Nine-degree-of-freedom unmanned aerial vehicle test platform

Abstract

The invention relates to the technical field of unmanned aerial vehicle test platforms, in particular to a nine-degree-of-freedom unmanned aerial vehicle test platform which comprises an unmanned aerial vehicle, a double six-degree-of-freedom platform used for simulating an unmanned aerial vehicle take-off and landing platform in a shaking state and a three-degree-of-freedom rotating platform used for simulating the unmanned aerial vehicle taking off and landing on a slope or a cliff. The double-six-degree-of-freedom platform comprises a double-six-degree-of-freedom lower platform and a double-six-degree-of-freedom upper platform, the double-six-degree-of-freedom upper platform is fixedly installed at the top end of the double-six-degree-of-freedom lower platform, and the three-degree-of-freedom rotating platform is fixedly installed at the top end of the double-six-degree-of-freedom upper platform. The unmanned aerial vehicle takes off or lands from the top end of the three-degree-of-freedom rotating platform. The nine-degree-of-freedom unmanned aerial vehicle testing platform can simulate various complex environments encountered when the unmanned aerial vehicle takes off or lands.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) test platforms, and in particular to a nine-degree-of-freedom UAV test platform. Background Art

[0002] Drones (UAVs) are unmanned aerial vehicles controlled by radio remote control and self-contained programmable devices. Their advantages include small size, low cost, and ease of use. They are currently widely used in aerial photography, agriculture, plant protection, express delivery, disaster relief, surveying and mapping, power inspections, and disaster relief.

[0003] After leaving the factory, drones need to be tested for their take-off and landing performance to ensure that they can take off and land smoothly when performing missions in real scenarios; to avoid failures in take-off and landing in complex environments such as slopes, cliffs, and rough sea surfaces in real scenarios, which may cause damage.

[0004] However, there is no device in the existing technology for simulating the takeoff and landing of drones in complex environments. Since drones are often expensive, in order to avoid damage to drones in real scenarios, it is necessary to provide a drone testing platform that simulates the various complex environments encountered during drone takeoff and landing. Summary of the Invention

[0005] The purpose of the present invention is to provide a nine-degree-of-freedom UAV test platform to solve the technical problems existing in the above-mentioned background technology.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A nine-degree-of-freedom unmanned aerial vehicle (UAV) testing platform comprises: a UAV, a dual six-degree-of-freedom platform for simulating a UAV take-off and landing platform in a shaking state, and a three-degree-of-freedom rotating platform for simulating the take-off and landing of the UAV on a slope or cliff. The dual six-degree-of-freedom platform comprises: a dual six-degree-of-freedom lower platform and a dual six-degree-of-freedom upper platform. The dual six-degree-of-freedom upper platform is fixedly mounted on the top of the dual six-degree-of-freedom lower platform. The three-degree-of-freedom rotating platform is fixedly mounted on the top of the dual six-degree-of-freedom upper platform. The UAV takes off or lands from the top of the three-degree-of-freedom rotating platform.

[0008] Furthermore, the double six-degree-of-freedom lower platform includes: a lower platform lower table, a lower platform upper table, a horizontal Hooke's hinge 1, an articulated bracket 1, a servo electric cylinder 1, an articulated bracket 2, a horizontal Hooke's hinge 2 and an inclined block 1. The upper table of the lower platform is located directly above the lower table of the lower platform. There are six of each of the horizontal Hooke's hinge 1, the articulated bracket 1, the servo electric cylinder 1, the articulated bracket 2 and the horizontal Hooke's hinge 2. There are three inclined blocks 1, and the three inclined blocks are distributed in a circular array on the lower platform table. At the bottom edge, six horizontal Hooke's hinges are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks. The lower fixed end and the upper telescopic end of the servo electric cylinder are respectively fixedly installed with an articulated bracket 1 and an articulated bracket 2. The six horizontal Hooke's hinges are equally divided into three groups. The three groups of horizontal Hooke's hinges are distributed in a circular array at the top edge of the lower table of the lower platform. The six articulated brackets 1 are respectively articulated to the six horizontal Hooke's hinges 1, and the six articulated brackets 2 are respectively articulated to the six horizontal Hooke's hinges 2.

[0009] Furthermore, an electrical box is fixedly installed in the middle of the top of the lower table of the lower platform, and a PLC controller is arranged inside the electrical box. A gyroscope is fixedly installed in the middle of the bottom of the upper table of the lower platform, and the gyroscope is electrically connected to the PLC controller. The gyroscope is an inertial navigation gyroscope; the PLC controller is also electrically connected to six servo electric cylinders respectively.

[0010] Furthermore, a plurality of Forma wheels are evenly arranged at the bottom edge of the lower surface of the lower platform.

[0011] Furthermore, the double six-degree-of-freedom upper platform includes: the lower table of the upper platform, the upper table of the upper platform, a horizontal Hooke's hinge three, an articulated bracket three, a servo electric cylinder two, an articulated bracket four, a horizontal Hooke's hinge four and a slant block two. The upper table of the upper platform is located directly above the lower table of the upper platform. There are six of each of the horizontal Hooke's hinge three, the articulated bracket three, the servo electric cylinder two, the articulated bracket four and the horizontal Hooke's hinge four. There are three of the slant blocks two, and the three slant blocks two are distributed in a circular array at the bottom edge of the upper table of the upper platform. The six horizontal The four Hooke's hinges are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks two. The lower fixed end and the upper telescopic end of the servo electric cylinder two are fixedly installed with an articulated bracket three and an articulated bracket four respectively. The six horizontal Hooke's hinges are equally divided into three groups. The three groups of horizontal Hooke's hinges are distributed in a circular array at the top edge of the lower table of the upper platform. The six articulated brackets three are respectively articulated to the six horizontal Hooke's hinges three, and the six articulated brackets four are respectively articulated to the six horizontal Hooke's hinges four; the lower table of the upper platform is fixedly installed on the middle part of the top of the upper table of the lower platform.

[0012] Furthermore, an electrical box 2 is fixedly installed in the middle of the top of the lower table of the upper platform, and a PLC controller 2 is arranged inside the electrical box 2. Several gyroscopes 2 are evenly arranged on the top of the lower table of the upper platform, and the several gyroscopes 2 are electrically connected to the PLC controller 2 respectively. The PLC controller 2 is also electrically connected to six servo electric cylinders 2 respectively.

[0013] Furthermore, the three-degree-of-freedom rotation platform includes: a U-shaped frame, an X-axis rotation mechanism is provided on the upper part of the U-shaped frame, a Y-axis rotation mechanism is installed on the rotating end of the X-axis rotation mechanism, a Z-axis rotation mechanism is installed on the rotating end of the Y-axis rotation mechanism, and a UAV take-off and landing platform is installed on the rotating end of the Z-axis rotation mechanism, and the UAV takes off or lands from the top of the UAV take-off and landing platform.

[0014] Furthermore, the X-axis rotation mechanism includes: side plates, an X-axis reducer, an X-axis rotating motor, a bearing seat, a regular octagonal frame, a shaft sleeve and a rotating shaft. Two side plates are symmetrically fixedly installed on the upper parts of the left and right ends of the U-shaped frame. The left end of the left side plate is fixedly installed with an X-axis reducer, and the left end of the X-axis reducer is fixedly installed with an X-axis rotating motor. The output end of the X-axis rotating motor is connected to the input end of the X-axis reducer. Two shaft sleeves are symmetrically fixedly installed on the middle parts of the left and right ends of the regular octagonal frame. The shaft sleeve on the left is fixedly connected to the output shaft of the X-axis reducer, and the shaft sleeve on the right is rotatably connected to the rotating shaft. The rotating shaft is installed on the side plate on the right through a bearing seat.

[0015] Furthermore, the Y-axis rotation mechanism includes: a second shaft sleeve, a Y-axis reducer, a Y-axis rotating motor, a second bearing seat, a flange shaft, a connecting plate and a longitudinal arm. The second shaft sleeve, the flange shaft and the connecting plate are each provided with two, and the two second shaft sleeves respectively pass through and are fixedly connected to the middle of the front and rear ends of the regular octagonal frame. The rear end of the rear shaft sleeve is fixedly installed with a Y-axis reducer, and the rear end of the Y-axis reducer is fixedly installed with a Y-axis rotating motor. The output end of the Y-axis rotating motor is connected to the input end of the Y-axis reducer. The front and rear ends of the longitudinal arm are symmetrically fixedly connected with two connecting plates, and the facing ends of the two flange shafts are symmetrically installed on the two connecting plates. The rear end of the rear flange shaft movably passes through the rear shaft sleeve 2 and is fixedly connected to the output end of the Y-axis reducer. The front end of the front flange shaft movably passes through the front shaft sleeve 2 and is rotatably installed on the front shaft sleeve 2 through the second bearing seat.

[0016] Furthermore, the Z-axis rotation mechanism includes: a fixed top plate, a turntable seat, a hollow turntable, a Z-axis reducer, a gear and a Z-axis rotation motor, the fixed top plate is fixedly connected to the top middle part of the longitudinal arm, the top of the fixed top plate is fixedly installed with a turntable seat with a circular opening on the top, the hollow turntable is rotatably connected to the turntable seat, the top of the hollow turntable extends above the turntable seat, a gear mounting cavity is opened on one side of the bottom end of the turntable seat, an outer gear ring is provided on the lower part of the side wall of the hollow turntable, the outer gear ring meshes with the gear, the gear is movably arranged in the gear mounting cavity, the bottom end of the gear is coaxially fixedly connected to the output shaft of the Z-axis reducer, the Z-axis reducer is fixedly installed on the bottom end of the turntable seat, the bottom end of the Z-axis reducer is fixedly installed with a Z-axis rotation motor, and the output end of the Z-axis rotation motor is connected to the input end of the Z-axis reducer; the UAV take-off and landing platform is fixedly installed on the top of the hollow turntable.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The dual six-degree-of-freedom platforms can simulate a UAV take-off and landing platform in a shaking state such as undulating sea waves, and then test the take-off and landing performance of the UAV on the sea take-off and landing platform; the three-degree-of-freedom rotating platform can simulate the scene of taking off and landing a UAV on a slope or cliff, and then test the take-off and landing performance of the UAV on a slope or cliff; the entire nine-degree-of-freedom UAV test platform can test the take-off and landing performance of the UAV in the face of various complex environments, provide support for the optimization of the UAV, and ensure that it can take off and land smoothly when performing tasks in real scenarios; avoid failure in take-off and landing in complex environments such as slopes, cliffs, and undulating sea waves in real scenarios, thereby causing damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 This is a front view of the dual six-degree-of-freedom lower platform of the present invention;

[0021] Figure 3 This is a front view of the dual six-degree-of-freedom upper platform of the present invention;

[0022] Figure 4 This is a structural view of the three-degree-of-freedom rotating platform of the present invention;

[0023] Figure 5 1. It is a view of the internal structure of the X-axis rotation mechanism and the Y-axis rotation mechanism of the present invention;

[0024] Figure 6 It is a cross-sectional view of the Z-axis rotation mechanism of the present invention.

[0025] The numbers in the accompanying drawings are: 1-lower platform lower table, 2-lower platform upper table, 3-horizontal Hook's hinge 1, 4-articulated bracket 1, 5-servo electric cylinder 1, 6-articulated bracket 2, 7-horizontal Hook's hinge 2, 8-oblique block 1, 9-gyroscope 1, 10-Foma wheel, 11-upper platform lower table, 12-upper platform upper table, 13-horizontal Hook's hinge 3, 14-articulated bracket 3, 15-servo electric cylinder 2, 16-articulated bracket 4, 17-horizontal Hook's hinge 4, 18-oblique block 2, 19-gyroscope 2, 20-U-shaped frame Frame, 21-side plate, 22-X-axis reducer, 23-X-axis rotating motor, 24-bearing seat 1, 25-regular octagonal frame, 26-sleeve 1, 27-rotating shaft, 28-sleeve 2, 29-Y-axis reducer, 30-Y-axis rotating motor, 31-bearing seat 2, 32-flange shaft, 33-connecting plate, 34-longitudinal arm, 35-fixed top plate, 36-turntable seat, 37-hollow turntable, 38-Z-axis reducer, 39-gear, 40-Z-axis rotating motor, 41-UAV take-off and landing platform, 42-UAV. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] See also Figures 1 to 6 As shown, a nine-degree-of-freedom UAV test platform includes: a UAV 42, a double six-degree-of-freedom platform for simulating a UAV take-off and landing platform in a shaking state, and a three-degree-of-freedom rotating platform for simulating the take-off and landing of a UAV on a slope or cliff. The double six-degree-of-freedom platform includes: a double six-degree-of-freedom lower platform and a double six-degree-of-freedom upper platform. The double six-degree-of-freedom upper platform is fixedly installed on the top of the double six-degree-of-freedom lower platform, and the three-degree-of-freedom rotating platform is fixedly installed on the top of the double six-degree-of-freedom upper platform. The UAV 42 takes off or lands from the top of the three-degree-of-freedom rotating platform.

[0028] The double six-degree-of-freedom lower platform includes: a lower platform lower table 1, a lower platform upper table 2, a horizontal Hooke's hinge 3, an articulated bracket 4, a servo electric cylinder 5, an articulated bracket 6, a horizontal Hooke's hinge 7 and an inclined block 8. The lower platform upper table 2 is located directly above the lower platform lower table 1. There are six horizontal Hooke's hinges 3, articulated brackets 4, servo electric cylinders 5, articulated brackets 6 and horizontal Hooke's hinges 7. There are three inclined blocks 8. The three inclined blocks 8 are distributed in a circular array at the bottom end of the lower platform table 2. At the edge, six horizontal Hooke's hinges 27 are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks 18. The lower fixed end and the upper telescopic end of the servo electric cylinder 15 are fixedly installed with an articulated bracket 14 and an articulated bracket 26 respectively. The six horizontal Hooke's hinges 13 are equally divided into three groups. The three groups of horizontal Hooke's hinges 3 are distributed in a circular array at the top edge of the lower table 1 of the lower platform. The six articulated brackets 14 are respectively articulated to the six horizontal Hooke's hinges 13, and the six articulated brackets 26 are respectively articulated to the six horizontal Hooke's hinges 27.

[0029] An electrical box is fixedly installed in the middle of the top of the lower table 1 of the lower platform, and a PLC controller is set inside the electrical box. A gyroscope 9 is fixedly installed in the middle of the bottom of the upper table 2 of the lower platform. The gyroscope 9 is electrically connected to the PLC controller. The gyroscope 9 is an inertial navigation gyroscope; the PLC controller is also electrically connected to six servo electric cylinders 5 respectively. The gyroscope 9 is used to detect the horizontality of the upper table 2 of the lower platform.

[0030] A plurality of Forma wheels 10 are evenly arranged at the bottom edge of the lower table 1 of the lower platform. The plurality of Forma wheels 10 are arranged to facilitate the movement of the entire nine-degree-of-freedom UAV test platform.

[0031] The double six-degree-of-freedom upper platform includes: an upper platform lower table 11, an upper platform upper table 12, a horizontal Hook's hinge 3 13, an articulated bracket 3 14, a servo electric cylinder 2 15, an articulated bracket 4 16, a horizontal Hook's hinge 4 17 and an inclined block 2 18. The upper platform upper table 12 is located directly above the upper platform lower table 11. There are six horizontal Hook's hinge 3 13, an articulated bracket 3 14, a servo electric cylinder 2 15, an articulated bracket 4 16 and a horizontal Hook's hinge 4 17. There are three inclined blocks 2 18. The three inclined blocks 2 18 are distributed in a circular array at the bottom edge of the upper platform table 12. The six horizontal The four Hooker hinges 17 are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks 2 18. The lower fixed end and the upper telescopic end of the servo electric cylinder 2 15 are fixedly installed with an articulated bracket 3 14 and an articulated bracket 4 16 respectively. The six horizontal Hooker hinges 3 13 are equally divided into three groups. The three groups of horizontal Hooker hinges 3 13 are distributed in a circular array at the top edge position of the lower table 11 of the upper platform. The six articulated brackets 3 14 are respectively articulated to the six horizontal Hooker hinges 3 13, and the six articulated brackets 4 16 are respectively articulated to the six horizontal Hooker hinges 4 17. The lower table 11 of the upper platform is fixedly installed on the middle part of the top of the upper table 2 of the lower platform.

[0032] An electrical box 2 is fixedly installed in the middle of the top of the lower table 11 of the upper platform, and a PLC controller 2 is installed inside the electrical box 2. Several gyroscopes 2 19 are evenly arranged on the top of the lower table 11 of the upper platform. Several gyroscopes 2 19 are electrically connected to the PLC controller 2 respectively, and the PLC controller 2 is also electrically connected to six servo electric cylinders 2 15 respectively.

[0033] The six servo electric cylinders 1 5 are extended and retracted respectively under the control of PLC controller 1, and the six servo electric cylinders 2 15 are extended and retracted respectively under the control of PLC controller 2, so that the entire dual six-degree-of-freedom platform can achieve a shaking state, simulating the UAV take-off and landing platform in a shaking state such as undulating sea waves, and then testing the take-off and landing performance of the UAV on the sea take-off and landing platform.

[0034] The three-degree-of-freedom rotating platform includes: a U-shaped frame 20, an X-axis rotating mechanism is provided on the upper part of the U-shaped frame 20, a Y-axis rotating mechanism is installed on the rotating end of the X-axis rotating mechanism, a Z-axis rotating mechanism is installed on the rotating end of the Y-axis rotating mechanism, and a UAV take-off and landing platform 41 is installed on the rotating end of the Z-axis rotating mechanism. The UAV 42 takes off or lands from the top of the UAV take-off and landing platform 41.

[0035] The X-axis rotation mechanism includes: a side plate 21, an X-axis reducer 22, an X-axis rotation motor 23, a bearing seat 24, a regular octagonal frame 25, a shaft sleeve 26 and a rotating shaft 27. Two side plates 21 are symmetrically fixedly installed on the upper parts of the left and right ends of the U-shaped frame 20. The left end of the left side plate 21 is fixedly installed with the X-axis reducer 22, and the left end of the X-axis rotation motor 23 is fixedly installed with the X-axis rotation motor 23. The output end of the X-axis rotation motor 23 is connected to the input end of the X-axis reducer 22. Two shaft sleeves 26 are symmetrically fixedly installed on the middle parts of the left and right ends of the regular octagonal frame 25. The shaft sleeve 26 on the left is fixedly connected to the output shaft of the X-axis reducer 22, and the rotating shaft 27 is rotatably connected in the shaft sleeve 26 on the right. The rotating shaft 27 is installed on the right side plate 21 through the bearing seat 24.

[0036] The Y-axis rotation mechanism includes: a second sleeve 28, a Y-axis reducer 29, a Y-axis rotation motor 30, a second bearing seat 31, a flange shaft 32, a connecting plate 33 and a longitudinal arm 34. The second sleeve 28, the flange shaft 32 and the connecting plate 33 are each provided with two, and the two second sleeves 28 respectively pass through and are fixedly connected to the middle of the front and rear ends of the regular octagonal frame 25. The rear end of the rear sleeve 28 is fixedly installed with the Y-axis reducer 29, and the rear end of the Y-axis rotation motor 30 is fixedly installed. The output end of the Y-axis rotating motor 30 is connected to the input end of the Y-axis reducer 29. The front and rear ends of the longitudinal arm 34 are symmetrically fixedly connected to two connecting plates 33. The facing ends of the two flange shafts 32 are symmetrically installed on the two connecting plates 33. The rear end of the rear flange shaft 32 movably passes through the rear shaft sleeve 28 and is fixedly connected to the output end of the Y-axis reducer 29. The front end of the front flange shaft 32 movably passes through the front shaft sleeve 28 and is rotatably installed on the front shaft sleeve 28 through the bearing seat 21.

[0037] The Z-axis rotation mechanism includes: a fixed top plate 35, a turntable seat 36, a hollow turntable 37, a Z-axis reducer 38, a gear 39 and a Z-axis rotation motor 40. The fixed top plate 35 is fixedly connected to the middle of the top of the longitudinal arm 34. The top of the fixed top plate 35 is fixedly installed with a turntable seat 36 with a round opening at the top. The hollow turntable 37 is rotatably connected to the turntable seat 36. The top of the hollow turntable 37 extends above the turntable seat 36. A gear installation cavity is opened on one side of the bottom end of the turntable seat 36. An outer gear ring is provided on the lower part of the side wall of 37, which meshes with a gear 39. The gear 39 is movably arranged in the gear mounting cavity. The bottom end of the gear 39 is coaxially fixedly connected with the output shaft of the Z-axis reducer 38. The Z-axis reducer 38 is fixedly mounted on the bottom end of the turntable seat 36. The bottom end of the Z-axis reducer 38 is fixedly mounted with a Z-axis rotary motor 40. The output end of the Z-axis rotary motor 40 is connected to the input end of the Z-axis reducer 38; the UAV take-off and landing platform 41 is fixedly mounted on the top of the hollow turntable 37.

[0038] By operating the X-axis rotation mechanism, Y-axis rotation mechanism and Z-axis rotation mechanism respectively, the scenario of taking off and landing a drone on a slope or cliff is simulated, thereby testing the take-off and landing performance of the drone on the slope or cliff.

[0039] Working principle: When it is necessary to test the take-off and landing performance of the UAV in a shaking state such as the undulating sea surface, the six servo electric cylinders 1 5 are extended and retracted respectively under the control of the PLC controller 1, and the six servo electric cylinders 2 15 are extended and retracted respectively under the control of the PLC controller 2, so that the entire double six-degree-of-freedom platform can achieve a shaking state, simulating the UAV take-off and landing platform in a shaking state such as the undulating sea surface. The UAV 42 only needs to take off or land from the top of the UAV take-off and landing platform 41; when it is necessary to test the take-off and landing performance of the UAV 42 on a slope or cliff, the X-axis rotation mechanism is used to rotate the UAV 42. , the Y-axis rotation mechanism and the Z-axis rotation mechanism work separately, thereby driving the drone take-off and landing platform 41 to tilt at any angle, and the drone 42 only needs to take off or land from the top of the drone take-off and landing platform 41; the entire nine-degree-of-freedom drone test platform can test the take-off and landing performance of the drone 42 in the face of various complex environments, provide support for the optimization of the drone 42, thereby ensuring that it can take off and land smoothly when performing tasks in real scenes; avoid its failure in take-off and landing in complex environments such as slopes, cliffs, and undulating sea waves in real scenes, thereby causing damage.

[0040] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "top / bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0041] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any simple modification, equivalent replacement and improvement made by any technician familiar with the profession to the above embodiment without departing from the scope of the technical solution of the present invention and based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A nine-degree-of-freedom UAV test platform, characterized in that: include: A drone (42), a double six-degree-of-freedom platform for simulating a drone take-off and landing platform in a shaking state, and a three-degree-of-freedom rotating platform for simulating the take-off and landing of a drone on a slope or a cliff, wherein the double six-degree-of-freedom platform comprises a double six-degree-of-freedom lower platform and a double six-degree-of-freedom upper platform, wherein the double six-degree-of-freedom upper platform is fixedly mounted on the top of the double six-degree-of-freedom lower platform, and the three-degree-of-freedom rotating platform is fixedly mounted on the top of the double six-degree-of-freedom upper platform, and the drone (42) takes off or lands from the top of the three-degree-of-freedom rotating platform.

2. The nine-degree-of-freedom UAV test platform according to claim 1, characterized in that: The double six-degree-of-freedom lower platform comprises: a lower platform lower table (1), a lower platform upper table (2), a horizontal Hooke's hinge (3), an articulated bracket (4), a servo electric cylinder (5), an articulated bracket (6), a horizontal Hooke's hinge (7) and an inclined block (8). The lower platform upper table (2) is located directly above the lower platform lower table (1). There are six of each of the horizontal Hooke's hinge (3), the articulated bracket (4), the servo electric cylinder (5), the articulated bracket (6) and the horizontal Hooke's hinge (7). There are three inclined blocks (8), and the three inclined blocks (8) are arranged in a circular array on the lower platform. At the bottom edge of the upper table (2), six horizontal Hooke's hinges (7) are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks (8). The lower fixed end and the upper telescopic end of the servo electric cylinder (5) are respectively fixedly mounted with an articulated bracket (4) and an articulated bracket (6). The six horizontal Hooke's hinges (3) are equally divided into three groups. The three groups of horizontal Hooke's hinges (3) are arranged in a circular array at the top edge of the lower table (1) of the lower platform. The six articulated brackets (4) are respectively articulated to the six horizontal Hooke's hinges (3), and the six articulated brackets (6) are respectively articulated to the six horizontal Hooke's hinges (7).

3. The nine-degree-of-freedom UAV test platform according to claim 2, characterized in that: An electrical box is fixedly installed in the middle of the top of the lower table (1) of the lower platform, and a PLC controller is arranged inside the electrical box. A gyroscope (9) is fixedly installed in the middle of the bottom of the upper table (2) of the lower platform, and the gyroscope (9) is electrically connected to the PLC controller. The gyroscope (9) is an inertial navigation gyroscope; the PLC controller is also electrically connected to six servo electric cylinders (5).

4. The nine-degree-of-freedom UAV test platform according to claim 2, characterized in that: A plurality of Forma wheels (10) are evenly arranged at the bottom edge of the lower table (1) of the lower platform.

5. The nine-degree-of-freedom UAV test platform according to claim 2, characterized in that: The double six-degree-of-freedom upper platform comprises: an upper platform lower surface (11), an upper platform upper surface (12), a horizontal Hooke's hinge three (13), an articulated bracket three (14), a servo electric cylinder two (15), an articulated bracket four (16), a horizontal Hooke's hinge four (17) and an inclined block two (18). The upper platform upper surface (12) is located directly above the upper platform lower surface (11). There are six of each of the horizontal Hooke's hinge three (13), the articulated bracket three (14), the servo electric cylinder two (15), the articulated bracket four (16) and the horizontal Hooke's hinge four (17). There are three inclined blocks two (18), and the three inclined blocks two (18) are arranged in a circular array at the bottom edge of the upper platform surface (12). The six horizontal Hooke's hinges (4) (17) are symmetrically fixed in groups of two on the bottom inclined surfaces of the three inclined blocks (18). The lower fixed end and the upper telescopic end of the servo electric cylinder (15) are fixedly mounted with an articulated bracket (3) (14) and an articulated bracket (4) (16) respectively. The six horizontal Hooke's hinges (3) (13) are equally divided into three groups. The three groups of horizontal Hooke's hinges (3) (13) are arranged in a circular array at the top edge of the lower table (11) of the upper platform. The six articulated brackets (3) (14) are respectively articulated to the six horizontal Hooke's hinges (3) (13). The six articulated brackets (4) (16) are respectively articulated to the six horizontal Hooke's hinges (4) (17). The lower table (11) of the upper platform is fixedly mounted on the top middle part of the upper table (2) of the lower platform.

6. The nine-degree-of-freedom UAV test platform according to claim 5, characterized in that: An electrical box 2 is fixedly installed in the middle of the top of the lower table (11) of the upper platform, and a PLC controller 2 is arranged inside the electrical box 2. A plurality of gyroscopes 2 (19) are evenly arranged on the top of the lower table (11) of the upper platform, and the plurality of gyroscopes 2 (19) are electrically connected to the PLC controller 2 respectively. The PLC controller 2 is also electrically connected to six servo electric cylinders 2 (15) respectively.

7. The nine-degree-of-freedom UAV test platform according to claim 5, characterized in that: The three-degree-of-freedom rotation platform comprises: a U-shaped frame (20); an X-axis rotation mechanism is provided on the upper portion of the U-shaped frame (20); a Y-axis rotation mechanism is installed on the rotation end of the X-axis rotation mechanism; a Z-axis rotation mechanism is installed on the rotation end of the Y-axis rotation mechanism; a UAV take-off and landing platform (41) is installed on the rotation end of the Z-axis rotation mechanism; and the UAV (42) takes off or lands from the top of the UAV take-off and landing platform (41).

8. The nine-degree-of-freedom UAV test platform according to claim 7, characterized in that: The X-axis rotating mechanism comprises: a side plate (21), an X-axis reducer (22), an X-axis rotating motor (23), a bearing seat (24), a regular octagonal frame (25), a shaft sleeve (26) and a rotating shaft (27). Two side plates (21) are symmetrically fixedly installed on the upper parts of the left and right ends of the U-shaped frame (20). The left end of the left side plate (21) is fixedly installed with an X-axis reducer (22). The left end of the X-axis reducer (22) is fixedly installed with an X-axis rotating motor. The output end of the X-axis rotating motor (23) is connected to the input end of the X-axis reducer (22); two shaft sleeves (26) are symmetrically fixedly installed in the middle of the left and right ends of the regular octagonal frame (25); the shaft sleeve (26) on the left is fixedly connected to the output shaft of the X-axis reducer (22); the shaft sleeve (26) on the right is rotatably connected to a rotating shaft (27); the rotating shaft (27) is installed on the right side plate (21) through a bearing seat (24).

9. The nine-degree-of-freedom UAV test platform according to claim 8, characterized in that: The Y-axis rotating mechanism comprises: a shaft sleeve 2 (28), a Y-axis speed reducer (29), a Y-axis rotating motor (30), a bearing seat 2 (31), a flange shaft (32), a connecting plate (33) and a longitudinal arm (34). The shaft sleeve 2 (28), the flange shaft (32) and the connecting plate (33) are each provided with two, and the two shaft sleeves 2 (28) respectively penetrate and are fixedly connected to the middle of the front and rear ends of the regular octagonal frame (25). The rear end of the rear shaft sleeve 2 (28) is fixedly installed with a Y-axis speed reducer (29), and the rear end of the Y-axis speed reducer (29) is fixedly installed with a Y-axis rotating motor ( 30), the output end of the Y-axis rotary motor (30) is connected to the input end of the Y-axis reducer (29), the front and rear ends of the longitudinal arm (34) are symmetrically fixedly connected to two connecting disks (33), the opposite ends of the two flange shafts (32) are symmetrically installed on the two connecting disks (33), the rear end of the rear flange shaft (32) movably passes through the rear shaft sleeve 2 (28) and is fixedly connected to the output end of the Y-axis reducer (29), and the front end of the front flange shaft (32) movably passes through the front shaft sleeve 2 (28) and is rotatably installed on the front shaft sleeve 2 (28) through the bearing seat 2 (31).

10. The nine-degree-of-freedom UAV test platform according to claim 9, characterized in that: The Z-axis rotation mechanism comprises: a fixed top plate (35), a turntable seat (36), a hollow turntable (37), a Z-axis reducer (38), a gear (39) and a Z-axis rotation motor (40), wherein the fixed top plate (35) is fixedly connected to the middle of the top end of the longitudinal arm (34), a turntable seat (36) with a round opening at the top end is fixedly installed at the top end of the fixed top plate (35), the hollow turntable (37) is rotatably connected to the turntable seat (36), the top end of the hollow turntable (37) extends above the turntable seat (36), a gear installation cavity is opened on one side of the bottom end of the turntable seat (36), and the hollow An outer gear ring is provided at the lower part of the side wall of the turntable (37), and the outer gear ring meshes with a gear (39). The gear (39) is movably arranged in the gear installation cavity. The bottom end of the gear (39) is coaxially fixedly connected to the output shaft of the Z-axis reducer (38). The Z-axis reducer (38) is fixedly installed at the bottom end of the turntable seat (36). A Z-axis rotary motor (40) is fixedly installed at the bottom end of the Z-axis reducer (38), and the output end of the Z-axis rotary motor (40) is connected to the input end of the Z-axis reducer (38); the UAV take-off and landing platform (41) is fixedly installed at the top end of the hollow turntable (37).

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