CN112829927A - Control method and device for oil-driven unmanned aerial vehicle - Google Patents
Control method and device for oil-driven unmanned aerial vehicle Download PDFInfo
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- CN112829927A CN112829927A CN202011614489.3A CN202011614489A CN112829927A CN 112829927 A CN112829927 A CN 112829927A CN 202011614489 A CN202011614489 A CN 202011614489A CN 112829927 A CN112829927 A CN 112829927A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000013016 damping Methods 0.000 claims abstract description 105
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 230000035939 shock Effects 0.000 claims description 11
- 239000010720 hydraulic oil Substances 0.000 abstract description 15
- 238000000926 separation method Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 30
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006837 decompression Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a control method and a device of a hydraulic unmanned aerial vehicle, when the unmanned aerial vehicle turns and decelerates, the carrying box applies lateral pressure to a rocker arm to drive the rocker arm and a machine body to generate lateral displacement, the joint bearing drives the rocker arm to move to swing axially and circumferentially, horizontal thrust is applied to a plug head to drive a damping spring to absorb the pressure brought by the plug head, meanwhile, the plug head transmits pressure to a hydraulic cylinder to drive the hydraulic cylinder to extrude the internal hydraulic oil towards the direction of a piston rod to reduce the impact, the hydraulic cylinder on the opposite side of the machine body sucks the hydraulic oil through a damping control valve to reduce the separation speed of the hydraulic cylinder and the piston rod, and further to inhibit the vibration rebounded by the damping spring after absorbing the pressure, so that the impact of the inertia of a load on the machine body can be reduced when the unmanned aerial vehicle steers and decelerates, and then make unmanned aerial vehicle keep steady flight.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and device for an oil-driven unmanned aerial vehicle.
Background
At present, with the rapid development of the internet technology, online shopping becomes a choice of more and more people, and along with the rapid development of express delivery business. The traditional express delivery mode has many problems which are difficult to solve, the bottleneck of the last kilometer of logistics delivery is a common problem faced by express enterprises, and in addition, delivery timeliness and terminal user experience are main problems faced by the express enterprises.
The discovery in the research of online shopping commodities, most parcels are light-weight small parcels, the small parcels are not heavy middle parcels, heavy large-size parcels are few, how to quickly and safely send the middle and small parcels to customers, and the satisfaction of vast customers is obtained.
After express delivery unmanned aerial vehicle was through rocking arm centre gripping parcel load, take off, the inertial motion of parcel all can be aroused in actions such as turn, scram, and then produce certain reaction force to express delivery unmanned aerial vehicle, make express delivery unmanned aerial vehicle be difficult to control balanced to flight is unstable, leads to express delivery unmanned aerial vehicle to collide with object on every side easily, causes the incident.
Disclosure of Invention
The invention aims to provide a control method and a control device for an oil-driven unmanned aerial vehicle, and aims to solve the technical problems that after a parcel load is clamped by a rocker arm, actions such as take-off, turning, sudden stop and the like of an express unmanned aerial vehicle in the prior art can cause inertial motion of the parcel, further a certain reaction force is generated on the express unmanned aerial vehicle, the express unmanned aerial vehicle is difficult to control and balance, the flight is unstable, the express unmanned aerial vehicle is easy to collide with surrounding objects, and safety accidents are caused.
In order to achieve the purpose, the oil-driven unmanned aerial vehicle control device comprises a machine body, a rocker arm, a carrying box, a rocker arm damping device and a machine body damping device; the rocker arms are connected with the machine body in a sliding mode, the rocker arms are multiple in number and are respectively located on two sides of the machine body, the object carrying boxes are clamped with the rocker arms and located at the bottom end, far away from the machine body, of the rocker arms, the rocker arm damping devices are connected with the machine body in a sliding mode, fixedly connected with the rocker arms and located between the machine body and the rocker arms, and the machine body damping devices are connected with the machine body in a sliding mode, fixedly connected with the rocker arm damping devices and located at one end, far away from the rocker arms, of the machine body; the rocker arm shock absorption device comprises a damper and a shock absorption spring, wherein the damper is connected with the machine body in a sliding mode and is positioned at one end, far away from the rocker arm, of the machine body; the damping spring is abutted to the damper, fixedly connected with the rocker arm and located between the damper and the rocker arm.
The damper comprises a piston rod and a hydraulic cylinder, wherein the piston rod is fixedly connected with the machine body, is positioned in the machine body far away from the rocker arm and faces the direction of the rocker arm; the hydraulic cylinder is connected with the machine body in a sliding mode, connected with the piston rod in a sliding mode and abutted to the damping spring, and the hydraulic cylinder is located between the damping spring and the piston rod.
The damper further comprises a damping control valve, wherein the damping control valve is fixedly connected with the hydraulic cylinder, is positioned in the hydraulic cylinder close to the interior of the piston rod and faces the direction of the piston rod.
The rocker arm damping device further comprises an oil storage cylinder and a plug head, wherein the oil storage cylinder is connected with the hydraulic cylinder in a sliding mode, is abutted against the damping spring, and is arranged around the periphery of the hydraulic cylinder in a surrounding mode and faces the direction of the rocker arm; the chock plug with oil storage cylinder sliding connection, and with damping spring fixed connection, and with rocking arm fixed connection, the chock plug is located damping spring with between the rocking arm, and be located the pneumatic cylinder with between the oil storage cylinder.
The rocker arm damping device further comprises a joint bearing, wherein the joint bearing is rotatably connected with the plug head, fixedly connected with the rocker arm and positioned on one side of the plug head close to the rocker arm.
The machine body is provided with a sliding groove, and the sliding groove is positioned on the side surface of the machine body close to the rocker arm; the damping device of the engine body comprises a sliding block and a damping component, the sliding block is connected with the engine body in a sliding mode, the damping spring and the damper are connected with the rocker arm in a sliding mode and located in the engine body far away from the rocker arm, and the damping component is connected with the engine body in a sliding mode, elastically connected with the sliding block and located between the sliding block and the engine body.
The damping assembly comprises an expansion spring and an air cylinder, wherein the expansion spring is fixedly connected with the sliding block and is positioned on the surface of the sliding block, which is far away from the damper; the cylinder with the organism slides, and with expanding spring butt, and be located the organism with between the expanding spring.
The oil-driven unmanned aerial vehicle control device further comprises a recoil sprayer, wherein the recoil sprayer is fixedly connected with the carrying box and is positioned on the side wall of the carrying box close to the rocker arm and faces away from the carrying box.
The invention also comprises a control method of the oil-driven unmanned aerial vehicle, which comprises the following steps:
when the unmanned aerial vehicle turns during flying, the rocker arm receives the lateral thrust of the load and generates lateral displacement;
the oscillating bearing rotates to drive the rocker arm to carry out circumferential swing, and horizontal thrust is applied to the plug head;
the damping spring absorbs the thrust of the plug head, and meanwhile, the hydraulic cylinder abuts against the plug head to restrain the reverse resilience force of the damping spring after absorbing pressure;
the unmanned aerial vehicle flies stably.
According to the control method and the device for the oil-driven unmanned aerial vehicle, when the unmanned aerial vehicle turns and decelerates, the carrying box applies lateral pressure to the rocker arm to drive the rocker arm and the machine body to laterally displace, the joint bearing drives the rocker arm to axially and circumferentially swing, horizontal thrust is applied to the plug head to drive the damping spring to absorb the pressure brought by the plug head, meanwhile, the plug head transmits pressure to the hydraulic cylinder to drive the hydraulic cylinder to extrude the internal hydraulic oil towards the direction of the piston rod to reduce impact, the hydraulic cylinder on the opposite side of the machine body sucks the hydraulic oil through the damping control valve to reduce the separation speed of the hydraulic cylinder and the piston rod, and further inhibit the vibration of the damping spring after absorbing the pressure, so that the impact of the inertia of a load on the machine body can be reduced when the unmanned aerial vehicle turns and decelerates, and then make unmanned aerial vehicle keep steady flight.
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 drawings without creative efforts.
Fig. 1 is a schematic view of the unmanned aerial vehicle of the present invention flying a payload.
Fig. 2 is a schematic structural view of the rocker arm damping device of the present invention.
Fig. 3 is a schematic structural view of the body damper of the present invention.
Fig. 4 is a flowchart of the control method of the oil-driven unmanned aerial vehicle of the present invention.
In the figure: the damping device comprises a machine body 1, a rocker arm 2, a loading box 3, a rocker arm damping device 4, a machine body damping device 5, a recoil spray head 6, a sliding chute 11, a damper 41, a damping spring 42, an oil storage cylinder 43, a stopper 44, a joint bearing 45, a sliding block 51, a damping component 52, an unmanned aerial vehicle 100-control device, a piston rod 411, a hydraulic cylinder 412, a damping control valve 413, a telescopic spring 521 and a cylinder 522.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In a first example of the present embodiment:
referring to fig. 1 and 2, the present invention provides an oil-driven unmanned aerial vehicle control device 100, which includes a machine body 1, a rocker arm 2, a loading box 3, a rocker arm damping device 4 and a machine body damping device 5; the rocker arms 2 are connected with the machine body 1 in a sliding mode, the rocker arms 2 are multiple in number and are respectively located on two sides of the machine body 1, the loading boxes 3 are connected with the rocker arms 2 in a clamping mode and located at the bottom end, far away from the machine body 1, of the rocker arms 2, the rocker arm damping devices 4 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arms 2 and located between the machine body 1 and the rocker arms 2, and the machine body damping devices 5 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arm damping devices 4 and located at one end, far away from the rocker arms 2, of the machine body 1; the rocker arm shock absorption device 4 comprises a damper 41 and a shock absorption spring 42, wherein the damper 41 is connected with the machine body 1 in a sliding manner and is positioned at one end of the machine body 1 far away from the rocker arm 2; the damping spring 42 is abutted against the damper 41, is fixedly connected with the rocker arm 2, and is located between the damper 41 and the rocker arm 2.
Further, the damper 41 includes a piston rod 411 and a hydraulic cylinder 412, the piston rod 411 is fixedly connected to the machine body 1, and is located inside the machine body 1 away from the rocker arm 2 and faces the direction of the rocker arm 2; the hydraulic cylinder 412 is slidably connected to the machine body 1, slidably connected to the piston rod 411, and abutted against the damper spring 42, and the hydraulic cylinder 412 is located between the damper spring 42 and the piston rod 411.
Further, the damper 41 further includes a damping control valve 413, and the damping control valve 413 is fixedly connected to the hydraulic cylinder 412, and is located inside the hydraulic cylinder 412 close to the piston rod 411 and faces the piston rod 411.
Furthermore, the rocker arm damping device 4 further includes a reservoir 43 and a plug 44, wherein the reservoir 43 is slidably connected to the hydraulic cylinder 412, abuts against the damping spring 42, and is enclosed around the outer circumference of the hydraulic cylinder 412 in a direction toward the rocker arm 2; the plug 44 is slidably connected to the reserve tube 43, fixedly connected to the damping spring 42, and fixedly connected to the rocker arm 2, and the plug 44 is located between the damping spring 42 and the rocker arm 2, and located between the hydraulic cylinder 412 and the reserve tube 43.
Further, the rocker arm damping device 4 further comprises a joint bearing 45, wherein the joint bearing 45 is rotatably connected with the plug head 44, is fixedly connected with the rocker arm 2, and is located on one side of the plug head 44 close to the rocker arm 2.
In this embodiment, the machine body 1 is a rotor type unmanned aerial vehicle, and has four rotor shafts distributed at four end portions of the machine body, the rotor at the end portion is driven to rotate by a motor on each rotor shaft, so as to generate thrust, multiple components such as a signal receiver and a controller are arranged in the machine body 1, so as to ensure the controllability and the collision prevention of a flight route, the rocker arms 2 are inverted L-shaped rocker arms 2, the horizontal sections of the rocker arms 2 are in contact with the machine body 1, and at least part of the rocker arms extend into the machine body 1 and are fixed by the left-right sliding direction of a rotating bearing to horizontally extend, retract and swing, the number of the rocker arms 2 is four, the left and the right sides of the rocker arms are respectively provided with two rocker arms and are oppositely arranged, the vertical sections of the rocker arms 2 face downward, a buckle plate is connected to the end portion of each rocker arm, and is detachably connected with the object carrying box 3 by the buckle plate, a express piece, the piston rod 411 is fixed in the mounting groove inside the frame, the hydraulic cylinder 412 with the piston rod 411 sliding connection makes the piston rod 411 slide linearly inside the hydraulic cylinder 412, through the rod head of the piston rod 411 and the inner arm friction sliding of the hydraulic cylinder 412, hydraulic oil is stored between the piston rod 411 and the hydraulic cylinder 412, the oil storage cylinder 43 is fixed with the mounting groove of the machine body 1 and is enclosed on the outer surface of the hydraulic cylinder 412, and the hydraulic cylinder 412 sliding connection, the hydraulic cylinder 412 and the oil storage cylinder 43 are communicated through the damping control valve 413, and then the piston rod 411 extrudes the hydraulic oil in the hydraulic cylinder 412, and enters the oil storage cylinder 43 through the damping control valve 413, otherwise, the hydraulic oil in the oil storage cylinder 43 enters the hydraulic cylinder 412 through the damping control valve 413, the damping spring 42 is connected between the oil storage cylinder 43 and the hydraulic cylinder 412, the damping spring 42 is connected with the fixed bottom of the oil storage cylinder 43, the plug 44 and the knuckle bearing 45 are connected between the damping spring 42 and the rocker arm 2, the plug 44 is connected with the inner wall of the oil storage cylinder 43 in a sliding manner and is fixed on the spring surface of the damping spring 42 in a whole manner, so that the force transmitted by the rocker arm 2 and the knuckle bearing 45 is uniformly dispersed on the damping spring 42, the force applied to the damping spring 42 is more stable, the knuckle bearing 45 is connected with the plug 44 in a rotating manner, the rotating direction is parallel to the side surface of the machine body 1 close to the side surface, and further, when the loading box 3 drives the rocker arm 2 to rotate, the horizontal resistance of the machine body 1 and the plug 44 to the rocker arm 2 is not applied, and only the loading box can rotate around the central line of the hydraulic cylinder 412, so, when unmanned aerial vehicle turned when slowing down, it is right to carry thing case 3 lateral pressure is applyed to rocking arm 2, orders about rocking arm 2 with organism 1 takes place lateral displacement, and by joint bearing 45 drives and makes the axial circumference swing, and right horizontal thrust is applyed to chock plug 44, orders about damping spring 42 pressurized, and absorbs the pressure that chock plug 44 brought, simultaneously chock plug 44 is right pneumatic cylinder 412 transmission pressure orders about pneumatic cylinder 412 orientation the inside hydraulic oil of piston rod 411's direction extrusion is slowed down through the process of extrusion hydraulic oil to the impact, and makes hydraulic oil pass through damping control valve 413 gets into in the oil storage cylinder 43, be located the relative one side of organism 1 pneumatic cylinder 412 passes through damping control valve 413 inhales hydraulic oil, slows down pneumatic cylinder 412 with the separating velocity of piston rod 411, and then restrain damping spring 42 absorbs the vibration of rebound behind the pressure, so can turn to when slowing down at unmanned aerial vehicle, reduce the inertia of carrying heavy object to the impact that organism 1 brought, and then make unmanned aerial vehicle keep smooth flight.
In a second example of the present embodiment:
referring to fig. 1, 2 and 3, the invention provides an oil-driven unmanned aerial vehicle control device 100, which includes a machine body 1, a rocker arm 2, a loading box 3, a rocker arm damping device 4 and a machine body damping device 5; the rocker arms 2 are connected with the machine body 1 in a sliding mode, the rocker arms 2 are multiple in number and are respectively located on two sides of the machine body 1, the loading boxes 3 are connected with the rocker arms 2 in a clamping mode and located at the bottom end, far away from the machine body 1, of the rocker arms 2, the rocker arm damping devices 4 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arms 2 and located between the machine body 1 and the rocker arms 2, and the machine body damping devices 5 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arm damping devices 4 and located at one end, far away from the rocker arms 2, of the machine body 1; the rocker arm shock absorption device 4 comprises a damper 41 and a shock absorption spring 42, wherein the damper 41 is connected with the machine body 1 in a sliding manner and is positioned at one end of the machine body 1 far away from the rocker arm 2; the damping spring 42 is abutted against the damper 41, is fixedly connected with the rocker arm 2, and is located between the damper 41 and the rocker arm 2.
Further, the machine body 1 is provided with a sliding chute 11, and the sliding chute 11 is positioned on the side surface of the machine body 1 close to the rocker arm 2; the machine body damping device 5 comprises a sliding block 51 and a damping component 52, the sliding block 51 is connected with the machine body 1 in a sliding mode, is connected with the rocker arm 2 in a sliding mode through the damping spring 42 and the damper 41, and is located in the machine body 1 far away from the rocker arm 2, and the damping component 52 is connected with the machine body 1 in a sliding mode, is elastically connected with the sliding block 51, and is located between the sliding block 51 and the machine body 1.
Further, the shock absorption assembly 52 comprises a telescopic spring 521 and a cylinder 522, wherein the telescopic spring 521 is fixedly connected with the sliding block 51 and is located on the surface of the sliding block 51 far away from the damper 41; the cylinder 522 slides with the machine body 1, abuts against the extension spring 521, and is located between the machine body 1 and the extension spring 521
In this embodiment, the two side surfaces of the machine body 1 are respectively provided with the sliding grooves 11 for the sliding of the sliding block 51, the sliding block 51 is connected with the piston rod 411 and the oil storage cylinder 43 and drives the rocker arm 2 to horizontally slide, the cylinders 522 are fixed on the front and rear sides of the sliding block 51, the sliding block 51 is connected with the cylinders 522 in a sliding manner and can extend into the cylinders 522, the extension spring 521 is connected between the sliding block 51 and the cylinders 522 and applies a resilience force to the sliding block 51 and simultaneously extrudes the gas in the cylinders 522 to drive the cylinders 522 to laterally eject the gas for decompression, so when the oil-driven unmanned aerial vehicle control device 100 is subjected to linear deceleration, the carrier box 3 horizontally moves forward due to inertia, further applies a forward thrust to the sliding block 51, and the sliding block 51 abuts against the extension spring 521, receive expanding spring 521's resilience force makes slider 51 slide at a slow down, simultaneously with cylinder 522 sliding connection extrudes gas in the cylinder 522, to slider 51 exerts the reaction force, slows down slider 51's slip velocity, and then reduces the horizontal thrust that expanding spring 521 received, and then makes unmanned aerial vehicle can fly steadily.
In a third example of the present embodiment:
referring to fig. 1 and 2, the present invention provides an oil-driven unmanned aerial vehicle control device 100, which includes a machine body 1, a rocker arm 2, a loading box 3, a rocker arm damping device 4 and a machine body damping device 5; the rocker arms 2 are connected with the machine body 1 in a sliding mode, the rocker arms 2 are multiple in number and are respectively located on two sides of the machine body 1, the loading boxes 3 are connected with the rocker arms 2 in a clamping mode and located at the bottom end, far away from the machine body 1, of the rocker arms 2, the rocker arm damping devices 4 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arms 2 and located between the machine body 1 and the rocker arms 2, and the machine body damping devices 5 are connected with the machine body 1 in a sliding mode, fixedly connected with the rocker arm damping devices 4 and located at one end, far away from the rocker arms 2, of the machine body 1; the rocker arm shock absorption device 4 comprises a damper 41 and a shock absorption spring 42, wherein the damper 41 is connected with the machine body 1 in a sliding manner and is positioned at one end of the machine body 1 far away from the rocker arm 2; the damping spring 42 is abutted against the damper 41, is fixedly connected with the rocker arm 2, and is located between the damper 41 and the rocker arm 2.
Further, the oil-driven unmanned aerial vehicle control device 100 further comprises a recoil sprayer 6, wherein the recoil sprayer 6 is fixedly connected with the carrying box 3 and is positioned on the side wall of the carrying box 3 close to the rocker arm 2 and facing away from the carrying box 3.
In this embodiment, the recoil sprayer 6 is installed on four sides of carrying case 3 to by controller control, work as when oil moves unmanned aerial vehicle controlling means 100 and receives the speed reduction order, it is corresponding recoil sprayer 6 works to the direction blowout gas that the direction of motion is the same makes carry case 3 to receive reaction force, and then offsets the part carry case 3's inertial force, make carry case 3 to keep steady speed reduction, and then reduce the influence to unmanned aerial vehicle, make unmanned aerial vehicle can fly steadily.
Referring to fig. 4, a method for controlling an oil-driven unmanned aerial vehicle includes the following steps,
s801: when the unmanned aerial vehicle turns during flying, the rocker arm 2 is subjected to the lateral thrust of a load and generates lateral displacement;
s802: the oscillating bearing 45 rotates to drive the rocker arm 2 to carry out circumferential swing, and horizontal thrust is applied to the plug head 44;
s803: the damping spring 42 absorbs the thrust of the plug 44, and the hydraulic cylinder 412 abuts against the plug 44 to suppress the reverse resilience of the damping spring 42 after absorbing the pressure;
s804: the unmanned aerial vehicle flies stably.
In this embodiment, when unmanned aerial vehicle turns and slows down, it is right that carry thing case 3 applys lateral pressure to rocking arm 2, orders about rocking arm 2 with organism 1 takes place lateral displacement, and by joint bearing 45 drives and makes the axial circumference swing, and right the horizontal thrust is applyed to chock plug 44, orders about damping spring 42 is pressurized, and absorbs the pressure that chock plug 44 brought, simultaneously chock plug 44 is right pneumatic cylinder 412 transmission pressure orders about pneumatic cylinder 412 orientation the inside hydraulic oil of piston rod 411's direction extrusion, slows down through the process of extrusion hydraulic oil impact, and makes hydraulic oil pass through damping control valve 413 gets into in the oil storage cylinder 43, be located the relative one side of organism 1 pneumatic cylinder 412 through damping control valve 413 inhales hydraulic oil, slows down pneumatic cylinder 412 with the separating velocity of piston rod 411, and then restrain the vibration that rebounds behind the damping spring 42 absorption pressure, so can reduce the impact that the inertia of carrying heavy object brings to organism 1 when unmanned aerial vehicle turns to the speed reduction, and then make unmanned aerial vehicle keep smooth flight.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An oil-driven unmanned aerial vehicle control device is characterized by comprising a machine body, a rocker arm, a loading box, a rocker arm damping device and a machine body damping device;
the rocker arms are connected with the machine body in a sliding mode, the rocker arms are multiple in number and are respectively located on two sides of the machine body, the object carrying boxes are clamped with the rocker arms and located at the bottom end, far away from the machine body, of the rocker arms, the rocker arm damping devices are connected with the machine body in a sliding mode, fixedly connected with the rocker arms and located between the machine body and the rocker arms, and the machine body damping devices are connected with the machine body in a sliding mode, fixedly connected with the rocker arm damping devices and located at one end, far away from the rocker arms, of the machine body;
the rocker arm shock absorption device comprises a damper and a shock absorption spring, wherein the damper is connected with the machine body in a sliding mode and is positioned at one end, far away from the rocker arm, of the machine body; the damping spring is abutted against the damper, is fixedly connected with the rocker arm and is positioned between the damper and the rocker arm;
the damper comprises a piston rod and a hydraulic cylinder, wherein the piston rod is fixedly connected with the machine body, is positioned in the machine body far away from the rocker arm and faces the direction of the rocker arm; the hydraulic cylinder is connected with the machine body in a sliding mode, connected with the piston rod in a sliding mode and abutted to the damping spring, and the hydraulic cylinder is located between the damping spring and the piston rod.
2. The oil-driven unmanned aerial vehicle control device according to claim 1,
the damper further comprises a damping control valve, wherein the damping control valve is fixedly connected with the hydraulic cylinder, is positioned in the hydraulic cylinder close to the interior of the piston rod and faces the direction of the piston rod.
3. The oil-driven unmanned aerial vehicle control device according to claim 2,
the rocker arm damping device further comprises an oil storage cylinder and a plug head, wherein the oil storage cylinder is connected with the hydraulic cylinder in a sliding mode, is abutted against the damping spring, and is arranged around the periphery of the hydraulic cylinder in an enclosing mode and faces the direction of the rocker arm; the chock plug with oil storage cylinder sliding connection, and with damping spring fixed connection, and with rocking arm fixed connection, the chock plug is located damping spring with between the rocking arm, and be located the pneumatic cylinder with between the oil storage cylinder.
4. The oil-driven unmanned aerial vehicle control device according to claim 3,
the rocker arm damping device further comprises a joint bearing, wherein the joint bearing is rotatably connected with the plug head, fixedly connected with the rocker arm and positioned on one side of the plug head close to the rocker arm.
5. The oil-driven unmanned aerial vehicle control device according to claim 1,
the machine body is provided with a sliding chute which is positioned on the side surface of the machine body close to the rocker arm; the damping device of the engine body comprises a sliding block and a damping component, the sliding block is connected with the engine body in a sliding mode, the damping spring and the damper are connected with the rocker arm in a sliding mode and located in the engine body far away from the rocker arm, and the damping component is connected with the engine body in a sliding mode, elastically connected with the sliding block and located between the sliding block and the engine body.
6. The oil-driven unmanned aerial vehicle control device according to claim 5,
the damping assembly comprises an expansion spring and an air cylinder, and the expansion spring is fixedly connected with the sliding block and is positioned on the surface of the sliding block, which is far away from the damper; the cylinder with the organism slides, and with expanding spring butt, and be located the organism with between the expanding spring.
7. The oil-driven unmanned aerial vehicle control device according to claim 1,
the oil-driven unmanned aerial vehicle control device further comprises a recoil sprayer, wherein the recoil sprayer is fixedly connected with the carrying box and is positioned on the side wall of the rocker arm, close to the carrying box and far away from the carrying box in the direction.
8. A control method of an oil-driven unmanned aerial vehicle is characterized by comprising the following steps,
when the unmanned aerial vehicle turns during flying, the rocker arm receives the lateral thrust of the load and generates lateral displacement;
the oscillating bearing rotates to drive the rocker arm to carry out circumferential swing, and horizontal thrust is applied to the plug head;
the damping spring absorbs the thrust of the plug head, and meanwhile, the hydraulic cylinder abuts against the plug head to restrain the reverse resilience force of the damping spring after absorbing pressure;
the unmanned aerial vehicle flies stably.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011614489.3A CN112829927A (en) | 2020-12-30 | 2020-12-30 | Control method and device for oil-driven unmanned aerial vehicle |
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| CN202011614489.3A CN112829927A (en) | 2020-12-30 | 2020-12-30 | Control method and device for oil-driven unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118025963A (en) * | 2024-04-15 | 2024-05-14 | 洛阳鹏飞建设工程有限公司 | Suspension device for bridge engineering construction |
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Application publication date: 20210525 |