CN108860634B - Novel helicopter carries on detecting instrument connection platform - Google Patents
Novel helicopter carries on detecting instrument connection platform Download PDFInfo
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- CN108860634B CN108860634B CN201810494935.8A CN201810494935A CN108860634B CN 108860634 B CN108860634 B CN 108860634B CN 201810494935 A CN201810494935 A CN 201810494935A CN 108860634 B CN108860634 B CN 108860634B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The utility model provides a novel helicopter carries on detecting instrument connection platform belongs to spacecraft and carries on platform technical field, and aim at solves the problem that the structure function singleness, occupation space are big and can not change in a flexible way that prior art exists. The invention comprises the following steps: an attitude adjusting mechanism; the front detection unit is fixed at the lower end of the posture adjusting mechanism and comprises a telescopic front detection rod and a front end guide mechanism, wherein one end of the telescopic front detection rod is connected with the auxiliary fixing piece, and the front end guide mechanism is arranged at the other end of the front detection rod; the two groups of side detection units are connected to the lower end of the posture adjusting mechanism, each group of side detection units comprises a foldable side detection rod, and one end of each side detection rod is connected with the auxiliary fixing piece; the two side detection rods and the front detection rod are uniformly distributed on the circumference; a counterweight balancing unit fixed at the lower end of the attitude adjusting mechanism; and the gravity sensor and the main controller are arranged on the posture adjusting mechanism, the main controller adjusts the posture adjusting mechanism to move according to the information acquired by the gravity sensor, and the main controller controls the whole action.
Description
Technical Field
The invention belongs to the technical field of spacecraft carrying platforms, and particularly relates to a novel helicopter carrying detecting instrument connecting platform.
Background
China has broad breadth, and the terrain structures have great difference in different areas, which brings great difficulty to resource detection. In addition, China has abundant territory resources, but the exploitation amount is less, and the exploration difficulty is large and a platform is lacked, so that the China urgently needs novel resource detection equipment. With the gradual decrease of surface mines, shallow mines and easily-identified mines, the nation even proposes deep resource exploration plans. With the rapid development of the unmanned aerial vehicle technology, the aerial geophysical prospecting technology capable of solving large-scale and high-difficulty operation has a new development direction. The unmanned aerial vehicle has limited dimensions, and can not meet the carrying requirements of the resource detection equipment, and at present, the carrying and connecting platform of the unmanned aerial vehicle and the resource detection equipment has simple structure and occupies larger space at idle; when the task is executed, the task cannot be flexibly changed under certain special conditions, and great troubles are brought to detection data and analysis.
Disclosure of Invention
The invention aims to provide a novel connecting platform for a helicopter carrying detecting instrument, which solves the problems of single structural function, large occupied space and incapability of flexible change in the prior art.
In order to achieve the above object, the novel connecting platform for a helicopter carrying a detecting instrument of the present invention comprises:
the upper end of the attitude adjusting mechanism is connected with the unmanned helicopter, and the attitude of the lower end of the attitude adjusting mechanism is adjusted;
the front detection unit is fixed at the lower end of the posture adjusting mechanism through an auxiliary fixing piece and comprises a telescopic front detection rod and a front end guide mechanism, wherein one end of the telescopic front detection rod is connected with the auxiliary fixing piece, and the front end guide mechanism is arranged at the other end of the front detection rod;
the two groups of side detection units are connected to the lower end of the posture adjusting mechanism, each group of side detection units comprises a foldable side detection rod, one end of each side detection rod is connected with the auxiliary fixing piece, and the other end of each side detection rod is a free end; the two side detection rods and the front detection rod are uniformly distributed on the circumference;
the counterweight balance unit is fixed at the lower end of the attitude adjusting mechanism through an auxiliary fixing piece;
the gravity sensor and the main controller are arranged on the posture adjusting mechanism, the main controller adjusts the posture adjusting mechanism to move according to information collected by the gravity sensor, and the main controller controls the front detection unit, the side detection unit and the counterweight balancing unit to act.
The posture adjustment mechanism includes:
the static platform is fixedly connected with the unmanned helicopter;
the auxiliary fixing piece is fixed on the movable platform, and the gravity sensor is fixed at the center of the movable platform;
and six attitude adjusting electric cylinders connected between the static platform and the movable platform, wherein two ends of each attitude adjusting electric cylinder are respectively hinged with the static platform and the movable platform through a universal joint.
The side probe rod includes:
one end of the first detection rod is connected with the lower end of the attitude adjusting mechanism;
and one end of the second detection rod is contacted with the other end of the first detection rod and is coaxially arranged.
The cross section of the side detection rod is in a water-drop shape, and one side close to the front detection unit is a large end face.
The side detection unit further includes a folding mechanism, the folding mechanism including:
the vertical shaft is connected with the other end of the first detection rod in a key mode;
a hole sleeve connected to one end of the vertical shaft;
a connecting disc connected to the other end of the vertical shaft;
the hole sleeve and the connecting disc are fixedly connected with the second detection rod through a connecting rod;
the folding spring is placed in a disc of the connecting disc, and two ends of the folding spring are respectively connected to the vertical shaft and the connecting disc through a T shape;
and the first servo motor is arranged on the posture adjusting mechanism, the first servo motor is connected with one end of a winding wire, and the other end of the winding wire is wound on the outer circumference of the hole sleeve.
The folding mechanism further comprises a side electric cylinder, the side electric cylinder is fixed on the first detection rod, and when the second detection rod and the first detection rod are completely unfolded, the side electric cylinder extends or retracts relative to a through hole in the connecting disc, corresponding to the side electric cylinder, in the corresponding position.
The front probe rod includes:
a female probe rod with one end fixedly connected with the auxiliary fixing piece;
a sub-detection rod with one end coaxially connected with the other end of the main detection rod;
and the telescopic electric cylinder is arranged at the joint of the female detection rod and the sub detection rod.
The front end guide mechanism includes:
a front guide electric cylinder fixed at the other end of the sub-detection rod;
a plurality of front guide connecting rods are uniformly distributed on the outer side of the sub-detection rod in the circumferential direction, one end of each front guide connecting rod is hinged with the output end of the front guide electric cylinder, and the other end of each front guide connecting rod is a free end;
and the guide wings are respectively connected with the front guide rods, one end of each guide wing is hinged with the front guide rod, and the other end of each guide wing is in sliding fit with the sub-detection rod.
The preceding detecting element still includes automatic winding electric wire device, automatic winding electric wire device includes:
a device housing fixed to the sub-probe rod;
an inner ring disposed on the device housing and rotatable relative to the device housing;
a stationary cross shaft integral with the device housing, the stationary cross shaft and the inner ring being coaxially disposed;
and the winding spring is arranged between the inner ring and the immovable transverse shaft, two ends of the winding spring are T-shaped and are respectively connected with the immovable transverse shaft and the inner side of the inner ring, and when the current detection rod is completely contracted, the winding spring is in a natural state.
The counterweight balancing unit includes:
one end of the counterweight guide rod is fixedly connected with the lower end face of the posture adjusting mechanism, and the counterweight guide rod and the front detection rod are coaxially arranged;
the counterweight mechanism is connected to the other end of the counterweight guide rod and comprises a counterweight frame fixed to the other end of the counterweight guide rod, a lead screw arranged on the counterweight frame, a counterweight block matched with the lead screw and a second servo motor connected with the lead screw;
and two sets of rear guide mechanism at the counterweight mechanism both ends, every group rear guide mechanism is including fixing back direction electric jar, one end on the counterweight frame and push rod, one end that back direction electric jar output is connected and two rear guide connecting rod and two afterbody wings that the articulated symmetry of push rod other end set up, two afterbody wing one end is articulated with the other end of two push rods respectively, the other end of afterbody wing with the counterweight frame is articulated.
The invention has the beneficial effects that: the novel connecting platform for the helicopter-mounted detecting instrument can be used for mounting the detecting instrument on a helicopter, the connecting with an unmanned helicopter is realized through the static platform of the attitude adjusting mechanism, and the mounting of the detecting instrument is realized through the front detecting rod of the front detecting unit and the side detecting rod of the side detecting unit; keeping the sampling of the detecting instrument stable. During the non-executive task, the front detection unit and the side detection unit of the connecting platform can respectively realize the functions of stretching and folding, the occupied space is saved, and the automatic wire winding device arranged on the front side feeler lever can pack up wires connected with the power device and the electric cylinder.
During the task execution, can control gesture adjustment mechanism through the signal that gravity sensor reaches main control unit, through the horizontal position of the regulation balancing weight of main control unit control, make the connection platform keep horizontal stable. The water drop-shaped appearance of the detection rods on the two sides and the guide structures of the connecting platforms at the front end and the rear end reduce resistance borne in flight and keep the stability of flight.
Drawings
FIG. 1 is a schematic view of the overall structure of a dive angle of a novel helicopter carrying detecting instrument connecting platform according to the present invention;
FIG. 2 is a schematic view of the overall structure of the connecting platform of the helicopter carrying detecting instrument according to the present invention;
FIG. 3 is a side view of a novel helicopter carrying instrumentation connection platform of the present invention;
FIG. 4 is a left side view of a novel helicopter carrying instrumentation connection platform of the present invention;
FIG. 5 is a top view of a novel helicopter carrying instrumentation connection platform of the present invention;
FIG. 6 is a rear view of a novel helicopter carrying instrumentation connection platform of the present invention;
FIG. 7 is a schematic structural view of a posture adjusting mechanism in a novel helicopter-mounted detecting instrument connection platform according to the present invention;
FIG. 8 is a schematic structural view of a front detection unit in the novel helicopter-mounted detection instrument connection platform according to the present invention;
FIG. 9 is a schematic structural view of an automatic wire winding device in a novel helicopter-mounted probe connection platform according to the present invention;
FIG. 10 is a schematic structural view of a middle-side detecting unit of a novel helicopter-mounted detecting instrument connecting platform according to the present invention;
FIG. 11 is a schematic structural view of a folding mechanism in a connecting platform for a novel helicopter carrying detecting instrument according to the present invention;
FIG. 12 is a schematic structural view of a counterweight mechanism in a connecting platform for a novel helicopter carrying detecting instrument according to the present invention;
FIG. 13 is a schematic structural view of a rear guide mechanism in a connecting platform for a novel helicopter carrying detecting instrument according to the present invention;
wherein: 1. an attitude adjusting mechanism 101, a static platform 102, a movable platform 103, an attitude adjusting electric cylinder 104, a universal joint 105, an auxiliary fixed part 2, a front detection unit 201, a female detection rod 202, a sub detection rod 203, a telescopic electric cylinder 204, a front guide electric cylinder 205, a front guide connecting rod 206, a guide wing 207, a stationary transverse shaft 208, a winding coil 209, a winding spring 210, an inner ring 3, a side detection unit 301, a first detection rod 302, a second detection rod 303, a vertical shaft 304, a hole sleeve 305, a connecting disk 306, a connecting rod 307, a folding spring 308, a first servo motor 309, a side electric cylinder 4, a counterweight balance unit 401, a counterweight guide rod 402, a counterweight frame 403, a lead screw 404, a counterweight block 405, a second servo motor 406, a rear guide electric cylinder 407, a push rod 408, a rear guide connecting rod 409, a tail wing, 5. and a gravity sensor 6 and a main controller.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1-6, the novel helicopter carrying detecting instrument connecting platform of the invention comprises:
the upper end of the attitude adjusting mechanism 1 is connected with the unmanned helicopter, and the attitude of the lower end of the attitude adjusting mechanism 1 is adjusted;
the front detection unit 2 is fixed at the lower end of the posture adjusting mechanism 1 through an auxiliary fixing piece 105, and the front detection unit 2 comprises a telescopic front detection rod with one end connected with the auxiliary fixing piece 105 and a front end guide mechanism arranged at the other end of the front detection rod;
two groups of side detection units 3 connected to the lower end of the posture adjusting mechanism 1, wherein each group of side detection units 3 comprises a foldable side detection rod, one end of the side detection rod is connected with the auxiliary fixing part 105, and the other end of the side detection rod is a free end; the two side detection rods and the front detection rod are uniformly distributed on the circumference;
a counterweight balance unit 4 fixed to a lower end of the posture adjustment mechanism 1 by an auxiliary fixing member 105;
and the gravity sensor 5 and the main controller 6 are arranged on the posture adjusting mechanism 1, the main controller 6 adjusts the posture adjusting mechanism 1 to move according to the information collected by the gravity sensor 5, and the main controller 6 controls the front detection unit 2, the side detection unit 3 and the counterweight balance unit 4 to act.
Referring to fig. 7, the posture adjustment mechanism 1 includes:
a static platform 101 fixedly connected with the unmanned helicopter;
the movable platform 102 is arranged in parallel with the static platform 101, the auxiliary fixing member 105 is fixed on the movable platform 102, and the gravity sensor 5 is fixed at the center of the movable platform 102;
and six attitude adjusting electric cylinders 103 connected between the static platform 101 and the movable platform 102, wherein two ends of each attitude adjusting electric cylinder 103 are respectively hinged with the static platform 101 and the movable platform 102 through a universal joint 104. The main controller 6 controls the attitude adjusting electric cylinder 103 to act and drive the movable platform 102 at the lower end to be balanced and stable.
Referring to fig. 10, the side probe rod includes:
a first detection rod 301 having one end connected to the lower end of the posture adjustment mechanism 1;
and a second detection rod 302 having one end contacting the other end of the first detection rod 301 and coaxially disposed.
The cross section of the side detection rod is in a water-drop shape, one side close to the front detection unit 2 is a large end face, and resistance borne by the platform during task execution is reduced.
Referring to fig. 11, the side detecting unit 3 further includes a folding mechanism including:
a vertical shaft 303 connected to the other end of the first detection rod 301;
a hole sleeve 304 connected to one end of the vertical shaft 303;
a connecting disc 305 connected to the other end of the vertical shaft 303;
the hole sleeve 304 and the connecting disc 305 are fixedly connected with the second detection rod 302 through a connecting rod 306;
the folding spring 307 is placed in a disc of the connecting disc 305, and two ends of the folding spring 307 are respectively connected to the vertical shaft 303 and the connecting disc 305 through a T shape;
and a first servo motor 308 arranged on the posture adjusting mechanism 1, wherein the first servo motor 308 is connected with one end of a winding wire, and the other end of the winding wire is wound on the outer circumference of the hole sleeve 304.
The side detecting rods arranged at two sides of the posture adjusting structure are of a foldable structure, one end of a first detecting rod 301 is connected below a movable platform 102 of the posture adjusting mechanism 1 through a screw nut, the other end of the first detecting rod is connected with a vertical shaft 303 through a key, one end of a second detecting rod 302 is fixedly connected with a winding hole sleeve 304 and a folding spring 307, the folding spring 307 is respectively connected with the first detecting rod 301 and the second detecting rod 302 through a T-shaped sheet, a hole part is connected with the screw nut formed by the first detecting rod 301, the hole sleeve 304 is connected with a winding wire, the other end of the second detecting rod 302 is connected with a first servo motor 308, the first servo motor 308 rotates the winding wire, the hole sleeve 304 is pulled by the other end of the winding wire to rotate around the vertical shaft 303, when the position reaches a designated position, a side electric cylinder 309 fixed on the first detecting rod 301 extends through a through hole on a connecting disc 305 to be fixed, the position of the first detecting rod 301 and the second, the hole sleeve 304 is restored to the original position by the elastic force of the folding spring 307, so that the first detection rod 301 and the second detection rod 302 are folded, thereby reducing the waste of space.
Referring to fig. 8, the front probe rod includes:
a female probe rod 201 having one end fixedly connected to the auxiliary fixing member 105;
a sub probe rod 202 having one end coaxially connected to the other end of the female probe rod 201;
and a telescopic electric cylinder 203 arranged at the joint of the female detection rod 201 and the sub detection rod 202.
The front end guide mechanism includes:
a front guide electric cylinder 204 fixed at the other end of the sub-detection rod 202;
a plurality of front guide connecting rods 205 are uniformly distributed on the outer side of the sub-detecting rod 202 in the circumferential direction, one end of each front guide connecting rod 205 is hinged with the output end of the front guide electric cylinder 204, and the other end of each front guide connecting rod is a free end;
and a plurality of guide wings 206 respectively connected to the plurality of front guide rods, wherein one end of each guide wing 206 is hinged to the front guide rod, and the other end thereof is slidably engaged with the sub probe rod 202.
The front detection rod is of a telescopic structure, the sub detection rod 202 is coaxially connected with the mother detection rod 201, the spatial arrangement position required by detection equipment is realized, the telescopic electric cylinder 203 is arranged on the mother detection rod 201, the guide mechanism is an umbrella-shaped mechanism, a front guide horizontal bar of the electric cylinder fixed on the sub detection rod 202 pushes a front guide connecting rod 205 hinged with the sub detection rod, the front guide connecting rod 205 supports a guide wing 206 hinged with the sub detection rod, and the guide wing 206 is hinged to the front position of the sub detection rod 202, so that the guide stability of the detection rod is realized.
Referring to fig. 9, the front sensing unit 2 further includes an automatic wire winding device including:
a device housing 208 fixed to the sub probe rod 202;
an inner ring 210 disposed on the device housing 208 and rotating relative to the device housing 208, wherein the inner ring 210 is disposed in the device housing 208 through a cover plate and rotates relative thereto, and the cover plate is provided with a wire outlet;
a stationary transverse shaft 207 integral with the device housing 208, said stationary transverse shaft and said inner ring being coaxially disposed;
and a winding spring 209 arranged between the inner ring 210 and the immovable transverse shaft 207, wherein two ends of the winding spring 209 are T-shaped and are respectively connected with the immovable transverse shaft 207 and the inner side of the inner ring 210, and when the current detection rod is completely contracted, the winding spring 209 is in a natural state.
Referring to fig. 12 and 13, the counterweight balancing unit 4 includes:
one end of the counterweight guide rod 401 is fixedly connected with the lower end face of the posture adjusting mechanism 1, and the counterweight guide rod 401 and the front detection rod are coaxially arranged;
the counterweight mechanism is connected to the other end of the counterweight guide rod 401 and comprises a counterweight frame 402 fixed to the other end of the counterweight guide rod 401, a lead screw 403 arranged on the counterweight frame 402, a counterweight block 404 matched with the lead screw 403 and a second servo motor 405 connected with the lead screw 403;
and connect two sets of rear guide mechanism at counter weight mechanism both ends, every group rear guide mechanism is including fixing back direction electric cylinder 406, one end on the counter weight frame 402 and push rod 407, one end that the electric cylinder 406 output of back direction is connected and two rear guide connecting rod 408 and two tail wings 409 that the other end articulated two symmetries set up of push rod 407, two tail wings 409 one end is articulated with the other end of two push rod 407 respectively, the other end of tail wings 409 with counter weight frame 402 is articulated.
A second servo motor 405 arranged at the rear end of the counterweight guide rod 401 rotates through a screw 403, so that a counterweight block 404 matched with the screw 403 moves left and right along a rear counterweight frame 402, and left and right counterweight balance of the integral platform under certain conditions is realized; push rods 407 in the guide mechanisms symmetrically arranged at the two sides of the rear part of the counterweight rod guide rod push rear guide connecting rods 408 hinged with the rear guide connecting rods, the rear guide connecting rods 408 support tail wings 409 hinged with the rear guide connecting rods, and the tail wings 409 are hinged at the two ends of the counterweight frame 402, so that stable tail guide is realized.
Claims (8)
1. The utility model provides a novel helicopter carries on detecting instrument connection platform which characterized in that includes:
the upper end of the attitude adjusting mechanism (1) is connected with the unmanned helicopter, and the attitude of the lower end of the attitude adjusting mechanism (1) is adjusted;
the front detection unit (2) is fixed at the lower end of the posture adjusting mechanism (1) through an auxiliary fixing piece (105), and the front detection unit (2) comprises a telescopic front detection rod and a front end guide mechanism, wherein one end of the telescopic front detection rod is connected with the auxiliary fixing piece (105), and the front end guide mechanism is arranged at the other end of the front detection rod;
two groups of side detection units (3) are connected to the lower end of the posture adjusting mechanism (1), each group of side detection units (3) comprises a foldable side detection rod, one end of each side detection rod is connected with the auxiliary fixing piece (105), and the other end of each side detection rod is a free end; the two side detection rods and the front detection rod are uniformly distributed on the circumference;
a counterweight balance unit (4) fixed at the lower end of the posture adjusting mechanism (1) through an auxiliary fixing piece (105);
the gravity sensor (5) and the main controller (6) are arranged on the posture adjusting mechanism (1), the main controller (6) adjusts the posture adjusting mechanism (1) to move according to information collected by the gravity sensor (5), and the main controller (6) controls the front detection unit (2), the side detection unit (3) and the counterweight balancing unit (4) to act;
the side probe rod includes:
a first detection rod (301) with one end connected with the lower end of the posture adjusting mechanism (1);
and a second detection rod (302) having one end contacting the other end of the first detection rod (301) and coaxially disposed;
the cross section of the side detection rod is in a water-drop shape, and one side close to the front detection unit (2) is a large end face.
2. The novel helicopter-mounted probe connection platform of claim 1, wherein the attitude adjustment mechanism (1) comprises:
a static platform (101) fixedly connected with the unmanned helicopter;
the movable platform (102) is arranged in parallel with the static platform (101), the auxiliary fixing piece (105) is fixed on the movable platform (102), and the gravity sensor (5) is fixed at the center of the movable platform (102);
and six attitude adjusting electric cylinders (103) connected between the static platform (101) and the movable platform (102), wherein two ends of each attitude adjusting electric cylinder (103) are respectively hinged with the static platform (101) and the movable platform (102) through a universal joint (104).
3. The novel helicopter-mounted probe connection platform of claim 1, wherein the side probe unit (3) further comprises a folding mechanism, the folding mechanism comprising:
a vertical shaft (303) which is connected with the other end of the first detection rod (301) in a key way;
a hole sleeve (304) connected to one end of the vertical shaft (303);
a connecting disc (305) connected to the other end of the vertical shaft (303);
the hole sleeve (304) and the connecting disc (305) are fixedly connected with the second detection rod (302) through a connecting rod (306);
the folding spring (307) is placed in a disc of the connecting disc (305), and two ends of the folding spring (307) are respectively connected to the vertical shaft (303) and the connecting disc (305) through a T shape;
and the first servo motor (308) is arranged on the posture adjusting mechanism (1), the first servo motor (308) is connected with one end of a winding wire, and the other end of the winding wire is wound on the outer circumference of the hole sleeve (304).
4. The novel connecting platform for the helicopter-mounted detection instrument is characterized in that the folding mechanism further comprises a side electric cylinder (309), the side electric cylinder (309) is fixed on the first detection rod (301), and when the second detection rod (302) and the first detection rod (301) are completely unfolded, the side electric cylinder (309) extends or retracts relative to a through hole in the connecting disc (305) corresponding to the side electric cylinder (309).
5. The novel helicopter landing probe connection platform of any one of claims 1-4, wherein the front probe includes:
a female probe rod (201) with one end fixedly connected with the auxiliary fixing part (105);
a sub-detection rod (202) with one end coaxially connected with the other end of the main detection rod (201);
and a telescopic electric cylinder (203) arranged at the joint of the female detection rod (201) and the sub detection rod (202).
6. The novel helicopter-mounted probe connection platform of claim 5, wherein the front end guide mechanism comprises:
a front guide electric cylinder (204) fixed at the other end of the sub-detection rod (202);
a plurality of front guide connecting rods (205) are uniformly distributed on the outer side of the sub-detection rod (202) in the circumferential direction, one end of each front guide connecting rod (205) is hinged with the output end of the front guide electric cylinder (204), and the other end of each front guide connecting rod is a free end;
and a plurality of guide wings (206) respectively connected with the plurality of front guide rods, wherein one end of each guide wing (206) is hinged with the front guide rod, and the other end of each guide wing (206) is in sliding fit with the sub-detection rod (202).
7. The novel helicopter-mounted detection instrument connection platform of claim 6, wherein the front detection unit (2) further comprises an automatic wire winding device, the automatic wire winding device comprising:
a device housing (208) fixed to the sub probe rod (202);
an inner ring (210) disposed on the device housing (208) and rotatable relative to the device housing (208);
a stationary transverse shaft (207) integral with the device housing (208), the stationary transverse shaft and the inner ring being coaxially disposed;
and the winding spring (209) is arranged between the inner ring (210) and the immovable transverse shaft (207), two ends of the winding spring (209) are T-shaped and are respectively connected with the immovable transverse shaft (207) and the inner side of the inner ring (210), and when the current detection rod is completely contracted, the winding spring (209) is in a natural state.
8. The novel helicopter-mounted probe connection platform of claim 1, wherein the counterweight balancing unit (4) comprises:
one end of the counterweight guide rod (401) is fixedly connected with the lower end face of the attitude adjusting mechanism (1), and the counterweight guide rod (401) and the front detection rod are coaxially arranged;
the counterweight mechanism is connected to the other end of the counterweight guide rod (401), and comprises a counterweight frame (402) fixed to the other end of the counterweight guide rod (401), a lead screw (403) arranged on the counterweight frame (402), a counterweight block (404) matched with the lead screw (403), and a second servo motor (405) connected with the lead screw (403);
and connect two sets of rear guide mechanism at counter weight mechanism both ends, every group rear guide mechanism is including fixing back direction electricity jar (406), one end on counter weight frame (402) and push rod (407) that back direction electricity jar (406) output is connected, one end and two rear guide connecting rod (408) and two tail wing (409) that push rod (407) other end articulated set up of two symmetries, two tail wing (409) one end is articulated with the other end of two push rods (407) respectively, the other end of tail wing (409) with counter weight frame (402) are articulated.
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CN107117300A (en) * | 2017-04-26 | 2017-09-01 | 哈尔滨工业大学 | Unmanned vehicle based on coaxial many rotor pose adjustments |
CN107054653A (en) * | 2017-05-05 | 2017-08-18 | 西安工业大学 | Flight loading robot and method based on wire saws |
CN107458615A (en) * | 2017-09-15 | 2017-12-12 | 广东工业大学 | A kind of UAV flight's device |
CN107672780A (en) * | 2017-11-08 | 2018-02-09 | 沈阳旋飞航空技术有限公司 | A kind of load configuration structure of the dynamic unmanned plane of oil |
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