CN110937105B - Automatic gravity center control device and method thereof - Google Patents
Automatic gravity center control device and method thereof Download PDFInfo
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- CN110937105B CN110937105B CN201911158296.9A CN201911158296A CN110937105B CN 110937105 B CN110937105 B CN 110937105B CN 201911158296 A CN201911158296 A CN 201911158296A CN 110937105 B CN110937105 B CN 110937105B
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- container
- limiting
- limiting piece
- slide rail
- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
Abstract
The invention provides a gravity center automatic control device and a method thereof, which relate to the technical field of airplane design, can adjust the cargo carrying position under the condition of low counterweight, reduce the burden of an airplane to the maximum extent, and have wide adjustable gravity center range and high adjusting precision; the device comprises a slide rail and a container arranged on the slide rail; the sliding rail is fixedly arranged in the engine room; the container can move and be locked in a range set by the slide rails, so that the container is always positioned in an envelope line of the center of gravity of the airplane; the sliding rail comprises a plurality of roller groups; the roller group comprises a mechanism bracket and a plurality of transmission rollers arranged on the mechanism bracket; the container is displaced by means of rolling and stopping of the transmission roller; the non-outer side frame of the mechanism bracket is provided with a limiting moving mechanism for locking the container; the outer edge of the slide rail is provided with a plurality of limiting guide wheels for limiting the moving range of the container. The technical scheme provided by the invention is suitable for the process of adjusting the gravity center of the unmanned aerial vehicle.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of airplane design, in particular to a gravity center automatic control device and a method thereof.
[ background of the invention ]
The focus has important meaning to unmanned aerial vehicle's flight performance and safety. On freight transportation unmanned aerial vehicle, along with the loading and unloading of goods, weight distribution and position removal, the unmanned aerial vehicle focus needs in time to be adjusted, makes the requirement that loads and satisfy unmanned aerial vehicle balance and weight, otherwise probably arouses great flight accident.
Currently used gravity center control devices are mainly classified into the following categories:
1. a movable balancing weight and a mechanism for driving the balancing weight are arranged in the unmanned aerial vehicle, and a three-axis gyroscope and a PLC are respectively arranged in the unmanned aerial vehicle;
2. a movable sliding plate is arranged in the unmanned aerial vehicle and used for placing goods, and the goods are driven to move through the movement of the sliding plate, so that the gravity center position of the unmanned aerial vehicle body is adjusted;
3. the sliding rod and the sliding frame are installed in the unmanned aerial vehicle, so that the weights of the front sliding frame and the rear sliding frame are basically equivalent, the gravity center can be kept near a balance position, and the gravity center of the unmanned aerial vehicle can be quantitatively adjusted through adjusting the relative positions of the frame and the rod.
The three modes are all required to adjust the position and the weight of the loaded goods in time according to the take-off and landing states at each time, and because the weight, the shape, the position and the like of the loaded goods at each time are difficult to ensure to be completely consistent, the adjustment is time-consuming, and the calculation deviation is easy to occur, so that the potential safety hazard is caused.
Accordingly, there is a need to develop an automatic center of gravity control apparatus and method thereof to address the deficiencies of the prior art and to solve or alleviate one or more of the above problems.
[ summary of the invention ]
In view of this, the invention provides a center of gravity automatic control device and a method thereof, which can adjust the cargo position according to the center of gravity of an airplane under the condition of low counterweight, reduce the burden on the airplane to the maximum extent, and have wide adjustable center of gravity range and high adjustment precision.
On one hand, the invention provides a gravity center automatic control device which is characterized by comprising a slide rail and a container arranged on the slide rail;
the sliding rail is fixedly arranged in the engine room;
the container can move and be locked in a range set by the slide rails, so that the container is always positioned in an envelope line of the center of gravity of the airplane.
The above aspects and any possible implementations further provide an implementation in which the sliding track includes a plurality of roller sets; the roller group comprises a mechanism bracket and a plurality of transmission rollers arranged side by side on the mechanism bracket; the container is displaced by means of rolling of the transmission roller;
a limiting moving mechanism is arranged below a non-outer side frame of the mechanism bracket and used for locking the container after the container is moved to a proper position;
and a plurality of limiting guide wheels are arranged at the outer edge of the slide rail and used for limiting the moving range of the container.
The above aspects and any possible implementations further provide an implementation in which the driving roller is driven by a motor to rotate and stop; each motor drives a plurality of transmission rollers; a gear is arranged at the end part of the transmission roller; the gears of the transmission rollers driven by the same motor are connected through a transmission chain.
The above aspect and any possible implementation manner further provide an implementation manner, where a slide rail fixing mechanism is arranged below the frame of the mechanism support, and the slide rail fixing mechanism is fixedly connected with the bottom inside the cabin.
The above aspect and any possible implementation manner further provide an implementation manner, where the limit moving mechanism includes a limit shaft, and a front limit piece and a rear limit piece respectively disposed at two ends of the limit shaft;
the arrangement direction of the limiting shaft is consistent with the length direction of the mechanism support, and two ends of the limiting shaft can stretch under the action of driving force and are used for adjusting the positions of the front limiting piece and the rear limiting piece; the front limiting piece and the rear limiting piece can rotate under the driving of power to realize the conversion between the horizontal position and the vertical position.
The above aspect and any possible implementation further provide an implementation in which the top of the front stopper and the top of the rear stopper are higher than the upper surface of the driving roller when the front stopper and the rear stopper are in the vertical position.
The above aspect and any possible implementation further provide an implementation in which the cargo box is fixedly disposed on a cargo box mounting rack, and the cargo box mounting rack is in contact connection with the slide rails.
The above aspect and any possible implementation manner further provide an implementation manner, a plurality of weight sensors and position sensors are arranged below the sliding rail, and both the weight sensors and the position sensors are connected with the unmanned aerial vehicle flight control device.
The above aspect and any possible implementation manner further provide an implementation manner, wherein the transmission roller and the limiting moving mechanism are both connected with the unmanned aerial vehicle flight control device, and the unmanned aerial vehicle flight control device controls the unmanned aerial vehicle flight control device to perform corresponding actions.
In another aspect, the present invention provides an automatic center of gravity control method, which is applied to any of the automatic center of gravity control apparatuses described above; the unmanned aerial vehicle flies the accuse equipment and calculates the adjustment scheme of packing box according to the gross weight of packing box, total moment and unmanned aerial vehicle focus position, adjusts the packing box position according to adjustment scheme control driving pulley and spacing moving mechanism.
Compared with the prior art, the invention can obtain the following technical effects: the length of the sliding rail can be adjusted according to the type of the unmanned aerial vehicle and the space in the cabin, and the sliding rail has the characteristic of large adjustable gravity center range; the high-precision sensor and the chain transmission mechanism are adopted to adjust according to the cargo weight and the moment, so that the gravity center adjusting precision is high; no extra balance weight is needed in the cargo compartment, and the gravity center can be adjusted only by depending on the cargo carrying box and the slide rail, so that the load of the airplane can be reduced to the maximum extent; an automatic braking system is arranged in the device, so that the goods can be braked and stopped at any time once exceeding an adjustable range, and the position of the goods is locked.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an overall configuration diagram of an automatic center-of-gravity control apparatus according to an embodiment of the present invention;
fig. 2 is a schematic view of a slide rail structure according to an embodiment of the present invention.
Wherein, in the figure:
1-a front stop; 2-a mechanism support; 3-limiting guide wheels; 4-driving the roller; 5-a roller fixing mechanism; 6-a limiting shaft; 7-a rear stop; 8-a rotating mechanism; 9-a slide rail fixing mechanism; 10-a gear; 11-motor.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
This scheme adopts motor drive to drive the slide rail, and the fixed packing box mounting bracket in slide rail top, packing box and packing box mounting bracket connect firmly. As shown in fig. 1. And calculating the total weight and total moment of the load according to the weight of the cargo, and ensuring that the total weight and total moment are within the weight and gravity center envelope of the unmanned aerial vehicle. And adjusting the loading position of the load in the unmanned aerial vehicle according to the requirements of the weight and the gravity center, giving the position boundary of the load in the unmanned aerial vehicle, and determining the loading position of the load. The calculation method is written into the unmanned aerial vehicle flight control program, the operation program obtains the adjustment result of the cargo position before the unmanned aerial vehicle finishes flying after being loaded, and the cargo box is driven to move to the corresponding position by the driving motor driving the sliding rail. Meanwhile, an automatic braking system is written in a flight control program, and once the goods move beyond an adjustable range, the goods can be braked and stopped at any time, so that the goods position is locked. Guarantee unmanned aerial vehicle flight safety promptly like this, promoted crew's work efficiency simultaneously in a large number.
The structure of the slide rail is shown in fig. 2. The slide rail includes a plurality of rows of roller groups, and preferably two rows are arranged in this application, and every row of roller group includes a square mechanism support 2 and locates a plurality of driving roller 4 on the mechanism support 2, and driving roller 4 mutual parallel arrangement just is perpendicular to the long limit of square mechanism support 2. Two ends of the transmission roller 4 are fixedly connected with the frame of the mechanism bracket 2 through a roller fixing mechanism 5. The outer frame of the mechanism support 2 is provided with a plurality of motors 11, and each motor 11 is connected with two adjacent transmission rollers 4 and used for driving the transmission rollers 4 to rotate. It should be noted that the number of the transmission rollers driven by each motor may be other, and in the case that the power of the motor is sufficient, one motor may also drive one roller set. The driving rollers driven by each motor adopt a chain transmission mechanism based on gears, and the mechanism comprises gears 10 arranged at the ends of the driving rollers and a transmission chain between the gears. A plurality of slide rail fixing mechanisms 9 are arranged below the mechanism support 2, and the slide rails are fixedly connected with the machine body bottom plate through the slide rail fixing mechanisms 9 to play a role in fixing the slide rails.
The inner frame of the mechanism support 2 is provided with a limiting moving mechanism, and the limiting moving mechanism comprises a limiting shaft 6, and a front limiting part 1 and a rear limiting part 7 which are respectively arranged at two ends of the limiting shaft 6. The setting direction of the limiting shaft 6 is consistent with the length direction of the mechanism bracket 2. The limiting shaft is arranged below the inner frame of the mechanism support 2 and is fixedly connected with the mechanism support 2. The front limiting piece 1 and the rear limiting piece 7 are long-strip-shaped and can rotate under the driving of a motor to realize the conversion between a horizontal position and a vertical position and the horizontal movement along the limiting shaft 6. The limiting shaft 6 adopts an L-shaped linear motor, and the two ends of the limiting shaft can be stretched and retracted after being electrified so as to drive the front limiting piece and the rear limiting piece which are arranged at the two ends of the limiting shaft to move, so that the position relation between the front limiting piece and the rear limiting piece and the container is controlled. The rotating mechanism 8 is internally provided with a motor, and after the motor is electrified, the positions of the front limiting piece 1 and the rear limiting piece 7 can be driven to rotate to fix the container. When the front limiting piece 1 and the rear limiting piece 7 rotate to the vertical position, the end parts of the front limiting piece and the rear limiting piece are higher than the upper surface of the transmission roller 4.
The transmission roller 4 is provided with a cargo box mounting rack and a cargo box, and the cargo box mounting rack is arranged below the cargo box and is fixedly connected with the lower surface of the cargo box. The cargo box mounting frame is in contact connection with the transmission roller 4 under the action of gravity. The outer edge of the slide rail is provided with a plurality of limiting guide wheels 3 for limiting the moving area of the container, ensuring that the container is always positioned on the slide rail and cannot slide outside the slide rail area due to accidents. On specific two preferential mechanism's supports of this application, the specific setting position of spacing leading wheel 3 is on the both ends frame and the outside frame of mechanism's support. The limiting guide wheels 3 can limit the movement of the container, and two sides of the container lean against the limiting guide wheels 3 in the moving process, so that the movement of the container can be guided; in addition, the wheels positioned at the top ends of the limiting guide wheels can rotate to play a role in reducing resistance.
The driving roller 4 rotates to drive the container mounting rack and the container placed above the driving roller to move so as to adjust the positions of the container mounting rack and the container. The position of the container on the roller is fixed in a front-back limiting mode, when the position needs to be adjusted, the front limiting piece and the rear limiting piece rotate to the horizontal position, the container can move back and forth on the slide rail, after the position is adjusted in place, the front limiting piece and the rear limiting piece move to two sides of the container under the driving of the motor and then rotate to the vertical position, the container is clamped on the two sides to limit the container, and the position of the container on the slide rail is guaranteed to be fixed. And the limiting guide wheels are arranged around the slide rails to ensure that the container cannot exceed the boundary in the moving process. The mechanism support 2's below is equipped with a plurality of high accuracy sensors, and the high accuracy sensor is used for detecting the position and the weight of packing box and uploads position and weight information to unmanned aerial vehicle flight control procedure, supplies to fly control procedure to confirm packing box position adjustment scheme and preceding, the removal scheme of back spacing piece to its position and weight information and unmanned aerial vehicle's focus to control the focus automatic control device of this application and adjust.
The length of the sliding rail can be adjusted according to the type of the unmanned aerial vehicle and the space in the cabin, and the sliding rail has the characteristics of large adjustable gravity center range and high adjustment precision; no extra balance weight is needed in the cargo compartment, and the gravity center can be adjusted only by depending on the cargo carrying box and the slide rail, so that the load of the airplane can be reduced to the maximum extent; an automatic braking system is installed in the device, the automatic braking system mainly comprises a front limiting piece 1, a limiting shaft 6, a rear limiting piece 7 and a rotating mechanism 8, after a container moves between the front limiting piece 1 and the rear limiting piece 7, the limiting pieces rotate to vertical positions, the front and rear limits of the container are determined by the system according to the measured gravity center, and the front limiting piece 1 and the rear limiting piece 7 respectively move to the front and rear limiting positions to limit the adjusting range of the container.
The above provides an automatic center-of-gravity control device and a method thereof according to embodiments of the present application, which are described in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (6)
1. The automatic gravity center control device is characterized by comprising a slide rail and a container arranged on the slide rail;
the sliding rail is fixedly arranged in the engine room;
the container can move and be locked in a range set by the slide rails, so that the container is always positioned in an envelope line of the center of gravity of the airplane;
the sliding rail comprises a plurality of roller groups; the roller group comprises a mechanism bracket and a plurality of transmission rollers arranged side by side on the mechanism bracket; the container is displaced by means of rolling of the transmission roller;
a limiting moving mechanism is arranged below a non-outer side frame of the mechanism bracket and used for locking the container after the container is moved to a proper position;
the outer edge of the slide rail is provided with a plurality of limiting guide wheels for limiting the moving range of the container;
the limiting moving mechanism comprises a limiting shaft, a front limiting piece and a rear limiting piece, wherein the front limiting piece and the rear limiting piece are respectively arranged at two ends of the limiting shaft;
the arrangement direction of the limiting shaft is consistent with the length direction of the mechanism support, and two ends of the limiting shaft can stretch under the action of driving force and are used for adjusting the positions of the front limiting piece and the rear limiting piece; the front limiting piece and the rear limiting piece can rotate under the driving of power to realize the conversion between the horizontal position and the vertical position; when the front limiting piece and the rear limiting piece are in vertical positions, the top parts of the front limiting piece and the rear limiting piece are higher than the upper surface of the transmission roller;
the transmission roller is driven by a motor to rotate and stop; each motor drives a plurality of transmission rollers; a gear is arranged at the end part of the transmission roller; the gears of the transmission rollers driven by the same motor are connected through a transmission chain.
2. The automatic center-of-gravity control device according to claim 1, wherein a slide rail fixing mechanism is provided below a frame of the mechanism support, and the slide rail fixing mechanism is fixedly connected with the bottom in the cabin.
3. The automatic center of gravity control device according to claim 1, wherein the cargo box is fixedly disposed on a cargo box mounting bracket, and the cargo box mounting bracket is in contact connection with the slide rails.
4. The automatic center-of-gravity control device according to claim 1, wherein a plurality of weight sensors and position sensors are arranged below the slide rail, and both the weight sensors and the position sensors are connected with unmanned aerial vehicle flight control equipment.
5. The automatic center-of-gravity control device according to claim 4, wherein the transmission roller and the limiting and moving mechanism are both connected with the unmanned aerial vehicle flight control equipment, and the unmanned aerial vehicle flight control equipment controls the unmanned aerial vehicle flight control equipment to perform corresponding actions.
6. An automatic center-of-gravity control method, characterized in that the control method is applied to the automatic center-of-gravity control apparatus according to any one of claims 1 to 5; the unmanned aerial vehicle flies the accuse equipment and calculates the adjustment scheme of packing box according to the gross weight of packing box, total moment and unmanned aerial vehicle focus position, adjusts the packing box position according to adjustment scheme control driving pulley and spacing moving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911158296.9A CN110937105B (en) | 2019-11-22 | 2019-11-22 | Automatic gravity center control device and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911158296.9A CN110937105B (en) | 2019-11-22 | 2019-11-22 | Automatic gravity center control device and method thereof |
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| CN110937105A CN110937105A (en) | 2020-03-31 |
| CN110937105B true CN110937105B (en) | 2021-10-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113570306B (en) * | 2021-07-21 | 2023-11-28 | 天之成科技(上海)有限公司 | Wisdom logistics system |
| CN113830435B (en) * | 2021-10-19 | 2022-10-11 | 山东交通学院 | Transport container suitable for unmanned aerial vehicle and use method thereof |
| CN117227974B (en) * | 2023-11-15 | 2024-01-23 | 北京瀚科智翔科技发展有限公司 | Cargo aircraft with center of gravity adjusting device and center of gravity adjusting method |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0006420D0 (en) * | 2000-03-16 | 2000-12-20 | British Aerospace | Flight control system for an aircraft |
| CN201457182U (en) * | 2009-04-03 | 2010-05-12 | 马作祥 | Automotive container easy to be loaded and unloaded |
| CN103979106B (en) * | 2014-04-29 | 2016-07-06 | 浙江大学 | The rotary wind type unmanned plane of a kind of automatic adjustment center of gravity and method of adjustment |
| CN205525016U (en) * | 2016-03-04 | 2016-08-31 | 沈阳上博智拓科技有限公司 | Centrobaric adjusting device of unmanned aerial vehicle |
| CN105858099B (en) * | 2016-04-26 | 2017-12-29 | 宁波远景汽车零部件有限公司 | Material pipeline |
| CN106515879B (en) * | 2016-11-11 | 2019-03-12 | 重庆理工大学 | A kind of automobile-used loading gravity center adjusting mechanism |
| CN106828886A (en) * | 2017-01-16 | 2017-06-13 | 北京猎鹰无人机科技有限公司 | A kind of aircraft center of gravity dynamically balancing device |
| CN208174128U (en) * | 2017-10-27 | 2018-11-30 | 广东电网有限责任公司揭阳供电局 | Adjust automatically center of gravity route foreign body eliminating apparatus |
| CN208097391U (en) * | 2018-02-07 | 2018-11-16 | 倪高健 | A kind of model plane landing gravity balance device |
| CN108528677B (en) * | 2018-04-10 | 2021-09-24 | 河南省豫石地质勘查技术有限公司 | Gravity center self-adjusting unmanned aerial vehicle |
| CN109911206A (en) * | 2019-03-20 | 2019-06-21 | 李梅香 | A kind of loading unmanned plane with gravitational equilibrium |
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