes a left slide plate (41) and a right slide plate (42) that are completely identical and symmetrically arranged, and a limit bolt (43); the two slide plates are arranged on the outside of the vertical plates on both sides of the U-shaped main mounting frame (34), and the upper parts of the two slide plates are each formed with an oblong slide (411), and the slide (411) is arranged vertically, and the position of the slide (411) corresponds to the notch on the upper ends of the vertical plates on both sides of the U-shaped main mounting frame (34); the lower parts of the two slide plates are each formed with two front and rear mounting holes, and a limit bolt (43) is connected between the two rear mounting holes to connect the two slide plates into one, and the two front mounting holes are detachably mounted on the rotating shaft (351) The upper portion also serves as the rotation axis of the two slide plates; the forward and backward rotation limit of the slide device (4) is achieved by matching the cylindrical pin of the aircraft bottom mounting joint with the notch shape of the top of the vertical plate of the U-shaped main mounting frame (34): the top of the vertical plate of the main mounting frame 34 adopts a double-layer notch design, the width of the lower notch is set according to the diameter of the cylindrical pin of the aircraft bottom mounting joint, and the width of the upper notch is determined according to the designed forward and backward rotation angle range, and the overall height of the two-layer notch is adapted to the slide length. Accordingly, no baffle is set on the rear end surface of the vertical plates on both sides of the U-shaped main mounting frame (34); in the installed state, the front edges of the two slide plates are parallel to the front edges of the vertical plates on both sides of the U-shaped main mounting frame (34).

8. A comprehensive test bench for UAV vehicle-mounted launchers according to any one of claims 1 to 7, characterized in that: The four modules of the base (1), the measuring unit (2), the upper frame (3) and the slide device (4) are used in combination to form a variety of configurations, including aircraft launchers, integrated test benches and simulated launch configurations: (1) An aircraft launcher configuration, which is composed of a base (1) and an upper frame (3), with a measurement unit (2) installed between the two according to measurement requirements, and is used for aircraft-mounted launch; (2) Comprehensive test bench configuration: It is composed of a base (1), a measuring unit (2) and an upper frame (3) and is used for ground simulated flight tests of vehicle-mounted aircraft; (3) Simulated launch configuration: It is composed of a base (1), a measurement unit (2), an upper frame (3) and a slide device (4) and is used for aircraft simulated launch tests, pitch trim rudder angle measurements, and single-axis restrained lift-hover tests.

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