CN113371181A

CN113371181A - Unmanned aerial vehicle balancing unit

Info

Publication number: CN113371181A
Application number: CN202110852342.6A
Authority: CN
Inventors: 张磊
Original assignee: Ningbo Ares Automation Technology Co ltd
Current assignee: Ningbo Ares Automation Technology Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-09-10

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle balancing device which comprises an unmanned aerial vehicle main body, wherein the bottom of the unmanned aerial vehicle main body is symmetrically provided with vertical plates, a plurality of sliding grooves are symmetrically formed in the opposite surfaces of the two vertical plates, a second sliding rod is arranged in each sliding groove, and a second sliding block is sleeved on each second sliding rod. Avoid causing certain loss, the practicality is higher.

Description

Unmanned aerial vehicle balancing unit

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a balancing device of an unmanned aerial vehicle.

Background

A drone is an unmanned aircraft that is operated with a radio remote control device and self-contained program control, or is operated autonomously, either completely or intermittently, by an onboard computer. Among the prior art, the impact that forms between with ground when unmanned aerial vehicle descends can't obtain fine buffering, leads to unmanned aerial vehicle impaired, and unmanned aerial vehicle is easy when touchdown to slope unbalance moreover, leads to unmanned aerial vehicle to empty, breaks unmanned aerial vehicle. Therefore, we propose a balancing device for unmanned aerial vehicles.

Disclosure of Invention

Objects of the invention

In order to solve the technical problems in the background art, the invention provides the balancing device of the unmanned aerial vehicle, which has the characteristics of buffering impact force generated between the balancing device and the ground and keeping the unmanned aerial vehicle balanced and not prone to toppling.

(II) technical scheme

In order to solve the technical problems, the invention provides an unmanned aerial vehicle balancing device which comprises an unmanned aerial vehicle main body, wherein the bottom of the unmanned aerial vehicle main body is symmetrically provided with vertical plates, a plurality of sliding grooves are symmetrically formed in opposite surfaces of the two vertical plates, a second sliding rod is arranged in each sliding groove, a second sliding block is sleeved on each second sliding rod, second springs are symmetrically arranged above and below each second sliding block and sleeved on each second sliding rod, a first sliding rod is arranged between the second sliding blocks opposite to each other at the same side, a first spring is symmetrically sleeved on each first sliding rod, one end of each first spring is connected with a first sliding block sleeved on each first sliding rod, the lower end of each first sliding block is rotatably connected with a support rod, a buffer cylinder is arranged between the support rods and corresponds to the support rods, baffle plates are symmetrically arranged in the buffer cylinders, one side of each baffle plate is connected with a buffer pull rod, and a third spring is sleeved on each buffer pull rod, a fourth spring is arranged between the baffles;

be equipped with the compensating plate between the riser, the compensating plate sets up between first slide bar, the bottom both sides of compensating plate symmetry respectively are equipped with first gravity sensor and second gravity sensor, set up the balancing tank in the compensating plate, the outside symmetry of the top balancing tank of compensating plate is equipped with the slide rail, the top of compensating plate is equipped with the carriage, and inserts in the slide rail the carriage bottom, the carriage top is equipped with the servo motor who has the motor case, servo motor's output passes the carriage and rotates and be connected with the transmission shaft, it establishes at the epaxial gear of transmission to be equipped with the cover in the balancing tank, the bilateral symmetry of gear is equipped with the rack and installs on the relative lateral wall in the balancing tank, the bottom of compensating plate is equipped with the balancing piece, and the top of balancing piece rotates the lower extreme of connecting the transmission shaft.

Preferably, two ends of the first spring are respectively and fixedly connected with one side wall of the second sliding block and one side wall of the first sliding block, and the supporting rods which are symmetrical on the same side are arranged in a splayed shape.

Preferably, one end of the buffering pull rod penetrates through the side wall of the buffering cylinder and is movably connected with the supporting rod, the other end of the buffering pull rod is fixedly connected with the baffle, two ends of the third spring are fixedly connected with the baffle and the buffering cylinder respectively, and two ends of the fourth spring are fixedly connected with one side face of the baffle respectively.

Preferably, the lower extreme fixed connection bearing of branch, the inboard rotation of bearing is connected with the connecting axle, the bilateral symmetry of bearing is equipped with the base cover and establishes on the connecting axle.

Preferably, the cross section of the balance groove is cross-shaped, and the upper end and the lower end of the balance groove are communicated with the upper end and the lower end of the balance plate.

Preferably, the gear is rotatably connected with the transmission shaft, the gear and the tooth track are matched with each other, and the teeth on the gear and the teeth on the tooth track are matched.

Preferably, the sliding frame is in an inverted U shape, and one end of each of two sides of the sliding frame is slidably connected with the sliding rail.

Preferably, first gravity sensor and second gravity sensor inlay respectively and establish the bottom at the balance plate, and the output of first gravity sensor and second gravity sensor respectively with the control module's of unmanned aerial vehicle main part input electric connection.

Preferably, the base is fixedly connected with the connecting shaft, and a smooth layer is arranged at the bottom of the base.

Preferably, the input of servo motor and the output electric connection of the control module of unmanned aerial vehicle main part.

The technical scheme of the invention has the following beneficial technical effects: in the invention, the sliding block, the spring, the sliding rod, the supporting rod, the buffer cylinder, the buffer pull rod, the baffle, the bearing, the connecting shaft and the base are matched with each other for use, so that the device can buffer the landing of the unmanned aerial vehicle in the score generated by the ground, the damage of the unmanned aerial vehicle caused by impact force is avoided, meanwhile, the balance plate, the balance block, the gear, the toothed rail, the servo motor and the gravity sensor are matched for use, the balance stability of the unmanned aerial vehicle can be kept, the situation that the unmanned aerial vehicle is toppled and broken is avoided, certain loss is avoided, and the practicability is higher.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic side view of the present invention;

fig. 3 is a schematic top view of the unmanned aerial vehicle body of the present invention;

FIG. 4 is a schematic view of the partial cross-sectional structure of FIG. 3 according to the present invention;

FIG. 5 is an enlarged view of A in FIG. 4 according to the present invention;

FIG. 6 is a schematic bottom view of the balance plate of the present invention;

FIG. 7 is a schematic top view of the balance plate of the present invention;

fig. 8 is a schematic cross-sectional view of a balance plate according to the present invention.

Reference numerals:

1. an unmanned aerial vehicle main body; 2. a vertical plate; 3. a balance plate; 4. a counterbalance; 5. a first slide bar; 6. a first slider; 7. a strut; 8. a buffer cylinder; 9. a buffer pull rod; 10. a base; 11. a chute; 12. a bearing; 13. a balancing tank; 14. a slide rail; 15. a servo motor; 16. a first spring; 17. a carriage; 18. a second spring; 19. a second slider; 20. a second slide bar; 21. a third spring; 22. a baffle plate; 23. a fourth spring; 24. a first gravity sensor; 25. a second gravity sensor; 26. a drive shaft; 27. a gear; 28. a rack rail; 29. and (7) connecting the shafts.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1-8, the balancing device for the unmanned aerial vehicle provided by the invention comprises an unmanned aerial vehicle main body 1, wherein a vertical plate 2 is symmetrically installed at the bottom of the unmanned aerial vehicle main body 1, a plurality of sliding grooves 11 are symmetrically formed in the opposite surface of the vertical plate 2, a second sliding rod 20 is arranged in each sliding groove 11, a second sliding block 19 is sleeved on each second sliding rod 20, second springs 18 are symmetrically arranged above and below each second sliding block 19 and sleeved on each second sliding rod 20, and a first sliding rod 5 is installed between the second sliding blocks 19 opposite to each other on the same side.

In this example, spout 11 is equipped with two sets ofly, and two spouts 11 have been seted up to the symmetry on a riser 2, and the spout 11 symmetry each other of seting up on two risers 2, the both ends of second spring 18 are the wall of fixed connection riser 2 and second slider 19 respectively, when unmanned aerial vehicle descends, can and the bottom surface between produce the impact force, and the gravity reason of produced power and unmanned aerial vehicle main part 1 self leads to second slider 19 to slide on second slide bar 20, thereby extrude second spring 18, thereby cushion the power that receives through the produced elasticity of second spring 18.

A first spring 16 is symmetrically arranged on a first slide bar 5 and sleeved on the first slide bar 5, one end of the first spring 16 is connected with a first slide block 6 sleeved on the first slide bar 5 in a connecting mode, the bottom end of the first slide block 6 is rotatably connected with a support rod 7, a buffer cylinder 8 is arranged between the support rods 7 opposite to the same side, baffle plates 22 are symmetrically arranged in the buffer cylinder 8, one side of each baffle plate 22 is connected with a buffer pull rod 9, a third spring 21 is sleeved on each buffer pull rod 9, a fourth spring 23 is arranged between the baffle plates 22 and installed in the buffer cylinder 8, the lower end of each support rod 7 is connected with a bearing 12, the inner side of each bearing 12 is rotatably connected with a connecting shaft 29, bases 10 symmetrically arranged on the connecting shaft 29 and sleeved on the connecting shaft 29, and the connecting shaft 29 is installed on the outer side of each bearing 12.

In this example, two ends of the first spring 16 are respectively and fixedly connected with one side of the second slider 19 and one side of the first slider 6, one end of the buffer pull rod 9 penetrates through one side wall of the buffer cylinder 8 and is movably connected with the support rod 7, two ends of the third spring 21 are respectively and fixedly connected with the baffle 22 and the buffer cylinder 8, and two ends of the fourth spring 23 are respectively and fixedly connected with the baffle 22 at two sides; the symmetrical supporting rods 7 on the same side are arranged in a splayed shape, the middle buffering pull rod 9, the buffering cylinder 8, the third spring 21, the baffle 22 and the fourth spring 23 are combined to support the supporting rods 7, and meanwhile certain buffering can be carried out on the borne force in the following process;

in this example, be equipped with the smooth layer in the bottom of base 10, reduce the frictional force between its and the ground, make it can take place certain slip on the bottom surface after unmanned aerial vehicle descends to contact ground, thereby make it play the supporting role simultaneously can play again and drive the first slider 6 of branch 7 pulling and cushion pull rod 9 and make first slider 6 at the first spring 16 of accidental injury slip pulling, cushion pull rod 9 pulling baffle 22 extrusion third spring 21 and pulling fourth spring 23 take place deformation production elasticity simultaneously, thereby play the effect of buffering, the impact force of avoiding unmanned aerial vehicle descending production causes the damage to unmanned aerial vehicle.

A balance plate 3 is arranged at the middle upper position between the vertical plates 2, a balance groove 13 is arranged in the balance plate 3, gear rails 28 are arranged on the two opposite side walls in the balance groove 13, a gear 27 is arranged between the gear rails 28, the inner side of the gear 27 is rotatably connected with a transmission shaft 26, one end of the transmission shaft 26 is connected with the output end of a servo motor 15 which is arranged above the top of the balance plate 3 and is provided with a motor box, the lower end of the transmission shaft 26 penetrates out of the bottom of the unmanned aerial vehicle main body 1 and is connected with a balance block 4, a sliding frame 17 is arranged between the servo motor 15 and the top of the balance plate 3, and the sliding frame 17 is sleeved on the transmission shaft 26, the top of the balance plate 3 is symmetrically provided with slide rails 14, the lower ends of the two side walls of the sliding rack 17 are respectively inserted into the slide rails 14 at the two sides, the left side and the right side of the bottom of the balance plate 3 are respectively provided with a first gravity sensor 24 and a second gravity sensor 25, and the first gravity sensor 24 and the second gravity sensor 25 are symmetrical to each other.

In this example, the two ends of the balance plate 3 are fixedly connected with the vertical plates 2, the balance plate 3 is installed between the first sliding rods 5 arranged in front and back, the transmission shaft 26 is matched with the gear 27, and the teeth on the transmission shaft 26 and the teeth on the rack 28 are mutually matched, so that the transmission shaft 26 can move in the balance groove 13 under the action of the rack 28, and the balance weight 4 is driven to move;

in this example, the cross section of the balance groove 13 is cross-shaped, the upper end and the lower end of the balance groove 13 penetrate through the top and the bottom of the balance plate 3, the sliding frame 17 is in an inverted U shape, the sliding frame 17 is slidably mounted in the sliding rail 14, the top of the sliding frame 17 is fixedly connected with a motor box of the servo motor 15, and the lower end of the transmission shaft 26 is rotatably connected with the balance weight 4 below the balance plate 3; the inverted U shape makes it possible to support the servo motor 15 while sliding on the balance plate 3.

In this example, the output of first gravity sensor 24 and second gravity sensor 25 and the control module's in the unmanned aerial vehicle main part 1 input electric connection, the input of servo motor 15 and the control module's in the unmanned aerial vehicle main part 1 output electric connection, change through first gravity sensor 24 and second gravity sensor 25 induction system gravity, thereby with the information transfer of gravity change to control module and then through control module control servo motor 15 start-up drive gear 27 remove between rack 28, thereby it removes the balance of the assurance device to the little direction of gravity to drive balancing piece 4, thereby avoided unmanned aerial vehicle to take place to empty the condition that causes the breakage and take place.

The working principle and the using process of the invention are as follows: when the unmanned aerial vehicle descends, impulsive force is generated after the unmanned aerial vehicle contacts the ground, so that the base 10 sideslips on the bottom surface to a certain extent, the supporting rod 7 is driven to pull the first sliding block 6 to slide on the first sliding rod 5 towards the axis, the first spring 16 is pulled to deform and further realize a certain buffering effect, the supporting rod 7 pulls the buffering pull rod 9 to the outer side to drive the baffle plate 22 to slide in the buffering cylinder 8 while pushing the first sliding block 6 to move, the baffle plate 22 pushes the third spring 21 while pulling the fourth spring 23, the third spring 21 and the fourth spring 23 deform to generate elastic force and further buffer the received force, meanwhile, the thrust transmitted by the supporting rod 7 and the gravity of the device can cause the first sliding rod 5 to move up and down, the second sliding block 19 is driven to slide on the second sliding rod 20, and the second sliding block 19 pushes the upper and lower second spring 18 to deform to generate elastic force, thereby realizing the buffering of the stress of the device, avoiding the damage of the unmanned aerial vehicle, simultaneously, when the unmanned aerial vehicle inclines, the first gravity sensor 24 and the second gravity sensor 25 can detect the gravity, when the change of the gravity is detected, the first gravity sensor 24 and the second gravity sensor 25 can transmit the information to the control module, thereby controlling the servo motor 15 to start through the control module, thereby driving the gear 27 to move between the rack rails 28, further driving the sliding frame 17 to slide in the sliding rail 14, simultaneously driving the balance block 4 to move towards the direction with small gravity, thereby keeping the balance of the unmanned aerial vehicle, avoiding the inclined damage and causing certain loss, the device can well buffer the impact force generated when the unmanned aerial vehicle descends, avoiding the damage of the unmanned aerial vehicle due to the stress, and simultaneously adjusting the movement of the balance block 4 according to the condition to ensure that the unmanned aerial vehicle keeps stable, make its equilibrium better, avoid empting and break unmanned aerial vehicle.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. The utility model provides an unmanned aerial vehicle balancing unit, includes unmanned aerial vehicle main part (1), its characterized in that, the bottom symmetry of unmanned aerial vehicle main part (1) is equipped with riser (2), two a plurality of spouts (11) have been seted up to the opposite face symmetry of riser (2), be equipped with second slide bar (20) in spout (11), the cover is equipped with second slider (19) on second slide bar (20), the top and bottom symmetry of second slider (19) is equipped with second spring (18) cover and is established on second slide bar (20), and the homonymy is relative be equipped with first slide bar (5) between second slider (19), the symmetrical cover is equipped with first spring (16) on first slide bar (5), the one end of first spring (16) is connected with first slider (6) of cover on first slide bar (5), the lower extreme rotation of first slider (6) is connected with branch (7), buffer cylinders (8) are arranged between the supporting rods (7), the buffer cylinders (8) correspond to the supporting rods (7), baffle plates (22) are symmetrically arranged in the buffer cylinders (8), one sides of the baffle plates (22) are connected with buffer pull rods (9), third springs (21) are sleeved on the buffer pull rods (9), and fourth springs (23) are arranged between the baffle plates (22);

be equipped with between riser (2) balance plate (3), balance plate (3) set up between first slide bar (5), the bottom both sides of balance plate (3) symmetry respectively are equipped with first gravity sensor (24) and second gravity sensor (25), seted up in balance plate (3) balancing tank (13), the outside symmetry of top balancing tank (13) of balance plate (3) is equipped with slide rail (14), the top of balance plate (3) is equipped with carriage (17), and during carriage (17) bottom inserted slide rail (14), carriage (17) top was equipped with servo motor (15) that have the motor case, the output of servo motor (15) passes carriage (17) and rotates and be connected with transmission shaft (26), be equipped with gear (27) that the cover was established on transmission shaft (26) in balancing tank (13), the bilateral symmetry of gear (27) is equipped with rack (28) and installs on the relative lateral wall in balancing tank (13), the bottom of the balance plate (3) is provided with a balance block (4), and the top of the balance block (4) is rotationally connected with the lower end of the transmission shaft (26).

2. The balancing device of the unmanned aerial vehicle of claim 1, wherein two ends of the first spring (16) are respectively and fixedly connected with one side wall of the second sliding block (19) and the first sliding block (6), and the supporting rods (7) which are symmetrical at the same side are arranged in a splayed manner.

3. The unmanned aerial vehicle balancing unit of claim 1, characterized in that, the one end of buffering pull rod (9) is worn out the lateral wall and the swing joint branch pole (7) of buffer cylinder (8), and the other end fixed connection baffle (22) of buffering pull rod (9), fixed connection baffle (22) and buffer cylinder (8) are respectively distinguished at the both ends of third spring (21), a side of fixed connection baffle (22) is distinguished at the both ends of fourth spring (23).

4. The unmanned aerial vehicle balancing unit of claim 1, characterized in that, the lower extreme fixed connection bearing (12) of branch (7), the inboard rotation of bearing (12) is connected with connecting axle (29), the bilateral symmetry of bearing (12) is equipped with base (10) and overlaps and establish on connecting axle (29).

5. The balancing device of the unmanned aerial vehicle of claim 1, wherein the cross section of the balancing groove (13) is cross-shaped, and the upper and lower ends of the balancing groove (13) are communicated with the upper and lower ends of the balancing plate (3).

6. An unmanned aerial vehicle balancing device according to claim 1, characterized in that, the gear (27) is rotatably connected with the transmission shaft (26), the gear (27) and the rack (28) are adapted to each other, and the teeth on the gear (27) and the teeth on the rack (28) are engaged.

7. The balancing device for unmanned aerial vehicles according to claim 1, wherein the sliding frame (17) is in an inverted U shape, and one end of both sides of the sliding frame (17) is slidably connected with the sliding rail (14).

8. The balancing device of the unmanned aerial vehicle as claimed in claim 1, wherein the first gravity sensor (24) and the second gravity sensor (25) are respectively embedded in the bottom of the balancing plate (3), and the output ends of the first gravity sensor (24) and the second gravity sensor (25) are respectively electrically connected with the input end of the control module of the unmanned aerial vehicle main body (1).

9. An unmanned aerial vehicle balancing unit according to claim 1, characterized in that, base (10) fixed connection connecting axle (29), the bottom of base (10) is equipped with a smooth layer.

10. The balancing device of unmanned aerial vehicle according to claim 1, wherein the input end of the servo motor (15) is electrically connected with the output end of the control module of the unmanned aerial vehicle main body (1).