CN113606473A - Foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on universal coupling - Google Patents
Foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on universal coupling Download PDFInfo
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/027—Ceiling supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on a universal coupling, which is used for connecting an unmanned aerial vehicle carrying platform and a magnetic sensor probe and comprises: the male connector fixing seat is fixedly connected below the unmanned aerial vehicle carrying platform; the male connector fixing seat is connected with the universal joint combination, the traction rod, the switching angle scale and the counterweight structural member in sequence from top to bottom; the adapter angle dial is fixedly arranged at a preset position of the traction rod in an adjustable mode, and is fixedly connected with a magnetic sensor probe clamp through the adapter angle dial, the magnetic sensor probe clamp is arranged on the adapter angle dial, and the rotation angle of the adapter angle dial can be adjusted. The invention adopts the tandem type universal coupling to realize foldability and ensure the safe taking off and landing of the unmanned aerial vehicle magnetic detection system; the universal joint is combined with the rigid rod and is assisted by a proper counterweight structural member, so that the whole suspension device cannot rotate and swing greatly in the flying process, and the operation posture of the magnetic sensor probe is ensured to be within an effective range.
Description
Technical Field
The invention relates to the field of magnetic detection of unmanned aerial vehicles, belongs to a rigid foldable type magnetic detection suspension extension rod device of an unmanned aerial vehicle, and is mainly used for suspension and azimuth angle maintenance of a magnetic sensor probe during magnetic detection operation of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be ensured to take off and land safely and smoothly while the working failure of the magnetic sensor is avoided, and the device can be applied to the field of magnetic anomaly detection application of an unmanned aerial vehicle platform.
Background
The unmanned aerial vehicle magnetic detector carries a high-precision magnetometer through an unmanned aerial vehicle, flies within a height range of about 100m from the ground, and can be used in the fields of underground mineral exploration, unexploded bomb exploration, infrastructure exploration and the like. The unmanned aerial vehicle magnetic detection effectively solves the problems of poor magnetic detection resolution and low ground magnetic detection coverage rate of the traditional manned aviation, fills up the magnetic observation blank in the height range from the ground to 100m, provides balance between the magnetic detection coverage rate and the resolution rate, and is very suitable for 1-10km2Small and medium size exploration projects of an area. Compared with the traditional manned aerial magnetic survey and ground magnetic survey, the unmanned aerial vehicle magnetic detection system is more suitable for the investigation operation of remote areas or narrow spaces, and has special advantages and wide application prospect due to the flight flexibility and the three-dimensional space measurement capability.
How to effectively integrate high sensitivity magnetic sensor and unmanned aerial vehicle platform, guarantee simultaneously that whole unmanned aerial vehicle magnetism survey system's operation performance and stability are the main obstacle that unmanned aerial vehicle magnetism was visited. Experiments show that the unmanned aerial vehicle and airborne components thereof can generate strong magnetic interference, the quality of magnetic measurement data is greatly influenced, and even a complex magnetic compensation algorithm is adopted, the magnetic interference signals generated by a platform body are difficult to filter and influence the operation performance of the unmanned aerial vehicle magnetic measurement system under the condition of low signal to noise ratio. At present, at unmanned aerial vehicle magnetism survey operation in-process, for reducing the influence to high sensitivity magnetic sensor signal reception such as unmanned aerial vehicle power, machine carries parts, power and electronic equipment, adopt the mode of physics separation to keep certain distance integration with magnetic sensor and unmanned aerial vehicle platform usually to reduce the influence of unmanned aerial vehicle to magnetism detection.
The existing unmanned aerial vehicle magnetic detection load integration methods mainly comprise the following steps: (1) suspending the magnetic sensor below the fuselage by a cable and cable housing; (2) the magnetic sensor is suspended below the machine body through a semi-rigid plastic pipe; (3) the magnetic sensor is arranged in front of and behind the unmanned aerial vehicle or suspended below the unmanned aerial vehicle through the rigid rod. The magnetic sensor is suspended by adopting a semi-rigid plastic pipe and a cable, so that the unmanned aerial vehicle can take off and land conveniently, but in the flying operation process, the suspended magnetic sensor probe can swing or rotate greatly due to the reasons of uneven airplane speed, airflow change and the like, the flying efficiency can be reduced, and the magnetic sensor probe can be caused to fail in work (for example, a high-precision optical pump type magnetic sensor has direction dependence in geomagnetic field measurement and is effective only within a certain angle range), and the normal operation cannot be realized. The rigid rod suspension mode can avoid the problem of unlocking of the magnetic sensor probe caused by swinging or rotation, but is inconvenient to take off and land during operation; the mode that keeps rigid bar level fixed to place magnetic sensor in unmanned aerial vehicle the place ahead or rear has solved unmanned aerial vehicle safety take-off and landing problem, nevertheless arrange the electromagnetic interference area that unmanned aerial vehicle produced in for guaranteeing the magnetic sensor probe, require rigid bar length not less than 3m usually (the stronger the magnetic interference that unmanned aerial vehicle that load capacity is bigger produced, corresponding requirement to rigid extension bar length is longer more), this leads to whole unmanned aerial vehicle magnetism to survey the system unbalance easily, has the potential safety hazard.
The prior art has the following technical defects:
(1) by means of suspending the magnetic sensor probe by a semi-rigid plastic pipe or a cable, when the unmanned aerial vehicle flies, on one hand, the rotation of the magnetic sensor around a vertical axis or the large-angle swing in the horizontal direction is easy to occur, and the magnetic sensor probe can not work normally; on the other hand, when the unmanned aerial vehicle accelerates and decelerates, turns or is influenced by the air current, the swing amplitude of the semi-rigid suspended magnetic sensor probe is large, and besides possible unlocking and reduction of flight operation efficiency, the situation that the unmanned aerial vehicle attitude is excessively corrected or resonates in the automatic correction process can be caused, and potential crash danger exists.
(2) The unmanned aerial vehicle and the magnetic sensor probe are connected in a rigid rod suspension type hard mode, so that the taking off and landing of the airplane are inconvenient; through the mode of the horizontal fixed hard connection unmanned aerial vehicle of rigidity pole and magnetic sensor probe, because the overhanging distance of rigidity pole is longer, unmanned aerial vehicle is difficult to the balanced load weight, has potential danger.
(3) The installation fixed angle of the magnetic sensor probe on the suspension rod cannot be adjusted at will according to the operation area and the task requirement, and the applicability and the flexibility are poor.
Therefore, the integrated design of the load of the magnetic detection system of the unmanned aerial vehicle needs to comprehensively consider the following three key problems (1) that the electromagnetic interference generated by the unmanned aerial vehicle platform is reduced and the overall operation performance of the magnetic detection system is ensured; (2) the attitude of the magnetic sensor probe is kept stable during flight, and the normal work of the magnetic sensor probe is guaranteed; (3) the weight of the effective load system on the unmanned aerial vehicle is balanced, and the stability and the safety of the flight of the magnetic detection system are ensured.
Disclosure of Invention
Aiming at the application problem of magnetic detection of the unmanned aerial vehicle, the invention designs the foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on the universal coupling, which is used for connecting an unmanned aerial vehicle carrying platform and a magnetic sensor probe, can effectively reduce the interference of the unmanned aerial vehicle carrying platform on the magnetic detection, simultaneously ensures that the angle of the suspended magnetic sensor probe is maintained in an effective detection range, avoids the working failure of the magnetic sensor, ensures the safe and smooth take-off and landing of the unmanned aerial vehicle, and improves the stability and the overall operation performance of the magnetic detection structure of the unmanned aerial vehicle.
The technical scheme of the invention is as follows: the utility model provides a pole device is suspended in midair to folded cascade unmanned aerial vehicle magnetism based on universal coupling for connect unmanned aerial vehicle and carry on platform and magnetic sensor probe, include:
the male connector fixing seat is fixedly connected below the unmanned aerial vehicle carrying platform;
the male connector fixing seat is connected with the universal joint combination, the traction rod, the switching angle scale and the counterweight structural member in sequence from top to bottom; the adapter angle dial is fixedly arranged at a preset position of the traction rod in an adjustable mode, and is fixedly connected with a magnetic sensor probe clamp through the adapter angle dial, the magnetic sensor probe clamp is arranged on the adapter angle dial, and the rotation angle of the adapter angle dial can be adjusted.
The universal joint combination comprises an upper universal joint component, a lower universal joint component, a universal joint steering ball, a middle universal joint component and a traction rod connecting piece.
Further, the traction rod is rigid, is processed by nonmagnetic light materials such as carbon fibers and the like, and is connected with the unmanned aerial vehicle platform through a universal joint combination.
Furthermore, the switching angle disc comprises a clamping part and a disc part, the clamping part is fixed on the traction rod, and the position of the clamping part can be adjusted according to requirements; the magnetic sensor probe clamp is fixed with a disc component of the switching angle scale through a non-magnetic screw and used for fixing the magnetic sensor probe, and the angle of the magnetic sensor probe clamp is adjusted randomly according to the geomagnetic field angle of the operation area and the requirement, so that the magnetic sensor probe is ensured to be in an effective working range.
Further, the counter weight structure is fixed in the tail end of traction lever for reduce the suspension pole add the swing range that slows down, or be influenced by the air current and lead at unmanned aerial vehicle flight in-process.
Furthermore, each universal joint in the universal joint combination is made of non-magnetic materials such as polyformaldehyde, the universal joint combination comprises an upper part and a lower part of a newspaper and periodical universal joint, a universal joint steering ball and a universal joint middle part, and the universal joint middle part is connected with the upper part and the lower part of the universal joint through the universal joint steering balls at two ends and is used for realizing the foldability of the whole suspension device, so that the unmanned aerial vehicle magnetic detection system can safely take off and land, and cannot rotate in the flying operation process, and the magnetic sensor probe is prevented from being unlocked; the connecting piece male head fixing seat is connected with the upper and lower parts of the universal joint and is used for connecting the unmanned aerial vehicle and the whole suspension device; the upper part and the lower part of the universal joint are connected with the traction rod through a traction rod connecting piece.
Furthermore, the switching angle scale and the magnetic sensor probe clamp are made of non-magnetic materials such as polyformaldehyde; the switching angle scale is fixed on the traction rod in a sleeved and screw fastening mode, and the distance between the switching angle scale and the unmanned aerial vehicle platform is adjusted according to requirements; the optical pump magnetic sensor probe clamp and the switching angle scale are fixed through screws, and the optical pump magnetic sensor probe clamp and the switching angle scale are combined to be used for adjusting the fixed angle of the magnetic sensor probe so as to ensure the effective working range of the probe.
Has the advantages that:
(1) the unmanned aerial vehicle magnetic detection suspension extension rod device adopts the serial universal coupling to realize foldability, and the safe taking off and landing of the unmanned aerial vehicle magnetic detection system are guaranteed; the universal joint is combined with the rigid rod and is assisted by a proper counterweight structural member, so that the whole suspension device cannot rotate and swing greatly in the flying process, and the operation posture of the magnetic sensor probe is ensured to be within an effective range.
(2) The suspension type extension rod device is adopted for solving the problem of integration of the magnetic detection magnetic sensor and the airborne platform of the unmanned aerial vehicle, so that the load balance of a magnetic detection system of the unmanned aerial vehicle is met; the adapter angle dial is additionally arranged between the magnetic sensor and the suspension rod, and the fixed angle of the probe of the magnetic sensor can be adjusted at will according to the operation area and the requirements of users, so that the whole magnetic detection system has high applicability.
Drawings
Fig. 1 is a schematic view of the whole structure of a suspension device of an unmanned aerial vehicle;
FIG. 2 is a schematic view of a gimbal assembly;
FIG. 3(a) a schematic pre-assembly of a magnetic sensor probe;
FIG. 3(b) a schematic diagram of a magnetic sensor probe after assembly;
FIG. 4 shows the folding direction versus the folding angle of a single gimbal;
FIG. 5(a) is a side view of the corresponding fold angle when folded east;
FIG. 5(b) is a side view of a corresponding fold angle when folded northeast;
FIG. 5(c) is a top view of the corresponding fold angle during east folding;
FIG. 5(d) is a top view of a corresponding fold angle when folded northeast;
FIG. 6(a) is a schematic diagram of a combined structure of two universal joints;
FIG. 6(b) is a schematic view of a folding angle of a two-gimbal combined structure;
fig. 7 the suspension rod passes through the folding schematic diagram of universal joint integrated configuration when unmanned aerial vehicle takes off and land.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
Aiming at the application problem of integration of an unmanned aerial vehicle magnetic detection magnetic sensor and an airborne platform, the invention discloses a foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on a universal coupling, which is used for connecting an unmanned aerial vehicle carrying platform and a magnetic sensor probe, and the specific implementation scheme is as follows:
a foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on universal couplings comprises a universal joint combination 1, a traction rod 2, a transfer angle disc 3, a magnetic sensor probe 4, an optical pump magnetic sensor probe clamp 5, a counterweight structural member 6, a connecting member male head fixing seat 7, universal joint upper and lower components 8-1 and 8-2, a universal joint steering ball 9, a universal joint middle component 10, a traction rod connecting member 11 and a screw 12.
As shown in the overall structural schematic diagram of the suspension device of the unmanned aerial vehicle in fig. 1, the traction rod 2 is rigid and is made of nonmagnetic light materials such as carbon fiber and the like, and is connected with the unmanned aerial vehicle platform through a universal joint assembly 1; the adapter angle disc 3 is fixed on the traction rod 2, and the position of the adapter angle disc can be adjusted according to requirements; the magnetic sensor probe clamp 5 and the switching angle disc 3 are fixed through a non-magnetic screw and used for fixing the magnetic sensor probe 4, and the angle of the magnetic sensor probe clamp 5 can be adjusted randomly according to the geomagnetic field angle of the operation area and the requirement, so that the magnetic sensor probe 4 is ensured to be in an effective working range. The counterweight structural member 6 is fixed at the tail end of the traction rod 2 and is used for reducing the swing amplitude of the suspension rod caused by acceleration and deceleration or airflow influence in the flying process of the unmanned aerial vehicle.
As shown in fig. 2, universal joint combination assembly schematic diagram is shown, and the universal joint adopts nonmagnetic materials such as polyformaldehyde to make, adopts two universal joint integrated configuration to increase suspension structure folding angle and flexibility in this scheme, and the unmanned aerial vehicle safety take off and land of being convenient for also can adopt the universal joint integrated configuration more than two in the concrete implementation process. The technical scheme of the invention has the design advantages that: (1) when a universal joint is adopted, the universal joint is limited by the structural space and cannot be usedThe large-angle folding in any direction is realized, the relation between the folding direction and the folding angle of a single universal joint is shown in figure 4, the folding angle is an included angle between the upper part 8-1 and the lower part 8-2 of the universal joint, and when the folding direction of the unmanned aerial vehicle landing suspension rod is in the east direction (such as P in figure 4)1In the case of fig. 5(a) and 5(c)), the folding angle of the single gimbal can be up to 90 ° at the maximum, and safe landing can be achieved, but when the folding direction of the unmanned aerial vehicle landing suspension bar is north-east (as in P in fig. 4)2Corresponding to fig. 5(b) and 5(d)), in this case, a single gimbal cannot be folded at a large angle, which may cause the unmanned aerial vehicle to roll over during landing; (2) when two universal joints of this scheme design of adoption are made up, folding angle is the folding angle sum of two universal joints on certain folding side, the folding angle and the flexibility of whole suspended structure have been improved by a wide margin, make unmanned aerial vehicle can realize safe take off and land, as shown in fig. 6(a) - (b), when two universal joint integrated configuration were folded along north east, folding angle can reach 90, for in fig. 5(b) single universal joint along north east when folding angle great, the flexibility is stronger, can ensure that unmanned aerial vehicle's safety falls to the ground. The universal joint mainly comprises an upper universal joint part 8-1 and a lower universal joint part 8-1 and 8-2, two universal joint steering balls 9 and a middle universal joint part 10, wherein the middle universal joint part 10 is connected with the upper universal joint part 8-1 and the lower universal joint part 8-2 through the universal joint steering balls 9 at two ends and is used for realizing the foldability of the whole suspension device (when the unmanned aerial vehicle takes off and lands, a suspension rod is folded through a universal joint combined structure, the universal joint combination has better flexibility, large-angle folding in any direction can be realized, the safe taking off and landing of the unmanned aerial vehicle can be realized without other auxiliary devices, as shown in figure 7), the safe taking off and landing of a magnetic detection system of the unmanned aerial vehicle is facilitated, the rotation cannot occur in the flying operation process, and the working failure of a magnetic sensor probe is avoided; the connecting piece male head fixing seat 7 is connected with the universal joint upper part 8-1 and is used for connecting the unmanned aerial vehicle and the whole suspension device; the universal joint lower part 8-2 is connected with the traction rod 2 through a traction rod connecting piece 11.
According to another embodiment of the invention, the traction rod and the universal joint can be replaced by other non-magnetic materials with light weight and proper or better strength, such as glass fiber reinforced plastics and the like;
the design installation angle between the part 8-1 and the part 8-2 in the universal joint relative to the vertical direction is not limited, and can be realized by changing the relative installation placement angle (taking a vertical axis as a rotating axis) of two universal joint steering balls 9 so as to form different composite folding angles in combination (the composite folding angle is the included angle between the upper part 8-1 and the lower part 8-2 of the universal joint).
The clamping part is fixed on the traction rod, and the position of the clamping part can be adjusted according to requirements; the magnetic sensor probe clamp is fixed with a disc component of the switching angle scale through a non-magnetic screw and used for fixing the magnetic sensor probe, and the angle of the magnetic sensor probe clamp is adjusted randomly according to the geomagnetic field angle of the operation area and the requirement, so that the magnetic sensor probe is ensured to be in an effective working range.
As shown in fig. 3(a) - (b), the assembly diagram of the magnetic sensor probe mainly includes an angle dial 3 and a magnetic sensor probe clamp 5, and is made of non-magnetic materials such as polyoxymethylene. The switching angle disc comprises a clamping part and a disc part, the switching angle disc 3 is fixed on the traction rod 2 in a mode that the clamping part is sleeved and fastened by a screw 12, and the distance between the switching angle disc 3 and the unmanned aerial vehicle platform can be adjusted according to requirements; the optical pump magnetic sensor probe clamp 5 is fixed with a disc component of the switching angle disc 3 through screws, and the edge of the disc component is provided with a plurality of through holes for installing the clamp of the magnetic sensor probe 4; the combination of the two is used to adjust the fixed angle of the magnetic sensor probe 4 to ensure that the probe is within a valid working angle range.
According to another embodiment of the invention, the switching angle scale and the optical pump magnetic sensor probe clamp can be replaced by other non-magnetic non-metal materials with proper or better strength, such as nylon, PEEK or ABS;
although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (6)
1. The utility model provides a folded cascade unmanned aerial vehicle magnetism is visited and is suspended in midair and stretch pole device based on universal coupling for connect unmanned aerial vehicle and carry on platform and magnetic sensor probe, its characterized in that includes:
the male connector fixing seat is fixedly connected below the unmanned aerial vehicle carrying platform;
the male connector fixing seat is connected with the universal joint combination, the traction rod, the switching angle scale and the counterweight structural member in sequence from top to bottom; the adapter angle dial is fixedly arranged at a preset position of the traction rod in an adjustable manner, and is fixedly connected with a magnetic sensor probe clamp through the adapter angle dial, the magnetic sensor probe clamp is arranged on the adapter angle dial, and the rotation angle of the adapter angle dial can be adjusted;
the universal joint combination comprises an upper universal joint component, a lower universal joint component, a universal joint steering ball, a middle universal joint component and a traction rod connecting piece.
2. A foldable magnetically-suspended universal-joint-based pole device for unmanned aerial vehicle magnetic detection, as claimed in claim 1, wherein the said drawbar is rigid and made of non-magnetic material, and is connected to the unmanned aerial vehicle platform by a universal joint assembly.
3. A foldable unmanned aerial vehicle magnetic detection suspension boom device based on universal couplings as claimed in claim 1,
the adapter angle disc comprises a clamping part and a disc part, the clamping part is fixed on the traction rod, and the position of the clamping part can be adjusted according to requirements; the magnetic sensor probe clamp is fixed with a disc component of the switching angle scale through a non-magnetic screw and used for fixing the magnetic sensor probe, and the installation angle of the magnetic sensor probe clamp is adjusted randomly according to requirements according to the geomagnetic field vector direction of an operation area and the flight direction parameters of the unmanned aerial vehicle, so that the installation posture of the magnetic sensor probe is ensured to be within an effective working range.
4. A foldable unmanned aerial vehicle magnetic detection suspension boom device based on universal couplings as claimed in claim 1,
the counterweight structural member is fixed on the tail end of the traction rod and used for reducing the swing amplitude of the suspension rod caused by acceleration and deceleration or airflow influence in the flying process of the unmanned aerial vehicle.
5. A foldable unmanned aerial vehicle magnetic detection suspension boom device based on universal couplings as claimed in claim 1,
each universal joint in the universal joint combination is made of nonmagnetic materials, the universal joint combination comprises an upper universal joint part, a lower universal joint part, a universal joint steering ball and a middle universal joint part, the middle universal joint part is connected with the upper universal joint part and the lower universal joint part through the universal joint steering balls at two ends, foldability of the whole suspension device is achieved, safety taking-off and landing of an unmanned aerial vehicle magnetic detection system are facilitated, rotation around a vertical shaft cannot occur in the flying operation process, and working failure caused by change of the attitude angle of a magnetic sensor probe is avoided; the connecting piece male head fixing seat is connected with the upper and lower parts of the universal joint and is used for connecting the unmanned aerial vehicle and the whole suspension device; the upper part and the lower part of the universal joint are connected with the traction rod through a traction rod connecting piece.
6. A foldable unmanned aerial vehicle magnetic detection suspension boom device based on universal couplings as claimed in claim 1, wherein the switching angle scale and the magnetic sensor probe clamp are made of non-magnetic material; the switching angle scale is fixed on the traction rod in a sleeved and screw fastening mode, and the distance between the switching angle scale and the unmanned aerial vehicle platform is adjusted according to requirements; the magnetic sensor probe clamp and the switching angle scale are fixed through screws, and the combination of the magnetic sensor probe clamp and the switching angle scale is used for adjusting the fixed angle of the magnetic sensor probe so as to ensure that the probe is within an effective working range.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835110.XA CN113606473B (en) | 2021-07-23 | 2021-07-23 | Foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on universal coupling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835110.XA CN113606473B (en) | 2021-07-23 | 2021-07-23 | Foldable unmanned aerial vehicle magnetic detection suspension extension rod device based on universal coupling |
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| Publication Number | Publication Date |
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| CN113606473A true CN113606473A (en) | 2021-11-05 |
| CN113606473B CN113606473B (en) | 2023-03-14 |
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