CN112498673A - Actuating mechanism and unmanned aerial vehicle - Google Patents

Actuating mechanism and unmanned aerial vehicle Download PDF

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Publication number
CN112498673A
CN112498673A CN202011424840.2A CN202011424840A CN112498673A CN 112498673 A CN112498673 A CN 112498673A CN 202011424840 A CN202011424840 A CN 202011424840A CN 112498673 A CN112498673 A CN 112498673A
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CN
China
Prior art keywords
motor
ring
assembly
movable assembly
unmanned aerial
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Granted
Application number
CN202011424840.2A
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Chinese (zh)
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CN112498673B (en
Inventor
王爱良
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Goertek Techology Co Ltd
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Goertek Techology Co Ltd
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Priority to CN202011424840.2A priority Critical patent/CN112498673B/en
Publication of CN112498673A publication Critical patent/CN112498673A/en
Priority to PCT/CN2021/101929 priority patent/WO2022121279A1/en
Application granted granted Critical
Publication of CN112498673B publication Critical patent/CN112498673B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/40—Arrangements for mounting power plants in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

The invention discloses a driving mechanism and an unmanned aerial vehicle, wherein the driving mechanism comprises: coupling assembling, movable assembly, ring and screw. The connecting assembly is used for connecting an unmanned aerial vehicle body, the movable assembly is rotatably connected with the connecting assembly, a first motor and a second motor are arranged on the movable assembly, and the first motor and the second motor are arranged at intervals; the circular ring is movably connected with the movable assembly and is in transmission connection with the first motor; the propeller is connected with the second motor; the end, far away from the connecting assembly, of the circular ring is defined to be a first far end, the end, far away from the connecting assembly, of the propeller is defined to be a second far end, and the distance from the first far end to the connecting assembly is larger than the distance from the second far end to the connecting assembly. The driving mechanism can realize the rotation of the propeller or the rotation of the driving ring, and realize the flight of the unmanned aerial vehicle or the movement of the unmanned aerial vehicle on the land.

Description

Actuating mechanism and unmanned aerial vehicle
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a driving mechanism and an unmanned aerial vehicle applying the driving mechanism.
Background
Along with the development progress of the microelectronic technology and the development of the unmanned aerial vehicle technology, leisure and sports unmanned aerial vehicle products are continuously integrated into the daily life of people and accepted by consumers in general; wherein, the unmanned aerial vehicle kind is including the unmanned aerial vehicle of the flight type and the unmanned aerial vehicle of land walking type etc.. The integration level of the existing unmanned aerial vehicle is too high, the replacement of parts is difficult to realize, and when a user is in a complex use environment, the user needs to prepare two types of unmanned aerial vehicles to realize aerial and land operation.
Disclosure of Invention
The invention mainly aims to provide a driving mechanism and aims to improve the universality of an unmanned aerial vehicle.
To achieve the above object, the present invention provides a drive mechanism comprising:
the connecting assembly is used for connecting the body of the unmanned aerial vehicle;
the movable assembly is rotatably connected with the connecting assembly, a first motor and a second motor are arranged on the movable assembly, and the first motor and the second motor are arranged at intervals;
the circular ring is movably connected with the movable assembly and is in transmission connection with the first motor; and
a propeller connected with the second motor;
the end, far away from the connecting assembly, of the circular ring is defined to be a first far end, the end, far away from the connecting assembly, of the propeller is defined to be a second far end, and the distance from the first far end to the connecting assembly is larger than the distance from the second far end to the connecting assembly.
In an embodiment of the present invention, the movable assembly is provided with a limiting space, and the circular ring part extends into the limiting space;
the inner wall surface of the circular ring is provided with a rack, and the first motor is meshed and connected with the rack through a gear.
In an embodiment of the present invention, two side surfaces of the circular ring are provided with annular grooves, and the annular grooves are arranged around an inner ring of the circular ring;
the movable assembly includes:
the cover plate is provided with the first motor; and
the connecting part is connected with the cover plate and encloses the cover plate to form the limiting space, the connecting part is rotatably connected with the connecting component, and the second motor is arranged on the connecting part;
the connecting part and the cover plate are both provided with a plurality of rollers, and the rollers are positioned in the limiting space and rotatably extend into the corresponding annular grooves;
in an embodiment of the present invention, the connection portion includes:
the steering support is rotatably connected with the connecting assembly and is provided with an accommodating groove;
the steering motor is arranged in the accommodating groove; and
the connecting support is connected with an output shaft of the steering motor, the cover plate is connected with the connecting support and encloses to form the limiting space, and the second motor is arranged on the connecting support.
In an embodiment of the present invention, the steering bracket is provided with a plurality of guide holes communicating with the accommodating groove;
the movable assembly further comprises an annular connecting frame, a plurality of guide rods and a plurality of springs, the annular connecting frame is movably sleeved on an output shaft of the steering motor, one ends of the guide rods are connected with the annular connecting frame, the other ends of the guide rods penetrate through the guide holes respectively, the guide rods are arranged around the steering motor, and the springs are sleeved on the guide rods;
the connecting bracket is connected with an output shaft of the steering motor in a sliding manner.
In an embodiment of the invention, the movable assembly further includes a limit ring sleeved on the output shaft of the steering motor, and the limit ring is located on one side of the annular connecting frame facing the steering motor and is fixedly connected with the connecting bracket, so that the annular connecting frame is limited between the limit ring and the connecting bracket.
In an embodiment of the present invention, an arc-shaped groove is disposed at one end of the movable assembly;
coupling assembling includes the body of rod and locates the conversion motor of the body of rod, conversion motor at least part hold in the arc wall, the output shaft of conversion motor with movable assembly connects.
In an embodiment of the present invention, the second motor and the first motor are disposed at intervals along an extending direction of the connecting assembly, and the second motor is located at an end of the movable assembly away from the connecting assembly.
In an embodiment of the present invention, the second motor is disposed at a position coinciding with a central axis of the circular ring, the propeller is located at one side of the circular ring, and a projection of the propeller is located in the circular ring.
The invention further provides the unmanned aerial vehicle which comprises a machine body and a plurality of driving mechanisms.
According to the technical scheme, the connecting assembly and the movable assembly are rotatably connected, so that the movable assembly can drive the circular ring and the propeller to rotate around the connecting assembly, switching between a flight mode and a land walking mode of the unmanned aerial vehicle is achieved, and the universality of the unmanned aerial vehicle is improved. The movable assembly is provided with a first motor, and the first motor is in transmission connection with a rack of the circular ring through a gear or a belt, so that the first motor can drive the circular ring to rotate, and the unmanned aerial vehicle can walk on the land; simultaneously, set up second motor interval first motor on movable assembly, the second motor is connected with the screw, and the second motor drives the screw and rotates, realizes unmanned aerial vehicle's flight. The driving mechanism improves the universality of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a driving mechanism according to the present invention;
FIG. 3 is a schematic cross-sectional view of the driving mechanism of FIG. 2;
FIG. 4 is a schematic view of the structure at A in FIG. 3;
FIG. 5 is a schematic view of an assembled structure of the drive mechanism of FIG. 2;
FIG. 6 is a partial schematic view of a joint according to the present invention;
FIG. 7 is a schematic view showing an assembly structure of the joint part of the present invention;
FIG. 8 is an assembled view of the joint of FIG. 7 from another perspective;
fig. 9 is a schematic structural diagram of another embodiment of the drone of the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name (R)
1 Connecting assembly 25 Annular connecting frame
11 Rod body 26 Guide rod
12 Conversion motor 27 Spring
2 Movable assembly 28 Spacing ring
21 Connecting part 3 The first motor
211 Steering support 31 Gear wheel
2111 Containing groove 32 Bearing assembly
2112 Arc-shaped groove 4 Second motor
212 Guide hole 5 Ring
213 Steering motor 51 Rack bar
214 Connecting support 52 Annular groove
22 Cover plate 6 Propeller
23 Spacing space 7 Machine body
24 Roller
The implementation, functional features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a driving mechanism which is applied to an unmanned aerial vehicle, so that the unmanned aerial vehicle can realize air flight and land walking. Specifically referring to fig. 1, a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present invention is shown; FIG. 2 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention; referring to fig. 3, a schematic cross-sectional structure of the driving mechanism in fig. 2 is shown; referring to fig. 4, a schematic diagram of the structure at a in fig. 3 is shown; referring to FIG. 5, a schematic view of an assembled structure of the driving mechanism of FIG. 2 is shown; referring to fig. 6, a partial schematic view of a connection portion of the present invention is shown; FIG. 7 is a schematic view of the assembly structure of the connecting portion of the present invention; FIG. 8 is a schematic view of an assembly structure of the connecting portion of FIG. 7 from another perspective; fig. 9 is a schematic structural diagram of another embodiment of the drone of the present invention.
In the embodiment of the present invention, as shown in fig. 1 in combination with fig. 2, 3, 4 and 5, the driving mechanism includes: the connecting component 1, the movable component 2, the circular ring 5 and the propeller 6. The connecting assembly 1 is used for connecting an unmanned aerial vehicle body 7; the movable assembly 2 is rotatably connected with the connecting assembly 1, a first motor 3 and a second motor 4 are arranged on the movable assembly 2, and the first motor 3 and the second motor 4 are arranged at intervals; the circular ring 5 is movably connected with the movable component 2, and the circular ring 5 is in transmission connection with the first motor 3; the propeller 6 is connected to the second motor 4. Wherein, the end of the ring 5 far away from the connecting component 1 is defined as a first far end, the end of the propeller 6 far away from the connecting component 1 is defined as a second far end, and the distance from the first far end to the connecting component 1 is greater than the distance from the second far end to the connecting component 1.
In the application of the embodiment, the first motor 3 and the second motor 4 are arranged at intervals, the first motor 3 drives the circular ring 5 to rotate, and the second motor 4 drives the propeller 6 to rotate; that is, the first motor 3 and the second motor 4 function as two driving devices, respectively, to effectively increase the output of kinetic energy while avoiding interference between the ring 5 and the propeller 6.
In this embodiment, adopt coupling assembling 1 and movable component 2 to rotate the structure of connecting for movable component 2 can drive ring 5 and screw 6 and rotate around coupling assembling 1, in order to realize the switching of unmanned aerial vehicle flight mode and land walking mode, improves unmanned aerial vehicle's commonality. Wherein, the movable assembly 2 is provided with a first motor 3, the first motor 3 is in transmission connection with the rack 51 of the circular ring 5 through a gear 31 or a belt, so that the first motor 3 can drive the circular ring 5 to rotate, and the land walking of the unmanned aerial vehicle is realized, as shown in fig. 9, the state of the unmanned aerial vehicle; simultaneously, set up second motor 4 interval first motor 3 on movable component 2, second motor 4 is connected with screw 6, and second motor 4 drives screw 6 and rotates, realizes unmanned aerial vehicle's flight, like the state of the unmanned aerial vehicle that fig. 1 shows. On the other hand, adopt first distal end to coupling assembling 1's distance to be greater than second distal end to coupling assembling 1's distance, can avoid the heliciform to collide the foreign matter as anti-collision structure by ring 5, improve unmanned aerial vehicle's security. The driving mechanism improves the universality of the unmanned aerial vehicle.
In an alternative embodiment of the present invention, as shown in fig. 3, a distance from the first distal end to the connecting component 1 is defined as D, and a distance from the second distal end to the connecting component 1 is defined as L, where L < D.
In an alternative embodiment of the invention, the connection assembly 1 and the mobile assembly 2 can be rotatably connected in a plurality of ways. For example:
the first condition, be pivot complex structure between coupling assembling 1 and the movable part 2, when the mode that needs switch unmanned aerial vehicle was flight mode or land walking mode, can artificially stir coupling assembling 1 or movable part 2 to realize rotating coupling assembling 1 and movable part 2.
In the second case, the connection between the connecting member 1 and the movable member 2 may be by a motor. That is, one of the connecting assembly 1 and the movable assembly 2 may be provided with a conversion motor 12, and the other of the connecting assembly 1 and the movable assembly 2 is connected with an output shaft of the conversion motor 12 to realize the rotary connection between the connecting assembly 1 and the movable assembly 2; the user can control the motor to work in an electric control mode so as to drive the connecting component 1 and the movable component 2 to rotate relatively. The switching motor 12 is a servo motor.
In an alternative embodiment of the invention, the ring 5 is movably connected with the movable assembly 2; it will be understood that the movable assembly 2 is provided with a through hole or channel for limiting the radial displacement of the ring 5, so that the ring 5 can only rotate axially. That is to say, the part of ring 5 stretches into in through-hole or the channel, and ring 5 can rotate for movable component 2 under the spacing cooperation of through-hole or channel and connect for ring 5 is as unmanned aerial vehicle's wheel.
In one embodiment of the invention, the movable assembly 2 is provided with a limiting space 23, and the circular ring 5 partially extends into the limiting space 23; the inner wall surface of the circular ring 5 is provided with a rack 51, and the first motor 3 is meshed with the rack 51 through the gear 31 to improve the stability of driving the circular ring 5 to rotate. That is to say, the gear 31 and the inner wall surface of the limiting space 23 can be used for limiting the circular ring 5, and the output shaft of the first motor 3 is used for extending to the limiting space 23 and connecting with the gear 31, after the first motor 3 works, the gear 31 rotates, and the gear 31 is engaged with the rack 51, so that the circular ring 5 rotates.
In an alternative embodiment of the present invention, the limiting space 23 may be configured as an arc-shaped surface corresponding to the circumference of the ring 5.
In an embodiment of the present invention, as shown in fig. 4 and 5, the annular groove 52 is disposed on both sides of the ring 5, and the annular groove 52 is disposed around the inner ring of the ring 5. It will be appreciated that the portion of the ring 5 adjacent the central space is the inner ring of the ring 5. That is, the rack 51 is provided on the inner wall surface of the inner ring.
The movable assembly 2 comprises a cover plate 22 and a connecting part 21, and the first motor 3 is arranged on the cover plate 22; the connecting part 21 is connected with the cover plate 22 and encloses to form a limiting space 23, the connecting part 21 is rotatably connected with the connecting component 1, and the second motor 4 is arranged on the connecting part 21; the connecting portion 21 and the cover plate 22 are each provided with a plurality of rollers 24, and the plurality of rollers 24 are located in the stopper space 23 and rotatably extend into the corresponding annular grooves 52. That is, both side surfaces of the ring 5 are connected to the connecting portion 21 and the cover plate 22 by a plurality of rollers, respectively.
In the embodiment, a plurality of rollers 24 are arranged on the connecting portion 21, a plurality of rollers 24 are arranged on the cover body, two side surfaces of the ring 5 are a first side surface and a second side surface, the plurality of rollers 24 on the connecting portion 21 are rotatably arranged at the annular groove 52 of the first side surface, and the plurality of rollers 24 on the cover body are rotatably arranged at the annular groove 52 of the second side surface, so that the two side surfaces of the ring 5 are uniformly stressed.
In an alternative embodiment of the present invention, the rollers 24 on both sides of the ring 5 are symmetrically arranged with the reference plane as a symmetry plane, so that the two sides of the ring 5 are uniformly stressed.
In an alternative embodiment of the invention, the rollers 24 are of a roller axle construction. That is, the roller 24 includes a positioning post and a sleeve portion rotatably provided on the outer periphery of the positioning post. Among these, taking the roller 24 provided on the cover plate 22 as an example: one end of the positioning column is connected with the cover plate 22, one end of the positioning column extending into the limiting space 23 is rotatably connected with the sleeve portion, and the sleeve portion is accommodated in the annular groove 52.
In an alternative embodiment of the present invention, the plurality of rollers 24 are spaced apart, and the plurality of rollers 24 are spaced apart from the axis of the ring 5 by the same distance.
In an alternative embodiment of the present invention, the first motor 3 is disposed on the cover plate 22, and the output shaft of the first motor 3 penetrates through the axis of the gear 31 and is connected to the connecting portion 21 through a bearing 32; second motor 4 locates connecting portion 21 to set up with bearing 32 interval, so that the output shaft accessible bearing 32 of first motor 3 rotates and locates connecting portion 21, makes the output shaft of first motor 3 can stably rotate, improves first motor 3 drive gear 31 and drives the pivoted stability of ring 5.
In an embodiment of the present invention, as shown in fig. 6, 7 and 8, the connecting portion 21 includes: a steering bracket 211, a steering motor 213, and a connecting bracket 214; the steering bracket 211 is rotatably connected with the connecting assembly 1, and the steering bracket 211 is provided with a containing groove 2111; the steering motor 213 is disposed in the accommodating groove 2111; the connecting bracket 214 is connected with an output shaft of the steering motor 213, the cover plate 22 is connected with the connecting bracket 214 and encloses to form a limiting space 23, and the second motor 4 is arranged on the connecting bracket 214.
In this embodiment, the adoption is installed on turning support 211 and is turned to motor 213, turns to the output shaft of motor 213 and is connected with linking bridge 214, turns to motor 213 and can drive linking bridge 214 and set up ring 5, screw 6 and the apron 22 synchronous rotation on linking bridge 214 to unmanned aerial vehicle can realize unmanned aerial vehicle's turn under land walking mode.
In an alternative embodiment of the present invention, the steering bracket 211 may be a rod-shaped structure or a plate-shaped structure.
In an alternative embodiment of the present invention, the connecting bracket 214 may be a rod-like structure or a plate-like structure.
In an embodiment of the present invention, as shown in fig. 6, 7 and 8, the turning bracket 211 is provided with a plurality of guiding holes 212 communicating with the accommodating groove 2111; it is understood that the extending direction of the guide hole 212 is parallel to the extending direction of the steering bracket 211. On the other hand, the extending direction of the output shaft of the steering motor 213 is parallel to the extending direction of the guide hole 212.
In an embodiment of the present invention, as shown in fig. 6, 7 and 8, the movable assembly 2 further includes an annular connecting frame 25, a plurality of guide rods 26 and a plurality of springs 27, the annular connecting frame 25 is movably sleeved on the output shaft of the steering motor 213, one end of each of the plurality of guide rods 26 is connected to the annular connecting frame 25, the other end of each of the plurality of guide rods 26 is respectively inserted into the plurality of guide holes 212, the plurality of guide rods 26 are disposed around the steering motor 213, the plurality of springs 27 are sleeved on the plurality of guide rods 26, and the connecting bracket 214 is slidably connected to the output shaft of the steering motor 213. That is, one guide rod 26 is disposed corresponding to one guide hole 212.
In this embodiment, adopt and be provided with the buffer structure of a plurality of guide bars 26 and a plurality of spring 27 between steering bracket 211 and linking bridge 214, when unmanned aerial vehicle traveles to the plane of unevenness, certain effort is offset to accessible compression spring 27's mode, improves unmanned aerial vehicle job stabilization nature.
In the application of the embodiment, when the steering motor 213 rotates, the steering motor 213 drives the connecting bracket 214 to rotate, and the annular connecting bracket 25 is stationary relative to the steering bracket 211 because the annular connecting bracket 25 is rotatably sleeved on the output shaft of the steering motor 213. When unmanned aerial vehicle traveles to uneven plane for spring 27 on the guide bar 26 is in by the compressed state, or spring 27 is in the state of elastic potential energy release, with reduction unmanned aerial vehicle's jolting, improves unmanned aerial vehicle job stabilization nature.
In an alternative embodiment of the present invention, a limiting member is disposed at an end of the guide rod 26 penetrating through the guide hole 212, and the limiting member is fixedly connected to the guide rod 26. The limiting member may be a bolt or a metal ring.
In an alternative embodiment of the present invention, the connecting bracket 214 is slidably connected to the output shaft of the steering motor 213, it is understood that one of the connecting bracket 214 and the output shaft of the steering motor 213 is provided with a sliding slot, and the other of the connecting bracket 214 and the output shaft of the steering motor 213 is slidably provided at the sliding slot, so as to cooperate with the guide rod 26 and the spring 27 to achieve the buffering.
In an alternative embodiment of the present invention, a limit structure may be provided between the connection bracket 214 and the output shaft of the steering motor 213. For example: the connecting bracket 214 is provided with a positioning shaft, the output shaft of the motor is provided with a sliding chute, a first limit table can be arranged at the notch of the sliding chute, and the periphery of the positioning shaft is provided with a second limit table; under the mating reaction based on guide bar 26 and spring 27, unmanned aerial vehicle reciprocating motion in vertical direction, spacing cooperation is realized to spacing platform of second and first spacing platform, avoids the location axle roll-off in the spout.
In an alternative embodiment of the invention, the cross-sectional profile of the chute is polygonal, for example: trilateral, pentagonal, hexagonal, etc.
In an alternative embodiment of the present invention, the cross-sectional profile of the positioning shaft is a polygon, such as: trilateral, pentagonal, hexagonal, etc.
In an alternative embodiment of the present invention, as shown in fig. 8, the bottom wall of the accommodating groove 2111 may be provided with a motor fixing groove, the steering motor 213 is fixed in the motor fixing groove, and the plurality of guide holes 212 are disposed around the motor fixing groove.
In an embodiment of the present invention, as shown in fig. 7 and 8, the movable assembly 2 further includes a limiting ring 28 sleeved on the output shaft of the steering motor 213, the limiting ring 28 is located on a side of the annular connecting frame 25 facing the steering motor 213 and is fixedly connected to the connecting bracket 214, so that the annular connecting frame 25 is limited between the limiting ring 28 and the connecting bracket 214.
In this embodiment, the limiting ring 28 is fixedly connected to the connecting bracket 214, so that the annular connecting frame 25 is limited between the limiting ring 28 and the connecting bracket 214, the annular connecting frame 25 is prevented from shaking up and down, and the structural stability is improved.
In an alternative embodiment of the present invention, as shown in fig. 7 and 8, a through hole is provided at a portion of the retainer ring 28 adjacent to the output shaft of the steering motor 213, and the fixing member is fixedly connected to the connecting bracket 214 through the through hole. Wherein, the annular connecting frame 25 and the fixing member are arranged at an interval, and a gap exists between the annular connecting frame 25 and the limiting ring 28 and between the annular connecting frame 25 and the connecting bracket 214, so as to ensure that the annular connecting frame 25 can rotate relative to the output shaft of the steering motor 213.
In an embodiment of the present invention, as shown in fig. 7, one end of the movable assembly 2 is provided with an arc-shaped slot 2112; the connecting assembly 1 comprises a rod body 11 and a conversion motor 12 arranged on the rod body 11, wherein at least part of the conversion motor 12 is accommodated in the arc-shaped groove 2112, and an output shaft of the conversion motor 12 is connected with the movable assembly 2. It can be understood that an arc-shaped slot 2112 is arranged at one end of the steering bracket 211 facing away from the connecting bracket 214, the steering bracket 211 further extends partially to form a connecting block protruding out of the arc-shaped slot 2112, the conversion motor 12 can be accommodated in the arc-shaped slot 2112, and the output shaft of the steering motor 213 is connected with the connecting block.
In this embodiment, the steering motor 213 is disposed at the arc-shaped slot 2112, and when the steering motor 213 works, the steering motor 213 can rotate relative to the slot wall of the arc-shaped slot 2112, so as to achieve smooth transition between the movable assembly 2 and the connecting assembly 1, and improve the stability of the rotation of the movable assembly 2 relative to the connecting assembly 1.
In an alternative embodiment of the invention, the bottom wall of the arcuate slot 2112 is arcuate.
In an embodiment of the present invention, the second motor 4 and the first motor 3 are disposed at intervals along the extending direction of the connecting assembly 1, and the second motor 4 is located at one end of the movable assembly 2 away from the connecting assembly 1, so that the propeller 6 is relatively away from the body 7 of the unmanned aerial vehicle, thereby improving the flight stability.
In an alternative embodiment of the invention, the profile of the connecting assembly 1 is an elongated structure.
In an embodiment of the present invention, the second motor 4 is disposed at a position coinciding with a central axis of the circular ring 5, the propeller 6 is disposed at a side of the circular ring 5, and a projection of the propeller 6 is disposed within the circular ring 5. That is, the position of the second motor 4 on the connecting bracket 214 is located right at the central axis of the ring 5; that is, the distance from the second motor 4 to the first motor 3 may be the inner ring radius of the circular ring 5.
In this embodiment, the projection of screw 6 is located ring 5 to avoid screw 6 protrusion in ring 5's periphery, improve the security of unmanned aerial vehicle work.
The invention further provides an unmanned aerial vehicle, which is shown in fig. 1 and fig. 9, and comprises a body 7 and a plurality of driving mechanisms, wherein the specific structures of the driving mechanisms refer to the embodiments. Wherein, the connecting component 1 of each driving mechanism is connected with the periphery of the machine body 7.
In an embodiment of the present invention, the connecting members 1 are in the same plane.
In an embodiment of the present invention, the drone includes a body 7 and four driving mechanisms; that is, the four driving mechanisms are symmetrically provided on both sides of the reference plane with the central symmetrical plane of the body 7 as the reference plane.
In an embodiment of the present invention, the body 7 may be rectangular, circular or irregular. Wherein, the irregular shape can be a combination of a circle, a rectangle or a column.
In an embodiment of the present invention, the body 7 can be electrically connected to the first motor 3, the second motor 4 and the steering motor 213 through wires.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The utility model provides an actuating mechanism, is applied to unmanned aerial vehicle, its characterized in that, actuating mechanism includes:
the connecting assembly is used for connecting the body of the unmanned aerial vehicle;
the movable assembly is rotatably connected with the connecting assembly, a first motor and a second motor are arranged on the movable assembly, and the first motor and the second motor are arranged at intervals;
the circular ring is movably connected with the movable assembly and is in transmission connection with the first motor; and
a propeller connected with the second motor;
the end, far away from the connecting assembly, of the circular ring is defined to be a first far end, the end, far away from the connecting assembly, of the propeller is defined to be a second far end, and the distance from the first far end to the connecting assembly is larger than the distance from the second far end to the connecting assembly.
2. The drive mechanism as recited in claim 1, wherein said movable assembly is provided with a spacing space into which said annular ring portion extends;
the inner wall surface of the circular ring is provided with a rack, and the first motor is meshed and connected with the rack through a gear.
3. The drive mechanism as recited in claim 2, wherein both sides of the ring are provided with annular grooves disposed around an inner ring of the ring;
the movable assembly includes:
the cover plate is provided with the first motor; and
the connecting part is connected with the cover plate and encloses the cover plate to form the limiting space, the connecting part is rotatably connected with the connecting component, and the second motor is arranged on the connecting part;
the connecting part and the cover plate are provided with a plurality of rollers, and the rollers are located in the limiting spaces and rotatably extend into the corresponding annular grooves.
4. The drive mechanism as recited in claim 3, wherein the connecting portion comprises:
the steering support is rotatably connected with the connecting assembly and is provided with an accommodating groove;
the steering motor is arranged in the accommodating groove; and
the connecting support is connected with an output shaft of the steering motor, the cover plate is connected with the connecting support and encloses to form the limiting space, and the second motor is arranged on the connecting support.
5. The drive mechanism as claimed in claim 4, wherein said steering bracket is provided with a plurality of guide holes communicating with said receiving groove;
the movable assembly further comprises an annular connecting frame, a plurality of guide rods and a plurality of springs, the annular connecting frame is movably sleeved on an output shaft of the steering motor, one ends of the guide rods are connected with the annular connecting frame, the other ends of the guide rods penetrate through the guide holes respectively, the guide rods are arranged around the steering motor, and the springs are sleeved on the guide rods;
the connecting bracket is connected with an output shaft of the steering motor in a sliding manner.
6. The drive mechanism as claimed in claim 5, wherein the movable assembly further comprises a limiting ring sleeved on the output shaft of the steering motor, the limiting ring is located on a side of the annular connecting frame facing the steering motor and is fixedly connected with the connecting bracket, so that the annular connecting frame is limited between the limiting ring and the connecting bracket.
7. The drive mechanism as claimed in any one of claims 1 to 6, wherein one end of the movable assembly is provided with an arcuate slot;
coupling assembling includes the body of rod and locates the conversion motor of the body of rod, conversion motor at least part hold in the arc wall, the output shaft of conversion motor with movable assembly connects.
8. The drive mechanism as claimed in any one of claims 1 to 6, wherein the second motor and the first motor are spaced apart in the direction of extension of the linkage assembly, the second motor being located at an end of the movable assembly remote from the linkage assembly.
9. The drive mechanism as claimed in any one of claims 1 to 6, wherein the second motor is arranged in a position coinciding with a central axis of the ring, the propeller being located to one side of the ring, a projection of the propeller being located within the ring.
10. A drone, comprising a body and a plurality of drive mechanisms according to any one of claims 1 to 9.
CN202011424840.2A 2020-12-08 2020-12-08 Actuating mechanism and unmanned aerial vehicle Active CN112498673B (en)

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