Unmanned aerial vehicle degree of freedom testing device

Abstract

The utility model discloses a kind of unmanned aerial vehicle degree of freedom testing device, belong to unmanned aerial vehicle technical field, including support frame and the testing mechanism for the degree of freedom test of unmanned aerial vehicle, the testing mechanism is rotationally connected on the support frame, the testing mechanism includes first test frame, second test frame and third test frame, the first test frame, second test frame and third test frame are all movably nested type connection in the support frame inner side, the utility model is by setting first test frame, second test frame and third test frame, under the cooperation of first rotating mechanism, second rotating mechanism and third rotating mechanism, unmanned aerial vehicle can be carried out accurate angle's pitch, roll, yaw degree of freedom test, compared with manual rotation precision is higher, test result is more accurate.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV degree-of-freedom testing device. Background Technology

[0002] In the field of UAV research and development and verification, flight control algorithms, sensor accuracy, and overall stability testing are key aspects to ensure the safe and reliable operation of aircraft. Currently, the industry commonly uses a three-axis manual rotation test rig, where external forces are manually applied to make the UAV under test move in three rotational directions (pitch, roll, and yaw) or in a straight line to approximate real flight attitude.

[0003] However, the aforementioned existing technical solutions have significant drawbacks: the manual method relies on the operator's experience, making it difficult to accurately reproduce the motion trajectory, angular velocity, and angular acceleration, resulting in poor repeatability of experimental results and hindering quantitative comparative analysis. Therefore, a device is needed that can precisely control the rotation of a UAV in the pitch, roll, and yaw directions to facilitate the testing of the UAV's degrees of freedom. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, this utility model provides a device for testing the degrees of freedom of unmanned aerial vehicles.

[0005] The technical solution of this utility model is implemented as follows: A drone degree-of-freedom testing device includes a support frame and a testing mechanism for testing the drone's degrees of freedom. The testing mechanism is rotatably connected to the support frame and includes a first testing frame, a second testing frame, and a third testing frame, all of which are movably nested inside the support frame.

[0006] Preferably, the two sides of the first test frame are rotatably connected to the inner side of the support frame through a first rotating mechanism. The first rotating mechanism includes a first motor and a first rotating connector. The first motor is fixedly installed on both sides of the support frame. The first rotating connector is disposed between the support frame and the first test frame and is connected to the support frame and the first test frame through a rotating shaft disposed therein. The first motor drives the rotating shaft to rotate, thereby driving the first test frame to rotate.

[0007] Preferably, the second test frame is rotatably connected to the inside of the first test frame via a second rotating mechanism. The second rotating mechanism includes a second motor and a second rotating connector. The second motor is fixedly installed on both sides of the first test frame. The second rotating connector is disposed between the first test frame and the second test frame and connects the first test frame and the second test frame via a rotating shaft disposed therein. The second motor drives the rotating shaft to rotate, thereby causing the second test frame to rotate.

[0008] Preferably, the third test frame is rotatably connected to the inside of the second test frame via a third rotating mechanism. The third rotating mechanism includes a third motor and a third rotating connector. The third motor is fixedly installed on both sides of the second test frame, and the third rotating connector is fixedly disposed on the inside of the second test frame. The second test frame and the third test frame are connected via the third rotating connector and a connecting part disposed on the outside of the third test frame.

[0009] Preferably, a rotating shaft is inserted inside the third rotating component, and the connecting part is fixedly connected to one end of the rotating shaft. The third motor drives the rotating shaft to rotate, thereby driving the third test frame to rotate.

[0010] Preferably, the first rotating mechanism and the second rotating mechanism are arranged alternately.

[0011] Preferably, there are two first rotating mechanisms, which are axially opposite to each other on both sides of the support frame, and two second rotating mechanisms, which are axially opposite to each other on both sides of the first test frame, and the rotation axis of the second rotating mechanism is perpendicular to the rotation axis of the first rotating mechanism.

[0012] Preferably, the third test frame is equipped with a clamp for securing the drone.

[0013] Preferably, a control mechanism is provided on one side of the support frame, and wheels are provided at the bottom of the support frame.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides a drone degree of freedom testing device. By setting up a first test frame, a second test frame, and a third test frame, and with the cooperation of the first, second, and third rotation mechanisms, the drone can perform precise angle pitch, roll, and yaw degree of freedom tests. Compared with manual rotation, the accuracy is higher and the test results are more accurate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a UAV degree-of-freedom testing device according to the present invention; Figure 2 This is a side view of a UAV degree-of-freedom testing device according to the present invention; Figure 3 This is a top view of a UAV degree-of-freedom testing device according to the present invention; 1. Support frame; 2. Testing mechanism; 3. First test frame; 4. Second test frame; 5. Third test frame; 6. First rotating mechanism; 601. First motor; 602. First rotating connector; 7. Second rotating mechanism; 701. Second motor; 702. Second rotating connector; 8. Third rotating mechanism; 801. Third motor; 802. Third rotating connector; 803. Connecting part; 9. Fixture; 10. Control mechanism; 11. Walking wheel; 12. Unmanned aerial vehicle (UAV). Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] like Figure 1-3 This utility model is a device for testing the degrees of freedom of a drone, including a support frame 1 and a testing mechanism 2 for testing the degrees of freedom of a drone 12. The testing mechanism 2 is rotatably connected to the support frame 1. The testing mechanism 2 includes a first testing frame 3, a second testing frame 4 and a third testing frame 5. The first testing frame 3, the second testing frame 4 and the third testing frame 5 are all movably nested and connected to the inner side of the support frame 1.

[0018] In this embodiment, the first test rack 3 is square, and the second test rack 4 and the third test rack 5 are hexagonal.

[0019] Furthermore, the first test frame 3 is rotatably connected to the inner side of the support frame 1 via a first rotating mechanism 6. The first rotating mechanism 6 includes a first motor 601 and a first rotating connector 602. The first motor 601 is fixedly installed on both sides of the support frame 1. The first rotating connector 602 is disposed between the support frame 1 and the first test frame 3, and connects the support frame 1 and the first test frame 3 via a rotating shaft disposed therein. The first motor 601 drives the rotating shaft to rotate, thereby driving the first test frame 3 to rotate.

[0020] In this embodiment, there are two first rotating mechanisms 6, which are respectively axially opposite to each other on both sides of the support frame 1. The first motor 601 includes a joint motor with a built-in encoder for measuring the actual roll, pitch, and yaw angle of the UAV 12. One end of the first rotating connector 602 is fixedly connected to the inner side of the support frame 1. The rotating shaft passes through the first rotating connector 602 and one end is connected to the output end of the first motor 601. The other end of the rotating shaft is fixedly connected to the first test frame 3. Simultaneously starting the first motor 601 can drive the first test frame 3 to rotate.

[0021] Furthermore, the second test frame 4 is rotatably connected to the inside of the first test frame 3 via a second rotating mechanism 7. The second rotating mechanism 7 includes a second motor 701 and a second rotating connector 702. The second motor 701 is fixedly installed on both sides of the first test frame 3. The second rotating connector 702 is disposed between the first test frame 3 and the second test frame 4, and connects the first test frame 3 and the second test frame 4 via a rotating shaft disposed therein. The second motor 701 drives the rotating shaft to rotate, thereby causing the second test frame 4 to rotate.

[0022] In this embodiment, there are two second rotating mechanisms 7, which are respectively axially opposite to each other on both sides of the first test frame 3. The second motor 701 includes a joint motor with a built-in encoder for measuring the actual roll, pitch, and yaw angle of the UAV 12. One end of the second rotating connector 702 is fixedly connected to the inner side of the first test frame 3. The rotating shaft passes through the second rotating connector 702 and one end is connected to the output end of the second motor 701. The other end of the rotating shaft is fixedly connected to the second test frame 4. Simultaneously starting the second motor 701 can drive the second support frame 1 to rotate.

[0023] Furthermore, the third test frame 5 is rotatably connected to the inner side of the second test frame 4 via a third rotating mechanism 8. The third rotating mechanism 8 includes a third motor 801 and a third rotating connector 802. The third motor 801 is fixedly installed on both sides of the second test frame 4, and the third rotating connector 802 is fixedly disposed on the inner side of the second test frame 4. The second test frame 4 and the third test frame 5 are connected via the third rotating connector 802 and a connecting part 803 disposed on the outer side of the third test frame 5. A rotating shaft passes through the third rotating component, and the connecting part 803 is fixedly connected to one end of the rotating shaft. The third motor 801 drives the rotating shaft to rotate, thereby driving the third test frame 5 to rotate.

[0024] In this embodiment, there are two third rotating mechanisms 8, which are axially opposite to each other on both sides of the first support frame 1. The third motor 801 includes a joint motor with a built-in encoder for measuring the actual roll, pitch, and yaw angle of the UAV 12. One end of the third rotating connector 802 is fixedly connected to the inner side of the second test frame 4. The rotating shaft passes through the third rotating connector 802 and one end is connected to the output end of the third motor 801. The other end of the rotating shaft is fixedly connected to the connecting part 803. Simultaneously starting the third motor 801 can drive the third support frame 1 to rotate.

[0025] Furthermore, the first rotating mechanism 6 and the second rotating mechanism 7 are staggered, the rotation axis of the second rotating mechanism 7 is perpendicular to the rotation axis of the first rotating mechanism 6, and the third rotating mechanism 8 rotates coaxially with the second rotating mechanism 7.

[0026] In this embodiment, the first rotating mechanism 6 and the second rotating mechanism 7 are arranged alternately so that the drone 12 can rotate in different directions.

[0027] Furthermore, the third test frame 5 is provided with a clamp 9 for fixing the drone 12, the clamp 9 being used to hold and fix the drone 12 to be tested for degrees of freedom.

[0028] Furthermore, a control mechanism 10 is provided on one side of the support frame 1, and a walking wheel 11 is provided at the bottom of the support frame 1. The control mechanism 10 is electrically connected to the first rotating mechanism 6, the second rotating mechanism 7, and the third rotating mechanism 8.

[0029] The working principle of the UAV degree-of-freedom testing device provided by this utility model is as follows: In use, the UAV 12 to be tested is first fixed on the third test frame 5 by the clamp 9. Then, the first motor 601, the second motor 701 and the third motor 801 are controlled to rotate by the control mechanism 10, which drives the first test frame 3, the second test frame 4 and the third test frame 5 to rotate at different angles, so that the UAV 12 can roll, pitch and yaw in a fixed position, thereby realizing the testing of each degree of freedom of the UAV 12.

[0030] This utility model provides a drone degree of freedom testing device. The device, by setting up a first test frame 3, a second test frame 4 and a third test frame 5, and with the cooperation of a first rotation mechanism 6, a second rotation mechanism 7 and a third rotation mechanism 8, enables the drone 12 to perform precise angle pitch, roll and yaw degree of freedom tests. Compared with manual rotation, the accuracy is higher and the test results are more accurate.

[0031] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. An unmanned aerial vehicle degree of freedom testing device, characterized in that: It includes a support frame (1) and a test mechanism (2) for testing the degrees of freedom of the drone (12). The test mechanism (2) is rotatably connected to the support frame (1). The test mechanism (2) includes a first test frame (3), a second test frame (4) and a third test frame (5). The first test frame (3), the second test frame (4) and the third test frame (5) are all movably nested and connected to the inside of the support frame (1).

2. The UAV degree-of-freedom testing device according to claim 1, characterized in that: The first test frame (3) is rotatably connected to the inner side of the support frame (1) through the first rotating mechanism (6). The first rotating mechanism (6) includes a first motor (601) and a first rotating connector (602). The first motor (601) is fixedly installed on both sides of the support frame (1). The first rotating connector (602) is disposed between the support frame (1) and the first test frame (3) and is connected to the support frame (1) and the first test frame (3) through a rotating shaft disposed therein. The first motor (601) drives the rotating shaft to rotate, thereby driving the first test frame (3) to rotate.

3. The UAV degree-of-freedom testing device according to claim 2, characterized in that: The second test frame (4) is rotatably connected to the inside of the first test frame (3) via the second rotating mechanism (7). The second rotating mechanism (7) includes a second motor (701) and a second rotating connector (702). The second motor (701) is fixedly installed on both sides of the first test frame (3). The second rotating connector (702) is disposed between the first test frame (3) and the second test frame (4) and is connected to the first test frame (3) and the second test frame (4) via a rotating shaft disposed therein. The second motor (701) drives the rotating shaft to rotate, thereby driving the second test frame (4) to rotate.

4. The UAV degree-of-freedom testing device according to claim 3, characterized in that: The third test frame (5) is rotatably connected to the inside of the second test frame (4) via a third rotating mechanism (8). The third rotating mechanism (8) includes a third motor (801) and a third rotating connector (802). The third motor (801) is fixedly installed on both sides of the second test frame (4), and the third rotating connector (802) is fixedly installed on the inside of the second test frame (4). The second test frame (4) and the third test frame (5) are connected via the third rotating connector (802) and a connecting part (803) located on the outside of the third test frame (5).

5. The UAV degree-of-freedom testing device according to claim 4, characterized in that: The third rotating component has a rotating shaft inside, and the connecting part (803) is fixedly connected to one end of the rotating shaft. The third motor (801) drives the rotating shaft to rotate, thereby driving the third test frame (5) to rotate.

6. The UAV degree-of-freedom testing device according to claim 3, characterized in that: The first rotating mechanism (6) and the second rotating mechanism (7) are arranged alternately.

7. The UAV degree-of-freedom testing device according to claim 3, characterized in that: There are two first rotating mechanisms (6), which are respectively axially opposite to each other on both sides of the support frame (1). There are two second rotating mechanisms (7), which are respectively axially opposite to each other on both sides of the first test frame (3). The rotation axis of the second rotating mechanism (7) is perpendicular to the rotation axis of the first rotating mechanism (6).

8. The UAV degree-of-freedom testing device according to claim 1, characterized in that: The third test frame (5) is equipped with a clamp (9) for fixing the drone (12).

9. The UAV degree-of-freedom testing device according to claim 1, characterized in that: A control mechanism (10) is provided on one side of the support frame (1), and a walking wheel (11) is provided at the bottom of the support frame (1).

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