CN2816871Y - Flight coutrol test platform for small-sized unmanned helicopter - Google Patents
Flight coutrol test platform for small-sized unmanned helicopter Download PDFInfo
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- CN2816871Y CN2816871Y CNU2005200129752U CN200520012975U CN2816871Y CN 2816871 Y CN2816871 Y CN 2816871Y CN U2005200129752 U CNU2005200129752 U CN U2005200129752U CN 200520012975 U CN200520012975 U CN 200520012975U CN 2816871 Y CN2816871 Y CN 2816871Y
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- 238000005096 rolling process Methods 0.000 claims description 8
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- 235000010210 aluminium Nutrition 0.000 description 1
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Abstract
The utility model discloses a flight control test platform for a small-size unmanned helicopter, which mainly comprises a machine frame, a universal rotating mechanism and a balance weight mechanism. An unmanned helicopter which is fixed on a flat plate of the test platform takes off together with the universal rotating mechanism and a support rod, and with the top end of the support rod as a center of sphere, the unmanned helicopter can carry out limited spherical motion to realize various attitudes of inclination, yawing, roll, etc.; thereby, the free flight of the helicopter is satisfied within a certain range. The balance weight mechanism counteracts the excess load brought to the unmanned helicopter by the test platform. When flight control fails, or a test fails, the helicopter is ensured with no occurrence of situations that the helicopter tumbles or flies away from the test platform so that the helicopter can land safely. The utility model has the advantages of simple structure, easy realization, low cost, easy motion, etc. Scientific research of attitude control, flight control, navigation, etc. can be conveniently carried out, and the safety of flight tests is ensured, In addition, the utility model also offers a platform to broad fans of model airplanes so that the fans of model airplanes become familiar with the flight performance of model helicopters.
Description
Technical field
The utility model relates to a kind of small-sized depopulated helicopter flight control test platform.
Background technology
Small-sized depopulated helicopter (hereinafter to be referred as depopulated helicopter) but be meant by the vertical takeoff and landing (VTOL) of radio ground remote control flight or Autonomous Control flight manned vehicle not, on structural form, belong to rotor craft, on function, belong to vertically taking off and landing flyer.In recent ten years, along with Study on Technology such as compound substance, power system, sensor, especially flight control progress, depopulated helicopter has obtained development rapidly, becomes the focus that people pay close attention to just day by day.Depopulated helicopter has unique flying quality and use value.Compare with people's helicopter is arranged, depopulated helicopter is because characteristics such as no one was injured, volume is little, cost is low, the battlefield viability is strong have incomparable superiority in many aspects.Compare with the fixed-wing unmanned plane, but depopulated helicopter vertical takeoff and landing, hovering, and the landing place of taking off is little, needn't be equipped with to resemble emission recovery system complicated the fixed-wing unmanned plane, large volume; And it can fly towards any direction, can with horizontally fly, flying method such as inverted flight shuttles back and forth between buildings, finish and take photo by plane, rescue and relief work, topographical surveying etc. suchlike task.Depopulated helicopter also is with a wide range of applications at aspects such as atmospheric surveillance, traffic monitoring, resource exploration, power circuit detection, forest fire protections.Aspect military, depopulated helicopter can be carried out various non-lethal tasks, can carry out the lethal task of various soft or hards again, comprises scouting, supervision, target acquisition, bait, attack, communication repeating etc.
But the function of depopulated helicopter is also very limited at present, and flight is mainly finished at ground remote control by operator, does not also possess the autonomous flight ability mostly.Following the most promising application of depopulated helicopter is exactly the over the horizon autonomous flight, and its airborne flight control system just seems particularly important for autonomous flight.At present, the autonomous flight research of depopulated helicopter also is the unusual problem in forward position in the world.Domestic method for designing, majority are to adjust the flight control parameter by a large amount of flight tests, finally find suitable control law.But flight test is in case failure, and depopulated helicopter has the danger of air crash, is easy to the damage of going to wreck property, will cause experimentation cost to increase considerably lengthening with the lead time.Therefore, developmental flight control test platform becomes an important step of unmanned helicopter flight Control System Design.
In addition, current domestic model plane motor development is like a raging fire, has a large amount of airplane hobbyists to select model copter for use.And the manipulation of model copter is very difficult for the beginner, owing to handle error, through regular meeting the air crash accident takes place, and not only causes economic loss, even the threat personal safety.
Summary of the invention
The purpose of this utility model provide a kind of within the specific limits can be by the free flight of practical flight attitude, when breaking down, can guarantee the depopulated helicopter safe landing, the small-sized depopulated helicopter flight control test platform that simple in structurely be easy to realize, cost is low.
The technical scheme in the invention for solving the technical problem is: small-sized depopulated helicopter flight control test platform mainly comprises frame, universal rotation mechanism and balance weight mechanism, frame comprises by top base, cylindrical stent and platform that bottom base and vertical rod constitute, top base has axially extending bore, platform has center pit, the lower surface of platform is fixed with the location cylinder with the center pit coaxial cable, the location cylinder places the axially extending bore of top base, and fix with top base, universal rotation mechanism comprises the bearing seat cavity that is made of top chock and step, be fixed on rolling ball bearing and support bar in the bearing seat cavity, the lower end of bearing seat cavity is loudspeaker opening shape, the center pit of support bar spanning platform and location cylinder, form sliding pair with the setting circle tube, the inner ring of post upper and rolling ball bearing is fastening, the lower end links to each other with horizontal cross bar, upper surface at top chock is fixed with flat board, balance weight mechanism comprises that two groups of symmetries are fixed on the fixed pulley group of platform lower surface center pit both sides, two flexible wire ropes and weight, every group of fixed pulley comprises two fixed pulleys at least, two wire rope are walked around two groups of fixed pulleys respectively, one end of every wire rope hangs weight, and the other end and horizontal cross bar are connected to vertical line.
Principle of work of the present utility model: when testing, depopulated helicopter is fixed on the flat board of test platform, after related universal rotation mechanism of depopulated helicopter and support bar take off, can with the supporting bar top centre of sphere, do a limited spheric motion, realize various attitudes such as inclination, driftage, lift-over, satisfy the helicopter free flight within the specific limits.In flight course, the flying height of helicopter is by the length of support bar and the height decision of support.Support bar rises with helicopter, and the horizontal cross bar of support bar lower end had both limited the lifting height of helicopter, can guarantee that again helicopter can not fly away from test platform.When support bar rose, bolt also can rise at the wire rope of horizontal cross bar thereupon, and the weight that the wire rope other end hangs then can descend, thus the unnecessary load during balancing helicopter flight.When flight control lost efficacy or during test failure,, make the helicopter can safe landing because the position-limiting action of the horn-like opening in bearing seat cavity bottom can guarantee that rolling can not appear in helicopter.
The beneficial effects of the utility model: this invention has advantages such as simple in structurely be easy to realize, cost is low, be easy to move, be applicable to the various flight tests of small-sized depopulated helicopter, it offers attitudes such as the needed inclination of unmanned helicopter flight, driftage, lift-over, guarantees that depopulated helicopter within the specific limits can free flight.Utilize the utility model, can under laboratory condition, reappear the real flight conditions of depopulated helicopter, carry out scientific researches such as attitude control, flight control, navigation very easily, guaranteed the security of unmanned helicopter flight test.The utility model also provides the platform of a familiar models helicopter flight performance for vast airplane hobbyist in addition.Especially beginner can be familiar with on test platform earlier and handles model copter, treats to carry out practical flight again after skilled, is very helpful for reducing the model copter damage and improving manipulation technology.
Description of drawings
Fig. 1 is a small-sized depopulated helicopter flight control test platform structural representation of the present utility model;
Fig. 2 is the universal rotation mechanism enlarged drawing;
Fig. 3 is the top base enlarged drawing;
Fig. 4 is the vertical view of Fig. 3.
Embodiment
With reference to Fig. 1, small-sized depopulated helicopter flight control test platform mainly comprises frame, universal rotation mechanism and balance weight mechanism, frame comprises by top base 13, cylindrical stent and platform 7 that bottom base 20 and vertical rod 17 constitute, and top base has axially extending bore 9, platform has center pit 8, the lower surface of platform is fixed with the location cylinder 15 with center pit 8 coaxial cables, and location cylinder 15 places the axially extending bore 9 of top base, and fixing with top base 13.In the diagram instantiation, cylindrical stent is an A-frame, top base 13 as shown in Figure 3 and Figure 4, it is the right cylinder that axially has through hole, the right cylinder middle part is provided with the regular triangular prism 18 of fixed support vertical rod 17, the cylindrical threaded hole 14 that radially is provided with, location cylinder 15 is fixing by twisting the holding screw and the top base 13 that are connected on threaded hole, perhaps also can weld with top base 13.A-frame is fixing by bolt and bottom base 20, also can weld with bottom base 20.Four limits of bottom base 20 are provided with handle 19, convenient carrying and mobile.
Universal rotation mechanism, its enlarged drawing as shown in Figure 2, comprise the bearing seat cavity that constitutes by top chock 2 and step 3, be fixed on rolling ball bearing 5 and support bar 6 in the bearing seat cavity, the lower end of bearing seat cavity is loudspeaker opening shape, so that make depopulated helicopter have bigger rotational angle.Upper surface at top chock 2 is fixed with flat board 1, and the center pit 8 of support bar 6 spanning platforms 7 and location cylinder 15 form sliding pairs with location cylinder 15, and the inner ring of support bar 6 upper ends and rolling ball bearing 5 is fastening, and the lower end links to each other with horizontal cross bar 16.Support bar 6 can be a solid hopkinson bar, also can be hollow stem, and for ease of installing and fixing and alleviate the load of helicopter, support bar 6 generally is made up of hollow tubular and the right cylinder 4 that is connected the hollow tubular upper end.Dull and stereotyped, upper and lower bearing seat, right cylinder can aluminums, and hollow tubular can adopt stainless-steel tube.The size of rolling ball bearing is selected according to the size of depopulated helicopter.
Balance weight mechanism comprises that two groups of symmetries are fixed on the fixed pulley group 10 of platform lower surface center pit both sides, two flexible wire ropes 12 and weight 11, every group of fixed pulley comprises two fixed pulleys at least, in the legend, every group of fixed pulley contains two fixed pulleys, and every wire rope is walked around two fixed pulleys respectively, and its end hangs weight 11, the other end and horizontal cross bar 16 are connected to vertical line, have avoided wire rope to change the variation that causes equilibrant owing to inclination causes angle in uphill process.Weight of heavy equates with the unnecessary load of taking off with depopulated helicopter.Utilize balance weight mechanism, can offset the unnecessary load that test platform brings depopulated helicopter, guaranteed the authenticity of flight test.
Claims (3)
1. small-sized depopulated helicopter flight control test platform, it is characterized in that mainly comprising frame, universal rotation mechanism and balance weight mechanism, frame comprises by top base (13), cylindrical stent and platform (7) that bottom base (20) and vertical rod (17) constitute, top base has axially extending bore (9), platform has center pit (8), the lower surface of platform is fixed with the location cylinder (15) with center pit (8) coaxial cable, location cylinder (15) places the axially extending bore (9) of top base, and it is fixing with top base (13), universal rotation mechanism comprises the bearing seat cavity that is made of top chock (2) and step (3), be fixed on rolling ball bearing (5) and support bar (6) in the bearing seat cavity, the lower end of bearing seat cavity is loudspeaker opening shape, the center pit (8) of support bar (6) spanning platform and location cylinder (15), form sliding pair with location cylinder (15), support bar (6) upper end is fastening with the inner ring of rolling ball bearing (5), the lower end links to each other with horizontal cross bar (16), upper surface at top chock (2) is fixed with flat board (1), balance weight mechanism comprises that two groups of symmetries are fixed on the fixed pulley group (10) of platform lower surface center pit both sides, two flexible wire ropes (12) and weight (11), every group of fixed pulley comprises two fixed pulleys at least, two wire rope are walked around two groups of fixed pulleys respectively, one end of every wire rope hangs weight (11), and the other end and horizontal cross bar (16) are connected to vertical line.
2. small-sized depopulated helicopter flight control test platform according to claim 1 is characterized in that support bar (6) is made up of hollow tubular and the right cylinder (4) that is connected hollow tubular upper end.
3. small-sized depopulated helicopter flight control test platform according to claim 1, it is characterized in that said cylindrical stent is an A-frame, top base (13) is the right cylinder that axially has through hole, the right cylinder middle part is provided with the regular triangular prism (18) of fixed support vertical rod (17), the cylindrical threaded hole (14) that radially is useful on stationary positioned cylinder (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200129752U CN2816871Y (en) | 2005-07-04 | 2005-07-04 | Flight coutrol test platform for small-sized unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200129752U CN2816871Y (en) | 2005-07-04 | 2005-07-04 | Flight coutrol test platform for small-sized unmanned helicopter |
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| Publication Number | Publication Date |
|---|---|
| CN2816871Y true CN2816871Y (en) | 2006-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005200129752U Expired - Lifetime CN2816871Y (en) | 2005-07-04 | 2005-07-04 | Flight coutrol test platform for small-sized unmanned helicopter |
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| CN (1) | CN2816871Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368789C (en) * | 2005-07-04 | 2008-02-13 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| CN105223835B (en) * | 2015-11-13 | 2016-06-08 | 中航鹰航空技术（北京）有限公司 | Many rotor unmanned aircrafts experiment porch |
| CN106471337A (en) * | 2014-04-28 | 2017-03-01 | 深圳市大疆创新科技有限公司 | Interchangeable mounting platform |
| CN107085989A (en) * | 2017-06-23 | 2017-08-22 | 许多 | A kind of helicopter instructional device that driving experience is carried out based on supporting surface |
-
2005
- 2005-07-04 CN CNU2005200129752U patent/CN2816871Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368789C (en) * | 2005-07-04 | 2008-02-13 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| CN106471337A (en) * | 2014-04-28 | 2017-03-01 | 深圳市大疆创新科技有限公司 | Interchangeable mounting platform |
| US10560611B2 (en) | 2014-04-28 | 2020-02-11 | SZ DJI Technology Co., Ltd. | Interchangeable mounting platform |
| CN106471337B (en) * | 2014-04-28 | 2020-12-18 | 深圳市大疆创新科技有限公司 | Replaceable mounting platform |
| US11029585B2 (en) | 2014-04-28 | 2021-06-08 | SZ DJI Technology Co., Ltd. | Interchangeable mounting platform |
| US11927877B2 (en) | 2014-04-28 | 2024-03-12 | SZ DJI Technology Co., Ltd. | Interchangeable mounting platform |
| CN105223835B (en) * | 2015-11-13 | 2016-06-08 | 中航鹰航空技术（北京）有限公司 | Many rotor unmanned aircrafts experiment porch |
| CN107085989A (en) * | 2017-06-23 | 2017-08-22 | 许多 | A kind of helicopter instructional device that driving experience is carried out based on supporting surface |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080213 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |