Coaxial multi-rotor unmanned aerial vehicle testing device

Abstract

The utility model belongs to the technical field of unmanned aerial vehicle testing equipment, in particular to a coaxial multi-rotor unmanned aerial vehicle testing device, which is characterized in that a fixed testing bottom plate is arranged on a testing frame, and an arm fixing bottom plate is arranged on the fixed testing bottom plate; a plurality of six-dimensional force sensor modules are arranged between the fixed test bottom plate and the arm fixing bottom plate; four sets of vehicle arm fixing seats and airborne equipment are arranged on the vehicle arm fixing bottom plate in the circumferential direction at intervals, vehicle arm bodies are arranged on the four sets of vehicle arm fixing seats, and coaxial power sets are detachably connected to the vehicle arm bodies; the number of the rotating speed collecting modules is four, the rotating speed collecting modules correspond to the coaxial power sets respectively, and the rotating speed collecting modules are electrically connected with the airborne equipment and the data display terminal.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of unmanned plane testing equipment, specifically is a kind of coaxial multi-rotor unmanned plane testing device. BACKGROUND

[0002] Before the design of unmanned plane is finalized, the design parameters of unmanned plane in all aspects need to be tested and selected to ensure that the dynamic performance data of unmanned plane meets the design expectation.

[0003] Currently, most testing equipment can only test the performance of single fixed wing or multi-rotor motor in conventional application environment, and the function is single, and it cannot be compatible with related testing of multi-rotor unmanned plane with different specifications, sizes and axle distance and multi-rotor shaft number.

[0004] Most existing testing equipment tests the strength or flight control of multi-rotor unmanned plane, and few testing equipment tests the performance of multi-rotor unmanned plane composed of common multi-rotor single-shaft motor on the market into coaxial motor.

[0005] Therefore, the utility model designs a kind of coaxial multi-rotor unmanned plane testing device to solve the technical problems existing in the prior art. UTILITY MODEL CONTENTS

[0006] In view of the deficiencies in the prior art, the utility model aims to provide a kind of coaxial multi-rotor unmanned plane testing device, to solve the above technical problems.

[0007] The utility model takes the scheme: a kind of coaxial multi-rotor unmanned plane testing device, including test frame and rotational speed acquisition module and data display terminal, characterized by:

[0008] The test frame is provided with a fixed test base plate, the fixed test base plate is provided with an arm fixed base plate, and a plurality of six-dimensional force sensor modules are arranged between the fixed test base plate and the arm fixed base plate.

[0009] The arm fixed base plate is provided with four groups of arm fixed seats and airborne equipment along the circumferential direction, the arm fixed seat is provided with an arm body, and the arm body is detachably connected with a coaxial power set.

[0010] The rotational speed acquisition module is provided with four groups, which are correspondingly arranged with the coaxial power set, and the rotational speed acquisition module and the airborne equipment are electrically connected with the data display terminal.

[0011] Preferably, the airborne equipment includes a flight control module, a power board, a power distribution board, a link, an RTK positioning module and a power voltage and current acquisition module arranged on the arm fixed base plate.

[0012] The test rack is provided with a direct current electronic load module, a ground communication link, a data processing module and a temperature acquisition module on one side.

[0013] Preferably, the coaxial power set comprises a coaxial seat support plate, the coaxial seat support plate is provided with a carbon tube clamp matched with the arm body, the inner side wall of the coaxial seat support plate is fixedly connected with a motor and rotationally connected with a paddle, and the paddle is driven by the motor.

[0014] Preferably, the arm body is a carbon fiber tube, and the thickness of the carbon fiber tube is 3 mm.

[0015] Preferably, the two groups of motors are symmetrically arranged about the center of the coaxial seat support plate, the two groups of paddles arranged at opposite corners are arranged to have the same direction, the two groups of paddles arranged at opposite corners and the other two groups of paddles arranged at opposite corners are arranged to have opposite directions.

[0016] Additional aspects and advantages of the application will be described in the following description and become apparent from the description or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is one of the perspective views of the utility model.

[0018] Figure 2 is Figure 1 A local enlarged view of

[0019] Figure 3 is one of the perspective views of the utility model.

[0020] Figure 4 is Figure 3 B local enlarged view of

[0021] Figure 5 is the second perspective view of the utility model.

[0022] Figure 6 is a local enlarged view of the coaxial motor seat conversion structure 1 of the utility model.

[0023] Figure 7 is a local enlarged view of the coaxial motor seat conversion structure 2 of the utility model.

[0024] Figure 8 is a local enlarged view of the coaxial motor seat conversion structure 3 of the utility model.

[0025] Figure 9 is one of the perspective views of the multi-rotor unmanned aerial vehicle structure form different from Figure 3 of the utility model.

[0026] Figure 10 The utility model discloses different from Figure 3 The utility model relates to a six-axis twelve-paddle shaft number's multi-rotor unmanned aerial vehicle's perspective of one of solid drawing.

[0027] Fig. 1 is a test frame;2, rotate speed acquisition module;3, data display terminal;4, fixed test base plate;5, arm fixed base plate;6, six-dimensional force sensor module;7, arm fixed seat;8, arm body;9, flight control module;10, power board;11, power distribution board;12, link;13, RTK positioning module;14, power voltage current acquisition module;15, direct current electronic load module;16, ground communication link;17, data processing module;18, temperature acquisition module;19, coaxial seat support plate;20, carbon tube clamp piece;21, paddle;22, first motor fixed base auxiliary plate;23, second motor fixed base auxiliary plate;24, M1 motor;25, motor fixed base plate;26, M5 motor. DETAILED DESCRIPTION

[0028] The foregoing and other technical contents, features and effects of the utility model, in the following detailed description of the embodiment, will be clearly presented. Figures 1-9 The structure contents mentioned in the following embodiment are all with reference to the drawings.

[0029] The various exemplary embodiments of the utility model will be described below with reference to the drawings.

[0030] Embodiment 1, a coaxial multi-rotor unmanned aerial vehicle testing device, including test frame 1 and rotate speed acquisition module 2 and data display terminal 3, its characterized in that:

[0031] The test frame 1 is equipped with the fixed test base plate 4, the fixed test base plate 4 is equipped with the arm fixed base plate 5, and a plurality of six-dimensional force sensor modules 6 are arranged between the fixed test base plate 4 and the arm fixed base plate 5.

[0032] The arm fixed base plate 5 is provided with four groups of arm fixed seats 7 and airborne equipment along the circumferential direction, and the arm fixed seats 7 are provided with arm bodies 8.

[0033] The rotate speed acquisition module 2 is provided with four groups, which are correspondingly arranged with the coaxial power set, the temperature acquisition module is arranged in front of the test frame, and the temperature data of the coaxial power set during testing is collected, and the rotate speed acquisition module, the temperature acquisition module, the airborne equipment, the power voltage current acquisition module, the ground end link and the data display terminal are electrically connected.

[0034] As an alternative to embodiment 1, the airborne device comprises a flight control module 9, a power supply board 10, a distribution board 11, a link 12, an RTK positioning module 13, and a power voltage and current acquisition module 14 arranged on the arm fixing base plate 5.

[0035] The test rack 1 is provided with a direct current electronic load module 15, a ground communication link 12, a data processing module 17, and a temperature acquisition module 18 on one side.

[0036] As an alternative to embodiment 1, the coaxial power set comprises a coaxial seat support plate 19, the coaxial seat support plate 19 is provided with a carbon pipe clamp 20 matched with the arm body 8, the inner side wall of the coaxial seat support plate 19 is fixedly connected with a motor and rotatably connected with a paddle 21, and the paddle 21 is driven by the motor.

[0037] As an alternative to embodiment 1, the arm body 8 is made of a carbon fiber pipe, and the thickness of the carbon fiber pipe is 3mm.

[0038] As an alternative to embodiment 1, two groups of the motor are symmetrically arranged about the center of the coaxial seat support plate 19, the two groups of the paddle 21 arranged at opposite corners are arranged in the same direction, the two groups of the paddle 21 arranged at opposite corners are arranged in the same direction, and the two groups of the paddle 21 arranged at opposite corners are arranged in the opposite direction.

[0039] In actual application, the test rack 1 is mainly assembled by aluminum profiles of different lengths, and the corners are connected and fixed by right angle angle codes and fasteners. The aluminum profiles at the bottom of the test rack 1 can be replaced by aluminum profiles with different mounting holes according to different fixed positions of the test site, or new fixing hole positions can be added to the four aluminum profiles at the bottom according to the installation needs of different sites, so as to facilitate the fixation of the whole test rack 1 and avoid dangerous situations such as test rack 1 overturning during testing. The four corners at the bottom of the test rack 1 can be equipped with universal wheels after replacement according to the needs of the replacement site, and the test rack 1 can be moved, and the installation and disassembly are convenient;

[0040] The upper part of the test rack 1 is fixed with a test base plate by screws, which can be made of stainless steel or carbon plate / glass fiber plate. Six-dimensional force sensor modules 6 are connected to the upper surface by screws to collect the changes of three directions Fx, Fy, Fz and torque Mx, My, Mz during testing. The collected data are transmitted to the data processing module 17 through the transmission cable and processed, and then transmitted to the data display terminal 3 after data processing, so as to facilitate the analysis and comparison of the processed data.

[0041] The fixing bottom plate of the plurality of arm bodies 8 of the multi-rotor unmanned aerial vehicle is fixed on the plurality of six-dimensional force sensor modules 6 by screw connection. The fixing bottom plate of the arm body 8 can be selected from carbon plate / glass fiber plate. According to the design and test needs of the multi-rotor unmanned aerial vehicle of different specifications, sizes and axle distances and the number of multi-rotor shafts, sufficient arm body 8 fixing hole positions are reserved to facilitate the test comparison of different specifications and the like so as to select the best design scheme. The commonly used airborne equipment, such as flight control, power board 10, power distribution board 11, link 12, RTK positioning module 13 and power voltage current acquisition module 14, are installed on the remaining spare positions of the arm body 8 fixing bottom plate. The test with the addition of airborne equipment can make the test results more consistent with the actual flight conditions, and the data is more referable. The power voltage current acquisition module 14 mainly acquires the specific changes of power, voltage and current of the multi-rotor unmanned aerial vehicle in the whole test process. The data of the airborne equipment and the acquired power voltage current data are transmitted to the data processing module 17 through the cable and are processed. Then the processed data are transmitted to the data display terminal 3, so as to facilitate the analysis and comparison of the processed data.

[0042] The arm body 8 is made of carbon fiber pipe. The wall thickness of the carbon fiber pipe can be selected according to the motor tension performance. Generally, 3mm can meet the test needs of most motors. The arm body 8 is fixed on the arm body 8 fixing bottom plate through the arm fixing seat 7 and the screw. The other end of the carbon pipe of the arm body 8 is sleeved into the common shaft seat support plate 19, and is fixed on both sides of the common shaft seat support plate 19 by screws. The carbon pipe clamp 20 in the common shaft seat support plate 19 is riveted with the carbon pipe by rivets, so as to avoid the abnormal measurement results caused by the axial rotation of the power set along the carbon pipe during the test. The carbon pipe is also sleeved in the reserved hole in the middle of the common shaft seat support plate 19.

[0043] The single common shaft power set is composed of the carbon pipe clamp 20, the upper and lower motors, the paddle 21, the motor fixing bottom plate, the first motor fixing base auxiliary plate 22 and the second motor fixing base auxiliary plate 23, the common shaft seat support plate 19 and the like. The carbon pipe clamp 20 and the motor fixing bottom plate 25 are aluminum alloy parts that can be used for most multi-shaft motors. The aluminum alloy parts are provided with threaded holes on both sides. The first motor fixing base auxiliary plate 22 and the second motor fixing base auxiliary plate 23 of the motor fixing bottom plate 25 and the common shaft seat support plate 19 can be made of carbon plate according to the test needs. The installation holes can be reserved according to the needs. New carbon plate can be designed and engraved for replacement when the existing installation holes cannot meet the needs. The motor fixing bottom plate 25, the first motor fixing base auxiliary plate 22 and the second motor fixing base auxiliary plate 23 and the motor are fixed by screw connection. The two common shaft seat support plates 19 are connected with the threaded holes on both sides of the motor fixing bottom plate by screws. One side of the motor fixing bottom plate is connected with the carbon pipe clamp 20 by screw.

[0044] When various multi-axle single-axle motors are modified into coaxial motors, the test device of the patent can test the performance of the coaxial multi-rotor unmanned aerial vehicle composed of different installation conditions of the coaxial seat support plate 19, and then select the best configuration combination; the coaxial seat support plate 19 is divided into five categories: the upper and lower motor fixed bottom plate is horizontal and adjustable, the upper and lower motor fixed bottom plate has a certain angle with the horizontal plane and is symmetrical about the horizontal plane and can adjust the distance between the upper and lower motor fixed bottom plate, the upper and lower motor fixed bottom plate is parallel to each other and has a certain angle with the horizontal plane and the angle can be adjusted, the distance between the upper and lower motor fixed bottom plate can be adjusted, the arm body 8 installation position is different, resulting in different specifications and sizes and axle distance of multi-rotor unmanned aerial vehicle, and different multi-rotor shaft number. For the above five categories, according to the designed multi-rotor type before testing, combined with the installation structure type of this type of multi-rotor motor, the various arm body 8 installation methods and power set installation methods need to be clearly listed, and these different installation methods are combined, then the obviously unreasonable combinations are eliminated, the remaining combinations are tested in turn, and the test result data is recorded, finally the data is summarized and compared and analyzed, and the appropriate coaxial multi-rotor structure form is selected.

[0045] As shown in the figure, the upper right corner is M1 arm body 8, in which the upper motor is M1 motor, the steering is CCW, and the lower motor is M5 motor, the steering is CW. The upper left corner is M2 arm body 8, in which the upper motor is M2 motor, the steering is CW, and the lower motor is M6 motor, the steering is CCW. The lower left corner is M3 arm body 8, in which the upper motor is M3 motor, the steering is CCW, and the lower motor is M7 motor, the steering is CW. The lower right corner is M4 arm body 8, in which the upper motor is M4 motor, the steering is CW, and the lower motor is M8 motor, the steering is CCW. Among them, the coaxial seat support plate 19 on the M1 and M2 arm bodies 8 is left-right symmetrical with the installation angle or installation state of the horizontal plane, and similarly, the coaxial seat support plate 19 on the M4 and M3 arm bodies 8 is left-right symmetrical with the installation angle or installation state of the horizontal plane; among them, the coaxial seat support plate 19 on the M1 and M4 arm bodies 8 is front-back symmetrical with the installation angle or installation state of the horizontal plane, and similarly, the coaxial seat support plate 19 on the M2 and M3 arm bodies 8 is front-back symmetrical with the installation angle or installation state of the horizontal plane.

[0046] The speed collection module 2 is placed below the M5, M6, M7 and M8 motor blades 21, and the motor rotor is staggered to avoid being placed directly below it. The collected speed data is transmitted to the data processing module 17 through the cable. The temperature collection module 18 is placed in front of the whole test frame 1, the collected speed data is transmitted to the data processing module 17 through the cable and processed, and then the processed data is transmitted to the data display terminal 3, so as to facilitate the analysis and comparison of the processed data.

[0047] The right side or the left side of the test frame 1 is placed with a direct current electronic load module 15 for powering the multi-rotor unmanned aerial vehicle, which can provide constant voltage power supply, constant current power supply and constant power supply according to needs, different modes can be selected according to needs, and data is transmitted to the data processing module 17 and processed, and the processed data is transmitted to the data display terminal 3, so as to facilitate analysis and comparison of the processed data. The ground communication link 12 and the data processing module 17 are placed beside the direct current electronic load module 15, and the data processing module 17 mainly processes data transmitted from the airborne equipment, the six-dimensional force sensor module 6, the power voltage current acquisition module 14, the rotating speed acquisition module 2 and the temperature acquisition module 18 and the like, and transmits the processed data to the data display terminal 3, so as to facilitate analysis and comparison of the processed data;

[0048] The patent mainly shows a device for converting common multi-rotor single-shaft motors on the market into coaxial motors, and then composing a coaxial multi-rotor unmanned aerial vehicle to test the performance of the coaxial multi-rotor unmanned aerial vehicle;

[0049] The angle between the motor fixing bottom plates in the universal coaxial seat support plate 19 used in the test device designed in the patent is a variable angle, and the performance of the coaxial motor under different angles between the motor fixing bottom plates after the different motors are converted into coaxial motors can be compared, and then the performance of the coaxial multi-rotor unmanned aerial vehicle composed under different angles can be compared, and then the conversion method of the selected single-shaft motor converted into the coaxial motor is determined. Specifically, the upper and lower motor fixing bottom plates have an angle with the horizontal plane and are symmetrical about the horizontal plane, and the distance between the upper and lower motor fixing bottom plates can also be adjusted and changed.

[0050] The universal coaxial seat support plate 19 used in the test device designed in the patent is variable in the distance between the upper and lower motor fixing bottom plates, and the performance of the coaxial motor under different distances can be tested by changing the hole positions of the upper and lower motor fixing bottom plates on the vertical direction mounting plate of the coaxial seat support plate 19, and then the appropriate distance between the upper and lower coaxial motors is selected to make the performance of the entire coaxial multi-rotor unmanned aerial vehicle optimal, and the influence of the downwash flow of the upper motor propeller 21 on the performance of the lower motor is avoided.

[0051] The test device designed in the patent can adjust the installation position of the multi-rotor unmanned aerial vehicle arm body 8 on the mounting plate of the test frame 1 according to different use requirements, so as to test the performance of the multi-rotor unmanned aerial vehicle with different specifications, sizes and shaft distances and different numbers of multi-rotor shafts.

[0052] The above description is only for the purpose of illustrating the utility model, and it should be understood that the utility model is not limited to the above embodiments, and various modifications in line with the utility model idea are within the protection scope of the utility model.

Claims

1. A coaxial multi-rotor UAV test device, comprising a test frame (1), a rotation speed acquisition module (2), and a data display terminal (3), characterized in that: The test stand (1) is provided with a fixed test base plate (4), the fixed test base plate (4) is provided with a machine arm fixed base plate (5), and a plurality of six-dimensional force sensor modules (6) are provided between the fixed test base plate (4) and the machine arm fixed base plate (5); Four groups of arm fixing seats (7) and airborne equipment are provided at intervals along the circumferential direction on the arm fixing base plate (5); each of the four groups of arm fixing seats (7) is provided with an arm body (8); and a coaxial power set is detachably connected to the arm body (8); The speed acquisition modules (2) are provided in four groups, which are respectively provided corresponding to the coaxial power sets. The speed acquisition modules (2) are electrically connected to the airborne equipment and the data display terminal (3).

2. A coaxial multi-rotor UAV testing device according to claim 1, characterized in that: The airborne equipment includes a flight control module (9), a power supply board (10), a power distribution board (11), a link (12), an RTK positioning module (13), and a power, voltage, and current acquisition module (14) provided on the arm fixing base plate (5); One side of the test stand (1) is provided with a DC electronic load module (15), a ground communication link (1612), a data processing module (17), and a temperature acquisition module (18).

3. The coaxial multi-rotor UAV testing device according to claim 1, characterized in that: The coaxial power suit comprises a coaxial seat support plate (19), the coaxial seat support plate (19) is provided with a carbon tube clamp (20) that cooperates with the machine arm body (8), the inner side wall of the coaxial seat support plate (19) is fixedly connected to the motor and rotatably connected to the blade (21), and the blade (21) is driven by the motor.

4. The coaxial multi-rotor UAV testing device according to claim 1, characterized in that: The arm body (8) is made of a carbon fiber tube, wherein the thickness of the carbon fiber tube is 3 mm.

5. The coaxial multi-rotor UAV testing device according to claim 3, characterized in that: The two groups of motors are symmetrically arranged about the center of the coaxial seat support plate (19), the two diagonally arranged groups of blades (21) have the same direction of rotation, the other two diagonally arranged groups of blades (21) have the same direction of rotation, and the two diagonally arranged groups of blades (21) are arranged in opposite directions to the other two diagonally arranged groups of blades (21).

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