CN113335496A - Be applied to unmanned aerial vehicle horn subassembly that electric power cruises - Google Patents
Be applied to unmanned aerial vehicle horn subassembly that electric power cruises Download PDFInfo
- Publication number
- CN113335496A CN113335496A CN202110681335.4A CN202110681335A CN113335496A CN 113335496 A CN113335496 A CN 113335496A CN 202110681335 A CN202110681335 A CN 202110681335A CN 113335496 A CN113335496 A CN 113335496A
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- Prior art keywords
- adjusting screw
- aerial vehicle
- unmanned aerial
- arm
- machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses an unmanned aerial vehicle arm assembly applied to electric cruising, which is characterized by comprising a first arm, a second arm, a first lifting mechanism, a second lifting mechanism, a first connecting mechanism and a second connecting mechanism, wherein a power device drives a first adjusting screw rod in the first lifting mechanism to rotate so as to drive a first lifting nut to lift, and the first lifting nut lifts to enable two first arms to swing so as to adjust the horizontal distance between the two first arms; the first adjusting screw rod drives the second adjusting screw rod to rotate when rotating, so that the second lifting nut is driven to lift, the telescopic part is driven to move through the lifting of the second lifting nut, and the axial sizes of the two second machine arms are adjusted. The problem that the horn can not be adjusted in the prior art is effectively solved.
Description
Technical Field
The invention relates to an unmanned aerial vehicle horn assembly applied to electric cruising.
Background
Generally, a transformer substation is located in a remote area and is badly geographically regulated, inspection of equipment lines becomes important work of the transformer substation in each period of time and even every day, and all parts of a power transmission line are observed, inspected and measured. The purpose is to master the running state of the line, discover the defects of the equipment in time and threaten the safety of the line.
At present, the unmanned aerial vehicle is mostly used for line inspection, the size of an arm of the existing unmanned aerial vehicle is relatively fixed, but some places of a power line are spacious, some places are dense, and the unmanned aerial vehicle cannot be used in a narrow environment space; and the longer unmanned aerial vehicle of horn is not convenient for to be stored, also is convenient for maintain, when the horn is impaired, need change whole horn, this will influence the predetermined level calibration of unmanned aerial vehicle and IMU calibration.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle horn capable of adjusting the length of the horn to improve the passing performance of an unmanned aerial vehicle in a complex power line.
In order to solve the above problems, the present invention provides an unmanned aerial vehicle arm assembly applied to electric cruise, which is characterized by comprising:
the unmanned aerial vehicle comprises at least two first arms, wherein the two first arms are rotatably connected to an unmanned aerial vehicle rack in a symmetrical mode through one ends of the two first arms, and the first arms are of hollow tubular structures;
the second machine arms are of hollow tubular structures and comprise middle parts fixedly connected to one ends of the first machine arms and telescopic parts which are connected to two ends of the middle parts and can axially extend and retract;
the first lifting mechanism comprises a first adjusting screw driven by a power device to rotate and a first lifting nut in threaded fit with the first adjusting screw;
the second lifting mechanism comprises second adjusting screws respectively inserted into the two second machine arms and second lifting nuts in threaded fit with the second adjusting screws, and the second adjusting screws and the first adjusting screws have the same thread parameters and are connected through a transmission device;
the two ends of the first connecting mechanism are respectively and rotatably connected to the first machine arm and the first lifting nut;
and two ends of the second connecting mechanism are respectively and rotatably connected to the telescopic part and the second lifting nut.
As a further improvement of the present invention,
the included angles between the two first machine arms are equal, and the included angles between the two second adjusting screws are equal;
the included angle between the first connecting mechanism and the vertical direction is equal to the included angle between the second connecting mechanism and the first machine arm;
the included angle between the first connecting mechanism and the first machine arm is equal to the included angle between the second connecting mechanism and the second machine arm;
the distance between the first connecting mechanism and the first lifting nut is equal to the distance between the second connecting mechanism and the first machine arm.
As a further improvement of the invention, the transmission comprises:
the first universal joint is arranged at one end of the first adjusting screw rod, and the other end of the first universal joint is connected with the second adjusting screw rod;
the transmission rod is positioned above the first adjusting screw rod and is coaxially connected with the first adjusting screw rod, a second universal joint is arranged at the end part of the transmission rod, and the second universal joint is connected with the other second adjusting screw rod;
and the connecting block is used for connecting the first adjusting screw rod and the transmission rod.
As a further improvement of the present invention,
at least one through groove penetrating through the inner wall and the outer wall of the first machine arm is formed in the position, close to the second machine arm, of the first machine arm;
the through groove is internally provided with a first guide rod arranged along the axis of the first machine arm, the second lifting nut is provided with a protruding part extending to the through groove, and the protruding part can slide on the first guide rod.
As a further improvement of the present invention, the first connecting mechanism is provided with two parallel first pivot shafts and a first connecting support frame, the first pivot shafts are rotatably connected to the first connecting support frame, the first connecting support frame is of a telescopic structure to adjust a distance between the two first pivot shafts, and the two first pivot shafts are respectively rotatably connected to the first lifting nut and the first machine arm.
As a further improvement of the present invention, the second connecting mechanism is provided with two parallel second pivot shafts and a second connecting support frame, the second pivot shafts are rotatably connected to the second connecting support frame, the second connecting support frame is of a telescopic structure to adjust a distance between the two second pivot shafts, and the two second pivot shafts are respectively rotatably connected to the second lifting nut and the second boom.
As a further improvement of the present invention, the power device is a motor.
The two first arms swing through the lifting of the first lifting nut, so that the horizontal distance between the two first arms is adjusted; the first adjusting screw rod drives the second adjusting screw rod to rotate when rotating, so that the second lifting nut is driven to lift, the telescopic part is driven to move through the lifting of the second lifting nut, and the axial sizes of the two second machine arms are adjusted.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the second connecting mechanism connecting the first and second arms;
fig. 3 is a schematic view of the connection of the first connecting mechanism to the first horn.
In the figure: 2-a first horn; 4-a second horn; 402-an intermediate portion; 404-a telescoping section; 6-a first lifting mechanism; 602-a first adjusting screw; 604-a first lifting nut; 8-a second lifting mechanism; 802-a second adjusting screw; 804-a second lifting nut; 10-a first connection mechanism; 1002-a first pivot axis; 1004 — a first connection support; 12-a second connection mechanism; 1202-a second pivot axis; 1204-a second connecting support; 1402-first universal joint; 1404 — a drive link; 1406-a second gimbal; 1408-connecting block; 1602-through groove; 1604-a first guide bar; 1606-extension.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1-3, the unmanned aerial vehicle comprises at least two first arms 2, wherein the two first arms 2 are rotatably connected to an unmanned aerial vehicle frame through one ends of the first arms in a symmetrical manner, and the first arms 2 are of hollow tubular structures;
at least two second booms 4 are arranged, each second boom 4 is of a hollow tubular structure and comprises a middle part 402 fixedly connected to one end of each first boom 2 and telescopic parts 404 which are connected to two ends of each middle part 402 and can axially extend and retract;
a first lifting mechanism 6, which comprises a first adjusting screw 602 driven by a power device to rotate, and a first lifting nut 604 in threaded fit with the first adjusting screw 602;
the second lifting mechanism 8 comprises second adjusting screws 802 respectively inserted into the two second arms 4 and second lifting nuts 804 in threaded fit with the second adjusting screws 802, and the second adjusting screws 802 have the same thread parameters as the first adjusting screws 602 and are connected through a transmission device;
a first connecting mechanism 10, two ends of which are respectively connected to the first arm 2 and the first lifting nut 604 in a rotating manner;
two ends of the second connecting mechanism 12 are respectively rotatably connected to the telescopic part 404 and the second lifting nut 804.
As a further improvement of the present invention,
the included angles between the two first arms 2 are equal, and the included angles between the two second adjusting screws 802 are equal;
the included angle between the first connecting mechanism 10 and the vertical direction is equal to the included angle between the second connecting mechanism 12 and the first machine arm 2;
the included angle between the first connecting mechanism 10 and the first machine arm 2 is equal to the included angle between the second connecting mechanism 12 and the second machine arm 4;
the distance between the first linkage 10 between the first boom 2 and the first lift nut 604 is equal to the distance between the second linkage 12 between the first boom 2 and the second boom 4.
As a further improvement of the invention, the transmission comprises:
a first gimbal 1402 disposed at one end of the first adjusting screw 602, and the other end of the first gimbal 1402 is connected to the second adjusting screw 802;
a transmission rod 1404 positioned above and coaxially connected to the first adjusting screw 602, wherein a second universal joint 1406 is provided at an end of the transmission rod 1404, and the second universal joint 1406 is connected to the other second adjusting screw 802;
1408 connecting the first adjustment screw 602 and the drive link 1404.
As a further improvement of the present invention,
at least one through groove 1602 penetrating through the inner wall and the outer wall of the first machine arm 2 is arranged at the position, close to the second machine arm 4, of the first machine arm 2;
a first guide rod 1604 arranged along the axis of the first arm 2 is arranged in the through groove 1602, an extension portion 1606 extending out of the through groove 1602 is arranged on the second lifting nut 804, and the extension portion 1606 can slide on the first guide rod 1604.
As a further improvement of the present invention, the first connecting mechanism 10 is provided with two parallel first pivot shafts 1002 and a first connecting support frame 1004, the first pivot shafts 1002 are rotatably connected to the first connecting support frame 1004, the first connecting support frame 1004 is a telescopic structure to adjust a distance between the two first pivot shafts 1002, and the two first pivot shafts 1002 are rotatably connected to the first lifting nut 604 and the first arm 2, respectively.
As a further improvement of the present invention, the second connecting mechanism 12 is provided with two parallel second pivot shafts 1202 and a second connecting support 1204, the second pivot shafts 1202 are rotatably connected to the second connecting support 1204, the second connecting support 1204 is in a telescopic structure to adjust the distance between the two second pivot shafts 1202, and the two second pivot shafts 1202 are rotatably connected to the second lifting nut 804 and the second boom 4 respectively.
As a further improvement of the present invention, the power device is a motor.
The specific principle of the invention is as follows:
(1) the motor drives the first adjusting screw 602 to rotate, and drives the first lifting nut 604 to do lifting movement;
(2) when the first lifting nut 604 is lifted, the first connecting mechanism 10 drives the two first arms 2 to expand outwards or contract inwards, so that the distance from the two far ends of the first arms 2 is changed, and the first connecting mechanism 10 is provided with a telescopic first connecting support frame 1004 for slowly releasing component force in the horizontal direction;
(3) the first adjusting screw 602 rotates and drives the two second adjusting screws 802 to rotate through the first universal joint 1402 and the second universal joint 1406, and the first universal joint 1402 and the second universal joint 1406 are connected through 1408;
(4) the two second adjusting screws 802 are respectively inserted into the two second arms 4, and it is also ensured that the two second adjusting screws 802 are symmetrically arranged, because the two arms are symmetrically arranged, the second adjusting screws 802 are not necessarily arranged coaxially with the second arms 4 in the second arms 4, but this does not affect normal use;
(5) the first adjusting screw 602 drives the two second adjusting screws 802 to rotate, so that the second connecting mechanism 12 drives the two telescopic parts 404 of the second boom 4 to perform telescopic movement along the horizontal direction of the second boom 4, thereby changing the axial length of the second boom 4, and the distance between the second connecting support frames 1204 on the second connecting mechanism 12 is adjustable, thereby slowly releasing the component force in the vertical direction of the second connecting mechanism 12.
(6) In the invention, because the threads of the first adjusting screw 602 and the second adjusting screw 802 are the same and the included angle between the two first arms 2 is the same, the included angle between the two second adjusting screws 802 is the same; the included angle between the first connecting mechanism 10 and the vertical direction is equal to the included angle between the second connecting mechanism 12 and the first machine arm 2; the included angle between the first connecting mechanism 10 and the first machine arm 2 is equal to the included angle between the second connecting mechanism 12 and the second machine arm 4; the distance between the first linkage 10 between the first boom 2 and the first lift nut 604 is equal to the distance between the second linkage 12 between the first boom 2 and the second boom 4. Therefore, the horizontal movement distance of the two end parts of the mutual principle of the two first booms 2 is equal to the axial telescopic distance of the two second booms 4 through the rotation of the first adjusting screw 602, so that the gravity center of the whole boom assembly is not changed, after the adjustment is completed at every time, the horizontal calibration and the IMU calibration are not needed, and the problems encountered in the prior art are effectively solved.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle horn subassembly for electric power cruises, its characterized in that includes:
the device comprises at least two first machine arms (2), wherein the two first machine arms (2) are rotatably connected to an unmanned aerial vehicle rack in a symmetrical mode through one ends of the first machine arms, and the first machine arms (2) are of hollow tubular structures;
the number of the second machine arms (4) is at least two, the second machine arms (4) are of hollow tubular structures and comprise middle parts (402) fixedly connected to one ends of the first machine arms (2) and telescopic parts (404) which are connected to two ends of the middle parts (402) and can axially extend and retract;
a first lifting mechanism (6) which comprises a first adjusting screw rod (602) driven by a power device to rotate, and a first lifting nut (604) in threaded fit with the first adjusting screw rod (602);
the second lifting mechanism (8) comprises second adjusting screw rods (802) respectively inserted into the two second machine arms (4) and second lifting nuts (804) in threaded fit with the second adjusting screw rods, and the second adjusting screw rods (802) have the same thread parameters as the first adjusting screw rods (602) and are connected through a transmission device;
the two ends of the first connecting mechanism (10) are respectively and rotatably connected to the first machine arm (2) and the first lifting nut (604);
and two ends of the second connecting mechanism (12) are respectively and rotatably connected to the telescopic part (404) and the second lifting nut (804).
2. Unmanned aerial vehicle horn assembly for electric cruise as claimed in claim 1,
the included angles between the two first machine arms (2) are equal, and the included angles between the two second adjusting screws (802) are equal;
the included angle between the first connecting mechanism (10) and the vertical direction is equal to the included angle between the second connecting mechanism (12) and the first machine arm (2);
the included angle between the first connecting mechanism (10) and the first machine arm (2) is equal to the included angle between the second connecting mechanism (12) and the second machine arm (4);
the distance of the first connection mechanism (10) between the first horn (2) and the first lifting nut (604) is equal to the distance of the second connection mechanism (12) between the first horn (2) and the second horn (4).
3. An unmanned aerial vehicle horn assembly for electric cruise as claimed in claim 2, wherein said transmission means comprises:
a first gimbal (1402) disposed at one end of the first adjusting screw (602), the other end of the first gimbal (1402) being connected to the second adjusting screw (802);
a transmission rod (1404) which is positioned above the first adjusting screw rod (602) and is coaxially connected with the first adjusting screw rod, wherein a second universal joint (1406) is arranged at the end part of the transmission rod (1404), and the second universal joint (1406) is connected with the other second adjusting screw rod (802);
a connecting block (1408) connecting the first adjustment screw (602) and the drive rod (1404).
4. The unmanned aerial vehicle arm assembly applied to electric cruising according to claim 3,
at least one through groove (1602) penetrating through the inner wall and the outer wall of the first machine arm (2) is formed in the first machine arm (2) close to the second machine arm (4);
be provided with in through groove (1602) along first arm (2) axis setting's first guide arm (1604), second lifting nut (804) are equipped with stretch out to stretch out portion (1606) through groove (1602), stretch out portion (1606) can slide on first guide arm (1604).
5. An unmanned aerial vehicle horn assembly for electric cruise as claimed in claim 4, wherein said first connecting mechanism (10) is provided with two parallel first pivot shafts (1002) and a first connecting support frame (1004), said first pivot shafts (1002) are rotatably connected to the first connecting support frame (1004), said first connecting support frame (1004) is a telescopic structure to adjust the distance between the two first pivot shafts (1002), and the two first pivot shafts (1002) are rotatably connected to said first lifting nut (604) and first horn (2) respectively.
6. An unmanned aerial vehicle horn assembly applied to electric cruising according to claim 5, characterized in that the second connecting mechanism (12) is provided with two parallel second pivot shafts (1202) and a second connecting support frame (1204), the second pivot shafts (1202) are rotatably connected on the second connecting support frame (1204), the second connecting support frame (1204) is of a telescopic structure to adjust the distance between the two second pivot shafts (1202), and the two second pivot shafts (1202) are respectively rotatably connected on the second lifting nut (804) and the second horn (4).
7. An unmanned aerial vehicle arm assembly for electric cruise as claimed in claim 6, wherein the power means is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110681335.4A CN113335496B (en) | 2021-06-19 | 2021-06-19 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110681335.4A CN113335496B (en) | 2021-06-19 | 2021-06-19 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
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| Publication Number | Publication Date |
|---|---|
| CN113335496A true CN113335496A (en) | 2021-09-03 |
| CN113335496B CN113335496B (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110681335.4A Active CN113335496B (en) | 2021-06-19 | 2021-06-19 | Be applied to unmanned aerial vehicle horn subassembly that electric power cruises |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408173A (en) * | 2022-03-02 | 2022-04-29 | 吉林大学 | Unmanned aerial vehicle with X-shaped four-rotor wing variable structure |
| CN115583340A (en) * | 2022-11-09 | 2023-01-10 | 北京航空航天大学 | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof |
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| CN104828245A (en) * | 2015-04-30 | 2015-08-12 | 何春旺 | Aircraft |
| CN107585306A (en) * | 2017-09-30 | 2018-01-16 | 深圳市道通智能航空技术有限公司 | A kind of unmanned vehicle |
| CN107685872A (en) * | 2017-09-30 | 2018-02-13 | 深圳市道通智能航空技术有限公司 | Unmanned vehicle |
| CN207106886U (en) * | 2017-05-02 | 2018-03-16 | 南昌工程学院 | A kind of comprehensive unmanned plane of taking photo by plane |
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2021
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014108026A1 (en) * | 2013-01-10 | 2014-07-17 | SZ DJI Technology Co., Ltd. | Transformable aerial vehicle |
| CN104828245A (en) * | 2015-04-30 | 2015-08-12 | 何春旺 | Aircraft |
| CN207106886U (en) * | 2017-05-02 | 2018-03-16 | 南昌工程学院 | A kind of comprehensive unmanned plane of taking photo by plane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408173A (en) * | 2022-03-02 | 2022-04-29 | 吉林大学 | Unmanned aerial vehicle with X-shaped four-rotor wing variable structure |
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| CN115583340A (en) * | 2022-11-09 | 2023-01-10 | 北京航空航天大学 | Variable-configuration multi-rotor unmanned aerial vehicle and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN113335496B (en) | 2022-08-26 |
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