CN108216618A - A kind of motor verts lockable mechanism and unmanned plane - Google Patents
A kind of motor verts lockable mechanism and unmanned plane Download PDFInfo
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- CN108216618A CN108216618A CN201711421070.4A CN201711421070A CN108216618A CN 108216618 A CN108216618 A CN 108216618A CN 201711421070 A CN201711421070 A CN 201711421070A CN 108216618 A CN108216618 A CN 108216618A
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- rocking arm
- initiatively rocking
- motor
- locking rod
- driven wheel
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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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Abstract
It verts lockable mechanism and unmanned plane the present invention relates to a kind of motor.Motor vert lockable mechanism include initiatively rocking arm, the first transmission component, driven wheel, the second transmission component and locking rod, initiatively rocking arm has lock position, and initiatively rocking arm drives the driven wheel and locking rod to rotate by first transmission component, the second transmission component respectively；When initiatively rocking arm is in lock position, locking rod hinders driven wheel to rotate backward by limiting lock part；When initiatively rocking arm leaves lock position, before rotation is started by initiatively rocking arm drive, locking rod by initiatively rocking arm is driven and is detached from lock part driven wheel.One of the present invention has technical effect that, motor can be made to vert, and prevent motor from verting at work to a direction.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, more particularly it relates to which a kind of motor verts lockable mechanism and
Unmanned plane.
Background technology
Unmanned plane is the abbreviation of UAV, is grasped using radio robot and the presetting apparatus provided for oneself
Vertical not manned aircraft fully or is intermittently independently operated by car-mounted computer.Because its is at low cost, efficiency is higher,
Risk that no one was injured, survival ability is strong, and mobility is good, it is easy to use the advantages that, be now widely used for industry-by-industry neck
Domain, such as the industries such as military affairs, video display.
In the prior art, it can be changed, verted by servos control motor power direction in unmanned plane,
Switch on two direction of pull of vertical and horizontal so that unmanned plane has VTOL function.But it in existing structure, verts
Mechanism does not have the ability of locking so that motor is when in standard operating conditions, if motor is relative to unmanned aerial vehicle body level
With it is vertical, pulling force horizontally or vertically is provided, tilt angle and the direction of motor need to be controlled by steering engine, motor to
Its active force that direction or negative direction generate that verts is transferred to steering engine by inclining rotary mechanism, by actuator load.This just increases
Load and the work load of steering engine are added.So that steering engine can all bear load caused by motor in entire flight course.Separately
On the one hand, higher to the required precision in motor power direction in flight course, servos control must very precisely, vertical
Higher requirement further cannot be proposed to the precision of steering engine and durability degree there are error with flat winged two power directions.Finally
Lead to the reduced service life of steering engine, increase the risk of steering engine failure, reduce the reliability of unmanned plane entirety.Meanwhile nothing
Man-machine cruising ability is a pith of its technical indicator, and the fuel or energy loaded due to unmanned plane is limited
, then unmanned plane is lighter in itself, and course continuation mileage is also bigger；The weight that can be loaded under similary cruising ability in other words
Also it is bigger.Structure in unmanned plane is more complicated, and under similary material, weight is also bigger, and the space occupied is also bigger, unfavorable
In the design of unmanned plane.
It verts lockable mechanism therefore, it is necessary to provide a kind of motor for unmanned plane.
Invention content
It verts lockable mechanism it is an object of the present invention to provide a kind of motor.
According to an aspect of the present invention, a kind of motor is provided to vert lockable mechanism, including：
Initiatively rocking arm, has lock position, and the lock position includes the first lock position and the second lock position；
Driven wheel has lock part on driven wheel, and driven wheel is connect by the first transmission component with initiatively rocking arm, it is described from
Driving wheel is configurable for connecting with motor, passes through the tilt angle of the rotation adjustment motor of driven wheel；
Locking rod, locking rod are connect by the second transmission component with initiatively rocking arm；
Initiatively rocking arm drives the driven wheel and locking rod to turn by first transmission component, the second transmission component respectively
It is dynamic；When initiatively rocking arm is in lock position, locking rod hinders driven wheel to rotate backward by limiting lock part；Actively shaking
When arm leaves lock position, driven wheel by initiatively rocking arm drive before rotation is started, and locking rod is by initiatively rocking arm drive and locking
Portion is detached from.
Optionally, limit assembly is further included, the limit assembly is configured to will be by the slewing area of initiatively rocking arm
It is limited between the first lock position and the second lock position.
Optionally, the first transmission component side is equipped with pillar, and the initiatively rocking arm is equipped with corresponding with pillar
Sliding slot is rotatablely connected, and the sliding slot is arc-shaped, the center of circle when center of circle, that is, initiatively rocking arm rotates.
Optionally, first transmission component is drive link, including the first drive link and the second drive link, is mutually parallel,
It is connected respectively with initiatively rocking arm and driven wheel.
Optionally, the locking rod include locking rod main body, two locking ends and resetting structure, locking end respectively with locking
The both ends rotation connection of bar main body, the locking end is configured to the side rotation to locking rod main body, described to reset knot
Structure is configured to supply the active force for resetting locking end.
Optionally, the resetting structure includes spring, the both ends of spring are connected respectively with locking rod main body with locking end.
Optionally, the locking rod further includes the first lug boss and the second lug boss, and the first boss is in locking rod master
On body, on locking end, the first lug boss is oppositely arranged the second boss with the second lug boss, hinders locking end to locking rod
The opposite side rotation of main body, the opposite side are opposite with the side of locking end to locking rod body rotation.
Optionally, locking rod is between initiatively rocking arm and driven wheel.
According to another aspect of the present invention, a kind of unmanned plane is also provided, including motor vert bar, motor, steering engine and on
The motor stated verts lockable mechanism, and the motor is fixedly connected by the motor bar that verts with the driven wheel, the steering engine and institute
State initiatively rocking arm connection.
Optionally, when the initiatively rocking arm is in the first lock position, the motor is vertical relative to fuselage；Described
When initiatively rocking arm is in the second lock position, the motor is relative to standard of fuselage.
One of the present invention has technical effect that, motor can be made to vert, and prevent motor at work to a direction
It verts.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
The attached drawing of a part for constitution instruction describes the embodiment of the present invention, and is used to solve together with the description
Release the principle of the present invention.
Fig. 1 is a kind of structure diagram of specific embodiment of the present invention；
Fig. 2 is a kind of positive structure diagram of specific embodiment of the present invention；
Fig. 3 is the structure diagram that initiatively rocking arm turns to predetermined angle in a kind of specific embodiment of the present invention；
Fig. 4 is a kind of rotational structure schematic diagram of specific embodiment of the present invention；
Fig. 5 is a kind of locking structure schematic diagram of specific embodiment of the present invention；
Fig. 6 is a kind of backsight structural representation of specific embodiment of the present invention.
In figure：1 initiatively rocking arm, 11 sliding slots, 2 first transmission components, 21 pillars, 22 first drive links, 23 second drive links,
3 driven wheels, 31 lock parts, 32 postive stop baffles, 4 second transmission components, 5 locking rods, 51 first connectors, 52 locking rod main bodys,
53 locking ends, 54 resetting structures, 55 first lug bosses, 56 second lug bosses, 6 motors, 7 motors vert bar, 8 steering engines, 9 rotation sides
To.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition have
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology and equipment known to person of ordinary skill in the relevant may be not discussed in detail, but in appropriate situation
Under, the technology and equipment should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need to that it is further discussed.
A kind of motor provided by the invention verts lockable mechanism, motor can be made to vert, and prevent motor at work to
It verts in one direction.Additionally it is possible to the direction of verting to motor locks.It can reduce and be in standard work shape in motor
During state, the load of steering engine.Improve the reliability of unmanned plane.The motor lockable mechanism that verts is simple in structure, occupies little space.
A kind of motor provided by the invention verts lockable mechanism, a kind of specific embodiment as shown in Figs. 1-5, including：
Initiatively rocking arm 1 can be rotated under outer power drive, and driving force is provided for the motor lockable mechanism that verts.
In some embodiments, initiatively rocking arm 1 is with the steering engine in unmanned plane for being connected, by 1 turn of servo driving initiatively rocking arm
It is dynamic.Initiatively rocking arm 1 can be platy structure as shown in Figure 1, meet requirement, and lighter in weight, implement in others
In mode or the structures such as collar plate shape, rod-type, the present invention are not intended to limit this.
Initiatively rocking arm 1 has lock position.When initiatively rocking arm 1 is in lock position, the motor lockable mechanism that verts is locked
Only, motor is in standard operating conditions.If initiatively rocking arm 1 does not provide driving force for the motor lockable mechanism that verts, described
Motor verts position in lockable mechanism between each component and connection relation is fixed.Lock position can include the first lock position
With the second lock position.For example, initiatively rocking arm 1 shown in Fig. 2 is in the first lock position；Initiatively rocking arm 1 shown in Fig. 5
In the second lock position；It will be understood by those skilled in the art that be only schematically illustrate herein, not to the first lock position and
The specific restriction of second lock position；In other specific embodiments, the initiatively rocking arm 1 shown in Fig. 5 may be at
One lock position；Initiatively rocking arm 1 shown in Fig. 2 may be at the second lock position；Either initiatively rocking arm 1 be in other
Position be that lock position is all possible, as long as initiatively rocking arm 1 is in the position, the motor lockable mechanism that verts is locked up i.e.
It can.
Initiatively rocking arm 1 can rotate under outer power drive between the first lock position and the second lock position.Actively shake
Arm 1 can be rotated from the first lock position to the second lock position, can also be turned from the second lock position to the first lock position
It is dynamic.In some specific embodiments, initiatively rocking arm 1 can only rotate in certain angular range, then, the first locking position
It is exactly boundary position that initiatively rocking arm 1 can turn in this angular range to put with the second lock position.
First transmission component 2, the first transmission component 2 is connect with initiatively rocking arm 1, in initiatively rocking arm 1 since lock position
Rotation when only turning to predetermined angle, can drive the first transmission component 2, form the connection for the transmission that can be delayed, lag
Relationship.During initiatively rocking arm 1 drives its rotation, the position relationship of initiatively rocking arm 1 and the first transmission component 2 can be phase
To fixed.For example, when the chain drive that the first transmission component 2 is formed for gear and chain, initiatively rocking arm 1 is driving the first biography
When dynamic component 2 rotates, it can be fixed relative to the position relationship of the first transmission component 2.In some other embodiments
In, during initiatively rocking arm 1 drives its rotation, initiatively rocking arm 1 and the position relationship of the first transmission component 2 may not be
It is relatively-stationary, but it is rotatablely connected relationship.For example, the first transmission component 2 is drive link, by drive link and 1 structure of initiatively rocking arm
Torque into parallelogram is driven, the transmission formed, and 1 and first transmission component 2 of initiatively rocking arm is the parallelogram
Connected side, in the rotation process of initiatively rocking arm 1, relative position relation is always in variation.Using parallelogram
Torque transmission, the kind of drive is simple in structure, and parts are few, and weight can accomplish very low, occupy little space；And active force is straight
It connects, transmission efficiency.
Driven wheel 3 has lock part 31 on driven wheel 3.Lock part 31 is fixed on driven wheel 3.Lock part 31 can be
Protrusion on driven wheel 3 on some end face or edge, is a fixed part on driven wheel 3.That is, in lock part
31 when being obstructed immovable, and driven wheel 3 can also be obstructed immovable.Lock part 31 can be integrally formed with driven wheel 3, by force
It is good to spend structure；Can also be fixedly connected with mode by welding etc. to be fixed on driven wheel 3, meet the situation of requirement
Under, the present invention is not intended to limit this.Driven wheel 3 is connect by the first transmission component 2 with initiatively rocking arm 1, is driven in initiatively rocking arm 1
In the case of first transmission component 2, driven wheel 3 is driven and rotated by the first transmission component 2.Driven wheel 3 is used to connect with motor,
The tilt angle of motor is adjusted by the rotation of driven wheel 3.
Driven wheel 3 can be rotated synchronously with the initiatively rocking arm 1 that it is driven to rotate, the synchronous rotation is in rotation
Refer in synchronization, rotational angular velocity is identical.The design for being conducive to simplify those skilled in the art is rotated synchronously, can also simplify electricity
Machine verts the structure of lockable mechanism, mitigates weight.It will be understood by those skilled in the art that the rotation of driven wheel 3 described herein is equal
Refer to that driven wheel 3 rotates under the drive of the first transmission component 2, it is driven when initiatively rocking arm 1 does not drive the first transmission component 2
Whether wheel 3 rotates and is not included.For example, slewing area from initiatively rocking arm 1 to direction when -10 °~90 °, preset angle
It is 10 ° to spend, and initiatively rocking arm 1 is rotated since lock position, after -10 ° turn to 0 °, just starts to drive the first transmission component 2,
Further driven wheel 3 is driven to rotate, then the angular range that driven wheel 3 is rotated synchronously with initiatively rocking arm 1 is exactly 0 °~90 °.
Second transmission component 4, the second transmission component 4 are connect with initiatively rocking arm 1, can be driven by initiatively rocking arm 1.Second passes
Dynamic component 4 can be a variety of driving forms such as gear drive, chain drive, drive link transmission, herein no longer Ao Shu.Second transmission group
Part 4 can be rotation connection relationship with initiatively rocking arm 1.Rotation connection described in this specification can be circular connecting hole,
The connection relations that can relatively rotate such as bearing connection, in the present specification also no longer Ao Shu elsewhere.
Locking rod 5, locking rod 5 are connect by the second transmission component 4 with initiatively rocking arm 1, are turned by the drive of initiatively rocking arm 1
It is dynamic.On locking rod 5 have the first connector 51, the first connector 51 be used for unmanned plane rotation connection or and other
Holder pivots connection, locking rod 5 is fixed.First connector 51 can be connecting hole or cylinder
The connection structures such as pillar.The rotation of locking rod 5 is also to be rotated around the first connector 51.In driven wheel 3 and locking rod 5
When closing rotation, the rotation of driven wheel 3 is synchronous with the rotation of locking rod 5, is arranged such to form matching relationship.Art technology
Personnel are appreciated that the lag transmission due to the first transmission component 2, and the rotation of driven wheel 4 will be later than the rotation of locking rod 5.It is main
It is also fixed to shake the relative position between center of circle when arm 1, driven wheel 3 and locking rod 5 rotate, and it is straight can be located at same
On line.The structure of the present invention and the structure of each component relative to the line between the above-mentioned center of circle can also be symmetrical.
Such as the course of work as shown in Fig. 2-Fig. 5, initiatively rocking arm 1, driven wheel 3 and locking rod 5 during the work time, rotate
Direction 9 is identical.Initiatively rocking arm 1 turns to the second lock position by the first lock position, and rotation direction 9 is clockwise.With it is driven
Unlike wheel 3, in entire work process, locking rod 5 and 1 Synchronous Transmission of initiatively rocking arm.
Process 1：Fig. 2 to Fig. 3, initiatively rocking arm 1 rotate predetermined angle from the first lock position, and initiatively rocking arm 1 is as residing for Fig. 2
Position rotate clockwise, when turning to the location of Fig. 3, can start drive the first transmission component 2；Locking rod 5 passes through
Second transmission component 4 drives, and is rotated synchronously with initiatively rocking arm 1, and locking rod 5 turns to the location of Fig. 3, locking rod 5 from Fig. 2
One end detached with an end face of lock part 31, no longer the end face with lock part 31 contacts, during this, the first transmission group
Part 2 and driven wheel 3 keep opposing stationary.
Process 2：Fig. 3 to Fig. 4, after rotating predetermined angle, initiatively rocking arm 1 passes through the first transmission component 2 and second respectively
Transmission component 4 drives driven wheel 3 and locking rod 5 to be rotated synchronously with initiatively rocking arm 1.
Process 3：Fig. 4 to Fig. 5, initiatively rocking arm 1 turn to the second lock position, and the other end of locking rod 5 resists lock part
31 another end face hinders driven wheel 3 to rotate backward, that is, rotates counterclockwise.At this point it is possible to it is interpreted as, locking rod 5 and locking
The tangent line of 31 rotary motion trace of portion overlaps.At this point, on driven wheel 3 there are during clockwise active force, due to the first transmission component 2
There is lag transmission between initiatively rocking arm 1, power will not be transferred directly on initiatively rocking arm 1 by the first transmission component 2.And
On driven wheel 3 there are during active force counterclockwise, the locking rod 5 in the tangential direction of 31 rotary motion trace of lock part, just
Can rotating counterclockwise for lock part 31 be hindered by the rigidity of itself, further, also just hinder turning counterclockwise for driven wheel 3
It is dynamic；Locking rod 5 is rotatablely connected by the first connector 51 to unmanned plane or other stents, passes through the intensity of 5 part of locking rod
It generates reaction force, offsets opposition counterclockwise existing for driven wheel 3, locking driven wheel 3 rotates backward.The lock
Only 5 part of bar means locking rod 5 and one end that lock part 31 contacts to the position between the first connector 51.
It will be understood by those skilled in the art that opposite, can also another course of work be implemented by Fig. 5 to Fig. 2, actively shaken
Arm 1 turns to the first lock position by the second lock position, and rotation direction 9 is exactly counterclockwise.Is turned in initiatively rocking arm 1
During one lock position, restore to one end of locking rod 5 shown in Fig. 2 to resist one end of lock part 31, driven wheel 3 is hindered reversely to turn
It is dynamic, that is, it rotates clockwise.With the change of the rotation direction of initiatively rocking arm 1, the counter-rotational direction is also to change correspondingly
's.
The purpose of predetermined angle setting in the present invention is so that driven wheel 3 delays transmission relative to locking rod 5.Such as figure
Shown in 2- Fig. 3, before driven wheel 3 starts rotation by the drive of initiatively rocking arm 1, locking rod 5 is first as initiatively rocking arm 1 rotates.Lock
After only bar 5 is detached from lock part 31, rotation of the driven wheel 3 to a direction is no longer hindered, that is, releases the locking to lock part 31,
3 ability of driven wheel starts to rotate under the drive of initiatively rocking arm 1, and the rotation direction of driven wheel 3 and the rotation side of initiatively rocking arm 1
To identical.
Optionally, the motor lockable mechanism that verts further includes limit assembly, and the limit assembly can be with initiatively rocking arm
1st, one or more of the first transmission component 2, driven wheel 3, the second transmission component 4 and locking rod 5 match, thus will be actively
The slewing area of rocking arm 1 is limited between the first lock position and the second lock position or limits the rotational angle of driven wheel 3
It places obstacles in a certain range or on the movement locus of 2/ second transmission component 4 of the first transmission component object, is finally to use
Carry out the range of verting of limiting motor.It for example, can be by being fixed on unmanned plane inside (not shown) as shown in figures 2 and 5
A pair of of postive stop baffle 32, hinder lock part 31 rotation, by motor vert range limit at 0 °~90 °, it is impossible to vert to
In the range of 90 ° of (being free of)~360 ° (being free of).
Further, above-mentioned a pair of of postive stop baffle 32 can coordinate with the both ends of locking rod 5 respectively, and the lock part 31 is locked
Only.It please join shown in Fig. 2, initiatively rocking arm 1 is in the first lock position, one end of locking rod 5 and a corresponding limiting
Baffle 32 is born against in two end faces of lock part 31, and driven wheel 3 is locked up.It please join shown in Fig. 5, initiatively rocking arm 1 is in the
Two lock positions, the other end of locking rod 5 and another corresponding postive stop baffle 32 are born against in lock part 31
Two end faces, driven wheel 3 are also locked up.Assuming that verting ranging from 0 °~90 ° for motor, passes through above-mentioned limit assembly and locking rod
Motor can be locked at a required fixed angle completely, including 0 ° and 90 ° by 5 cooperation.In Fig. 2-shown in fig. 5
In embodiment, initiatively rocking arm 1 is connected with steering engine.When motor is in standard operating conditions, match according to the limit assembly
The technical solution for closing the locking rod 5 carrys out motor described in locking, then the tilt angle of control motor is removed without using steering engine, significantly
Load and the work load of steering engine are alleviated, extends the service life of steering engine, reduces the risk of steering engine failure.It can manage
Solution, above-mentioned limit assembly are to realize that the present invention's prevents the inessential condition that motor verts at work to a direction.
Due to being rigidly connected between driven wheel 3 and initiatively rocking arm 1, above-mentioned postive stop baffle 32 can also limit initiatively rocking arm 1
Slewing area.Specifically, it is assumed that the slewing area of driven wheel 3 is limited in 0 °~90 ° by postive stop baffle 32, and predetermined angle is
10 °, then the slewing area of initiatively rocking arm 1 is exactly -10 °~90 ° either 0 °~100 °；Certainly, in other embodiments
In, it can be that a pair of of limit assembly is set directly in the movement locus of initiatively rocking arm 1, directly limit the rotation of initiatively rocking arm 1
Range；Meanwhile by the setting to limit assembly position, the slewing area of initiatively rocking arm 1 can be limited in the first locking position
It puts between the second lock position.Similarly, limit assembly can be arranged on appropriate position with locking rod 5 coordinate by it is described from
3 bidirectional locking of driving wheel, so as to which initiatively rocking arm 1 can be locked at the first lock position and the second lock position respectively.
Optionally, as shown in Figs. 1-5, the side of the first transmission component 2 is equipped with pillar 21.It is set on the end face of initiatively rocking arm 1
Have and be rotatablely connected with 21 corresponding sliding slot 11 of pillar.The sliding slot 11 is arc-shaped, when above-mentioned initiatively rocking arm 1 rotates
The geometric center of the center of circle, that is, initiatively rocking arm 1.When initiatively rocking arm 1 is located at lock position, pillar 21 is located at one end in sliding slot 11,
It is rotated in initiatively rocking arm 1 from lock position, when turning to predetermined angle, pillar 21 is located at the other end in sliding slot 11, actively shakes
Arm 1 could drive the first transmission component 2 when continuing on the rotation of this direction, reach the technology effect of delay, lag transmission
Fruit.When the first transmission component 2 is drive link, pillar 21 can be protruded from the side of drive link.Those skilled in the art can be with
Understand, above-mentioned technical characteristic is only a kind of specific embodiment of the present invention, is not limitation of the present invention.
Optionally, as shown in Figs. 1-5, the first transmission component 2 is drive link, the both ends of drive link respectively with initiatively rocking arm 1
It is rotatablely connected with driven wheel 3.The both ends in the center of circle and drive link when center of circle when initiatively rocking arm 1 rotates is rotated with driven wheel 3 are total to
Four endpoints of isomorphism quadrangularly torque, further, length and transmission of the initiatively rocking arm 1 with two circle center line connectings of driven wheel 3
The length of bar is identical, and the two is arranged in parallel, therefore initiatively rocking arm 1, drive link and driven wheel 3 form parallelogram torque
Drive mechanism, realize that initiatively rocking arm 1 and driven wheel 3 rotate synchronously with this.On the other hand, drive link coordinates with sliding slot 11, whole
Body is simple in structure, light-weight, compared to other kinds of drive, such as gear-chain drive kind of drive, significantly reduces motor
It verts the overall weight of lockable mechanism；Moreover, in the case where meeting intensity requirement, sliding slot 11 is made into through-hole, can also be played
The effect of loss of weight does not increase the burden of unmanned plane.The connection kind of drive, sliding slot are used as compared to only with above-mentioned drive link
11 design not only increases the function of predetermined angle, can realize delay, lag transmission, and drawn by sliding slot 11
Material, moreover it is possible to play the effect of loss of weight, be conducive to be promoted the continuation of the journey of unmanned plane.
Optionally, as shown in Figs. 1-5, the first transmission component 2 is drive link, including the first drive link 22 and the second drive link
23, it is mutually parallel, is rotatablely connected respectively with initiatively rocking arm 1 and driven wheel 3.The connection of drive link and initiatively rocking arm 1 and driven wheel 3
Point just constitutes four endpoints of quadrangle torque, and center of circle when center of circle when initiatively rocking arm 1 rotates is rotated with driven wheel 3 is distinguished
On two opposite sides, and it is symmetrical.In some specific embodiments, the first drive link 22 and the second transmission
The length of bar 23 is identical, quadrangle system parallelogram；At this point, center of circle when initiatively rocking arm 1 rotates is rotated with driven wheel 3
When the center of circle be located at the point midway on opposite two sides of the parallelogram respectively.Further, in some other tools
In body embodiment, gag lever post can also be included, the first drive link 22 and the second drive link 23 are located at the same of initiatively rocking arm 1
Side；First drive link 22 and the second drive link 23 are the long sides in parallelogram；Gag lever post is located at the first drive link 22 and
Between two drive links 23, and perpendicular to the first drive link 22 and the second drive link 23；Due to being parallelogram sturcutre, then
In the rotation process of initiatively rocking arm 1, the distance between the first drive link 22 and the second drive link 23 can constantly reduce, and pass through limiting
Bar limits the minimum range between the first drive link 22 and the second drive link 23, using the architectural characteristic of parallelogram, with regard to energy
Enough limit the slewing area of initiatively rocking arm 1.It is easily understood that the setting of gag lever post can replace one shown in Fig. 2 and Fig. 5
To postive stop baffle 32 or it both can also be while set, the application is not intended to limit this, and certainly, which can also
Coordinate with locking rod 5 with locking initiatively rocking arm 1.Therefore, which can also belong to above-mentioned limit assembly.Gag lever post is set
In other spaces that on the motion track of drive link, can't occupy unmanned plane, therefore, this limit assembly can greatly subtract
Few occupied space of the present invention so that structure of the invention is realized on the basis of simpler, compact to the motor side of verting
To it is two-way locked.Load will not be generated to steering engine.Based on same principle, when drive link is one, i.e., only first passes
When lever 22 or only the second drive link 23, above-mentioned gag lever post can also limit the displacement distance of drive link and then limit initiatively rocking arm
1 slewing area.
Optionally, as seen in figs. 2-5, locking rod 5 includes locking rod main body 52, two locking ends 53 and resetting structures
54.Two locking ends 53 are rotatablely connected respectively with the both ends of locking rod main body 52.One end of locking rod 5 resist lock part 31 it
Before, movement locus has part and is overlapped with the movement locus of lock part 31.By setting locking end 53 and locking rod main body 52
Rotation connection so that locking end 53 in rotation process by the obstruction of lock part 31 when, locking end 53 can be to locking rod
Side (avoiding side) rotation of main body 52, avoids lock part 31, completes its respective rotation so that rotation process connects
It is continuous.Resetting structure 54 is used to, when lock part 31 does not cause to hinder to locking end 53, provide the active force for resetting locking end 53.
Resetting structure 54 can be located in locking rod main body 52 with respect to the opposite side for avoiding side.In some other specific embodiments
In, the both ends of locking rod 5 could be provided as the material with elasticity, such as rubber, complete to keep away by the elasticity that rubber has in itself
It allows, when this, there is no need to set the locking end 53 of resetting structure 54 and rotation connection again.
Optionally, as shown in Figure 6, resetting structure 54 includes spring, the both ends of spring respectively with locking rod main body 52
It is connected with locking end 53.The spring can be located in locking rod main body 52 with respect to the opposite side for avoiding side, make it by pulling force
It resets；It can also be torque spring, be rotated positioned at side is avoided with limiting locking end 53, and pass through torsion to make its reset.
Optionally, as seen in figs. 2-5, locking rod 5 further includes the first lug boss 55 and the second lug boss 56.First is convex
Rise portion 55 be set to locking rod main body 52 and positioned at locking rod main body 52 one end, the second lug boss 56 be set to locking end 53 and
The one end being connected positioned at locking end 53 with locking rod main body 52.First lug boss 55 is oppositely arranged with the second lug boss 56, equal position
It in the opposite opposite side for avoiding side of locking rod main body 52, and mutually abuts, locking end 53 to be hindered to be rotated to the opposite side.
Second lug boss 56 can move under the drive at locking end 53 far from the first lug boss 55 to the avoidance side of locking rod main body 52,
So as to be avoided to lock part 31.When resetting structure 54 is spring, the both ends of spring can respectively with the first lug boss 55
It is connected with the second lug boss 56, collectively forms resetting structure 54.
Optionally, the second transmission component 4 is third drive link.Third drive link can be passed with the first drive link 22, second
Lever 23 is arranged in parallel, and locking rod 5 can be arranged in parallel with initiatively rocking arm 1 so that in initiatively rocking arm 1, driven wheel 3 and locking rod
When 5 threes link, three can rotate synchronously.One end of third drive link can be rotated with one end of locking rod main body 52 to be connected
Connect, also, third drive link and locking end 53 can one end of the locking rod main body 52 be axis, realization rotates coaxially, so
Setting can simplify structure.Similarly, above-mentioned limit assembly can also be arranged on the movement locus of third drive link.
Optionally, as seen in figs. 2-5, when rotating at the same time, the rotation of initiatively rocking arm 1, driven wheel 3 and locking rod 5
Direction 9 is identical.In various embodiments, the rotation direction of driven wheel 3 and locking rod 5 is identical, and driven wheel 3 and lock
Only bar 5 and the rotation direction of initiatively rocking arm 1 can be different, but compared to above-mentioned transmission mechanism, rotation direction difference must
The complexity of the first transmission component 2 and the second transmission component 4 can so be increased, be unfavorable for mitigating motor and vert the weight of lockable mechanism
Amount eventually increases the added burden of unmanned plane, reduces the cruising ability of unmanned plane.
Optionally, as seen in figs. 2-5, locking rod 5 is between initiatively rocking arm 1 and driven wheel 3.At this point, locking rod
5th, in the rotary motion trace of initiatively rocking arm 1 and driven wheel 3 can be generally aligned in the same plane.Lock part 31 is also located in the side of driven wheel 3
At so that structure of the invention is compacter, occupies little space.Lock part 31 can be an entirety portion on driven wheel 3
The general designation of part or multiple components can realize the locking to driven wheel 3.
The present invention also provides a kind of unmanned plane, as shown in Figure 1, including motor vert bar 7, motor 6, steering engine 8 and on
The motor stated verts lockable mechanism.Motor 6 is fixedly connected by the motor bar 7 that verts with driven wheel 3, and motor verts the end of bar 7
Electric machine stand is provided with, motor is mounted on electric machine stand.Steering engine 8 is connect with initiatively rocking arm 1, can drive 1 turn of initiatively rocking arm
It is dynamic, provide driving force for it.
Optionally, when initiatively rocking arm 1 is in the first lock position, motor 6 is vertical relative to fuselage, is provided for unmanned plane
The pulling force of vertical direction；When initiatively rocking arm 1 is in the second lock position, motor 6 is provided relative to standard of fuselage for unmanned plane
The pulling force of horizontal direction.It will be understood by those skilled in the art that in other specific embodiments, those skilled in the art's energy
The angle rotatable of 3 grade components of initiatively rocking arm 1 or driven wheel is enough adjusted to adjust the direction of pull of motor 6, above-mentioned technical characteristic
Not limitation of the present invention.
Although some specific embodiments of the present invention are described in detail by example, the skill of this field
Art personnel it should be understood that above example merely to illustrating, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above example.This hair
Bright range is defined by the following claims.
Claims (10)
- The lockable mechanism 1. a kind of motor verts, which is characterized in that including：Initiatively rocking arm, has lock position, and the lock position includes the first lock position and the second lock position；Driven wheel has lock part on driven wheel, and driven wheel is connect by the first transmission component with initiatively rocking arm, the driven wheel It is configurable for connecting with motor, passes through the tilt angle of the rotation adjustment motor of driven wheel；Locking rod, locking rod are connect by the second transmission component with initiatively rocking arm；Initiatively rocking arm drives the driven wheel and locking rod to rotate by first transmission component, the second transmission component respectively； When initiatively rocking arm is in lock position, locking rod hinders driven wheel to rotate backward by limiting lock part；In initiatively rocking arm When leaving lock position, driven wheel by initiatively rocking arm drive before rotation is started, and locking rod is by initiatively rocking arm drive and lock part It is detached from.
- The lockable mechanism 2. motor according to claim 1 verts, which is characterized in that further include limit assembly, the limiting Component is configured to that the slewing area of initiatively rocking arm will be limited between the first lock position and the second lock position.
- The lockable mechanism 3. motor according to claim 1 verts, which is characterized in that the first transmission component side is equipped with Pillar, the initiatively rocking arm are equipped with and are rotatablely connected with the corresponding sliding slot of pillar, and the sliding slot is arc-shaped, and the center of circle is Center of circle when initiatively rocking arm rotates.
- The lockable mechanism 4. motor according to claim 1 verts, which is characterized in that first transmission component is transmission Bar including the first drive link and the second drive link, is mutually parallel, is connected respectively with initiatively rocking arm and driven wheel.
- The lockable mechanism 5. motor according to claim 1 verts, which is characterized in that the locking rod includes locking rod master Body, two locking ends and resetting structure, locking end are rotatablely connected respectively with the both ends of locking rod main body, and the locking end is configured Can to be rotated to the side of locking rod main body, the resetting structure is configured to supply the active force for resetting locking end.
- The lockable mechanism 6. motor according to claim 5 verts, which is characterized in that the resetting structure includes spring, bullet The both ends of spring are connected respectively with locking rod main body with locking end.
- The lockable mechanism 7. motor according to claim 5 verts, which is characterized in that the locking rod further includes the first protrusion Portion and the second lug boss, the first boss in locking rod main body, the second boss on locking end, the first lug boss with Second lug boss is oppositely arranged, and hinders opposite side rotation of the locking end to locking rod main body, the opposite side and locking end to lock Only the side of bar body rotation is opposite.
- The lockable mechanism 8. motor according to claim 1 verts, which is characterized in that locking rod is located at initiatively rocking arm and driven Between wheel.
- 9. unmanned plane according to claim 8, which is characterized in that including motor vert bar, motor, steering engine and as right will Motor described in asking in 1-8 one of arbitrary verts lockable mechanism, and the motor is fixed by the motor bar that verts with the driven wheel Connection, the steering engine are connect with the initiatively rocking arm.
- 10. unmanned plane according to claim 9, which is characterized in that when the initiatively rocking arm is in the first lock position, The motor is vertical relative to fuselage；When the initiatively rocking arm is in the second lock position, the motor is relative to fuselage water It is flat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711421070.4A CN108216618B (en) | 2017-12-25 | 2017-12-25 | A kind of motor verts lockable mechanism and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711421070.4A CN108216618B (en) | 2017-12-25 | 2017-12-25 | A kind of motor verts lockable mechanism and unmanned plane |
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| CN108216618B CN108216618B (en) | 2019-11-15 |
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Cited By (1)
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| CN111959764A (en) * | 2020-07-16 | 2020-11-20 | 成都飞机工业（集团）有限责任公司 | Tilt-rotor aircraft engine cabin inclination angle control device |
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| Publication number | Publication date |
|---|---|
| CN108216618B (en) | 2019-11-15 |
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