CN110228604A - A kind of center of gravity measurement and caliberating device of unmanned plane - Google Patents
A kind of center of gravity measurement and caliberating device of unmanned plane Download PDFInfo
- Publication number
- CN110228604A CN110228604A CN201910524499.9A CN201910524499A CN110228604A CN 110228604 A CN110228604 A CN 110228604A CN 201910524499 A CN201910524499 A CN 201910524499A CN 110228604 A CN110228604 A CN 110228604A
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- center
- unmanned plane
- support board
- gravity
- circle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Balance (AREA)
Abstract
The present invention provides the center of gravity measurement and caliberating device of a kind of unmanned plane, belongs to the research field that unmanned plane attaches equipment.Design of the invention uses autobalance and automatic Calibration, and the center of gravity of energy rapid survey unmanned plane is simultaneously demarcated, convenient for the determination of the installation site of Subsequent electronic equipment；The present invention uses Polar Coordinates, double flat balance beam and electromagnet trim, and process is quickly quick, and equilibrium fluctuations are small；Center of gravity is demarcated using laser head or calibration pen for the fuselage after balance, the effect of observation is concise；The present invention is easy to use, can measure the center of gravity of the unmanned plane of arbitrary size.
Description
Technical field
The present invention provides the center of gravity measurement and caliberating device of a kind of unmanned plane, belongs to object center of gravity measurement and calibration field,
Especially field is arranged in the center of gravity measurement of unmanned plane and caliberating device.
Background technique
In the field of unmanned plane research, the measurement of center of gravity is always to compare stubborn problem in industry.Because of Subsequent electronic
The installation of the attachmentes such as equipment, the center of gravity of unmanned plane are often difficult to determine.Continuous debugging is just needed during installation, it is ensured that
The place for the needs that center of gravity occurs, is just able to satisfy stationarity when flight.
According to the measurement method of traditional irregularly shaped object center of gravity, majority measures the center of gravity position of unmanned plane using normal line method Lay
It sets, although such method is effectively, realization is also difficult to operate, because of the Irregular Boundary Surface of fuselage, Wu Fali
Horse demarcates position of centre of gravity, needs to measure twice.Most importantly there is hysteresis quality, i.e., is just capable of measuring after equipment installation, it can not be real-time
Measurement, then feeds back, adjusts the installation site of electronic equipment, use is very inconvenient.
Summary of the invention
According to above-mentioned status, the present invention provides the center of gravity measurement and caliberating device of a kind of unmanned plane, can be according to equipment appurtenance
Installation situation, prepare measurement and calibration position of centre of gravity, Real-time Feedback adjusts the installation site of equipment appurtenance.
The contents of the present invention are as follows:
A kind of center of gravity measurement and caliberating device of unmanned plane, are related to center of gravity demarcating module, include physa seat, ring-shaped guide rail, big
Gear ring, sliding rack are provided with guide rail mounting hole and boss on physa seat, pass through screw in the guide rail mounting hole of the physa seat
It is fixedly installed with ring-shaped guide rail, a circle bull gear is fixedly installed on the boss of physa seat, the sliding rack is slidably mounted on
On ring-shaped guide rail, it is provided with motor slot on sliding rack, a driving motor is fixedly installed in the motor slot of sliding rack, is mounted on cunning
It is fixedly installed with a pinion gear on the output shaft of driving motor in moving frame, while guaranteeing that pinion gear and bull gear are intermeshed；
Sliding rack is additionally provided with sliding extension slot, and a cantilever beam, the cantilever edge of cantilever beam are slidably fitted in the sliding groove of sliding rack
Physa seat is radially directed towards the center of circle；Straight line motor slide rails, linear motor are fixedly installed on the cantilever downside of cantilever beam
Linear motor sliding block is slidably fitted on guide rail.
By above-mentioned setting, barycentric coodinates point is obtained after the measurement for completing center of gravity, driving motor driving pinion and big
Ring gear against rotation engagement, drives sliding rack to rotate around the center of circle of physa seat, while linear motor sliding block is along linear motor guide rail
Sliding, after being moved to the coordinate points of center of gravity to linear motor sliding block, i.e. execution.
Before measuring unmanned plane, cantilever beam is slided up and down to adjust height to adapt to the size of unmanned plane.
Linear movement of the engagement rotation and linear motor sliding block of pinion gear and bull gear in linear motor guide rail, all sets
It is equipped with position detection feedback unit, forms closed loop or semiclosed loop detection.
A kind of center of gravity measurement section caliberating device of unmanned plane, is related to center of gravity measurement module, including physa seat, ball cup, load
Object plate, uniformly there are four spring bases for installation in a certain diameter circle of physa seat, are uniformly equipped in a certain diameter circle of support board
In addition four spring bases, four identical springs pass through the installation column cap at its both ends, the fixed bullet being inserted on physa seat in one end
In spring abutment, in the fixed spring base being inserted on support board of the other end, the installation column cap of lower spring end is provided with load cell.
After spring stress, upper end may be subjected to compression and the combining ability reversed on a small quantity, but transmit lower end it is basic only by
It is acted on to pressure, twisting resistance can be ignored in allowable range of error.
It is arranged concentrically two circular orbits on the downside of support board, passes through support ball on two circular orbits of support board
Eight groups of convolution framves are slidably fitted with, wherein four convolution framves four etc. are divided equally on the circular orbit of inside, four additional four waits equal
On circular orbit point on the outside, and some interior annular track convolution frame and convolution frame on some exterior annular track and certain
A spring base is in the same radius of support board.Each convolution frame lower end is provided with lifting lug, and the center of lifting lug is coated with circle
Column beam, totally four groups of cylinder beam, the convolution frame for the interior annular track of each group of cylinder beam being installed on same Radius and outside
On convolution frame on circular orbit, the both ends of cylinder beam are by locking nut locking convolution frame.
Above-mentioned setting is completed, rectangular coordinate system, coordinate system can be established in the radius of the support board after the above-mentioned quartering
Origin be support board centre point.
Cylinder beam is also fixedly connected with drive ring close to the one end at support board center, and drive ring setting is fluted, is driving
A servo motor is fixedly installed in the groove of ring, fixation is also equipped with output gear on the output shaft of servo motor, in loading
A small gear ring was fixedly mounted on the center circle styletable of plate, the output gear and small gear ring are intermeshed；Drive ring is also
It is provided with the configuration of the uniformly distributed weight such as with servo motor.
Servo motor driving output gear and small gear ring accurately engage, it can be achieved that the rectangular coordinate system of aforementioned foundation oneself
Dynamic check and correction, that is, ensure in allowable range of error, returning on some interior annular track convolution frame and some exterior annular track
Swing frame and some spring base are in always in the same radius of support board.
Fixed on the cylindrical section of cylinder beam to be hung on a straight guide, one end of straight guide is fixedly installed with a small servo electricity
Machine is fixedly connected with a ball-screw by shaft coupling on the output shaft of small servo motor, passes through ball on straight guide and slide
One movable stand is installed, the feed screw nut with ball-screw cooperation is further fixedly arranged on movable stand, and ensures that ball-screw is logical
The feed screw nut driving movable stand crossed on movable stand is moved forward and backward.
Further, it is the needs for realizing calibration, is fixedly installed with labelling apparatus on the linear motor sliding block, preferably
For Laser emission lamp；The movement of linear motor sliding block is cartesian coordinate system, and using the center of circle of physa seat as coordinate origin.
It further, is the needs for realizing suction adjustment, the movable stand is provided with the electromagnetic suction head of fixed suction value,
The physa seat requirement is can be by the magnetic material of electromagnetic attraction；The movement of movable stand is cartesian coordinate system, and with physa seat
The center of circle be coordinate origin.
After support board places unmanned plane, electromagnetic suction head is driven to be moved forward and backward to level support board by ball-screw, and
And projection error caused by support board deflection can be subtracted.Then weight can be calculated according to the size of mobile distance and electromagnetic attraction
The position coordinates of the heart are calibrated finally by the caliberating device on linear motor sliding block according to the position of centre of gravity coordinate calculated
Center of gravity；It can measure twice in actual use, keep result more reliable.
Further, to realize the needs for adapting to unmanned plane irregular surface, if the upper surface of support board is evenly arranged with
Dry circle serration object.
The present invention uses above-mentioned technology path, and what can be prepared measures the position of centre of gravity of unmanned plane on two-dimensional surface, goes forward side by side
Rower is fixed；The present invention does not have to hanging, can be to install in plane when the installation process of unmanned plane is in debugging, to realize the weight prepared
Heart adjustment；The configuration of the present invention is simple, it is easy to use, it can be suitably used for the unmanned plane model of common all size.
Detailed description of the invention
Fig. 1 is whole three dimensional structure diagram of the invention.
Fig. 2 is the three dimensional structure diagram at another visual angle of the invention.
Fig. 3 is local detail schematic diagram of the invention.
Fig. 4 is partial structure sectional view of the invention.
Fig. 5 is the cutaway enlargement diagram of another partial structurtes of the invention.
Fig. 6 is computation model figure of the invention.
Drawing reference numeral: 1- physa seat；2- ring-shaped guide rail；3- bull gear；4- sliding rack；5- pinion gear 5；6- cantilever beam；7-
Linear motor guide rail；8- linear motor sliding block；9- ball cup；10- bulb；11- spring；12- drive ring；The small gear ring of 13-；14-
Output gear；15- servo motor；16- convolution frame；17- locking nut；18- holds in the palm ball；19- cylinder beam；20- straight guide；21- is moved
Moving frame；The small servo motor of 22-；23- ball-screw；24- ball；25- support board.
Specific embodiment
The invention will be further described combined with specific embodiments below, is used to solve in this illustrative examples and explanation
The present invention is released, but not as a limitation of the invention.
Because four convolution framves four etc. are divided equally on the circular orbit of inside, four additional four etc. divides equally annular on the outside
On track, and the convolution frame on some interior annular track convolution frame and some exterior annular track is in some spring base and carries
In the same radius of object plate, so rectangular coordinate system is established with the radius of the support board after the above-mentioned quartering, for loading
The centre point of plate is rectangular coordinate system origin.
In use, platform itself carries out quick self-balancing check and correction: four small servo motor 22 acts on simultaneously, adjusts four
Movable stand 21 move inwardly to initial balance point, the electromagnetic suction head on movable stand does not generate suction, and support board 25 is at this time
Equilibrium state.
Four springs 11 are detection unit.Four spring 11(are assumed to be F1, F2, F3, F4) load cell pressure
The sum of reading (hereinafter referred to as reading) is loading weight.
Under 25 Equilibrium state of support board, the reading of four springs 11 is identical (in allowable range of error)；If loading
Plate 25 is not at equilibrium state after measuring loading, i.e., the reading of the load cell of four springs 11 has difference, i.e., in
The reading of the coordinate system of foundation done in reference axis creates a difference.
Unmanned plane is placed on support board 25, unmanned body is lived by the serration object bracket of support board 25.
If by chance its center of gravity is overlapped with the center of circle of support board 25 when unmanned plane is placed, i.e. four 11 stress of spring variations one
Sample, the load cell reading on spring 11 is identical, then center of gravity is i.e. in center location.
If drone center of unmanned aerial vehicle is not overlapped with coordinate origin, support board 25 is glanced off, the force-measuring sensing of four springs 11
The reading of device generates difference.As shown in Figure 6, it is assumed that center of gravity is in the second quadrant, then F1 > F3, F2 > F4, then remain close to F1 and
The small servo motor 22 of F2 spring one end starts, and movable stand 21 is driven to be displaced outwardly, while four electromagnetic suction heads generate fixed value
Suction, i.e. T1, T2, T3, T4.When X-axis F2 is equal with F4 reading, after F1 and F3 are equal in Y-axis, stop movement.According to torque
Equilibrium equation, F2*R+T4*L4=Gx+T2*L2+F4*R；F1*R+T3*L3=Gy+T1*L1+F3*R.X=(T4*L4- can be calculated
T2*L2)/G；Y=(T3*L3-T1*L1)/G, wherein L1, L2, L3, L4 are moving distance, are controlled by small servo motor 22, for
Know numerical value.The coordinate of center of gravity (x, y) can be obtained, then demarcated by the movement of linear motor sliding block 8.Again because at this time
Support board 25 be substantially at horizontal state, not by projection inclination angle influenced, so linear motor sliding block 8 drive caliberating device
The position of calibration is barycentric coodinates.Quadrant where center of gravity has F1 and F3, the fiducial value judgement of F2 and F4.
It should be noted that not carrying out (i.e. movable stand before leveling movement also after unmanned plane has just been placed on support board 25
Before electromagnetic suction head on 21 does not also generate electromagnetic attraction), G=F1+F2+F3+F4, this data visualization is the given data of G.It is mobile
The electromagnetic suction head of frame 21 requires the ladder-like electromagnetic attraction of multiple fixed numbers.In the equilibrium process of support board 25, electricity
The numerical value of magnetic suction head successively value from small to large, until meeting equilibrium equation.
The center measurement of unmanned plane has range limitation, needs to reasonably select range according to the weight of unmanned plane.
Claims (5)
- It include that physa seat (1), annular are led 1. the center of gravity measurement and caliberating device of a kind of unmanned plane, are related to center of gravity demarcating module Rail (2), bull gear (3), sliding rack (4), physa seat are provided with guide rail mounting hole and boss on (1), it is characterised in that: described It is mounted by means of screws in the guide rail mounting hole of physa seat (1) ring-shaped guide rail (2), fixed peace on the boss of physa seat (1) Equipped with circle bull gear (3), sliding rack (4) is slidably mounted on ring-shaped guide rail (2), and sliding rack is provided with motor slot on (4), sliding It is fixedly installed a driving motor in the motor slot of moving frame (4), is mounted on the output shaft of the driving motor on sliding rack (4) solid Dingan County is equipped with a pinion gear (5), while guaranteeing that pinion gear (5) and bull gear (3) are intermeshed；Sliding rack (4) is additionally provided with cunning Dynamic telescopic chute, is slidably fitted with a cantilever beam (6), the cantilever of cantilever beam (6) is along physa seat in the sliding groove of sliding rack (4) (1) it is radially directed towards the center of circle；A small linear motor slide rails (7) is fixedly installed on the cantilever downside of cantilever beam (6), directly Linear motor sliding block (8) are slidably fitted on line motor slide rails (7).
- 2. the center of gravity measurement and caliberating device of a kind of unmanned plane are related to center of gravity measurement module, including physa seat (1), ball cup (9), support board (25), it is characterised in that:Uniformly there are four spring base (9) for installation in physa seat (1) a certain diameter circle, four in a certain diameter circle of support board (25) Equal part is uniformly equipped with four other spring bases (9), and four identical springs (11) pass through the installation column cap (10) at its both ends, and one In the fixed spring base (9) being inserted on physa seat (1) in end, the fixed spring base (9) being inserted on support board (25) of the other end In, the installation column cap (10) of the lower end of spring (11) is provided with load cell；It is arranged concentrically two circular orbits on the downside of support board (25), passes through on (25) two circular orbits of support board Support ball (18) is slidably fitted with eight groups of convolution framves (16), wherein four convolution framves (16) four etc. divide equally the circular orbit in inside On, on the equal circular orbit divided equally on the outside of four additional four, and some interior annular track convolution frame (16) and some outside Convolution frame (16) and some spring base (9) on circular orbit are in the same radius of support board (1), each convolution frame (16) lower end is provided with lifting lug, and the center of lifting lug is coated with cylinder beam (19), and totally four groups of cylinder beam (19), each group of cylinder beam (19) the convolution frame (16) on the convolution frame (16) and exterior annular track of the interior annular track being installed on same Radius On, the both ends of cylinder beam (19) are by locking nut (17) locking convolution frame (16)；Cylinder beam (19) is also fixedly connected with drive ring (12) close to the one end at support board (25) center, and drive ring (12) is provided with Groove is fixedly installed with a servo motor (15) in the groove of drive ring (12), fixed on the output shaft of servo motor (15) Output gear (14) are also equipped with, a small gear ring (13) was fixedly mounted on the center circle styletable of support board (25), it is described Output gear (14) and small gear ring (13) be intermeshed；Drive ring (12) is additionally provided with uniformly distributed heavy with servo motor (15) etc. Configuration；Fixation is hung on a straight guide (20) on the cylindrical section of each cylinder beam (19), and one end of straight guide (20) is fixedly mounted There is a small servo motor (22), a ball-screw is fixedly connected with by shaft coupling on the output shaft of small servo motor (22) (23), it is slidably fitted with a movable stand (21) on straight guide (20) by ball (24), movable stand is also fixedly installed on (21) There is the feed screw nut with ball-screw (23) cooperation, and ensures that ball-screw (23) are driven by the feed screw nut on movable stand (21) Dynamic movable stand (21) are moved forward and backward.
- 3. a kind of center of gravity measurement and caliberating device of unmanned plane as described in claim 1, it is characterised in that: the straight-line electric Labelling apparatus, preferably Laser emission lamp are fixedly installed on machine sliding block (8)；The movement of linear motor sliding block (8) is Descartes Coordinate system, and using the center of circle of physa seat (1) as coordinate origin.
- 4. a kind of center of gravity measurement and caliberating device of unmanned plane as claimed in claim 2, it is characterised in that: the movable stand (21) electromagnetic suction head of fixed suction value is provided on, physa seat (1) requirement is can be by the magnetic material of electromagnetic attraction；It moves The movement of moving frame (21) is cartesian coordinate system, and using the center of circle of physa seat (1) as coordinate origin.
- 5. a kind of center of gravity measurement and caliberating device of unmanned plane as claimed in claim 2, it is characterised in that: support board (25) Upper surface is evenly arranged with several circle serration objects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524499.9A CN110228604A (en) | 2019-06-18 | 2019-06-18 | A kind of center of gravity measurement and caliberating device of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524499.9A CN110228604A (en) | 2019-06-18 | 2019-06-18 | A kind of center of gravity measurement and caliberating device of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228604A true CN110228604A (en) | 2019-09-13 |
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ID=67860024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910524499.9A Withdrawn CN110228604A (en) | 2019-06-18 | 2019-06-18 | A kind of center of gravity measurement and caliberating device of unmanned plane |
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| Country | Link |
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| CN (1) | CN110228604A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110806604A (en) * | 2019-11-28 | 2020-02-18 | 中国航发沈阳黎明航空发动机有限责任公司 | Device and method for calibrating transillumination center of X-ray machine |
| CN113390560A (en) * | 2021-07-30 | 2021-09-14 | 郑州机械研究所有限公司 | Measuring mechanism for measuring mass three-dimensional mass center of large flying body with wings |
-
2019
- 2019-06-18 CN CN201910524499.9A patent/CN110228604A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110806604A (en) * | 2019-11-28 | 2020-02-18 | 中国航发沈阳黎明航空发动机有限责任公司 | Device and method for calibrating transillumination center of X-ray machine |
| CN113390560A (en) * | 2021-07-30 | 2021-09-14 | 郑州机械研究所有限公司 | Measuring mechanism for measuring mass three-dimensional mass center of large flying body with wings |
| CN113390560B (en) * | 2021-07-30 | 2024-04-26 | 郑州机械研究所有限公司 | Measuring mechanism for measuring mass three-dimensional mass center of large winged flying body |
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Application publication date: 20190913 |