CN110606193B - Transmission, aileron controlling device and unmanned aerial vehicle - Google Patents
Transmission, aileron controlling device and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110606193B CN110606193B CN201911002820.3A CN201911002820A CN110606193B CN 110606193 B CN110606193 B CN 110606193B CN 201911002820 A CN201911002820 A CN 201911002820A CN 110606193 B CN110606193 B CN 110606193B
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- rocker arm
- base
- hole
- transmission
- connecting hole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
- B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C2009/005—Ailerons
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present disclosure provides a transmission that includes a base, a rocker arm, an eccentric, a wheel disc, a slider, and a connecting piece. The rocker arm is connected with the base, the first end of the rocker arm can rotate around a connection point of the rocker arm and the base, and the first end of the rocker arm is provided with a first connection hole; the eccentric wheel is provided with a second connecting hole deviating from the center; the wheel disc is sleeved outside the eccentric wheel and can rotate relative to the eccentric wheel; the sliding piece can rotate and slide relative to the base, and is provided with a third connecting hole; the connecting piece penetrates through the first connecting hole, the second connecting hole and the third connecting hole and is used for connecting the first connecting hole, the second connecting hole and the third connecting hole and hinging the eccentric wheel and the sliding piece with the rocker arm. The present disclosure also provides an aileron control device and an unmanned aerial vehicle.
Description
Technical Field
The present disclosure relates to the field of mechanical technology, and more particularly, to a transmission device, an aileron control device, and an unmanned aerial vehicle.
Background
With the development of flight technology, aircraft are increasingly applied to various fields, for example, the aircraft may be a fixed wing drone, the common left and right wings of the fixed wing drone are both provided with ailerons, the ailerons are a small movable wing surface installed on the outer side of the trailing edge of the wing, and the drone can make a rolling motion by manipulating rolling moment generated by differential deflection of the left and right ailerons.
In the related art, an aileron control mechanism is a key component of an unmanned aerial vehicle control system, the aileron control mechanism is a key link connecting an aileron steering engine and an aileron control surface, and the design of the aileron control mechanism can influence the deflection rate and the differential deflection precision of an aileron.
In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the related art:
at present, the traditional aileron control mechanism generally adopts a gear transmission mechanism, and the transmission of force is realized through gear engagement. Fig. 1 schematically illustrates a schematic diagram of a gear-type aileron control mechanism in the related art, as shown in fig. 1, a sector tooth 101 is engaged with a sector tooth 103, the sector tooth 101 is fixedly connected with an output shaft of a rotary steering gear 102, the rotary steering gear 102 drives the sector tooth 101 to rotate around a point P1, the sector tooth 101 outputs a driving torque to the sector tooth 103, so that the sector tooth 103 rotates around a point P2, the other end of the sector tooth 103 is hinged with a push rod 104, and the rotary motion of the sector tooth 103 is converted into a linear motion of the push rod 104, so that the push rod 104 pushes the aileron to deflect.
However, the gear transmission belongs to a high-pair mechanism, and a certain gap is formed between adjacent teeth of the gear, so that the transmission precision of the gear transmission mechanism is low, the operation is not stable, and the accurate control of the deflection angle of the aileron is not facilitated.
Disclosure of Invention
In view of this, the present disclosure provides a transmission, an aileron steering device and an unmanned aerial vehicle.
One aspect of the present disclosure provides a transmission comprising: a base; the rocker arm is connected with the base, the first end of the rocker arm can rotate around the joint of the rocker arm and the base, and the first end of the rocker arm is provided with a first connecting hole; the eccentric wheel is provided with a second connecting hole deviating from the center; the wheel disc is sleeved outside the eccentric wheel and can rotate relative to the eccentric wheel; the sliding piece can rotate and slide relative to the base, and is provided with a third connecting hole; and the connecting piece is arranged in the first connecting hole, the second connecting hole and the third connecting hole in a penetrating manner and is used for connecting the first connecting hole, the second connecting hole and the third connecting hole.
According to an embodiment of the present disclosure, the transmission further comprises: the driving piece is connected with the second end of the rocker arm and is used for driving the rocker arm to rotate; wherein the rocker arm has a corner, a line connecting the first end and the corner intersects a line connecting the second end and the corner, and the corner of the rocker arm is hinged to the first connecting point of the base.
According to an embodiment of the present disclosure, a sliding groove is provided on the sliding member; a sliding block is arranged at the second connecting point of the base and is positioned in the sliding groove, and the sliding groove can rotate and move relative to the sliding block so that the sliding block can rotate and move relative to the base.
According to the embodiment of the disclosure, the sliding block comprises a rolling ring and a rolling ring connecting piece, wherein the rolling ring connecting piece is arranged in the rolling ring in a penetrating manner; the first end of the rolling ring connecting piece is fixed at the second connecting point of the base, and the second end of the rolling ring connecting piece limits the rolling ring in the sliding groove.
According to the embodiment of the disclosure, the eccentric wheel is connected with the wheel disc through a bearing, the eccentric wheel is fixedly connected with an inner ring of the bearing, and the wheel disc is fixedly connected with an outer ring of the bearing; the first end of the connecting piece is fixedly connected with a second connecting hole of the eccentric wheel, the second connecting hole is provided with an internal spline, and the first end of the connecting piece is provided with an external spline matched with the internal spline; the second end of the connecting piece is fixedly connected with the third connecting hole of the sliding piece; the middle area of the connecting piece is hinged with the first connecting hole of the rocker arm.
According to an embodiment of the present disclosure, the base includes a first fixing frame and a second fixing frame which are fixedly connected, and an accommodating space is provided between the first fixing frame and the second fixing frame; the eccentric wheel, the wheel disc and the rocker arm are arranged in the accommodating space, and the rocker arm is connected with the first fixing frame; the sliding part is connected with the second fixing frame, and the sliding part is arranged on one surface, far away from the first fixing frame, of the second fixing frame.
According to the embodiment of the disclosure, a first positioning hole is formed in the rocker arm; a second positioning hole is formed in the base; the arrangement positions of the first positioning hole and the second positioning hole are close to the connection position of the rocker arm and the base, and the first positioning hole and the second positioning hole are aligned under the condition that the rocker arm is in a neutral position.
According to an embodiment of the present disclosure, the transmission further comprises: the first end of the push rod is hinged with the wheel disc; the support lug comprises an inclined support and a connecting plate, the first end of the inclined support is hinged to the second end of the push rod, the second end of the inclined support is fixedly connected with the connecting plate, and the connecting plate is used for being fixedly connected with a driven structure.
Another aspect of the present disclosure provides an aileron steering device comprising: an aileron; a transmission as described above; and the transmission rod is used for transmitting the force of the transmission device to the aileron so as to drive the aileron to swing.
Another aspect of the present disclosure provides a drone, comprising: an aileron steering device as described above.
According to the embodiment of the disclosure, the problem that the transmission precision and the system dynamic characteristic are influenced due to the fact that the gap of the high pinion mechanism is large is at least partially solved, so that the technical effects that the precision of the whole transmission device is improved, the transmission device runs more stably and the transmission performance is better are achieved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of a gear type aileron steering mechanism of the related art;
FIGS. 2A and 2B schematically illustrate an exemplary application scenario in which a transmission may be applied in accordance with an embodiment of the present disclosure;
FIG. 3 schematically illustrates a perspective view of a structure of a transmission according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates an exploded view of a base according to an embodiment of the disclosure;
FIG. 5A schematically illustrates a structural schematic of a rocker arm according to an embodiment of the present disclosure;
FIG. 5B schematically illustrates a connection of a rocker arm to a base according to an embodiment of the disclosure;
FIG. 5C schematically illustrates a connection of a drive member to a rocker arm according to an embodiment of the disclosure;
FIG. 5D schematically illustrates a structural schematic of a drive member according to another embodiment of the present disclosure;
FIG. 6 schematically illustrates a schematic structural view of an eccentric according to an embodiment of the present disclosure;
FIG. 7 schematically illustrates a structural schematic of a wheel disc according to an embodiment of the present disclosure;
FIG. 8A schematically illustrates a structural view of a slider according to an embodiment of the present disclosure;
FIG. 8B schematically illustrates a connection structure of the slider and the base according to an embodiment of the disclosure;
FIG. 9 schematically illustrates a structural schematic of a portion of a connector according to an embodiment of the disclosure;
FIG. 10 schematically illustrates an exploded schematic view of a transmission according to an embodiment of the present disclosure;
FIG. 11 schematically illustrates an assembly schematic of a transmission according to an embodiment of the present disclosure;
FIG. 12 schematically illustrates a front view schematic of a transmission according to an embodiment of the disclosure;
FIG. 13 schematically shows a schematic view of section C-C in FIG. 11;
FIG. 14 schematically illustrates a schematic diagram of the operation of a transmission according to an embodiment of the present disclosure;
FIG. 15 schematically illustrates a structural view of a push rod and a support lug according to an embodiment of the disclosure; and
FIG. 16 schematically illustrates a schematic view of a transmission driving flap deflection according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "A, B and at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include, but not be limited to, systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
Embodiments of the present disclosure provide a transmission including a base, a rocker arm, an eccentric, a wheel disc, a slider, and a link. Rocking arm and pedestal connection, the first end of rocking arm can rotate around the junction of rocking arm and base, and the first end of rocking arm is provided with first connecting hole. The eccentric wheel is provided with a second connecting hole which is deviated from the center. The wheel disc is sleeved outside the eccentric wheel and can rotate relative to the eccentric wheel. The sliding part can rotate and slide relative to the base, and the sliding part is provided with a third connecting hole. The connecting piece is arranged in the first connecting hole, the second connecting hole and the third connecting hole in a penetrating mode and used for connecting the first connecting hole, the second connecting hole and the third connecting hole.
Fig. 2A and 2B schematically illustrate an exemplary application scenario in which a transmission may be applied in accordance with an embodiment of the present disclosure. It should be noted that fig. 2 is only an example of an application scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 2A, the transmission device of the embodiment of the present disclosure may be applied to, for example, a drone 200, the drone 200 including a fuselage 210 and wings 220, the wings of the left and right wings 220 being provided with ailerons 221 outside the trailing edges. The wings 220 are provided with aileron steering engines for providing power for the deflection motion of the ailerons 221. An aileron control mechanism is connected between the aileron steering engine and the aileron 221, and the aileron control mechanism is used for transmitting the driving force of the aileron steering engine to the aileron 221 so as to drive the aileron 221 to deflect.
As shown in fig. 2B, the transmission 240 of the disclosed embodiment may be used in an aileron steering mechanism as the main transmission part of the aileron steering mechanism. One end of the rocker arm of the transmission device 240 can be connected with the aileron steering engine 230, and the wheel disc of the transmission device 240 can be connected with the operating surface of the aileron 221 by a push rod or the like. During the operation of the aileron steering engine, the driving force is transmitted to the aileron 221 through the transmission device 240 to drive the aileron 221 to deflect.
Fig. 3 schematically illustrates a perspective view of a transmission 300 according to an embodiment of the present disclosure.
As shown in fig. 3, the transmission 300 includes a base 310, a rocker arm 320, an eccentric 330, a wheel 340, a slider 350, and a link 360.
Fig. 4 schematically illustrates an exploded view of a base 310 according to an embodiment of the present disclosure.
Referring to fig. 3 and 4, the base 310 includes a first fixing frame 311 and a second fixing frame 312, which are fixedly connected, two sides of the first fixing frame 311 and the second fixing frame 312 are provided with corresponding mounting holes 3114 (for example, the first fixing frame 311 and the second fixing frame 312 are both provided with four mounting holes 3114), and the first fixing frame 311 and the second fixing frame 312 can be fixedly connected through a slotted bolt and other structures. After the first fixing frame 311 and the second fixing frame 312 are connected, an accommodating space is formed between the first fixing frame 311 and the second fixing frame 312, that is, two opposite surfaces of the first fixing frame 311 and the second fixing frame 312 are not in close contact but have a certain gap. A rocker arm 320 and an eccentric 330, etc., may be disposed in the gap.
First fixing frame 311 may be provided with a through hole 3112 and a through hole 3113, where through hole 3112 is used for fixing first fixing frame 311 in the plumb direction, and through hole 3113 is used for fixing first fixing frame 311 in the horizontal direction.
According to the embodiment of the present disclosure, the eccentric 330, the wheel disc 340 and the rocker 320 are disposed in the accommodating space between the first fixing frame 311 and the second fixing frame 312, the rocker 320 is connected to the first fixing frame 311, the slider 350 is connected to the second fixing frame 312, and the slider 350 is disposed on a surface of the second fixing frame 312, which is far away from the first fixing frame.
The top of the first fixing frame 311 may have a first connection point O 1 First connecting point O 1 May be used to connect the rocker arm 320, the first connecting point O 1 For example, a through hole penetrating the first fixing frame 311.
The second fixing frame 312 may have a second connection point O 2 Second connection point O 2 Can be used to connect the slider 350, the second connection point O 2 For example, a through hole penetrating the second fixing frame 312.
First connecting point O 1 The height relative to the base bottom may be greater than the second connection point O 2 Relative to the height of the base bottom.
In addition, the first fixing frame 311 of the base is close to the first connection point O 1 May be provided with a second positioning hole 3111, and the second positioning hole 3111 may be located on the axis of the first fixing frame 311, for example.
FIG. 5A schematically illustrates a structural schematic of a rocker arm 320 according to an embodiment of the present disclosure.
Fig. 5B schematically illustrates a connection structure of the swing arm 320 and the base according to an embodiment of the present disclosure.
Referring to fig. 4, 5A and 5B, the swing arm 320 is connected to the base 310, and the swing arm 320 may be connected to the first holder 311 of the base 310. The rocker arm 320 has corners, which may also be referred to herein as corners, for example, the rocker arm 320 may be generally "L" -shaped, the "L" -shaped rocker arm 320 including a transverse rod portion 324 and a vertical rod portion 325, and the corners of the rocker arm 320 may refer to the intersection of the transverse rod portion 324 and the vertical rod portion 325. The rocker arm 320 has a first end and a second end, the first end of the rocker arm 320 may be referred to as a bottom end as shown in fig. 5A, for example, and the first end of the rocker arm is capable of rotating about the connection of the rocker arm and the base. The second end of the rocker arm 320 may be referred to, for example, as the left-hand end shown in fig. 5A, with the first end of the rocker arm 320 intersectingbase:Sub>A linebase:Sub>A-base:Sub>A of the corner and the second end intersectingbase:Sub>A line B-B of the corner. First connection point O of corner of rocker arm 320 and base 1 Hinged, for example, with a base connection hole 321 at a corner of the swing arm 320 for connecting with a base, a first connection point O of the first holder 311 1 Aligned with the base coupling hole 321 of the swing arm 320 and coupled thereto by a fastener such as a bolt and a nut to hinge the swing arm 320 to the first mount 311, the swing arm 320 being able to rotate about the position where the first mount 311 is coupled to the swing arm 320.
The first end of the rocker arm 320 may be provided with a first coupling hole 322, and the second end of the rocker arm 320 may be provided with a steering engine coupling hole 323.
In addition, a first positioning hole 326 is further disposed on the rocker arm 320 at a position close to the base connection hole 321, the first positioning hole 326 passes through a neutral line of the rocker arm 320, and the first positioning hole 326 may be located on an axis of the vertical rod portion 325, for example.
According to an embodiment of the present disclosure, the transmission further comprises a drive.
Fig. 5C schematically illustrates a connection structure of the driving member 301 and the rocker arm 320 according to an embodiment of the present disclosure.
As shown in fig. 5C, the driving element 301 is connected to the second end of the rocker arm 320, and specifically, an output shaft of the driving element 301 may be hinged to a steering engine connecting hole 323 of the rocker arm 320, so as to drive the rocker arm 320 to rotate. The driving element 301 may be, for example, an aileron steering engine, which may be, for example, a linear steering engine. The output shaft of the linear steering engine can extend and retract along the vertical direction shown in the figure, and when the output shaft of the linear steering engine is positioned at the initial position, the rocker arm 320 is positioned at the neutral position; when the output shaft of the linear steering engine is contracted upwards from the initial position, the rocker arm 320 can deflect clockwise along the figure; when the output shaft of the linear steering engine extends downwards from the initial position, the rocker arm 320 can deflect anticlockwise.
Fig. 5D schematically illustrates a structural schematic of a driver according to another embodiment of the present disclosure.
As shown in fig. 5D, the drive member may also be a rotary steering engine 3011, according to embodiments of the present disclosure. The rotary steering engine 3011 may be connected to the rocker arm via a link 3012.
In the related art, it is difficult to ensure that the neutral positions of the two sector gear transmission mechanisms are exactly overlapped due to machining errors and the like, and the gear transmission mechanisms are not easy to calibrate the neutral positions, but the transmission device provided by the embodiment of the present disclosure can overcome this disadvantage, and the neutral positions can be calibrated with reference to the following contents.
As shown in fig. 4 and fig. 5A to 5C, the first positioning hole 326 of the swing arm 320 and the second positioning hole 3111 of the first fixing frame 311 are provided at positions corresponding to each other, for example, at positions close to the connection point of the swing arm and the base, and when the swing arm 320 is at the neutral position, the first positioning hole 326 and the second positioning hole 3111 are aligned.
In the initial state, the mechanism needs to be adjusted to the neutral position, and the first positioning hole 326 and the second positioning hole 3111 are used for adjusting the mechanism to the neutral position based on the principle of "two-line overlap" when the mechanism is assembled and debugged. The specific operation is as follows: when the swing arm 320 is hinge-coupled to the first fixed frame 311, the left and right swing members 320 are fastened to the first fixed frame 311 by a fixing pin (not shown) when the first positioning hole 326 is coincident with the second positioning hole 3111, so that the swing arm 320 can be aligned to a neutral position. And then, adjusting the initial extending position of the linear steering engine and the initial relative position of the sliding part relative to the base, and after the neutral position of the whole mechanism is adjusted, drawing out the positioning pin to complete the neutral position adjustment of the rocker arm 320 relative to the base.
According to the embodiment of the present disclosure, the problem of difficulty in adjusting the neutral position of the mechanism in the related art is solved by providing positioning holes in the rocker arm 320 and the base, and by inserting positioning pins into the positioning holes in assembly to achieve adjustment of the neutral position of the mechanism.
Fig. 6 schematically illustrates a structural schematic view of an eccentric 330 according to an embodiment of the present disclosure. Wherein (a) is a schematic view of a first side of the eccentric 330, and (b) is a schematic view of a second side of the eccentric 330.
As shown in fig. 6 (a), the eccentric wheel 330 is provided with a second connecting hole 331 which is eccentric, and the inner surface of the second connecting hole 331 may be provided with an internal spline. The second connecting hole 331 may be a blind hole, that is, the second connecting hole 331 may not penetrate through the eccentric wheel 330, but may be a recessed hole recessed from one side of the eccentric wheel 330, as shown in fig. 6 (a) and (b), and a first small hole 332 may be formed on the bottom surface of the second connecting hole 331. In addition, the eccentric wheel 330 may be provided with a plurality of through holes in a circumferential direction to reduce weight.
Fig. 7 schematically illustrates a structural schematic of a wheel disc 340 according to an embodiment of the present disclosure.
As shown in fig. 7, the wheel 340 is sleeved outside the eccentric 330 and can rotate relative to the eccentric 330. For example, the wheel disc 340 and the eccentric 330 may be connected by a bearing 370, an inner ring (also referred to as an inner ring) of the bearing 370 is fixedly connected to an outer circumferential surface of the eccentric 330, an outer ring (also referred to as an outer ring) of the bearing 370 is fixedly connected to an inner circumferential surface of the wheel disc 340, and the eccentric 330 fixed to the inner ring can rotate relative to the wheel disc 340 fixed to the outer ring because the inner ring of the bearing can rotate relative to the outer ring. The inner side surface of the wheel disc 340 can provide a pressing surface for the outer ring of the bearing 370, so that no slippage relative to the inner side surface of the wheel disc 340 is ensured when the bearing rotates.
Further, after the wheel 340, the bearing 370, and the eccentric 330 are assembled, bearing caps 371 (only one bearing cap is shown) may be provided on both sides of the bearing, respectively.
A connection end 341 may be provided on the wheel disc 340.
Fig. 8A schematically illustrates a structural schematic of a slider 350 according to an embodiment of the present disclosure.
Fig. 8B schematically illustrates a connection structure of the slider 350 and the base according to an embodiment of the present disclosure.
As shown in fig. 8A and 8B, the sliding member 350 is connected to the base, and may be specifically connected to the second fixing frame 312 of the base. The slider 350 is capable of rotating and sliding with respect to the base, and the slider 350 is provided with the third coupling hole 355 such that the relative movement of the slider 350 and the base can be achieved by the following structure.
According to an embodiment of the present disclosure, the sliding member 350 may include, for example, a chute plate 351 and a bottom plate 352 fixedly connected, and when assembled, for example, bolts may be used to fixedly connect the chute plate 351 and the bottom plate 352 through a corresponding number of mounting holes (for example, 7 mounting holes may be used, including 3 through holes at the top and 4 through holes at the middle) on the chute plate 351 and the bottom plate 352, and two opposite surfaces of the chute plate 351 and the bottom plate 352 are attached.
The bottoms of the chute plate 351 and the bottom plate 352 may be provided with corresponding through holes 355A and 355B, respectively, and after the chute plate 351 and the bottom plate 352 are assembled, the through holes 355A and 355B together constitute the third coupling hole 355 of the slider 350.
The sliding member 350 is provided with a sliding groove 353, for example, the sliding groove plate 351 of the sliding member 350 is provided with the sliding groove 353, the sliding groove 353 has a substantially oval sliding groove surface, and both ends of the sliding groove surface are symmetrical double U-shaped. The sliding groove surface is matched with the rolling ring, so that the sliding process is smooth and free from clamping stagnation.
The base plate 352 is provided with a slide slot aperture 354, the slide slot aperture 354 being shaped and positioned to match the slide slot 353, but the size of the slide slot aperture 354 may be slightly smaller than the size of the slide slot 353.
According to the embodiment of the disclosure, a sliding block is arranged at the second connecting point of the base, the sliding block is positioned in a sliding groove, and the sliding groove can rotate and move relative to the sliding block so that the sliding block can rotate and move relative to the base. For example, as shown in fig. 8B, a fixing part 313 is disposed at a second connection point on the second fixing frame 312 of the base, the fixing part 313 may include two parts respectively disposed at both sides of the second fixing frame 312, the slider may include a rolling ring 314 and a rolling ring connector 315, the rolling ring connector 315 is inserted into the rolling ring 314, and the rolling ring 314 can rotate relative to the rolling ring connector 315. The rolling ring connection 315 may be, for example, a bolt, and during assembly, a first end of the rolling ring connection 314 (e.g., a bottom of the bolt) may be inserted through the rolling ring 314 and then fixed to the base at the second connection point, the first end of the rolling ring connection 314 may be, for example, fixedly connected to the fixing member 313, and a second end of the rolling ring connection 314 (e.g., a head of the bolt) may limit the rolling ring 314 in the sliding groove 353, so that the position of the rolling ring 314 may be fixed, and when the sliding member 350 rotates and moves relative to the base, the rolling ring 314 may rotate and the sliding groove 353 may move relative to the rolling ring 314, so that the movement of the sliding member 350 is smoother. During the movement of the slider 350, the rolling ring 314 is always located in the sliding groove 353, so that the slider 350 cannot be separated from the second fixing frame 312.
Fig. 9 schematically illustrates a structural schematic of a portion of a connector according to an embodiment of the present disclosure.
As shown in fig. 9, the connection member 360 may have a cylindrical shape, for example, and both ends of the connection member 360 may be provided with connection structures, for example, a first end of the connection member 360 may be provided with external splines, and a second end of the connection member 360 may be provided with external threads. In addition, a second small hole 361 along the axial direction may be further provided on the end surface of the first end of the connecting member 360, and the second small hole 361 may be provided with an internal thread.
Fig. 10 schematically illustrates an exploded schematic view of a transmission (without the first mount shown) according to an embodiment of the disclosure.
Fig. 11 schematically illustrates an assembly schematic of a transmission according to an embodiment of the disclosure (the first mount is not shown).
Fig. 12 schematically illustrates a front view of a transmission (without the first mount shown) according to an embodiment of the disclosure.
Fig. 13 schematically shows a schematic view of the C-C section in fig. 11.
As shown in fig. 10 to 13, a connecting member 360 is inserted through the first connecting hole 322 of the rocker arm 320, the second connecting hole 331 of the eccentric 330, and the third connecting hole 355 of the slider 350 for connecting the first connecting hole 322, the second connecting hole 331, and the third connecting hole 355, for example, the second connecting hole 331 of the eccentric and the third connecting hole 355 of the slider can be fixedly connected, and the slider 350 and the rocker arm 320 are hinged, and the eccentric 330 and the rocker arm 320 are hinged.
According to the embodiment of the present disclosure, the first end of the connecting member 360 is fixedly connected with the second connecting hole 331 of the eccentric wheel 330. The second connecting hole is provided with an internal spline, the first end of the connecting piece is provided with an external spline matched with the internal spline, and the internal spline and the external spline form a spline pair to realize the fixed connection of the first end of the connecting piece 360 and the second connecting hole 331 of the eccentric wheel 330 along the radial direction. Also, in order to prevent the connecting member 360 from moving axially with the eccentric 330, as shown in fig. 13, after the first end of the connecting member 360 is inserted into the second connecting hole of the eccentric 330, a bolt 332 may be inserted through the first small hole of the eccentric 330 from the other side of the eccentric 330 and screwed into the second small hole at the end of the connecting member 360 to lock the connecting member 360 in the axial direction, thereby fixing the first end of the connecting member 360 and the second connecting hole 331 of the eccentric 330 in all directions.
The second end of the connecting member 360 passes through the first connecting hole 322 of the swing arm 320 and is connected with the third connecting hole 355 of the slider 350, for example, an end cap 390 may be provided at the other side of the slider 350, a threaded hole may be provided at a side of the end cap 390 facing the slider 350, and the external thread of the second end of the connecting member 360 and the threaded hole of the end cap 390 may constitute a screw connection to fix the second end of the connecting member 360 and the third connecting hole 355 of the slider 350 together. Wherein the link 360 may have a size smaller than that of the first coupling hole 322 of the swing arm 320 to hinge the middle region of the link 360 and the first coupling hole of the swing arm 320.
In addition, a sleeve 380 may be further disposed between the first connection hole 322 and the third connection hole 355, the sleeve 380 has a through hole, and may be sleeved on the connection member 360, and an end surface of the sleeve 380 facing the sliding member 350 may be provided with a plurality of threaded holes (for example, three threaded holes in a triangular distribution are provided), and the plurality of connection holes at the bottom of the sliding member 350 and the plurality of threaded holes of the sleeve 380 may be fixedly connected together by hexagon socket head bolts, where the plurality of connection holes at the bottom of the sliding member 350 may refer to three holes in a triangular distribution at the bottom after the sliding groove plate 351 and the bottom plate 352 are connected as shown in fig. 8A. The end surface of the sleeve 380 facing the rocker arm 320 may contact a surface of the rocker arm 320.
FIG. 14 schematically illustrates a schematic diagram of the operation of a transmission according to an embodiment of the disclosure. Where a and a ' are second ends of the rocker arm 320, G and G ' are centers of the eccentric, and B ' are simplified points of the second connecting hole 331 of the eccentric 330, the first connecting hole 322 of the rocker arm 320, and the third connecting hole 355 of the slider 350, and also can be understood as simplified points of the connecting member 360. Taking the example of a clockwise rotation of the rocker arm, the dashed line represents the initial position and the implementation represents the deflected position.
As shown in FIG. 14, the rocker arm 320 is capable of pivoting about a first point of attachment O 1 Swing, since the slider 350 is hinged to the first end of the swing arm 320, and the sliding slot 353 of the slider 350 cannot be separated from the second connecting point O of the base 2 Thus, when the rocker arm is rotated clockwise, at the second connecting point O, the rocker arm 320 2 Under the combined action of the first and second connecting points O, the sliding member 350 can perform a rotation + sliding motion relative to the base, i.e. the sliding member 350 rotates relative to the base and the sliding groove 353 of the sliding member 350 rotates relative to the second connecting point O 2 And (4) sliding. And since the eccentric wheel 330 is fixedly connected with the second connecting hole and the third connecting hole of the sliding part 350 through the connecting member, the sliding part 350 can drive the second connecting hole of the eccentric wheel 330 to rotate and move relative to the base. Since the second connecting hole of the eccentric wheel 330 is disposed at a position deviated from the center G of the eccentric wheel, the rotation of the second connecting hole may be converted into the rotation of the eccentric wheel 330, the movement of the second connecting hole may be converted into the movement of the eccentric wheel 330 relative to the base, and since the wheel disc 340 is fitted outside the eccentric wheel 330 and can rotate relative to the eccentric wheel 330 through a bearing or the like, the rotational force of the eccentric wheel 330 can be offset by the rotation of the bearing,thus, the eccentric 330 can drive the wheel 340 to move horizontally to the left relative to the base. Similarly, wheel 340 is able to move horizontally to the right relative to the base as the rocker arm rotates counterclockwise.
The transmission device of the embodiment of the present disclosure has the composite link transmission mechanism of "link mechanism + sliding wheel disc" formed by each component, and the mechanism is of a low-pair structure, so as to solve the problem that the transmission precision and the system dynamic characteristic are affected by the larger gap between high-pair gear mechanisms, thereby enabling the whole transmission device to have higher precision, more stable operation and better transmission performance.
According to an embodiment of the present disclosure, the transmission may further include a push rod and a lug.
Fig. 15 schematically shows a structural schematic diagram of the push rod 302 and the support lug 303 according to an embodiment of the disclosure.
As shown in fig. 15, a first end of the push rod 302 is hinged to the wheel, and may be hinged to a connection end 341 on the wheel. The support lug 303 comprises a tilting bracket 3031 and a connecting plate 3032, wherein a first end of the tilting bracket 3031 is hinged with a second end of the push rod 302, a second end of the tilting bracket 3031 is fixedly connected with the connecting plate 3032, and the connecting plate 3032 is used for being fixedly connected with a driven structure, wherein the driven structure can be a aileron for example.
The first end of the tilting bracket 3031 and the second end of the push rod 302 can be hinged through a double-lug joint, so that the rotation of the support lug is zero. The second end of the push rod 302 may be provided with a lock nut 3021, the lock nut 3021 being used to lock the binaural joint 304 after the threaded end of the binaural joint 304 is extended and adjusted into position.
FIG. 16 schematically illustrates a schematic view of a transmission driving flap deflection according to an embodiment of the present disclosure. Where C and C ' are simplified points of the wheel, D and D ' are simplified points of the second end of the push rod 302, E and E ' are simplified points of the connecting plate 3032, and O 3 The flap 400 can be wrapped around O for the hinge point of the flap 400 3 Rotation of O 3 Is fixed relative to the base. Taking the flap-up maneuver as an example, the dashed line represents the initial position and the implementation represents the deflected position.
As shown in FIG. 16, the linear steering engine operates at a velocity v0 in the directionUpward movement to generate x stroke amount, the driving rocker arm 320 has a deflection angle alpha, and the rocker arm 320 can move along the direction O 1 The dot is rotated in a clockwise direction. The bottom end of the rocker arm 320 drives the sliding part to rotate and slide relative to the base, the sliding part drives the eccentric wheel to rotate and horizontally move towards the left side, and the eccentric ring is relative to the O 2 The point is angled to the left by a beta offset angle and the rotational movement of the eccentric is counteracted by the bearing, so that the eccentric can drive the disc C horizontally to the left. As shown in fig. 16, the movement of the wheel C can be regarded as a movement after the rotational movement around the O2 point and the sliding movement in the CB direction are superimposed. The wheel C generates y stroke quantity to the left at a speed v1, the right end of the push rod 302 is connected with the wheel C, and the push rod 302 generates y stroke quantity to the left at the same speed v 1. The left end of the push rod 302 is hinged with the first end of the inclined bracket 3031, the second end of the inclined bracket 3031 is fixedly connected with the aileron 400 through the connecting plate 3032, and the aileron 400 can wind around O 3 The point rotates so that during the leftward movement of the push rod, the tilting bracket 3031 rotates, pushing the flap along its hinge point C 3 At an angular velocity of ω by an angle of γ. The downward deviation operation of the aileron is the same as the transmission mode, but the transmission direction is opposite.
It should be noted that, the connection mode among the above structures may have an alternative, for example, the fastening mode of the connecting piece and the eccentric wheel may adopt a mortise and tenon structure or a bolt connection mode, and the fasteners such as bolts and the like may be replaced by different types.
Another aspect of the disclosed embodiments provides an aileron steering device comprising an aileron and a transmission.
According to an embodiment of the present disclosure, a transmission includes: a base; the rocker arm is connected with the base, the first end of the rocker arm can rotate around the joint of the rocker arm and the base, and the first end of the rocker arm is provided with a first connecting hole; the eccentric wheel is provided with a second connecting hole deviating from the center; the wheel disc is sleeved outside the eccentric wheel and can rotate relative to the eccentric wheel; the sliding piece can rotate and slide relative to the base, and is provided with a third connecting hole; and the connecting piece is arranged in the first connecting hole, the second connecting hole and the third connecting hole in a penetrating mode and used for connecting the first connecting hole, the second connecting hole and the third connecting hole.
According to an embodiment of the present disclosure, the transmission further comprises: the driving piece is connected with the second end of the rocker arm and used for driving the rocker arm to rotate; the rocker arm is provided with a corner, a connecting line of the first end and the corner is intersected with a connecting line of the second end and the corner, and the corner of the rocker arm is hinged with the first connecting point of the base.
According to an embodiment of the present disclosure, a sliding groove is provided on the sliding member; a sliding block is arranged at the second connecting point of the base and is positioned in a sliding groove, and the sliding groove can rotate and move relative to the sliding block so that the sliding block can rotate and move relative to the base.
According to the embodiment of the disclosure, the sliding block comprises a rolling ring and a rolling ring connecting piece, wherein the rolling ring connecting piece is arranged in the rolling ring in a penetrating way; the first end of the rolling ring connecting piece is fixed at the second connecting point of the base, and the second end of the rolling ring connecting piece limits the rolling ring in the sliding groove.
According to the embodiment of the disclosure, the eccentric wheel and the wheel disc are connected through the bearing, the eccentric wheel is fixedly connected with the inner ring of the bearing, and the wheel disc is fixedly connected with the outer ring of the bearing; the first end of the connecting piece is fixedly connected with a second connecting hole of the eccentric wheel, the second connecting hole is provided with an internal spline, and the first end of the connecting piece is provided with an external spline matched with the internal spline; the second end of the connecting piece is fixedly connected with the third connecting hole of the sliding piece; the middle area of the connecting piece is hinged with the first connecting hole of the rocker arm.
According to the embodiment of the disclosure, the base comprises a first fixing frame and a second fixing frame which are fixedly connected, and an accommodating space is formed between the first fixing frame and the second fixing frame; the eccentric wheel, the wheel disc and the rocker arm are arranged in the accommodating space, and the rocker arm is connected with the first fixing frame; the sliding part is connected with the second fixing frame and arranged on one surface, far away from the first fixing frame, of the second fixing frame.
According to the embodiment of the disclosure, the rocker arm is provided with a first positioning hole; a second positioning hole is formed in the base; the arrangement positions of the first positioning hole and the second positioning hole are close to the connection position of the rocker arm and the base, and the first positioning hole and the second positioning hole are aligned under the condition that the rocker arm is in the neutral position.
According to an embodiment of the present disclosure, the transmission further comprises: the first end of the push rod is hinged with the wheel disc; the support lug comprises an inclined support and a connecting plate, the first end of the inclined support is hinged to the second end of the push rod, the second end of the inclined support is fixedly connected with the connecting plate, and the connecting plate is used for being fixedly connected with a driven structure.
According to the embodiment of the present disclosure, the transmission device included in the aileron control device can be specifically referred to fig. 2A to 16, and the description related to the corresponding figures is omitted for brevity.
The sliding part and the rolling ring of the transmission device form a roller-sliding rail part through a rolling ring connecting piece, the rolling ring in the roller-sliding rail part is connected to the base through the rolling ring connecting piece, and the rolling ring can rotate relative to the rolling ring connecting piece. The wheel disc, the bearing and the eccentric wheel form an eccentric wheel-wheel disc part, the eccentric wheel in the roller-slide rail part is fixedly connected into a whole through a connecting piece, the eccentric wheel-wheel disc part, the bottom end of the rocker arm is hinged with the connecting piece, and the connecting piece is used as a bridge for transmitting motion and can finally convert the rotary motion of the rocker arm into the linear motion of the wheel disc. One end of the push rod is hinged with the output end of the wheel disc, the other end of the push rod is hinged with the support lug, the support lug is pushed to move, the support lug and the aileron are assembled together, the linear motion of the wheel disc can be finally converted into the rotary motion of the aileron, the aileron deflects around the hinged point of the aileron, and the aim of operating the aileron is fulfilled.
Another aspect of the disclosed embodiments provides a drone including a fuselage and a wing, the wing including an aileron steering device, wherein the aileron steering device includes an aileron and a transmission.
The transmission device included in the aileron control device according to the embodiment of the present disclosure can be seen in fig. 2A to 16, and the description related to the corresponding figures is omitted here for brevity.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A transmission (300) comprising:
a base (310);
the rocker arm (320) is connected with the base (310), the first end of the rocker arm (320) can rotate around the connection position of the rocker arm (320) and the base (310), and the first end of the rocker arm (320) is provided with a first connection hole (322);
an eccentric wheel (330) provided with a second connecting hole (331) deviating from the center;
the wheel disc (340) is sleeved outside the eccentric wheel (330) and can rotate relative to the eccentric wheel (330);
a slider (350) rotatable and slidable with respect to the base (310), the slider (350) being provided with a third connecting hole (355); and
and a connecting member (360) inserted into the first connecting hole (322), the second connecting hole (331) and the third connecting hole (355) for connecting the first connecting hole (322), the second connecting hole (331) and the third connecting hole (355).
2. The transmission of claim 1, further comprising:
the driving piece (301) is connected with the second end of the rocker arm (320) and is used for driving the rocker arm (320) to rotate;
wherein the rocker arm (320) has a corner, a line connecting the first end of the rocker arm with the corner and a line connecting the second end of the rocker arm with the corner intersect, and the corner of the rocker arm (320) is hinged with the first connecting point of the base (310).
3. The transmission of claim 1, wherein:
a sliding groove (353) is formed in the sliding piece (350);
a slide is arranged at the second connection point of the base (310), the slide is located in the slide groove (353), and the slide groove (353) can rotate and move relative to the slide so as to enable the slide (350) to rotate and move relative to the base (310).
4. The transmission of claim 3, wherein:
the sliding block comprises a rolling ring (314) and a rolling ring connecting piece (315), and the rolling ring connecting piece (315) is arranged in the rolling ring (314) in a penetrating way;
the first end of the rolling ring connecting piece (315) is fixed at the second connecting point of the base (310), and the second end of the rolling ring connecting piece (315) limits the rolling ring (314) in the sliding groove (353).
5. The transmission of claim 1, wherein:
the eccentric wheel (330) and the wheel disc (340) are connected through a bearing (370), the eccentric wheel (330) is fixedly connected with an inner ring of the bearing (370), and the wheel disc (340) is fixedly connected with an outer ring of the bearing (370);
the first end of the connecting piece (360) is fixedly connected with a second connecting hole (331) of the eccentric wheel (330), the second connecting hole (331) is provided with an internal spline, and the first end of the connecting piece (360) is provided with an external spline matched with the internal spline;
the second end of the connecting piece (360) is fixedly connected with the third connecting hole (355) of the sliding piece (350);
the middle region of the link (360) is hinged to the first connection hole (322) of the swing arm (320).
6. The transmission of claim 1, wherein:
the base (310) comprises a first fixing frame (311) and a second fixing frame (312) which are fixedly connected, and an accommodating space is formed between the first fixing frame (311) and the second fixing frame (312);
the eccentric wheel (330), the wheel disc (340) and the rocker arm (320) are arranged in the accommodating space, and the rocker arm (320) is connected with the first fixing frame (311);
the sliding part (350) is connected with the second fixing frame (312), and the sliding part (350) is arranged on one surface, far away from the first fixing frame (311), of the second fixing frame (312).
7. The transmission of claim 1, wherein:
a first positioning hole (326) is formed in the rocker arm (320);
a second positioning hole (3111) is formed in the base (310);
the first positioning hole (326) and the second positioning hole (3111) are provided at positions close to a junction of the swing arm (320) and the base (310), and the first positioning hole (326) and the second positioning hole (3111) are aligned with each other when the swing arm (320) is at a neutral position.
8. The transmission of claim 1, further comprising:
the first end of the push rod (302) is hinged with the wheel disc (340);
the support lug (303) comprises an inclined support (3031) and a connecting plate (3032), wherein a first end of the inclined support (3031) is hinged with a second end of the push rod (302), the second end of the inclined support (3031) is fixedly connected with the connecting plate (3032), and the connecting plate (3032) is used for being fixedly connected with a driven structure.
9. An aileron steering device comprising:
an aileron;
a transmission as claimed in any one of claims 1 to 8.
10. An unmanned aerial vehicle, comprising: the aileron steering device of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911002820.3A CN110606193B (en) | 2019-10-21 | 2019-10-21 | Transmission, aileron controlling device and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911002820.3A CN110606193B (en) | 2019-10-21 | 2019-10-21 | Transmission, aileron controlling device and unmanned aerial vehicle |
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| CN110606193A CN110606193A (en) | 2019-12-24 |
| CN110606193B true CN110606193B (en) | 2023-04-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113942631B (en) * | 2021-10-19 | 2024-02-09 | 中航贵州飞机有限责任公司 | Aileron rotation locking structure |
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|---|---|---|---|---|
| DE3900096A1 (en) * | 1988-01-05 | 1989-07-20 | Branko Sarh | CONVERTABLE RIGID PLANE |
| CN2755289Y (en) * | 2004-07-14 | 2006-02-01 | 余坚 | Stepless variable lifting mechanism of valve for IC engine |
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| FR3026348A1 (en) * | 2014-09-25 | 2016-04-01 | Claude Remy Loewert | RETRIEVAL DEVICE AND AUTOMATIC WHEEL OUTPUT AND AILERON FOR NAUTICAL EQUIPMENT AND AMPHIBIOUS VEHICLE |
| CN109997480A (en) * | 2019-04-15 | 2019-07-12 | 浙江星莱和农业装备有限公司 | A kind of power transmitting assembly |
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2019
- 2019-10-21 CN CN201911002820.3A patent/CN110606193B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3900096A1 (en) * | 1988-01-05 | 1989-07-20 | Branko Sarh | CONVERTABLE RIGID PLANE |
| CN2755289Y (en) * | 2004-07-14 | 2006-02-01 | 余坚 | Stepless variable lifting mechanism of valve for IC engine |
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| FR3026348A1 (en) * | 2014-09-25 | 2016-04-01 | Claude Remy Loewert | RETRIEVAL DEVICE AND AUTOMATIC WHEEL OUTPUT AND AILERON FOR NAUTICAL EQUIPMENT AND AMPHIBIOUS VEHICLE |
| CN109997480A (en) * | 2019-04-15 | 2019-07-12 | 浙江星莱和农业装备有限公司 | A kind of power transmitting assembly |
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| CN110606193A (en) | 2019-12-24 |
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