CN106628133A - Balance adjustment mechanism for unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Balance adjustment mechanism for unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106628133A CN106628133A CN201611234700.2A CN201611234700A CN106628133A CN 106628133 A CN106628133 A CN 106628133A CN 201611234700 A CN201611234700 A CN 201611234700A CN 106628133 A CN106628133 A CN 106628133A
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- Prior art keywords
- unmanned plane
- draught line
- ball pivot
- balance adjustment
- inclination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a balance adjustment mechanism for an unmanned aerial vehicle. The top of the balance adjustment mechanism is used for being connected with a motor and a rotor of the unmanned aerial vehicle. The balance adjustment mechanism comprises an active adjustment unit, an inclination acquisition unit and an inclination compensation unit, wherein the active adjustment unit, the inclination acquisition unit and the inclination compensation unit are connected in sequence. The active adjustment unit is controlled by a single power source and used for starting the inclination acquisition unit when the unmanned aerial vehicle is out of balance. The inclination acquisition unit is used for acquiring the inclination direction of the unmanned aerial vehicle. The inclination compensation unit is used for carrying out counter-inclination compensation according to the acquired inclination direction of the unmanned aerial vehicle, so that self-balancing of the unmanned aerial vehicle is achieved. In addition, the invention provides the unmanned aerial vehicle comprising the balance adjustment mechanism. According to the balance adjustment mechanism and the and unmanned aerial vehicle, the problems that when the inclination angle of the rotor is controlled through cooperation of two power sources and manual work, the weight of the whole unmanned aerial vehicle is increased, the time of endurance is shortened, and an operating lever cannot be controlled conveniently are solved, complex software algorithms are avoided, and the reliability of control over the inclination angle of the rotor is effectively improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, it particularly relates to a kind of knot of the balance adjustment mechanism of unmanned plane
Structure is designed.
Background technology
Solve at present unmanned plane Angle ambiguity more it is representational be helicopter swash plate structure.The technology of the technology
Feature is that swash plate structure includes the two pieces of swash plates up and down for cooperating, as shown in figure 1, upper swash plate is close to backspin
Turn swash plate slip, its angle of inclination is determined by lower swash plate.Upper swash plate with rotor rotational, due to low early and high after, connecting rod
Rotor rise and fall are forced with the effect of fulcrum, is finally rotated by the angle of swash plate, reach rotor Sloped rotating.Lower swash plate
Not with rotor rotational, but angle of inclination can be controlled by pilot by mechanical linkage or hydraulic actuator, to control rotor
Angle of inclination.
Swash plate structure realizes rotation of the rotor in whole space by the Collaborative Control of two control-rods, and one is moved
Power source is only capable of so that swash plate rotates in a plane, it is necessary to the rotation in space could be realized using two power sources.
This control mode is not appropriate for consumer level unmanned plane with structure.First, two power sources are accomplished by two steering wheels to control
Stick processed, because of unmanned plane because the reasons such as continuation of the journey have lightweight requirements to main screw lift, two power source control inclination angles will volume
Outer increase weight.Secondly, swash plate structure is applied to artificial control, if dual power source collaboration control have to be realized by algorithm
System, to reach accurate direction and Angle ambiguity, then improves the difficulty of software algorithm, and it is difficult to ensure that reliability.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane balance adjustment mechanism, not only solves using dual power source people
The problems such as main screw lift that work Collaborative Control rotor angle of inclination is brought increases, cruising time reduces, stick control is inconvenient,
The employing of complex software algorithm is also avoid, the reliability of rotor angle of inclination control is effectively increased.
To reach above-mentioned purpose, the present invention is employed the following technical solutions and is achieved：
A kind of unmanned plane balance adjustment mechanism, its top for connecting the motor and rotor of the unmanned plane, it include according to
The active adjustment unit of secondary connection, inclination acquiring unit, slope compensation unit：The active adjustment unit is by single power source control
System, for starting the inclination acquiring unit, the inclination acquiring unit, for obtaining the nothing in unmanned plane disequilibrium
Man-machine incline direction, the slope compensation unit is implemented anti-obliquity and is mended by the incline direction of the unmanned plane for getting
Repay, to realize the self-balancing of the unmanned plane.
Further, the active adjustment unit includes the first drive mechanism, and the inclination acquiring unit includes the first ball
Hinge, push rod, the second drive mechanism and the guiding mechanism for realizing being oriented to based on gravity, the slope compensation unit includes the second ball
Hinge, lever compensation mechanism：First ball pivot is connected between the second drive mechanism and the guiding mechanism, and the push rod is in institute
Lifted to realize locking first ball pivot and unblock, second drive mechanism under the drive for stating the first drive mechanism
The guiding mechanism is driven to carry out oriented to obtain the inclination of the unmanned plane under the traction of first drive mechanism
Direction, second ball pivot is connected between second drive mechanism and the lever compensation mechanism, and the lever compensates machine
Structure is used to implement anti-obliquity compensation after the incline direction for obtaining the unmanned plane.
Further, first drive mechanism includes power transmission shaft, the first draught line, the second draught line, two elastic components
And it is fixedly connected on cam, travelling gear, the swing arm of the power transmission shaft：The single power source engaged transmission is in the driving cog
Wheel, the drive axis are connected to inside the unmanned plane, and the cam abuts the push rod, for push rod described in jacking,
Described two elastic components are connected between the unmanned plane inside and the push rod, for driving the push rod to decline, institute
State swing arm and be provided with the first side arm, the second side arm, first side arm, the second side arm are located at respectively the power transmission shaft both sides, described
First draught line is connected between first side arm and second drive mechanism, for drawing second drive mechanism,
Second draught line is connected between second side arm and second drive mechanism, for second driver that resets
Structure.
Further, second drive mechanism includes that upper rolling bearing, lower rolling bearing, the 3rd draught line, the 4th lead
Lead, the 5th draught line, bracing frame, connecting rod and slip cap upper sliding bearing, properties of journal bearing lubricated loaded on the connecting rod：It is described
Connecting rod is provided with first passage, second channel, third channel, and first draught line is connected to described by the first passage
Properties of journal bearing lubricated, for driving the properties of journal bearing lubricated to decline, second draught line is connected to institute by the second channel
Sliding bearing is stated, for driving the upper sliding bearing to decline, the 3rd draught line is connected to by the third channel
The upper sliding bearing, properties of journal bearing lubricated, for realizing that the synchronous backward between the upper sliding bearing, properties of journal bearing lubricated is moved
Dynamic, the lower rolling bearing fixed cover is loaded on the properties of journal bearing lubricated, and the 5th draught line is connected to the lower rolling bearing
With the guiding mechanism, for driving the guiding mechanism to carry out oriented, the upper rolling bearing fixed cover is loaded on described
Upper sliding bearing, the 4th draught line is connected to the upper rolling bearing and the guiding mechanism, for driving the guiding
Reset, is provided with first ball pivot between the connecting rod and the guiding mechanism, support frame as described above is fixedly connected on described
Connecting rod, it is provided with second ball pivot between the lever compensation mechanism.
Further, the guiding mechanism includes inner shell, shell, guide ring, guide plate:The guide plate is interior with described
Shell, shell are fixedly connected and are formed the annular groove that Open Side Down, and the guide ring is located in the annular groove, and it includes circle
Ring body, medicine ball and hollow ball, the medicine ball, hollow ball are fixed and are plugged in both sides relative on the torus and difference
It is connected with the 5th draught line, the 4th draught line.
Further, first ball pivot is provided between the guide plate and the connecting rod, first ball pivot includes setting
The first bulb on the connecting rod and the first spherical shell on the guide plate, the connecting rod is provided with fourth lane, institute
State and be provided with the top of push rod top pawl, the push rod passes through the fourth lane, the top pawl to stretch out in the connecting rod for jacking
First spherical shell, when rising under drive of the push rod in the cam, the first spherical shell described in the top pawl jacking is simultaneously locked
Fixed first ball pivot.
Further, the lever compensation mechanism includes compensating plate and at least two adjusting rods being spaced apart：It is described
Compensating plate is used to connect the motor and rotor, and to implement reversed dip compensation, the bottom of the adjusting rod is movably connected on
The guide plate, its top is movably connected on the compensating plate, and bottom and the top of the adjusting rod are located at respectively described second
Lateral separation is the top of the adjusting rod between the opposite sides of ball pivot, and the bottom of the adjusting rod and second ball pivot
The twice of lateral separation between second ball pivot.
Further, second ball pivot is provided between support frame as described above and the compensating plate, second ball pivot includes
The second bulb on support frame as described above and the second spherical shell on the compensating plate.
Based on above-mentioned unmanned plane balance adjustment mechanism, the present invention additionally provides on the other hand a kind of unmanned plane, institute
Unmanned plane is stated including motor, rotor, unmanned plane balance adjustment mechanism.The top connection of the unmanned plane balance adjustment mechanism
The motor and rotor, it includes the active adjustment unit being sequentially connected, inclines acquiring unit, slope compensation unit：It is described
Active adjustment unit is described to incline for starting the inclination acquiring unit in unmanned plane disequilibrium by single power source control
Oblique acquiring unit, for obtaining the incline direction of the unmanned plane, the slope compensation unit, by get it is described nobody
The incline direction of machine implements anti-obliquity compensation, to realize the self-balancing of the unmanned plane.
Compared with prior art, advantages of the present invention and beneficial effect are：The unmanned plane balance adjustment that the present invention is provided
Mechanism, clearly, it includes the active adjustment unit being sequentially connected, inclines acquiring unit, slope compensation unit structure.Actively adjust
Unit controls by single action source, it is to avoid the dual power source of transmission coordinate control bring main screw lift to increase, cruising time reduction,
The drawbacks such as stick control inconvenience.When unmanned plane disequilibrium, operator control active adjustment unit by single power source
Start and incline acquiring unit, to detect the incline direction of unmanned plane, and slope compensation unit is then according to inclination acquiring unit inspection
The incline direction of the unmanned plane for measuring carries out reversed dip, so that band rotor reversed dip controls rotor angle of inclination so as to reach
Effect, with finally realize unmanned plane entirety self-balancing effect, whole process do not need operator by stick it is manual
The angle of inclination of unmanned plane rotor is adjusted, the reliability of rotor angle of inclination control is effectively increased, while being also avoided that complexity
The use of software algorithm.
After the detailed description of embodiment of the present invention is read in conjunction with the accompanying, the other features and advantages of the invention will become more
Plus it is clear.
Description of the drawings
Fig. 1 is the front view of specific embodiment of the invention unmanned plane balance adjustment mechanism；
Fig. 2 is the axonometric chart of specific embodiment of the invention unmanned plane balance adjustment mechanism；
Fig. 3 is the structural representation of the drive mechanism of the specific embodiment of the invention first；
Fig. 4 is the structural representation of the drive mechanism of the specific embodiment of the invention second；
Fig. 5 is the structural representation of specific embodiment of the invention guiding mechanism；
Fig. 6 is the structural representation of specific embodiment of the invention lever compensation mechanism；
Fig. 7 is the decomposing schematic representation of specific embodiment of the invention unmanned plane balance adjustment mechanism.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
In describing the invention, it is to be understood that term " ", " two " are only used for describing purpose, and are not understood that
To indicate or implying relative importance, if in addition, relate in the embodiment of the present invention directivity indicate (it is such as upper and lower, top,
Bottom), then directionality indicates to be only used for explaining in the relative position under a certain ad-hoc location (as shown in drawings) between each part
Relation, motion conditions etc., if the ad-hoc location changes, directionality indicates also correspondingly to change therewith.
Referring to figs. 1 to shown in Fig. 7, the present embodiment proposes a kind of unmanned plane balance adjustment mechanism, its top be used for
Motor and rotor connection on unmanned plane, particularly, unmanned plane balance adjustment mechanism includes being sequentially connected in the present embodiment
Active adjustment unit, incline acquiring unit, slope compensation unit.Active adjustment unit is by single power source control, for example, this reality
Apply in example especially by servos control, for starting in unmanned plane disequilibrium acquiring unit is inclined.Incline acquiring unit then
For obtaining the incline direction of unmanned plane, slope compensation unit is then inclined by the way that the incline direction of the unmanned plane for getting is counter
Tiltedly, there is the situation of unstability because external environment condition problem is inclined towards side to compensate unmanned plane, so as to realize unmanned plane
Self-balancing.
Active adjustment unit includes the first drive mechanism 100 in the present embodiment, and inclining acquiring unit includes the second driver
Structure 200, guiding mechanism 300, the first ball pivot 400 and the push rod 500 realizing being oriented to based on gravity, slope compensation unit includes thick stick
Bar compensation mechanism 600, the second ball pivot 700：
Wherein, the first ball pivot 400 is connected between the second drive mechanism 200 and guiding mechanism 300, to realize the second drive mechanism
Flexible connection between 200 and guiding mechanism 300.Push rod 500 is lifted to realize under the drive of the first drive mechanism 100
Locking and unblock to the first ball pivot 400.Traction lower band action-oriented machine of second drive mechanism 200 in the first drive mechanism 100
Structure 300 carries out oriented to obtain the incline direction of unmanned plane.Lever compensation mechanism 600 is used in the inclination for obtaining unmanned plane
Implement anti-obliquity compensation behind direction.Second ball pivot 700 is connected between the second drive mechanism 200 and lever compensation mechanism 600, with
The flexible connection between the second drive mechanism 200 and lever compensation mechanism 600 is realized, consequently facilitating the energy of lever compensation mechanism 600
It is enough to rotate to implement anti-obliquity compensation relative to the second drive mechanism 200.In unmanned plane normal flight, push rod 500 is passed first
Eminence is under the drive of motivation structure 100 and the first ball pivot 400 is locked so that its ball-joint structural failure, the second drive mechanism
Become between 200 and guiding mechanism 300 and be rigidly connected, in unmanned plane imbalance, rotor run-off the straight, push rod 500 is first
Lower is under the drive of drive mechanism 100 and the first ball pivot 400 is unlocked so that its ball-joint structure performance ball-joint effect, leads
Can rotate relative to the second drive mechanism 200 to mechanism 300 and implement oriented in order to it.
Specifically, as shown in figure 3, the first drive mechanism 100 includes that power transmission shaft 130, the first draught line 110, second draw
120, two elastic components 140 of line and it is fixedly connected on（Such as welding or interference inserting）The cam 150 of power transmission shaft 130, transmission
Gear 160, swing arm 170.
Single power source engaged transmission is rotationally connected with inside unmanned plane in travelling gear 160, power transmission shaft 130, the present embodiment
Power transmission shaft 130 is realized by assembling bearing and bearing block at the two ends of power transmission shaft 130 to be rotationally connected with inside unmanned plane, axle
Bearing then can be fixedly connected on inside unmanned plane using bolt.
Cam 150 abuts push rod 500, for jacking push rod 500, in order to implement the locking of the first ball pivot 400.Two bullets
Property part 140 be connected to unmanned plane inside and push rod 500 between, when under drive of the cam 150 in power transmission shaft 130 rotate cause
When the lofty perch of cam does not abut push rod 500, elastic component 140 declines it by pulling push rod 500, so as to implement the first ball pivot
400 unblock, the concrete structure of elastic component 140 is not construed as limiting in the present invention, and specific the present embodiment is using extension spring as elasticity
Part 140, and design the two ends of extension spring be articulated in respectively unmanned plane inside and push rod 500 between.
Swing arm 170 is provided with the first side arm, the second side arm, and the first side arm, the second side arm are located at respectively the both sides of power transmission shaft 130,
Swing arm 170 is in T shape in concrete the present embodiment, and the first side arm, the second side arm are respectively positioned on the top of power transmission shaft 130.First traction
Line 110 is connected between the first side arm and the second drive mechanism 200, for drawing the second drive mechanism 200.Second draught line
120 are connected between the second side arm and the second drive mechanism 200, for second drive mechanism 200 that resets, the first side of setting
Arm, the second side arm are located at respectively the both sides of power transmission shaft 130 so that power transmission shaft 130 is merely able to tense the first draught line 110 when rotating
With in the second draught line 120, prevent 120 pairs of the second drive mechanisms 200 of the first draught line 110 and the second draught line from implementing
Conflicting operation.
As shown in figure 4, the second drive mechanism 200 specifically includes rolling bearing 210, lower rolling bearing in the present embodiment
220th, the 3rd draught line 230, the 4th draught line 240, the 5th draught line 250, bracing frame 260, connecting rod 270 and slip cap are loaded on
The upper sliding bearing 280 of connecting rod 270, properties of journal bearing lubricated 290.
First passage, second channel, third channel are provided with connecting rod 270.First draught line 110 is connected by first passage
Properties of journal bearing lubricated 290 is connected to, for driving properties of journal bearing lubricated 290 to decline, the first draught line 110 is from first passage wire hole 271
Stretch out and be connected to properties of journal bearing lubricated 290, as shown in Figure 1 and Figure 2.Second draught line 120 is connected to upper sliding axle by second channel
280 are held, for driving upper sliding bearing 280 to decline, the first draught line 120 stretches out from second channel wire hole 272 and is connected to
Sliding bearing 280, as shown in Figure 1 and Figure 2.
The lower fixed cover of rolling bearing 220 is loaded on properties of journal bearing lubricated 290, and the 5th draught line 250 is connected to lower rolling bearing 220
With guiding mechanism 300, when the first draught line 110 drives properties of journal bearing lubricated 290 to decline, while pulling the 5th draught line 250, make
Obtaining the 5th draught line 250 drives guiding mechanism 300 to carry out oriented.
The fixed cover of upper rolling bearing 210 is loaded on upper sliding bearing 280, and the 4th draught line 240 is connected to rolling bearing 210
With guiding mechanism 300, when the second draught line 120 drives upper sliding bearing 280 to decline, while pulling the 4th draught line 240, make
Obtaining the 4th draught line 240 drives guiding mechanism 300 to reset.
Lead to prevent the first draught line 110 from indirectly pulling appearance second while the 5th draught line 250 implements oriented
Lead 120 indirectly pulls the 4th draught line 240 to be implemented to reset, and particularly, the 3rd draught line 230 is connected to by third channel
Sliding bearing 280, properties of journal bearing lubricated 290, it is synchronous anti-between the upper sliding bearing 280, properties of journal bearing lubricated 290 for realizing
To movement, specifically, in the present embodiment under third channel wire hole 231 be located at upper sliding bearing 280, properties of journal bearing lubricated 290 it
Between, third channel Top Leading-out Hole 232 is located at the top of upper sliding bearing 280, and as Figure 1 and Figure 4, the 3rd draught line 230 is in connection
Wire hole 231 under third channel, third channel Top Leading-out Hole 232 are sequentially passed through after properties of journal bearing lubricated 290 and is thus connected to cunning
On dynamic bearing 280, when driving properties of journal bearing lubricated 290 to decline so as to the first draught line 110, upper sliding bearing 280 is synchronous to be risen.
As shown in figure 5, guiding mechanism 300 specifically includes inner shell 310, shell 320, guide ring 330, guiding in the present embodiment
Plate 340.
Guide plate 340 is fixedly connected with inner shell 310, shell 320 and forms the annular groove that Open Side Down, for ease of fixation
Connection, guide plate 340 is annular plate, and the outer end of guide plate 340 and the outer end of shell 320 are provided with multiple for bolted outer
Otic placode, the inner of guide plate 340 is provided with cross connecting plate, and the inner of inner shell 310 is then provided with for being connected crab bolt with cross
The interior otic placode of connection.
Guide ring 330 in annular groove includes torus, medicine ball and hollow ball, and medicine ball, hollow ball are solid
Surely both sides relative on torus are plugged in, make to lead to avoid relative movement occur between medicine ball, hollow ball and torus
Fail to mechanism 300, and the 5th draught line 250 is connected to medicine ball through the opening of annular groove, in order to realize medicine ball
In the minimum point of the drive lower slider to annular groove of the 5th draught line 250, and then realize obtaining the mesh of unmanned plane incline direction
, the 4th draught line 240 is connected to hollow ball through the opening of annular groove, in order to realize hollow ball in the 4th draught line
The purpose that 240 drive lower band action-oriented mechanism 300 resets.It is provided between connecting rod 270 and guiding mechanism 300 in the present embodiment
First ball pivot 400, specifically, the first ball pivot 400 is arranged between guide plate 340 and connecting rod 270, and the first ball pivot 400 includes
The first bulb 410 on connecting rod 270 and the first spherical shell 420 on guide plate 340, as shown in Figure 7.First bulb
410, located at the top of connecting rod 270, were both integrally formed with connecting rod 270, also can be by welding, being adhesively fixed.For the ease of being oriented to
First spherical shell 420 is set on plate 340, and the present embodiment is fixedly connected below cross connecting plate on guide plate 340 and (for example welds
Connect, bond, bolt connection) have the first spherical shell 420.
Connecting rod 270 is additionally provided with fourth lane, above-mentioned first passage, second channel, third channel and the 4th in the present embodiment
Passage can also be opened up respectively for same passage, and to avoid being interfered with each other between draught line in the present embodiment, each leads to
Road is each opened up.Top pawl 510 is provided with the top of push rod 500, push rod 500 passes through fourth lane, top pawl 510 to stretch out in connecting rod
270 are used for the first spherical shell of jacking 420, and in order to consolidate the first spherical shell of jacking 420, push rod 500 is provided with four tops being circular layout
Pawl 510, while the assembling for the ease of pushing up pawl 510, offers four and lead to above fourth lane on connecting rod 270 in the present embodiment
Hole, in order to push up stretching out for pawl 510.When push rod 500 is assemblied on connecting rod 270, first will can not connect the top of top pawl 510
Bar 500 inserts fourth lane, then by through hole the top inserting of pawl 510 is fixed on push rod 500 from outside connecting rod 270, is guarantee
Being fixedly connected between top pawl 510 and push rod 500 can arrange clamping structure or in inserting between top pawl 510 and push rod 500
When spreading glue fix.When rising under drive of the push rod 500 in cam 150, the first spherical shell of jacking 420 of pawl 510, the first ball are pushed up
410 and first ball-joint between spherical shell 420 be locked, ball-joint failure, guide plate 340 is unable to free inclination.
As shown in fig. 6, the present embodiment lever compensation mechanism 600 specifically include at least two adjusting rods 610 being spaced apart,
Compensating plate 620.
Compensating plate 620 is used to connect the motor and rotor of unmanned plane, to implement reversed dip compensation.
The bottom of adjusting rod 610 is movably connected on guide plate 340, and the top of adjusting rod 610 is movably connected on compensating plate
620, the structure of adjusting rod 610 is not unique, in the present embodiment adjusting rod 610 by many it is adjacent between rod member group connected vertically
Into.To realize the function that reversed dip is compensated, the bottom of adjusting rod 610 is located at respectively relative the two of the second ball pivot 700 with top
Between side, and the bottom of adjusting rod 610 and the second ball pivot 700 lateral separation for adjusting rod 610 top and the second ball pivot 700 it
Between lateral separation twice, from lever balance theory, when guide plate 340 it is inclined to unmanned plane under the drive of medicine ball
When direction inclines certain angle A, opposite direction of the compensating plate 620 with the second ball pivot 700 as the strong point to the incline direction of guide plate 340
Angle of inclination B, and the angle of inclination B of compensating plate 620 is two times of the angle of inclination A of guide plate 340, the opposite direction of compensating plate 620
Incline simultaneously can drive motor and rotor reversed dip angle B degree, unmanned plane is realized by indirect control rotor angle
Self-balancing, reaches the effect of reversed dip compensation, to guarantee the realization of the self-balancing of unmanned plane.
In order to improve the effect of reversed dip compensation, the present embodiment is specifically provided with four equally annular array distributions
Adjusting rod 610, when unmanned plane favours any direction, the present embodiment provide unmanned plane balance adjustment mechanism can
Preferably carry out anti-obliquity compensation.
For the realization of above-mentioned flexible connection, the present embodiment is specifically in the top of guide plate 340, the bottom of compensating plate 620
And the two ends of adjusting rod 610 are each formed with the hanger for being flexibly connected, for the ease of installing, the present embodiment is in adjusting rod
Bayonet socket is offered on the hanger at 610 two ends, in order to snap in the hanger on guide plate 340 and compensating plate 620 by bayonet socket.
Bracing frame 260 is fixedly connected on connecting rod 270 in the present embodiment, and bracing frame 260 and lever compensation mechanism 600 it
Between be provided with the second ball pivot 700, specifically, the second ball pivot 700 is arranged between bracing frame 260 and compensating plate 620, the second ball pivot
700 include the second bulb 710 and the second spherical shell on compensating plate 620 on bracing frame 260（Not shown in figure）.
Due to the setting of cross connecting plate on guide plate 340, for ease of being fixedly connected between bracing frame 260 and connecting rod 270, support
Frame 260 includes upper backup pad, lower supporting plate and four pillars being connected between upper backup pad and lower supporting plate, such as Fig. 1, figure
Shown in 4 and Fig. 7, lower supporting plate is located at the lower section of the first ball pivot 400 and interference is plugged on connecting rod 270, and four pillars are both passed through
Cross connecting plate, and the second bulb 710 is specifically provided with upper backup pad, the setting of the second bulb 710 and the second spherical shell
Refer to the setting of the first ball pivot 400 to realize.
Based on above-mentioned unmanned plane balance adjustment mechanism, the present embodiment additionally provides on the other hand a kind of unmanned plane,
Unmanned plane includes the unmanned plane balance adjustment mechanism described in motor, rotor and the present embodiment.Adjusted with balance in unmanned plane
The top of section mechanism is specifically connected with the motor of unmanned plane, rotor.
It is as follows for the concrete control method of the self-balancing of unmanned plane in the present embodiment：When unmanned plane receives external environment condition（Example
Such as strong wind）When there is rotor inclination, operator drive travelling gear 160 to rotate towards the first side arm side by single power source,
Under the drive of travelling gear 160, power transmission shaft 130 is rotated and band moving cam 150 and swing arm 170 are rotated, the rotation of cam 150
So that the lofty perch of cam 150 is not abutting push rod 500, push rod 500 is under the pulling of self gravitation and two elastic components 140
Decline, so as to the top pawl 510 on push rod 500 declines and not in the first spherical shell of jacking 420, the first ball pivot 400 unlocks and play work
With guide plate 340 can be rotated relative to the second drive mechanism 200 in space, and the rotation of swing arm 170 causes the first draught line 110
Properties of journal bearing lubricated 290 is pulled to decline, and then lower rolling bearing 220 drives medicine ball in annular groove by the 5th draught line 250
Interior slip, promotes medicine ball that the minimum point in annular groove is slided in the effect of self gravitation, and guide plate 340 is in medicine ball
Incline to the incline direction of unmanned plane under drive, compensating plate 620 is under the drive of adjusting rod 610 to the anti-of unmanned plane incline direction
Direction inclines to compensate or correct the unbalanced state of unmanned plane itself.When regulation is finished, and unmanned plane restores balance, operator
Member drives travelling gear 160 to reset by single power source, and power transmission shaft 130 is rotated and band moving cam 150 and swing arm 170 reset,
Second draught line 120 pulls upper sliding bearing 280 to decline, so as to driving the 4th draught line 240 to pull hollow ball and causing to be oriented to
Plate 340 resets, and the jacking push rod 500 of cam 150 makes top pawl 510 lock the first ball pivot 400 while 340 sheet reset of guide plate,
The ball-joint for making the first ball pivot 400 is failed, and is become between the second drive mechanism 200 and guide plate 340 and is rigidly connected, and compensating plate
620 are capable of achieving to reset under the drive of adjusting rod 610.
It should be noted that described above is not limitation of the present invention, the present invention is also not limited to the example above,
Change, remodeling, addition or replacement that those skilled in the art are made in the essential scope of the present invention, also should
Belong to protection scope of the present invention.
Claims (9)
1. a kind of unmanned plane balance adjustment mechanism, is used to connect the motor and rotor of the unmanned plane, its feature at the top of it
It is that it includes the active adjustment unit being sequentially connected, inclines acquiring unit, slope compensation unit：
The active adjustment unit obtains single by single power source control for starting described inclination in unmanned plane disequilibrium
Unit,
The inclination acquiring unit, for obtaining the incline direction of the unmanned plane,
The slope compensation unit, implements anti-obliquity compensation, to realize by the incline direction of the unmanned plane for getting
State the self-balancing of unmanned plane.
2. unmanned plane balance adjustment mechanism according to claim 1, it is characterised in that the active adjustment unit includes
First drive mechanism, the inclination acquiring unit is included the first ball pivot, push rod, the second drive mechanism and is realized leading based on gravity
To guiding mechanism, the slope compensation unit include the second ball pivot, lever compensation mechanism：
First ball pivot is connected between the second drive mechanism and the guiding mechanism,
The push rod is lifted to realize locking first ball pivot and unblock under the drive of first drive mechanism,
Second drive mechanism drive the guiding mechanism to carry out oriented under the traction of first drive mechanism with
The incline direction of the unmanned plane is obtained,
Second ball pivot is connected between second drive mechanism and the lever compensation mechanism,
The lever compensation mechanism is used to implement anti-obliquity compensation after the incline direction for obtaining the unmanned plane.
3. unmanned plane balance adjustment mechanism according to claim 2, it is characterised in that first drive mechanism includes
Power transmission shaft, the first draught line, the second draught line, two elastic components and it is fixedly connected on the cam of the power transmission shaft, driving cog
Wheel, swing arm：
The single power source engaged transmission in the travelling gear,
The drive axis are connected to inside the unmanned plane,
The cam abuts the push rod, for push rod described in jacking,
Described two elastic components are connected between unmanned plane inside and the push rod, for driving the push rod under
Drop,
The swing arm is provided with the first side arm, the second side arm, and first side arm, the second side arm are located at respectively the power transmission shaft two
Side, first draught line is connected between first side arm and second drive mechanism, is passed for drawing described second
Motivation structure, second draught line is connected between second side arm and second drive mechanism, for resetting described
Two drive mechanisms.
4. unmanned plane balance adjustment mechanism according to claim 3, it is characterised in that second drive mechanism includes
Upper rolling bearing, lower rolling bearing, the 3rd draught line, the 4th draught line, the 5th draught line, bracing frame, connecting rod and slip cap
Upper sliding bearing, properties of journal bearing lubricated loaded on the connecting rod：
The connecting rod is provided with first passage, second channel, third channel,
First draught line is connected to the properties of journal bearing lubricated by the first passage, for driving the properties of journal bearing lubricated
Decline,
Second draught line is connected to the upper sliding bearing by the second channel, for driving the upper sliding bearing
Decline,
3rd draught line is connected to the upper sliding bearing, properties of journal bearing lubricated by the third channel, for realizing
The synchronous backward movement between sliding bearing, properties of journal bearing lubricated is stated,
The lower rolling bearing fixed cover is loaded on the properties of journal bearing lubricated, and the 5th draught line is connected to the lower rolling bearing
With the guiding mechanism, for driving the guiding mechanism to carry out oriented,
The upper rolling bearing fixed cover is loaded on the upper sliding bearing, and the 4th draught line is connected to the upper rolling bearing
With the guiding mechanism, for driving the guiding mechanism to reset,
First ball pivot is provided between the connecting rod and the guiding mechanism,
Support frame as described above is fixedly connected on the connecting rod, and it is provided with second ball pivot between the lever compensation mechanism.
5. unmanned plane balance adjustment mechanism according to claim 4, it is characterised in that the guiding mechanism includes interior
Shell, shell, guide ring, guide plate:
The guide plate is fixedly connected and is formed the annular groove that Open Side Down with the inner shell, shell,
The guide ring is located in the annular groove, and it includes torus, medicine ball and hollow ball,
The medicine ball, hollow ball fix be plugged in both sides relative on the torus and respectively with the 5th draught line,
4th draught line connects.
6. unmanned plane balance adjustment mechanism according to claim 5, it is characterised in that the guide plate and the connecting rod
Between be provided with first ball pivot, first ball pivot includes the first bulb on the connecting rod and located at the guiding
The first spherical shell on plate,
The connecting rod is provided with fourth lane, and top pawl is provided with the top of the push rod,
The push rod passes through the fourth lane, the top pawl to stretch out in the connecting rod for the first spherical shell described in jacking,
When rising under drive of the push rod in the cam, the first spherical shell described in the top pawl jacking simultaneously locks the first ball
Hinge.
7. unmanned plane balance adjustment mechanism according to claim 5, it is characterised in that the lever compensation mechanism includes
Compensating plate and at least two adjusting rods being spaced apart：
The compensating plate is used to connect the motor and rotor, to implement reversed dip compensation,
The bottom of the adjusting rod is movably connected on the guide plate, and its top is movably connected on the compensating plate,
The bottom of the adjusting rod and top respectively positioned at the opposite sides of second ball pivot, and the bottom of the adjusting rod with
Lateral separation is the twice of lateral separation between the top of the adjusting rod and second ball pivot between second ball pivot.
8. unmanned plane balance adjustment mechanism according to claim 7, it is characterised in that support frame as described above and the compensation
Second ball pivot is provided between plate, second ball pivot includes the second bulb on support frame as described above and located at described
The second spherical shell on compensating plate.
9. a kind of unmanned plane, including motor, rotor, it is characterised in that also including the nothing any one of claim 1 to 9
Man-machine use balance adjustment mechanism, at the top of the unmanned plane balance adjustment mechanism motor, rotor are connected with.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611234700.2A CN106628133B (en) | 2016-12-28 | 2016-12-28 | Unmanned aerial vehicle is with balanced adjustment mechanism and unmanned aerial vehicle |
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| CN201611234700.2A CN106628133B (en) | 2016-12-28 | 2016-12-28 | Unmanned aerial vehicle is with balanced adjustment mechanism and unmanned aerial vehicle |
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| CN106628133B CN106628133B (en) | 2023-10-13 |
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| CN112572797A (en) * | 2020-12-28 | 2021-03-30 | 广西电网有限责任公司梧州供电局 | Automatic bird-involved foreign matter removing method and system for high-voltage power tower of unmanned aerial vehicle |
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| CN106628133B (en) | 2023-10-13 |
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