CN108945420B - Four-axis tilting rotor mechanism based on unmanned aerial vehicle and tilting method - Google Patents
Four-axis tilting rotor mechanism based on unmanned aerial vehicle and tilting method Download PDFInfo
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- CN108945420B CN108945420B CN201810929533.6A CN201810929533A CN108945420B CN 108945420 B CN108945420 B CN 108945420B CN 201810929533 A CN201810929533 A CN 201810929533A CN 108945420 B CN108945420 B CN 108945420B
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- 238000005265 energy consumption Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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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
A four-axis tilting rotor mechanism based on an unmanned aerial vehicle and a tilting method are provided, wherein the mechanism comprises a rotor assembly, a rotor tilting driving assembly and a rotor tilting locking execution assembly, the driving assembly comprises a tilting rod and a steering engine, and the locking execution assembly is driven by a servo motor; the rotor tilting driving assembly is connected with the unmanned aerial vehicle body through the locking execution assembly, and is symmetrically distributed on two sides of the unmanned aerial vehicle body; the lock body of the rotor tilting locking execution assembly is provided with a tilting rod 0-degree locking groove, a 45-degree locking groove and a 90-degree locking groove. The tilting method comprises the following steps: the tilting lever is initially located in the 0 ° locking slot; the tilting lever is separated from the 0-degree locking groove by driving of a servo motor; starting a steering engine and synchronously controlling front and rear rotary wings to generate rotation speed difference, and enabling a tilting rod to tilt forwards or backwards under the action of torque; when the tilting rod reaches the set forward tilting angle or backward tilting angle, the rotating speed difference is eliminated, and the tilting angle is kept unchanged through the steering engine; the tilting lever is driven by a servo motor to enter a 45-degree locking groove or a 90-degree locking groove to complete locking.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles with tilting rotors, and particularly relates to a four-axis tilting rotor mechanism based on an unmanned aerial vehicle and a tilting method.
Background
At present, the unmanned aerial vehicle field has become the leading edge field of technological development, and unmanned aerial vehicle mainly falls into many rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle, and many rotor unmanned aerial vehicle's take off and land can not receive the place restriction, but its duration and speed are limited relatively, and fixed wing unmanned aerial vehicle has the advantage that duration is long and speed is high, but nevertheless needs the runway of taking off.
In recent years, with the development of economy and society, it has become more and more difficult for the existing multi-rotor unmanned aerial vehicle and fixed-wing unmanned aerial vehicle to meet the market demands, and how to enable the unmanned aerial vehicle to have the characteristics of convenient taking-off and landing, high speed, long endurance time and heavy load at the same time has become a difficult problem to be solved.
Scientific researchers are constantly exploring and researching, hope to design an unmanned aerial vehicle which can take off and land vertically and can guarantee high navigational speed and long navigational time, and a plurality of schemes are provided in aspects of power, structure, aircraft layout and the like.
In the aspect of power, domestic and foreign scholars propose the concept scheme of many rotors of oil-operated or many rotors of oil-electricity mixture, about the scheme of many rotors of oil-operated, the specific gasoline engine directly drives the rotor and promotes many rotor unmanned aerial vehicle duration, about the scheme of many rotors of oil-electricity mixture, specifically produces the electric energy through the gasoline engine drive generator, and the rethread electric energy drives the rotor for promote many rotor unmanned aerial vehicle duration.
In terms of structure, some scholars propose to increase streamline shape outside the multi-rotor organism, so that the multi-rotor organism has lift-increasing and drag-reducing effects in the forward flying process, but the actual effects are not very obvious.
In the aspect of aircraft layout, scholars at home and abroad put forward a large number of designs that have vertical take-off and landing ability and long duration concurrently, including tilting rotor unmanned aerial vehicle, tailstock unmanned aerial vehicle, combined type unmanned aerial vehicle and duct formula unmanned aerial vehicle, and tilting rotor unmanned aerial vehicle is because of having high-speed cruising ability and vertical take-off and landing ability concurrently, receives the place restriction little when taking off and landing simultaneously, and take-off and landing flexibility is high moreover, and its attention degree of receiving is also highest. In the middle of the 20 th century, tiltrotor designs were first proposed in the united states, initially designed to meet the army's demands for higher speed and flying ability of manned helicopters, which ultimately employed the structural design of the dual tiltrotors. However, in the field of unmanned aerial vehicles, unmanned aerial vehicles adopting a tilt rotor layout are few in types, but market demands are extremely large, and the unmanned aerial vehicles become a new development direction of unmanned aerial vehicles.
At present, in numerous fields such as express transportation, agricultural sprinkling irrigation, topography investigation, disaster monitoring, traffic patrol, public security monitoring, fire protection and disaster prevention, leisure and entertainment, news reporting and the like, the conventional unmanned aerial vehicle is difficult to meet the demands, and particularly in the fields which lack landing sites but have higher demands on voyages and endurance, the market is increasingly urgent for novel unmanned aerial vehicles.
Along with the development of unmanned aerial vehicle industry and the promotion of social demand, the demand of market to the unmanned aerial vehicle of heavy load, big voyage, long endurance is more urgent, but is limited by the aircraft structure that traditional unmanned aerial vehicle exists comparatively singleness, mostly take off and land perpendicularly, the energy consumption is big, the drawback that the load is low, is difficult to satisfy market demand. Although some unmanned aerial vehicles with tilt rotor layouts are already presented in the market, most of the unmanned aerial vehicles have the defects of complex structure, high energy consumption, low load, low flight efficiency and poor cruising ability.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a four-axis tilting rotor mechanism based on an unmanned aerial vehicle and a tilting method, and when the four-axis tilting rotor mechanism is applied to the unmanned aerial vehicle with the four-axis tilting rotor, the four-axis tilting rotor mechanism has the characteristics of simple structure, low energy consumption, large load, high flight efficiency and high cruising ability.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a four-axis tilting rotor mechanism based on an unmanned aerial vehicle comprises a rotor assembly, a rotor tilting driving assembly and a rotor tilting locking execution assembly; the rotor wing assembly comprises a propeller blade and a brushless motor; the rotor tilting driving assembly comprises a tilting rod and steering engines, two brushless motors are symmetrically arranged at two ends of a rod body of the tilting rod, a group of propeller blades are arranged on a motor shaft of each brushless motor, blade protection sleeves are arranged on the outer sides of the propeller blades, and the blade protection sleeves of the two groups of propeller blades are fixedly connected through a stabilizer rod; the middle part of the tilting rod is fixedly provided with an adapter shaft which is vertical to the tilting rod and fixedly connected with a power output shaft of the steering engine through a tilting drive coupler; the rotor tilting driving assembly is connected with the unmanned aerial vehicle body through the rotor tilting locking execution assembly, and the rotor tilting driving assembly is symmetrically distributed on two sides of the unmanned aerial vehicle body.
The rotor tilting locking execution assembly comprises a servo motor, a ball screw, a screw nut, a screw guide rail, a screw sliding block, a screw mounting rack, a sliding block nut switching rack, a switching connecting rod, a push-pull disc, a support sleeve and a lock body; the ball screw is arranged on the screw mounting frame, one end of the ball screw is fixedly connected with a motor shaft of the servo motor through a tilting locking coupler, and the servo motor is fixedly connected with the unmanned aerial vehicle body; the screw guide rail is arranged on the screw mounting frame, is parallel to the ball screw and is symmetrically distributed on two sides of the ball screw; the screw nut is sleeved on the ball screw, the screw slide block is sleeved on the screw guide rail, and the screw nut and the screw slide block are fixedly connected through a slide block nut switching frame; one end of the switching connecting rod is hinged to the sliding block nut switching frame, the other end of the switching connecting rod is hinged to one end of the push-pull rod, the other end of the push-pull rod is fixedly connected to the push-pull disc, the push-pull rod is arranged inside the outer supporting rod in a penetrating mode through the linear bearing, and the supporting sleeve is fixedly connected with the unmanned aerial vehicle body; the push-pull rod is perpendicular to the ball screw and the screw guide rail; the lock body is fixedly arranged at the outer end of the support sleeve, a guide cavity is arranged in the lock body, the push-pull disc is positioned in the guide cavity, and the push-pull disc only has axial movement freedom degree in the guide cavity; a plurality of tilting lever locking grooves are formed in the outer end face of the lock body, and the tilting lever locking grooves are matched with the tilting levers; the steering engine is fixedly arranged on the push-pull disc, and the lock body is provided with a switching shaft penetrating hole.
And a ball bearing is arranged in the through hole of the switching shaft, the outer ring of the ball bearing is in interference fit with the lock body, and the inner ring of the ball bearing is in clearance fit with the switching shaft.
The lock body shell of the guide cavity is provided with a plurality of axial guide holes, the circumferential surface of the push-pull disc is fixedly provided with guide pins, the guide pins are positioned in the axial guide holes, and the degree of freedom of the push-pull disc is limited by matching the guide pins with the axial guide holes.
The locking grooves of the tilting lever are distributed radially and comprise a locking groove of 0 degree for the tilting lever, a locking groove of 45 degrees for the tilting lever and a locking groove of 90 degrees for the tilting lever.
The tilting method of the four-axis tilting rotor wing mechanism based on the unmanned aerial vehicle comprises the following steps of:
step one: the four-axis tilting rotor mechanism is adjusted to an initial state, so that a screw nut stays at the end part of the ball screw close to one side of the servo motor, at the moment, the push-pull rod and the push-pull disc are in a retracted state, and meanwhile, the tilting rod is positioned in a 0-degree locking groove of the tilting rod of the lock body;
step two: starting a servo motor to drive a ball screw to rotate forward so as to move a screw nut to the end part of the ball screw far away from one side of the servo motor, adjusting a push-pull rod and a push-pull disc to an extending state through a follow-up sliding block nut switching frame and a switching connecting rod, further enabling a tilting rod to be separated from a tilting rod 0-degree locking groove of a lock body, and then closing the servo motor;
step three: starting a steering engine, and simultaneously adjusting the rotating speeds of the brushless motors at the two ends of the tilting rod body to enable the brushless motors at the two ends of the tilting rod body to generate rotating speed difference so as to break the couple balance at the two ends of the tilting rod body, so that the tilting rod body generates torque, and further forward tilting or backward tilting of the tilting rod body is realized;
step four: when the tilting rod body reaches a set forward tilting angle or a set backward tilting angle, the rotating speeds of the brushless motors at the two ends of the tilting rod body are readjusted, the rotating speed difference between the brushless motors at the two ends of the tilting rod body is eliminated, and meanwhile, the tilting angle of the tilting rod body is maintained unchanged through a steering engine;
step five: and restarting the servo motor to drive the ball screw to reversely rotate so as to move the screw nut to the end part of the ball screw close to one side of the servo motor, and simultaneously readjusting the push-pull rod and the push-pull disc to a retraction state through a follow-up slider nut switching frame and a switching connecting rod, so that the tilting rod enters a 45-degree locking groove of the tilting rod or a 90-degree locking groove of the tilting rod, at the moment, the tilting rod realizes tilting locking, then the steering engine is closed, and the tilting process of the four-axis tilting rotor mechanism is finished.
The invention has the beneficial effects that:
according to the four-axis tilting rotor mechanism and the tilting method based on the unmanned aerial vehicle, the rotation speed difference between the rotor wings is utilized and the steering engine is assisted to realize tilting, so that the maximum torque requirement on the steering engine can be effectively reduced, mechanical locking can be carried out after tilting is finished, maintenance stability is provided for the whole working state of the unmanned aerial vehicle in the whole process of tilting, the steering engine only needs to be started in the tilting process period, the steering engine is not started at all when the rotor wings are in tilting locking, the energy consumption of the unmanned aerial vehicle is greatly reduced, the contradiction between limited energy storage and high energy consumption of the four-axis tilting rotor unmanned aerial vehicle is effectively relieved, and even if the steering engine has a problem in the unmanned aerial vehicle flight process, the tilting angle of the rotor wings is locked, the flying stability of the unmanned aerial vehicle can be guaranteed to the greatest extent. When the invention is applied to the four-axis tilting rotor unmanned aerial vehicle, the unmanned aerial vehicle has the characteristics of simple structure, low energy consumption, large load, high flight efficiency and high cruising ability.
Drawings
Fig. 1 is a schematic structural view of a four-axis tilt rotor mechanism (when the tilt angle is 0 ° in a locked state) based on an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural view of a four-axis tilt rotor mechanism (when the tilt angle is 45 ° in a locked state) based on an unmanned aerial vehicle according to the present invention;
fig. 3 is a schematic structural view of a four-axis tilt rotor mechanism (when the tilt angle is 90 ° in the locked state) based on an unmanned aerial vehicle according to the present invention;
FIG. 4 is an assembly view of the rotor assembly and rotor tilt drive assembly of the present invention;
fig. 5 is a perspective view of the rotor tilt lock actuator assembly (servo motor side) of the present invention;
fig. 6 is a perspective view of the rotor tilt lock actuator assembly (lock body side) of the present invention;
fig. 7 is an axial cross-sectional view of the rotor tilt lock actuation assembly (lock body side) of the present invention;
in the figure, 1-rotor assembly, 2-rotor tilting drive assembly, 3-rotor tilting lock execution assembly, 4-propeller blade, 5-brushless motor, 6-tilting lever, 7-steering engine, 8-blade protection sleeve, 9-stabilizer bar, 10-switching shaft, 11-tilting drive coupler, 12-servo motor, 13-ball screw, 14-screw nut, 15-screw guide rail, 16-screw slider, 17-screw mounting frame, 18-slider nut switching frame, 19-switching link, 20-push-pull rod, 21-push-pull disc, 22-support sleeve, 23-lock body, 24-tilting lock coupler, 25-linear bearing, 26-guide chamber, 27-tilting lever locking groove, 28-ball bearing, 29-axial guide hole, 30-guide pin.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1 to 7, a four-axis tilting rotor mechanism based on an unmanned aerial vehicle comprises a rotor assembly 1, a rotor tilting driving assembly 2 and a rotor tilting locking executing assembly 3; the rotor assembly 1 comprises a propeller blade 4 and a brushless motor 5; the rotor tilting driving assembly 2 comprises a tilting rod 6 and a steering engine 7, two brushless motors 5 are symmetrically arranged at two ends of a rod body of the tilting rod 6, a group of propeller blades 4 are arranged on a motor shaft of each brushless motor 5, blade protection sleeves 8 are arranged on the outer sides of the propeller blades 4, and the blade protection sleeves 8 of the two groups of propeller blades 4 are fixedly connected through a stabilizer rod 9; an adapter shaft 10 is fixed in the middle of the tilting rod 6, the adapter shaft 10 is vertical to the tilting rod 6, and the adapter shaft 10 is fixedly connected with a power output shaft of the steering engine 7 through a tilting drive coupler 11; rotor drive subassembly 2 links to each other through rotor tilting locking execution subassembly 3 between the unmanned aerial vehicle fuselage, rotor drive subassembly 2 symmetric distribution is in unmanned aerial vehicle fuselage both sides.
The rotor tilting locking execution assembly 3 comprises a servo motor 12, a ball screw 13, a screw nut 14, a screw guide rail 15, a screw slider 16, a screw mounting frame 17, a slider nut switching frame 18, a switching connecting rod 19, a push-pull rod 20, a push-pull disc 21, a support sleeve 22 and a lock body 23; the ball screw 13 is arranged on the screw mounting frame 17, one end of the ball screw 13 is fixedly connected with a motor shaft of the servo motor 12 through a tilting locking coupler 24, and the servo motor 12 is fixedly connected with the unmanned aerial vehicle body; the screw guide rails 15 are arranged on the screw mounting frame 17, the screw guide rails 15 are parallel to the ball screw 13, and the screw guide rails 15 are symmetrically distributed on two sides of the ball screw 13; the screw nut 14 is sleeved on the ball screw 13, the screw slide block 16 is sleeved on the screw guide rail 15, and the screw nut 14 and the screw slide block 16 are fixedly connected through a slide block nut switching frame 18; one end of the switching connecting rod 19 is hinged to the slider nut switching frame 18, the other end of the switching connecting rod 19 is hinged to one end of the push-pull rod 20, the other end of the push-pull rod 20 is fixedly connected to the push-pull disc 21, the push-pull rod 20 is arranged inside the outer supporting rod 22 in a penetrating mode through the linear bearing 25, and the supporting sleeve 22 is fixedly connected with the unmanned aerial vehicle body; the push-pull rod 20 is perpendicular to the ball screw 13 and the screw guide rail 15; the lock body 23 is fixedly arranged at the outer end of the support sleeve 22, a guide cavity 26 is arranged in the lock body 23, the push-pull disc 21 is positioned in the guide cavity 26, and the push-pull disc 21 only has axial movement freedom degree in the guide cavity 26; a plurality of tilting lever locking grooves 27 are formed in the outer end face of the lock body 23, and the tilting lever locking grooves 27 are matched with the tilting lever 6; the steering engine 7 is fixedly arranged on the push-pull disc 21, and the lock body 23 is provided with a through hole for the adapter shaft 10 to penetrate.
A ball bearing 28 is arranged in the through hole of the adapter shaft 10, the outer ring of the ball bearing 28 is in interference fit with the lock body 23, and the inner ring of the ball bearing 28 is in clearance fit with the adapter shaft 10.
A plurality of axial guide holes 29 are formed in the lock body casing of the guide chamber 26, guide pins 30 are fixedly arranged on the circumferential surface of the push-pull disc 21, the guide pins 30 are positioned in the axial guide holes 29, and the degree of freedom of the push-pull disc 21 is limited by matching the guide pins 30 with the axial guide holes 29.
The locking grooves 27 are radially distributed and comprise a locking groove of 0 degree for the tilting lever, a locking groove of 45 degrees for the tilting lever and a locking groove of 90 degrees for the tilting lever.
The tilting method of the four-axis tilting rotor wing mechanism based on the unmanned aerial vehicle comprises the following steps of:
step one: the four-axis tilting rotor mechanism is adjusted to an initial state, so that the screw nut 14 stays at the end part of the ball screw 13 close to one side of the servo motor 12, at the moment, the push-pull rod 20 and the push-pull disc 21 are in a retracted state, and meanwhile, the tilting rod 6 is positioned in a 0-degree locking groove of the tilting rod of the lock body 23;
step two: starting the servo motor 12 to drive the ball screw 13 to rotate forward so as to move the screw nut 14 to the end part of the ball screw 13 far away from one side of the servo motor 12, and simultaneously adjusting the push-pull rod 20 and the push-pull disc 21 to an extending state through the follow-up slider nut adapting frame 18 and the adapting connecting rod 19 so as to enable the tilting rod 6 to be separated from a tilting rod 0-degree locking groove of the lock body 23, and then closing the servo motor 12;
step three: starting a steering engine 7, and simultaneously adjusting the rotating speeds of the brushless motors 5 at the two ends of the rod body of the tilting rod 6 to enable the brushless motors 5 at the two ends of the rod body of the tilting rod 6 to generate rotating speed difference so as to break couple balance at the two ends of the rod body of the tilting rod 6, so that the rod body of the tilting rod 6 generates torque, and forward tilting or backward tilting of the rod body of the tilting rod 6 is realized;
step four: when the tilting rod 6 rod body reaches a set forward tilting angle or a set backward tilting angle, the rotating speeds of the brushless motors 5 at the two ends of the tilting rod 6 rod body are readjusted, the rotating speed difference between the brushless motors 5 at the two ends of the tilting rod 6 rod body is eliminated, and meanwhile, the tilting angle of the tilting rod 6 rod body is kept unchanged through the steering engine 7;
step five: the servo motor 12 is restarted, the ball screw 13 is driven to reversely rotate, so that the screw nut 14 is moved to the end part of the ball screw 13 close to one side of the servo motor 12 again, meanwhile, the push-pull rod 20 and the push-pull disc 21 are readjusted to a retracted state through the follow-up slider nut adapting frame 18 and the adapting connecting rod 19, and then the tilting rod 6 enters a 45-degree locking groove of the tilting rod or a 90-degree locking groove of the tilting rod, at the moment, the tilting rod 6 realizes tilting locking, then the steering engine 7 is closed, and the tilting process of the four-axis tilting rotor mechanism is finished.
The embodiments are not intended to limit the scope of the invention, but rather are intended to cover all equivalent implementations or modifications that can be made without departing from the scope of the invention.
Claims (3)
1. Four-axis rotor mechanism that verts based on unmanned aerial vehicle, its characterized in that: the rotor tilting mechanism comprises a rotor assembly, a rotor tilting driving assembly and a rotor tilting locking executing assembly; the rotor wing assembly comprises a propeller blade and a brushless motor; the rotor tilting driving assembly comprises a tilting rod and steering engines, two brushless motors are symmetrically arranged at two ends of a rod body of the tilting rod, a group of propeller blades are arranged on a motor shaft of each brushless motor, blade protection sleeves are arranged on the outer sides of the propeller blades, and the blade protection sleeves of the two groups of propeller blades are fixedly connected through a stabilizer rod; the middle part of the tilting rod is fixedly provided with an adapter shaft which is vertical to the tilting rod and fixedly connected with a power output shaft of the steering engine through a tilting drive coupler; the rotor tilting driving assembly is connected with the unmanned aerial vehicle body through a rotor tilting locking execution assembly, and the rotor tilting driving assemblies are symmetrically distributed on two sides of the unmanned aerial vehicle body; the rotor tilting locking execution assembly comprises a servo motor, a ball screw, a screw nut, a screw guide rail, a screw sliding block, a screw mounting rack, a sliding block nut switching rack, a switching connecting rod, a push-pull disc, a support sleeve and a lock body; the ball screw is arranged on the screw mounting frame, one end of the ball screw is fixedly connected with a motor shaft of the servo motor through a tilting locking coupler, and the servo motor is fixedly connected with the unmanned aerial vehicle body; the screw guide rail is arranged on the screw mounting frame, is parallel to the ball screw and is symmetrically distributed on two sides of the ball screw; the screw nut is sleeved on the ball screw, the screw slide block is sleeved on the screw guide rail, and the screw nut and the screw slide block are fixedly connected through a slide block nut switching frame; one end of the switching connecting rod is hinged to the sliding block nut switching frame, the other end of the switching connecting rod is hinged to one end of the push-pull rod, the other end of the push-pull rod is fixedly connected to the push-pull disc, the push-pull rod is arranged inside the outer supporting rod in a penetrating mode through the linear bearing, and the supporting sleeve is fixedly connected with the unmanned aerial vehicle body; the push-pull rod is perpendicular to the ball screw and the screw guide rail; the lock body is fixedly arranged at the outer end of the support sleeve, a guide cavity is arranged in the lock body, the push-pull disc is positioned in the guide cavity, and the push-pull disc only has axial movement freedom degree in the guide cavity; a plurality of tilting lever locking grooves are formed in the outer end face of the lock body, and the tilting lever locking grooves are matched with the tilting levers; the steering engine is fixedly arranged on the push-pull disc, and the lock body is provided with a switching shaft penetrating hole; a ball bearing is arranged in the through hole of the transfer shaft, the outer ring of the ball bearing is in interference fit with the lock body, and the inner ring of the ball bearing is in clearance fit with the transfer shaft; the lock body shell of the guide cavity is provided with a plurality of axial guide holes, the circumferential surface of the push-pull disc is fixedly provided with guide pins, the guide pins are positioned in the axial guide holes, and the degree of freedom of the push-pull disc is limited by matching the guide pins with the axial guide holes.
2. The unmanned aerial vehicle-based four-axis tilt rotor mechanism of claim 1, wherein: the locking grooves of the tilting lever are distributed radially and comprise a locking groove of 0 degree for the tilting lever, a locking groove of 45 degrees for the tilting lever and a locking groove of 90 degrees for the tilting lever.
3. The method of tilting a four-axis tilt rotor mechanism based on an unmanned aerial vehicle of claim 2, comprising the steps of:
step one: the four-axis tilting rotor mechanism is adjusted to an initial state, so that a screw nut stays at the end part of the ball screw close to one side of the servo motor, at the moment, the push-pull rod and the push-pull disc are in a retracted state, and meanwhile, the tilting rod is positioned in a 0-degree locking groove of the tilting rod of the lock body;
step two: starting a servo motor to drive a ball screw to rotate forward so as to move a screw nut to the end part of the ball screw far away from one side of the servo motor, adjusting a push-pull rod and a push-pull disc to an extending state through a follow-up sliding block nut switching frame and a switching connecting rod, further enabling a tilting rod to be separated from a tilting rod 0-degree locking groove of a lock body, and then closing the servo motor;
step three: starting a steering engine, and simultaneously adjusting the rotating speeds of the brushless motors at the two ends of the tilting rod body to enable the brushless motors at the two ends of the tilting rod body to generate rotating speed difference so as to break the couple balance at the two ends of the tilting rod body, so that the tilting rod body generates torque, and further forward tilting or backward tilting of the tilting rod body is realized;
step four: when the tilting rod body reaches a set forward tilting angle or a set backward tilting angle, the rotating speeds of the brushless motors at the two ends of the tilting rod body are readjusted, the rotating speed difference between the brushless motors at the two ends of the tilting rod body is eliminated, and meanwhile, the tilting angle of the tilting rod body is maintained unchanged through a steering engine;
step five: and restarting the servo motor to drive the ball screw to reversely rotate so as to move the screw nut to the end part of the ball screw close to one side of the servo motor, and simultaneously readjusting the push-pull rod and the push-pull disc to a retraction state through a follow-up slider nut switching frame and a switching connecting rod, so that the tilting rod enters a 45-degree locking groove of the tilting rod or a 90-degree locking groove of the tilting rod, at the moment, the tilting rod realizes tilting locking, then the steering engine is closed, and the tilting process of the four-axis tilting rotor mechanism is finished.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929533.6A CN108945420B (en) | 2018-08-15 | 2018-08-15 | Four-axis tilting rotor mechanism based on unmanned aerial vehicle and tilting method |
| PCT/CN2018/100794 WO2020034137A1 (en) | 2018-08-15 | 2018-08-16 | Unmanned aerial vehicle-based four-axis tilt rotor mechanism and tilting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810929533.6A CN108945420B (en) | 2018-08-15 | 2018-08-15 | Four-axis tilting rotor mechanism based on unmanned aerial vehicle and tilting method |
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| Publication Number | Publication Date |
|---|---|
| CN108945420A CN108945420A (en) | 2018-12-07 |
| CN108945420B true CN108945420B (en) | 2023-08-04 |
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| CN201810929533.6A Active CN108945420B (en) | 2018-08-15 | 2018-08-15 | Four-axis tilting rotor mechanism based on unmanned aerial vehicle and tilting method |
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| CN (1) | CN108945420B (en) |
| WO (1) | WO2020034137A1 (en) |
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| CN110641680B (en) * | 2018-12-18 | 2021-07-23 | 深圳市格上格创新科技有限公司 | Collapsible many rotor unmanned aerial vehicle |
| CN110316370B (en) * | 2019-06-25 | 2021-07-06 | 北京航空航天大学 | Layout and control method of distributed power tilting wing aircraft |
| CN110697035B (en) * | 2019-09-16 | 2022-07-12 | 南京航空航天大学 | Six-degree-of-freedom independently controllable aircraft and control method thereof |
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| CN108945420A (en) | 2018-12-07 |
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