CN106394914A - Pan-tilt system of six-rotor aircraft - Google Patents
Pan-tilt system of six-rotor aircraft Download PDFInfo
- Publication number
- CN106394914A CN106394914A CN201610698312.3A CN201610698312A CN106394914A CN 106394914 A CN106394914 A CN 106394914A CN 201610698312 A CN201610698312 A CN 201610698312A CN 106394914 A CN106394914 A CN 106394914A
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- Prior art keywords
- head
- control motor
- wheel
- gear
- yawing mechanism
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 230000008093 supporting effect Effects 0.000 claims description 35
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 210000003464 cuspid Anatomy 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 244000309464 bull Species 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a pan-tilt system of a six-rotor aircraft. The pan-tilt system comprises a pan-tilt pitch mechanism, a pan-tilt rolling mechanism, a pan-tilt yaw mechanism, buffering mechanisms and a fuselage support mechanism, and a detection device can be mounted on a pan-tilt. The pan-tilt is connected with wing mechanisms through connecting rods, yaw is achieved through matching with gears, and a rotor mechanism can be prevented from rotating.
Description
Technical field
The present invention relates to a kind of multi-rotor aerocraft technology, particularly a kind of six rotorcraft clouds terrace system.
Background technology
With six rotorcraft clouds terrace system always be aircraft carry detector complex environment is detected must
One of indispensable part, consumes in the air and realizes the always many aircraft of yaw maneuver by the speed change of the positive and negative oar of wing
Take measures, this method power consumption is big, the endurance of aircraft is had a great impact, and does not enable wing machine
That structure the does not turn and rotatable yaw maneuver of head.Lean on gear drive rolling maneuver more, assembly precision requirement can be increased, dismounting
Trouble.How more complicated head buffer unit is, should not change, and cost is higher.
Content of the invention
It is an object of the invention to provide a kind of six rotorcraft clouds terrace system, head is in the fortune such as pitching, rolling, driftage
When dynamic, rotor, without change of flight action, has the advantages that highly reliable, convenient dismounting, motion reliability, energy-conservation.
A kind of six rotorcraft clouds terrace system, including head luffing mechanism, head rotation mechanism for wind, head Yawing mechanism,
Buffer gear and supporting fuselage mechanism, detection device may be mounted on head.Described head passes through connecting rod and wing structure
Connect, driftage is realized by gear cooperation, and rotor mechanism can be kept not rotate.
Using above-mentioned clouds terrace system, described head luffing mechanism includes steering wheel, little gear, gear wheel, platform, platform prop up
Support, steering wheel bracing frame and canine tooth wheeling supporting frame, steering wheel rotation driving pinion rotates, and is then engaged by gear and drives canine tooth
Wheel, thus driving the platform with gear wheel consubstantiality, realizes the pitching motion of head.
Using above-mentioned clouds terrace system, described head rotation mechanism for wind include head plate, Timing Belt, steering wheel, steering wheel gripper shoe,
Synchronous pulley, connecting plate, synchronous end of tape fix bar, compressor arm, contact roller and Timing Belt end mounts, steering wheel rotarily drives
Synchronous pulley rotates, and synchronous pulley drives Timing Belt motion, so that head realizes the action of rolling.
Using above-mentioned clouds terrace system, described head Yawing mechanism include connect support body, gear wheel fixed plate, gear wheel,
Bearing pin, little gear and steering wheel, when normal vehicle operation, gear wheel and rotor mechanism are connected, and it is little that steering wheel rotates drive
Gear around bull gear drive, thus realize rotor mechanism normal flight and non-rotary under the premise of, reach the dynamic of head driftage
Make.
Using above-mentioned clouds terrace system, described buffer gear include cushion pad connection sheet, taper cushion pad, force transfer bracket and
Fixed block, taper cushion pad enters row buffering to aircraft takeoff with shock loading during landing.
Using above-mentioned clouds terrace system, described supporting fuselage mechanism includes supporting leg, supporting leg hinge, connecting rod link, props up
Support mechanism platform and support link, are integrated with the effect supporting to aircraft, avoid head contact ground simultaneously, prevent head quilt
Destroy.
The present invention compared with prior art, has advantages below：Highly reliable, parts facilitate dismounting to be easily changed, transport
The advantages of dynamic reliability, energy-conservation, the reliability being capable of head three degree of freedom rotates so as to can carry out under complex environment
Detect, and aircraft entirety endurance can be improved with saves energy, head driftage can keep rotor mechanism to keep simultaneously
Rotor mechanism does not rotate, so that detection device monitoring direction is constant on rotor mechanism, enables head driftage, in flight again
Effectively row buffering can be entered by impact loading during device takeoff and landing.
With reference to Figure of description, the present invention is described further.
Brief description
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is head Yawing mechanism structural representation of the present invention, and wherein Fig. 2 (a) is axonometric chart, and Fig. 2 (b) is front view.
Fig. 3 is head buffer gear structural representation of the present invention, and wherein Fig. 3 (a) is axonometric chart, and Fig. 3 (b) is buffer gear
The axonometric chart of critical piece.
Fig. 4 is head rotation mechanism for wind structural representation of the present invention, and wherein Fig. 4 (a) is axonometric chart, and Fig. 4 (b) is side view,
Fig. 4 (c) is front view.
Fig. 5 is head luffing mechanism structural representation of the present invention, and wherein Fig. 5 (a) is axonometric chart, and Fig. 5 (b) is front view,
Fig. 5 (c) is steering wheel gear parts schematic diagram.
Fig. 6 is head supporting fuselage mechanism structure schematic diagram of the present invention.
Specific embodiment
In conjunction with Fig. 1, a kind of six rotorcraft clouds terrace system, including include head luffing mechanism 1, head rotation mechanism for wind 2,
Head Yawing mechanism 3, buffer gear 4, supporting fuselage mechanism 5.Described head luffing mechanism 1 realizes the upper lower angle pitching of head
Action；Head rotation mechanism for wind 2 realizes the rolling maneuver about head；Head Yawing mechanism 3 realizes the inclined of the horizontal left and right of head
Boat action, and keep the not rotation status of rotor mechanism 6；Buffer gear 4 is realized aircraft takeoff and is subject to head during landing
Shock loading；Supporting fuselage mechanism 5 realizes the overall support function of fuselage, and is avoided that head is contacted with ground head is caused
Destroy.Each effect and the action of head is realized in each mechanism's co-ordination.
In conjunction with Fig. 2 (a) (b), head Yawing mechanism 3 according to the present invention includes connecting support body 3-1, head Yawing mechanism big
Gear fixed plate 3-2, head Yawing mechanism gear wheel 3-3, bearing pin 3-4, head Yawing mechanism little gear 3-5, yaw control motor 3-
6.Yaw control motor 3-6 is arranged on connection support body 3-1, and head Yawing mechanism little gear 3-5 is with yaw control motor 3-6 output shaft even
Connect, head Yawing mechanism gear wheel 3-3 is fixed by head Yawing mechanism gear wheel fixed plate 3-2 head Yawing mechanism gear wheel
Plate 3-2 is fixed on the connector of aircraft lower end, and it is inclined that head Yawing mechanism gear wheel 3-3 is arranged at head by bearing pin 3-4
Plane structure gear wheel fixed plate 3-2 and connect that support body 3-1 is upper and head Yawing mechanism gear wheel 3-3 and the little tooth of head Yawing mechanism
Wheel 3-5 engagement.When normal vehicle operation, head Yawing mechanism gear wheel 3-3 and rotor mechanism are connected, yaw control motor
3-6 rotates and drives head Yawing mechanism little gear 3-5 to rotate around head Yawing mechanism gear wheel 3-3, thus realizing gyroplane
Structure normal flight and non-rotary under the premise of, reach head driftage action.
In conjunction with Fig. 3 (a) (b), head buffer gear 4 according to the present invention, including cushion pad connection sheet 4-1, taper buffering
Pad 4-2, force transfer bracket 4-3 and fixed block 4-4.Setting buffer gear 4 also needs to two pieces of aircraft connecting plates, aircraft connecting plate
It is respectively arranged at the two ends of head Yawing mechanism 3, the taper cushion pad 4-2 of every group of buffer gear 4 arranges three, and cushion pad connects
Piece 4-1 two taper cushion pad 4-2 of horizontal direction are linked together and two taper cushion pad 4-2 lower surfaces of horizontal direction with
Aircraft connecting plate upper surface, two cushion pads of upper horizontal are connected by force transfer bracket 4-3 with a following cushion pad
Together, force transfer bracket 4-3 is connected by fixed block 4-4 with connecting plate 2-6 or roll control motor gripper shoe 2-4.Cushion pad connection sheet
Two taper cushion pads of upper level are linked together by 4-1, the upper end of the force transfer bracket on top and cushion pad connection sheet phase
Even, the lower end of the force transfer bracket on top is connected with the lower surface of the cushion pad of bottom, the force transfer bracket upper end of bottom and bottom
Cushion pad upper surface is connected, and the force transfer bracket lower end of bottom is fixed on connecting plate 2-6 through fixed block, thus realize load delaying
The effect of punching.
In conjunction with Fig. 4 (a) (b) (c), described head rotation mechanism for wind 2 according to the present invention includes head plate 2-1, Timing Belt 2-
2nd, roll control motor 2-3, roll control motor gripper shoe 2-4, synchronous pulley 2-5, connecting plate 2-6, synchronous end of tape fix bar 2-7, pressure
Tight bar 2-8, contact roller 2-9, Timing Belt end mounts 2-10, upper rail wheel 2-11 and lower railway wheel 2-12.Head plate 2-1 pair
Claim two pieces of setting and camber and being connected with head luffing mechanism 1, roll control motor 2-3 passes through roll control motor gripper shoe 2-4 and arranges
On head Yawing mechanism 3, connecting plate 2-6 is arranged on head Yawing mechanism 3 and cooperatively forms with roll control motor gripper shoe 2-4
Head plate 2-1 orbit space, upper rail wheel two groups of 2-11 totally four pieces and the circumferentially arranged circular orbit slot of each rail wheel, each
Group rail wheel is arranged between connecting plate 2-6 and roll control motor gripper shoe 2-4 by rotary shaft and the upper edge of two pieces of head plate 2-1 is distinguished
It is placed in the circular orbit slot of upper rail wheel 2-11, two groups of lower railway wheel 2-12 totally four pieces and the circumferentially arranged ring of each rail wheel
Shape rail groove, each group of rail wheel is arranged between connecting plate 2-6 and roll control motor gripper shoe 2-4 by rotary shaft and two pieces of heads
Plate 2-1 lower edge is respectively placed in the circular orbit slot of lower railway wheel 2-12, and synchronous pulley 2-5 is with roll control motor 2-3 output shaft even
Connect, Timing Belt 2-2 and synchronous pulley 2-5 coordinates and end is separately fixed at synchronous end of tape fix bar 2-7 and synchronous end of tape
On fixed mount 2-10, fix bar 2-7 and Timing Belt end mounts 2-10 are individually fixed in the two ends of head plate 2-1, contact roller
2-9 is arranged between two pieces of head plate 2-1 by compressor arm 2-8 and is pressed on Timing Belt 2-2.Driving in roll control motor 2-3
Under, head plate moves in upper rail wheel 2-11 and lower railway wheel 2-12, thus realizing rotor mechanism normal flight and non-rotary
Under the premise of, reach the action of head rolling.
In conjunction with Fig. 5 (a) (b) (c), head luffing mechanism 1 according to the present invention, including steering wheel 1-1, little gear 1-2, canine tooth
Wheel 1-3, head 1-4, platform frame 1-5, steering wheel bracing frame 1-6 and canine tooth wheeling supporting frame 1-7.Pitch-control motor 1-1 passes through rudder
Machine bracing frame 1-6 is fixed on platform frame 1-5, and little gear 1-2 is connected with steering wheel 1-1 rotary shaft, gear wheel 1-3 and little tooth
Wheel 1-2 is engaged and is arranged on canine tooth wheeling supporting frame 1-7 by rotating shaft, and head one end is connected with the rotating shaft of gear wheel 1-3, another
End is rotated with platform frame 1-5 and is connected, and canine tooth wheeling supporting frame 1-7 is arranged on platform frame 1-5；Steering wheel 1-1 rotational band
Dynamic little gear 1-2 rotates, and is then engaged by gear and drives gear wheel 1-3, thus driving the platform with gear wheel 1-3 consubstantiality,
Realize the pitching motion of head.
In conjunction with Fig. 6, supporting fuselage mechanism 5 according to the present invention, including supporting leg 5-1, supporting leg hinge 5-2, connecting rod hinge
Chain 5-3, supporting mechanism platform 5-4 and support link 5-5.Described supporting fuselage mechanism 5, including supporting leg 5-1, supporting leg hinge
5-2, connecting rod link 5-3, supporting mechanism platform 5-4 and support link 5-5；Described supporting leg 5-1 is integrated with to aircraft supporting
Effect, avoid simultaneously head contact ground, prevent head be destroyed；Described supporting leg hinge 5-2 is connected with supporting leg 5-1,
It is fastened in support link 5-5 simultaneously, play the effect of fixing supporting legs；Described connecting rod link 5-3 and supporting mechanism platform 5-4
Connect with support link 5-5, support link is connected on supporting mechanism platform, fastening effect is played to support link；Described
Supporting mechanism platform 5-4 is the connecting plate of head rotation mechanism for wind 2, head Yawing mechanism 3 and buffer gear 4, and three is connected into
Overall.Supporting fuselage mechanism is integrally integrated with the effect supporting to aircraft, avoids head contact ground simultaneously, prevents head quilt
Destroy.
Specifically, in conjunction with accompanying drawing, head plate 2-1 can be with platform frame 1-5 Integral design.Buffer gear 4 has four groups,
Force transfer bracket 4-3 is connected by every group of fixed block 4-4 with connecting plate 2-6 or roll control motor gripper shoe 2-4.Two pieces of aircraft connecting plates
It is separately positioned on connection support body 3-1 two ends.
Claims (5)
1. a kind of six rotorcraft clouds terrace system is it is characterised in that include head, head luffing mechanism (1), head roller
Structure (2), head Yawing mechanism (3), supporting fuselage mechanism (5)；Wherein
Head is arranged on head luffing mechanism (1),
Head luffing mechanism (1) drives head to do elevating movement along a trunnion axis A,
Head rotation mechanism for wind (2) drives head and head luffing mechanism (1) to do rolling movement along one perpendicular to the trunnion axis B of axle A,
Head Yawing mechanism (3) is arranged on the connector of aircraft lower end, and it drives head, head luffing mechanism (1) and cloud
Platform rotation mechanism for wind (2) edge rotates perpendicular to the axle C of axle A and the vertical direction of axle B,
Supporting fuselage mechanism (5) is arranged on aircraft；
During above-mentioned motion, aircraft rotor keeps previous moment running orbit.
2. system according to claim 1 is it is characterised in that described head luffing mechanism (1) includes pitch-control motor (1-
1), little gear (1-2), gear wheel (1-3), platform frame (1-5), steering wheel bracing frame (1-6) and canine tooth wheeling supporting frame (1-
7)；
Pitch-control motor (1-1) is fixed on platform frame (1-5) by steering wheel bracing frame (1-6),
Little gear (1-2) is connected with steering wheel (1-1) rotary shaft,
Gear wheel (1-3) is engaged with little gear (1-2) and is arranged on by rotating shaft on canine tooth wheeling supporting frame (1-7),
Head one end is connected with the rotating shaft of gear wheel (1-3), and the other end is rotated with platform frame (1-5) and is connected,
Canine tooth wheeling supporting frame (1-7) is arranged on platform frame (1-5).
3. system according to claim 1 it is characterised in that described head rotation mechanism for wind (2) include head plate (2-1),
Timing Belt (2-2), roll control motor (2-3), roll control motor gripper shoe (2-4), synchronous pulley (2-5), connecting plate (2-6), synchronization
End of tape fix bar (2-7), compressor arm (2-8), contact roller (2-9), Timing Belt end mounts (2-10), upper rail wheel (2-
11) and lower railway wheel (2-12)；Wherein
Head plate (2-1) is symmetrical arranged two pieces and camber and is connected with head luffing mechanism (1),
Roll control motor (2-3) is arranged on head Yawing mechanism (3) by roll control motor gripper shoe (2-4), and connecting plate (2-6) sets
It is placed in head Yawing mechanism (3) and above and with roll control motor gripper shoe (2-4) cooperatively form head plate (2-1) orbit space,
Two groups of upper rail wheel (2-11) totally four pieces and the circumferentially arranged circular orbit slot of each rail wheel, each group of rail wheel passes through
Rotary shaft is arranged between connecting plate (2-6) and roll control motor gripper shoe (2-4) and two pieces of head plates (2-1) are above respectively placed on edge
In the circular orbit slot of rail wheel (2-11),
Two groups of lower railway wheel (2-12) totally four pieces and the circumferentially arranged circular orbit slot of each rail wheel, each group of rail wheel passes through
Rotary shaft is arranged between connecting plate (2-6) and roll control motor gripper shoe (2-4) and two pieces of head plate (2-1) lower edges are respectively placed in down
In the circular orbit slot of rail wheel (2-12),
Synchronous pulley (2-5) is connected with roll control motor (2-3) output shaft,
Timing Belt (2-2) and synchronous pulley (2-5) cooperation and end are separately fixed at synchronous end of tape fix bar (2-7) and synchronous
On end of tape fixed mount (2-10),
Fix bar (2-7) and Timing Belt end mounts (2-10) are individually fixed in the two ends of head plate (2-1),
Contact roller (2-9) is arranged between two pieces of head plates (2-1) by compressor arm (2-8) and is pressed on Timing Belt (2-2).
4. system according to claim 1 is it is characterised in that described head Yawing mechanism (3) includes connecting support body (3-
1), head Yawing mechanism gear wheel fixed plate (3-2), head Yawing mechanism gear wheel (3-3), bearing pin (3-4), head driftage machine
Structure little gear (3-5), yaw control motor (3-6)；Wherein
Yaw control motor (3-6) is arranged in connection support body (3-1),
Head Yawing mechanism little gear (3-5) is connected with yaw control motor (3-6) output shaft,
Head Yawing mechanism gear wheel (3-3) passes through head Yawing mechanism gear wheel fixed plate (3-2)
Head Yawing mechanism gear wheel fixed plate (3-2) is fixed on the connector of aircraft lower end,
Head Yawing mechanism gear wheel (3-3) by bearing pin (3-4) be arranged at head Yawing mechanism gear wheel fixed plate (3-2) and
Connect support body (3-1) above and head Yawing mechanism gear wheel (3-3) is engaged with head Yawing mechanism little gear (3-5).
5. system according to claim 3 is it is characterised in that this system also includes four groups of buffer gears 4 and aircraft connects
Fishplate bar, described every group includes cushion pad connection sheet (4-1), taper cushion pad (4-2), force transfer bracket (4-3) and fixed block (4-
4)；Wherein
Aircraft connecting plate arranges two pieces of two ends being respectively arranged at head Yawing mechanism (3),
The taper cushion pad (4-2) of every group of buffer gear (4) arranges three,
Two taper cushion pads (4-2) of horizontal direction are linked together and two cones of horizontal direction by cushion pad connection sheet (4-1)
Shape cushion pad (4-2) lower surface and aircraft connecting plate upper surface,
Two cushion pads of upper horizontal are linked together by force transfer bracket (4-3) with a following cushion pad,
Force transfer bracket (4-3) is connected by fixed block (4-4) with connecting plate (2-6) or roll control motor gripper shoe (2-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610698312.3A CN106394914A (en) | 2016-08-20 | 2016-08-20 | Pan-tilt system of six-rotor aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610698312.3A CN106394914A (en) | 2016-08-20 | 2016-08-20 | Pan-tilt system of six-rotor aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106394914A true CN106394914A (en) | 2017-02-15 |
Family
ID=58004702
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610698312.3A Pending CN106394914A (en) | 2016-08-20 | 2016-08-20 | Pan-tilt system of six-rotor aircraft |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583919A (en) * | 2018-06-27 | 2018-09-28 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle machine carries cloud platform and increases steady system suitable for panoramic video shoots |
| CN112339980A (en) * | 2020-11-27 | 2021-02-09 | 中国科学院沈阳自动化研究所 | Torch transmission unmanned aerial vehicle |
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| CN205453893U (en) * | 2016-03-31 | 2016-08-10 | 深圳奥比中光科技有限公司 | Unmanned aerial vehicle |
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| CN112339980A (en) * | 2020-11-27 | 2021-02-09 | 中国科学院沈阳自动化研究所 | Torch transmission unmanned aerial vehicle |
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Application publication date: 20170215 |