Unmanned aerial vehicle gravity center measuring mechanism and unmanned aerial vehicle

Abstract

The utility model discloses an unmanned aerial vehicle gravity center measuring mechanism and an unmanned aerial vehicle. One end of each of the first supporting device, the second supporting device and the third supporting device is mounted on the foundation, the other end of each of the first supporting device, the second supporting device and the third supporting device is connected to the corresponding sensor, and the first supporting device, the second supporting device and the third supporting device are configured to adjust height; the multiple limiting sleeves are arranged on the sides, away from the first supporting device, the second supporting device and the third supporting device, of the corresponding sensors respectively. One end of each support abuts against the end, away from the corresponding sensor, of the corresponding limiting sleeve, the other end of one support supports a fuselage of the unmanned aerial vehicle, the other ends of the other two supports support two wings of the unmanned aerial vehicle respectively, the two wings are located on the two sides of the fuselage respectively, and the three supports are distributed in a triangular mode; the multiple first horizontal detection supports are arranged on the side walls of the corresponding limiting sleeves. The mechanism is flexible in design, can be suitable for various medium and large unmanned aerial vehicle models, and shows high universality.

Description

Technical Field

[0001] The present application relates to the technical field of drone auxiliary equipment, and in particular to a drone center of gravity measurement mechanism and a drone. Background Art

[0002] The measurement of the center of gravity of a drone plays a vital role in the design, manufacturing, test flight and maintenance of drones. It is directly related to the flight stability, controllability and safety of drones. The center of gravity position of a drone has a crucial impact on its flight performance. Improper center of gravity position may cause the drone to become unstable, difficult to control or even crash during flight. Therefore, the center of gravity of a drone needs to be accurately measured and adjusted during the design, manufacturing, test flight and maintenance of the drone.

[0003] In current technology, the weight and center of gravity measurement mechanisms and methods for medium and large-scale drones generally have problems such as complex structure, heavy weight, and poor operability. During the weighing process, the preparation work is cumbersome and often requires the cooperation of multiple special equipment, which not only consumes a lot of manpower, but also leads to low work efficiency and increased investment costs. Therefore, how to design a drone weighing mechanism with a simple structure, convenient operation and high efficiency has become a technical problem that technicians in this field need to solve urgently. Utility Model Content

[0004] The embodiment of the present application provides a drone center of gravity measuring mechanism and a drone, thereby solving the technical problems in the prior art that the drone center of gravity measuring mechanism has cumbersome preparation work during the weighing process, requires the coordination of multiple special equipment, and is time-consuming and labor-intensive.

[0005] In the first aspect, an embodiment of the present application provides a drone center of gravity measurement mechanism, comprising a first support device, a second support device, a third support device, a plurality of sensors, a plurality of limit sleeves, a plurality of first horizontal detection supports and a plurality of brackets; one end of the first support device, the second support device and the third support device are all installed on a foundation, and the other end is connected to the corresponding sensor, and the first support device, the second support device and the third support device are all configured to adjust the height; a plurality of limit sleeves are respectively arranged on the side of the corresponding sensor away from the first support device, the second support device and the third support device; one end of a plurality of brackets is respectively abutted against the end of the corresponding limit sleeve away from the corresponding sensor, the other end of one of the brackets supports the fuselage of the drone, and the other ends of the remaining two brackets respectively support the two wings of the drone, the two wings are respectively located on both sides of the fuselage, and the three brackets are distributed in a triangular shape; a plurality of first horizontal detection supports are arranged on the side walls of the corresponding limit sleeves, and are configured to measure the inclination angle of the corresponding bracket relative to the horizontal position, so as to adjust the height of the corresponding first support device, the second support device and the third support device.

[0006] In combination with the first aspect, in a possible implementation, the UAV center of gravity measurement mechanism also includes a plurality of leveling devices; the plurality of leveling devices are respectively arranged on the first supporting device, the second supporting device, and the third supporting device away from the side of the corresponding sensor.

[0007] In combination with the first aspect, in a possible implementation, the leveling device includes a plurality of anchor bolts; one end of the plurality of anchor bolts is connected to the circumference of the first supporting device, the second supporting device and the third supporting device, and the other end is installed on the foundation.

[0008] In combination with the first aspect, in a possible implementation manner, the plurality of anchor bolts are evenly arranged in the circumference of the first supporting device, the second supporting device and the third supporting device.

[0009] In combination with the first aspect, in a possible implementation, the first supporting device includes a first support and a first screw lift; one end of the first support is installed on the base, and the other end thereof is connected to the first screw lift, and the end of the first screw lift away from the first support is connected to the corresponding limit sleeve; the second supporting device includes a second support and a second screw lift; one end of the second support is installed on the base, and the other end thereof is connected to the second screw lift, and the end of the second screw lift away from the second support is connected to the corresponding limit sleeve; the third supporting device includes a third support and a third screw lift; one end of the third support is installed on the base, and the other end thereof is connected to the third screw lift, and the end of the third screw lift away from the third support is connected to the corresponding limit sleeve.

[0010] In combination with the first aspect, in a possible implementation, the UAV center of gravity measuring mechanism also includes multiple line-casting stands and multiple line-casting instruments; the multiple line-casting stands are respectively installed on the first support, the second support and the third support on a side away from the corresponding limit sleeves; the multiple line-casting instruments are installed on the corresponding line-casting stands and are configured to shoot out laser cross lines.

[0011] In combination with the first aspect, in a possible implementation, the UAV center of gravity measurement mechanism also includes a second horizontal detection support; the second horizontal detection support is installed on a side of the fuselage away from the foundation.

[0012] In combination with the first aspect, in a possible implementation manner, a side of the bracket supporting the fuselage away from the limiting sleeve is a U-shaped structure, and the fuselage is inserted into the U-shaped structure.

[0013] In combination with the first aspect, in a possible implementation, the side of the bracket supporting the fuselage facing the limiting sleeve is an arc-shaped structure; the side of the bracket supporting the two wings facing the limiting sleeve is an L-shaped structure.

[0014] In a second aspect, an embodiment of the present application provides a drone, comprising the drone center of gravity measurement mechanism described in the first aspect or any possible implementation of the first aspect.

[0015] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects:

[0016] The drone center of gravity measuring mechanism provided in the embodiment of the present application includes a first support device, a second support device, a third support device, multiple sensors, multiple limit sleeves, multiple first horizontal detection supports and multiple brackets. The first support device of the present application and its corresponding sensor, limit sleeve, and bracket form a first fulcrum, the second support device and its corresponding sensor, limit sleeve, and bracket form a second fulcrum, and the third support device and its corresponding sensor, limit sleeve, and bracket form a third fulcrum. The first fulcrum, the second fulcrum, and the third fulcrum are distributed in a triangular shape, supporting the fuselage and the two wings respectively. In actual operation, firstly, by reading the digital inclinometer readings on the three first horizontal detection supports, the heights of the first support device, the second support device, and the third support device are adjusted to ensure that the corresponding limit sleeves are level; then, the drone with the three brackets fixed is slowly placed into the corresponding limit sleeves, and the heights of the first support device, the second support device, and the third support device are adjusted again to ensure that the drone is level as a whole. This application adopts a three-point measurement method, by accurately reading the data of three sensors, calculating the weight and center of gravity of the drone in the X and Y directions; the first fulcrum is raised to a certain height by the first supporting device, and the data of the three sensors are read to calculate the weight and center of gravity of the drone in the Z direction, thereby improving the measurement accuracy of the center of gravity of the drone. This application can comprehensively consider the force conditions of the drone in the X direction (lateral), Y direction (longitudinal) and Z direction (vertical direction), so as to accurately calculate the weight distribution and center of gravity of the drone. The first fulcrum, the second fulcrum and the third fulcrum of this application are independent of each other, do not interfere with each other, and are accurately positioned, ensuring the safety and accuracy of the measurement. In addition, the mechanism is flexibly designed and can be applied to a variety of medium and large drone models, showing a high degree of versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of a structure in which a drone gravity center measurement mechanism provided in an embodiment of the present application is installed on a drone;

[0019] Figure 2 A schematic structural diagram of a first supporting device provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the structure of a second supporting device provided in an embodiment of the present application;

[0021] Figure 4A schematic diagram of the structure of a third supporting device provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of a bracket located on a first supporting device is provided for an embodiment of the present application;

[0023] Figure 6 for Figure 5 AA surface section view;

[0024] Figure 7 A schematic diagram of the structure of a bracket located on a second supporting device provided in an embodiment of the present application;

[0025] Figure 8 for Figure 6 A cross-sectional view of

[0026] Fig. 9 A schematic diagram of the structure of a bracket located on a third supporting device provided in an embodiment of the present application;

[0027] Fig.10 for Fig. 9 sectional view of .

[0028] Icons: 1-first supporting device; 101-first support; 102-first lead screw lift; 2-second supporting device; 21-second support; 22-second lead screw lift; 3-third supporting device; 31-third support; 32-third lead screw lift; 4-sensor; 5-limit sleeve; 6-first horizontal detection support; 7-bracket; 8-wing; 9-fuselage; 10-line throwing frame; 11-line throwing instrument; 12-second horizontal detection support; 13-leveling device; 131-anchor bolt. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0031] The present application embodiment provides a drone center of gravity measurement mechanism, such as Figures 1 to 10 As shown. The drone gravity center measurement mechanism includes a first support device 1, a second support device 2, a third support device 3, a plurality of sensors 4, a plurality of limit sleeves 5, a plurality of first horizontal detection supports 6 and a plurality of brackets 7. One end of the first support device 1, the second support device 2 and the third support device 3 are all installed on the foundation, and the other end is connected to the corresponding sensor 4. The first support device 1, the second support device 2 and the third support device 3 are all configured to adjust the height. A plurality of limit sleeves 5 are respectively arranged on the side of the corresponding sensor 4 away from the first support device 1, the second support device 2 and the third support device 3. One end of the plurality of brackets 7 is respectively abutted against the end of the corresponding limit sleeve 5 away from the corresponding sensor 4, the other end of one of the brackets 7 supports the fuselage 9 of the drone, and the other ends of the remaining two brackets 7 respectively support the two wings 8 of the drone, and the two wings 8 are respectively located on both sides of the fuselage 9, and the three brackets 7 are distributed in a triangular shape. A plurality of first level detection supports 6 are arranged on the side walls of the corresponding limit sleeves 5 and are configured to measure the inclination angle of the corresponding bracket 7 relative to the horizontal position to adjust the height of the corresponding first support device 1, the second support device 2 and the third support device 3.

[0032] Specifically, the present application provides three sensors 4 , correspondingly, provides three limit sleeves 5 , provides three brackets 7 , and provides three first level detection supports 6 .

[0033] It should be noted that the first support device 1 of the present application and its corresponding sensor 4, limit sleeve 5, and bracket 7 form the first fulcrum, the second support device 2 and its corresponding sensor 4, limit sleeve 5, and bracket 7 form the second fulcrum, and the third support device 3 and its corresponding sensor 4, limit sleeve 5, and bracket 7 form the third fulcrum. The first fulcrum, the second fulcrum, and the third fulcrum are distributed in a triangle, supporting the fuselage 9 and the two wings 8 respectively. In actual operation, firstly, by reading the digital inclinometer readings on the three first level detection supports 6, the heights of the first support device 1, the second support device 2, and the third support device 3 are adjusted to ensure that the corresponding limit sleeves 5 are level; then, the drone with the three brackets 7 fixed is slowly placed into the corresponding limit sleeves 5, and the heights of the first support device 1, the second support device 2, and the third support device 3 are adjusted again to ensure that the drone is level as a whole. This application adopts a three-point measurement method, by accurately reading the data of three sensors 4, calculating the weight and center of gravity of the drone in the X and Y directions; the first fulcrum is raised to a certain height by the first support device 1, and the data of the three sensors 4 are read to calculate the weight and center of gravity of the drone in the Z direction, thereby improving the measurement accuracy of the center of gravity of the drone. This application can comprehensively consider the force conditions of the drone in the X direction (lateral), Y direction (longitudinal) and Z direction (vertical direction), so as to accurately calculate the weight distribution and center of gravity of the drone. The first fulcrum, the second fulcrum and the third fulcrum of this application are independent of each other, do not interfere with each other, and are accurately positioned, ensuring the safety and accuracy of the measurement. In addition, the mechanism is flexibly designed and can be applied to a variety of medium and large drone models, showing a high degree of versatility.

[0034] Furthermore, the fulcrums of the drone center of gravity measurement mechanism of the present application are arranged relatively densely and compactly, so that the mechanism has a smaller volume, is more modular, and has better maintainability than the existing structural form.

[0035] In the embodiment of the present application, the drone gravity center measurement mechanism further includes a plurality of leveling devices 13. The plurality of leveling devices 13 are respectively arranged on the first supporting device 1, the second supporting device 2, and the third supporting device 3 away from the corresponding sensor 4.

[0036] In the embodiment of the present application, the leveling device 13 includes a plurality of anchor bolts 131. One end of the plurality of anchor bolts 131 is connected to the circumference of the first supporting device 1, the second supporting device 2 and the third supporting device 3, and the other end is installed on the foundation.

[0037] It should be noted that the first support device 1, the second support device 2 and the third support device 3 of the embodiment of the present application are all provided with three anchor bolts 131. The arrangement of the three anchor bolts 131 can form a stable triangular support structure, which is very stable in mechanics and can effectively prevent each support device from shaking or tipping over when subjected to external forces, thereby ensuring the stability of each support device and the equipment or components supported by it. At the same time, the three anchor bolts 131 can also effectively disperse the forces and moments exerted on the first support device 1, the second support device 2 and the third support device 3 to the basic structure, avoiding damage caused by excessive local forces.

[0038] In the embodiment of the present application, a plurality of anchor bolts 131 are evenly arranged in the circumference of the first supporting device 1 , the second supporting device 2 and the third supporting device 3 .

[0039] It should be noted that the uniform distribution of the anchor bolts 131 can ensure that each support device is subjected to uniform force in each direction, thereby avoiding structural deformation or damage caused by uneven force. When the position or height of each support device needs to be adjusted, it can be achieved by adjusting the tightness of the anchor bolts 131, thereby improving the flexibility of the mechanism.

[0040] In the embodiment of the present application, the first support device 1 includes a first support 101 and a first screw lift 102. One end of the first support 101 is installed on the foundation, and the other end thereof is connected to the first screw lift 102, and the end of the first screw lift 102 away from the first support 101 is connected to the corresponding limit sleeve 5. The second support device 2 includes a second support 21 and a second screw lift 22. One end of the second support 21 is installed on the foundation, and the other end thereof is connected to the second screw lift 22, and the end of the second screw lift 22 away from the second support 21 is connected to the corresponding limit sleeve 5. The third support device 3 includes a third support 31 and a third screw lift 32. One end of the third support 31 is installed on the foundation, and the other end thereof is connected to the third screw lift 32, and the end of the third screw lift 32 away from the third support 31 is connected to the corresponding limit sleeve 5.

[0041] It should be noted that the present application can level the upper end faces of the first support 101, the second support 21 and the third support 31 by means of the anchor bolts 131. The upper end face of the first support 101 is fixedly connected to the first screw lift 102, and the flange end face of the screw lift is fixedly connected to the corresponding sensor 4. Similarly, the upper end faces of the second support 21 and the third support 31 are also fixedly connected to the second screw lift 22 and the third screw lift 32, respectively, and the flange end faces of the second and third screw lifts 32 are also fixedly connected to the corresponding sensors 4, respectively. These sensors 4 can generate pressure signals after being subjected to pressure, and then these signals are processed and converted into data, and finally transmitted to the digital display device for recording for later calculation and processing.

[0042] In the embodiment of the present application, the drone center of gravity measuring mechanism further includes a plurality of line-casting frames 10 and a plurality of line-casting instruments 11. The plurality of line-casting frames 10 are respectively mounted on the first support 101, the second support 21 and the third support 31 away from the corresponding limiting sleeve 5. The plurality of line-casting instruments 11 are mounted on the corresponding line-casting frames 10 and are configured to project laser cross lines.

[0043] It should be noted that each line-casting frame 10 is equipped with a corresponding line-casting instrument 11, which has a high-precision and high-stability laser emission function and can accurately produce a laser cross line. The emergence of the laser cross line provides great convenience for the positioning and measurement of the UAV.

[0044] In the embodiment of the present application, the drone gravity center measurement mechanism further includes a second level detection support 12. The second level detection support 12 is installed on a side of the fuselage 9 away from the foundation.

[0045] It should be noted that the present application can further ensure the levelness of the drone by adjusting the heights of the first supporting device 1 , the second supporting device 2 and the third supporting device 3 and observing the digital inclinometer reading of the second level detection support 12 .

[0046] In the embodiment of the present application, the side of the bracket 7 supporting the fuselage 9 away from the limiting sleeve 5 is a U-shaped structure, and the fuselage 9 is inserted into the U-shaped structure.

[0047] It should be noted that the U-shaped structure fits the 9-shaped surface of the fuselage, is more stable, has a small size and a high power-to-weight ratio.

[0048] In the embodiment of the present application, the side of the bracket 7 supporting the fuselage 9 facing the limiting sleeve 5 is an arc-shaped structure. The side of the bracket 7 supporting the two wings 8 facing the limiting sleeve 5 is an L-shaped structure.

[0049] It should be noted that in actual work, the bracket 7 supporting the fuselage 9 is in point contact with the corresponding limit sleeve 5. The bracket 7 supporting the two wings 8 is in line contact with the corresponding limit sleeve 5, which improves the accuracy of the weighing of the mechanism and has a smaller error.

[0050] An embodiment of the present application provides a drone, which includes a drone center of gravity measurement mechanism according to the first aspect or any possible implementation of the first aspect.

[0051] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0052] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A drone center of gravity measurement mechanism, characterized in that: It comprises a first supporting device (1), a second supporting device (2), a third supporting device (3), a plurality of sensors (4), a plurality of limit sleeves (5), a plurality of first level detection supports (6) and a plurality of brackets (7); One end of the first supporting device (1), the second supporting device (2) and the third supporting device (3) are all installed on the base, and the other ends are all connected to the corresponding sensors (4), and the first supporting device (1), the second supporting device (2) and the third supporting device (3) are all configured to adjust the height; The plurality of limit sleeves (5) are respectively arranged on a side of the corresponding sensor (4) away from the first supporting device (1), the second supporting device (2) and the third supporting device (3); One end of a plurality of the brackets (7) is respectively in contact with one end of the corresponding limiting sleeve (5) away from the corresponding sensor (4), the other end of one of the brackets (7) supports the fuselage (9) of the drone, and the other ends of the remaining two brackets (7) respectively support two wings (8) of the drone, the two wings (8) are respectively located on both sides of the fuselage (9), and the three brackets (7) are distributed in a triangular shape; A plurality of the first level detection supports (6) are arranged on the side walls of the corresponding limit sleeves (5), and are configured to measure the inclination angle of the corresponding bracket (7) relative to the horizontal position, so as to adjust the height of the corresponding first support device (1), the second support device (2) and the third support device (3).

2. The drone center of gravity measuring mechanism according to claim 1, characterized in that: Also includes a plurality of leveling devices (13); The plurality of leveling devices (13) are respectively arranged on a side of the first supporting device (1), the second supporting device (2), and the third supporting device (3) away from the corresponding sensor (4).

3. The drone center of gravity measuring mechanism according to claim 2, characterized in that: The leveling device (13) comprises a plurality of anchor bolts (131); One end of the plurality of anchor bolts (131) is connected to the circumference of the first supporting device (1), the second supporting device (2) and the third supporting device (3), and the other end is installed on the foundation.

4. The drone center of gravity measuring mechanism according to claim 3, characterized in that: The plurality of anchor bolts (131) are evenly arranged in the circumferential direction of the first supporting device (1), the second supporting device (2) and the third supporting device (3).

5. The drone center of gravity measuring mechanism according to claim 1, characterized in that: The first supporting device (1) comprises a first support (101) and a first screw lift (102); One end of the first support (101) is installed on the foundation, and the other end thereof is connected to the first screw lift (102); an end of the first screw lift (102) away from the first support (101) is connected to the corresponding limiting sleeve (5); The second supporting device (2) comprises a second support (21) and a second screw lift (22); One end of the second support (21) is installed on the foundation, and the other end thereof is connected to the second screw lift (22); and one end of the second screw lift (22) away from the second support (21) is connected to the corresponding limiting sleeve (5); The third supporting device (3) comprises a third support (31) and a third screw lift (32); One end of the third support (31) is installed on the foundation, and the other end is connected to the third screw lift (32); one end of the third screw lift (32) away from the third support (31) is connected to the corresponding limiting sleeve (5).

6. The drone center of gravity measuring mechanism according to claim 5, characterized in that: It also includes a plurality of line throwing racks (10) and a plurality of line throwing instruments (11); The plurality of line throwing frames (10) are respectively mounted on the first support (101), the second support (21) and the third support (31) at a side away from the corresponding limiting sleeves (5); A plurality of the line-casting instruments (11) are installed on the corresponding line-casting frames (10) and are configured to project laser cross lines.

7. The drone center of gravity measuring mechanism according to claim 1, characterized in that: Also includes a second horizontal detection support (12); The second level detection support (12) is installed on a side of the fuselage (9) away from the foundation.

8. The drone center of gravity measuring mechanism according to claim 1, characterized in that: The side of the bracket (7) supporting the fuselage (9) away from the limiting sleeve (5) is a U-shaped structure, and the fuselage (9) is inserted into the U-shaped structure.

9. The drone center of gravity measuring mechanism according to claim 8, characterized in that: The side of the bracket (7) supporting the body (9) facing the limiting sleeve (5) is an arc-shaped structure; The side of the bracket (7) supporting the two wings (8) facing the limiting sleeve (5) is an L-shaped structure.

10. A drone, characterized in that: The invention comprises the drone center of gravity measuring mechanism as described in any one of claims 1 to 9.

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