CN114030607A - Automatic composite universal axis turning device and aircraft - Google Patents
Automatic composite universal axis turning device and aircraft Download PDFInfo
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- CN114030607A CN114030607A CN202111408245.4A CN202111408245A CN114030607A CN 114030607 A CN114030607 A CN 114030607A CN 202111408245 A CN202111408245 A CN 202111408245A CN 114030607 A CN114030607 A CN 114030607A
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- 239000002131 composite material Substances 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 86
- 238000007789 sealing Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 14
- 238000009434 installation Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
Abstract
The invention discloses an automatic composite universal axis turning device and an aircraft, which comprise a spherical universal joint, a three-section type universal shaft, a driving device and a control system, wherein the spherical universal joint is formed by hinging two parts capable of realizing relative spatial swing; the three-section type universal shaft is arranged in the spherical universal joint, two ends of the three-section type universal shaft can respectively and movably penetrate through two parts on the spherical universal joint, and two ends of the three-section type universal shaft can rotate relative to the parts; the driving device is arranged on the spherical universal joint and used for adjusting and locking the spatial swing angle of the two components; the control system is arranged on the driving device or the ball joint and is used for controlling the action of the driving device. The automatic composite universal axis turning device has the advantages of small structure, large transmission range and stable transmission; the aircraft can realize the turning adjustment of the driving power, and the adjusting process is stable and reliable.
Description
Technical Field
The invention relates to the technical field of aircraft transmission, in particular to an automatic composite universal axis turning device and an aircraft.
Background
The universal joint is a machine part for realizing variable-angle power transmission, is used for changing the position of a transmission axis direction, but mostly adopts a two-joint structure, mainly realizes swinging on at most two plane dimensions, limits the swinging distance and amplitude range, and has a limitation on application because the range is relatively small. Three-joint universal joints are commonly used in the industry to increase the amplitude of the drive and the pitch of the oscillations.
In the actual use process, two ends of the three-joint universal joint are connected with two fixed structures, namely fixed transmission, so that the three-joint universal joint can not randomly swing at two ends in the transmission process to cause transmission looseness. However, in some transmission fields with one open end, such as the field of unmanned aerial vehicles or ship transmission, since the end of the three-joint universal joint connected to the outside is an open end, a multi-link fixing structure must be used for fixing the end of the three-joint universal joint transmitting to the outside in the transmission, such as a multi-link suspension structure on an automobile chassis, but the multi-link fixing structure can limit the swing amplitude of the three-joint universal joint and is limited in practical use. Meanwhile, the multi-connecting-rod fixing structure is complex in structure, the space requirement for part movement is high, and the use of the multi-connecting-rod fixing structure in some fields is very restricted, especially in the field of unmanned aerial vehicle paddle transmission.
Disclosure of Invention
The invention aims to solve at least one of the technical problems and provides an automatic composite universal axis turning device and an aircraft. The aircraft can realize the turning adjustment of the driving power, and the adjusting process is stable and reliable.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic composite universal axle center direction changing device comprises
A ball joint; the device is formed by hinging two parts which can realize relative spatial swing;
the three-section type universal shaft is arranged in the spherical universal joint, two ends of the three-section type universal shaft can respectively and movably penetrate through the two parts on the spherical universal joint, and two ends of the three-section type universal shaft can rotate relative to the parts;
the driving device is arranged on the ball universal joint and used for adjusting and locking the spatial swing angle of the two parts; and
and the control system is arranged on the driving device or the ball joint and is used for controlling the action of the driving device.
Further, the driving device comprises a main body seat, a first adjusting mechanism and a second adjusting mechanism, the main body seat is installed on any one of the components, the first adjusting mechanism and the second adjusting mechanism are respectively installed on any one of the components, output ends of the first adjusting mechanism and the second adjusting mechanism are respectively connected with the other component, the first adjusting mechanism and the second adjusting mechanism are electrically connected with the control system, and the first adjusting mechanism and the second adjusting mechanism can simultaneously or respectively and independently drive the two components to swing around a hinge point space.
Further, the first adjusting mechanism and the second adjusting mechanism have the same structure, and both the first adjusting mechanism and the second adjusting mechanism comprise arc-shaped racks and drivers; two ends of the two arc-shaped racks are respectively hinged to the part which is not provided with the main body seat, avoidance slotted holes are formed in the two arc-shaped racks along the length direction of the two arc-shaped racks, and one ends, corresponding to the three-section type universal shafts, movably penetrate through the avoidance slotted holes and can slide in the avoidance slotted holes along the circumferential direction of the arc-shaped racks; the two arc-shaped racks are arranged in a staggered mode, and do not move and interfere when swinging mutually; the two drivers are arranged on the main body seat, and the output end of each driver can be always meshed with one corresponding arc-shaped rack; the output end of each driver can crawl along a corresponding arc-shaped rack and drive the main body seat and the corresponding part to swing relative to the other part space, and the two drivers are electrically connected with a control system.
Furthermore, the two parts are respectively a fixed base and a spherical seat, the spherical seat is at least of a hemispherical structure, a cavity is arranged in the fixed base, and a first channel is arranged at the bottom of the cavity; the spherical seat is installed in the opening of the cavity in a sealing manner, the spherical seat can swing around the cavity in space, and a second channel is arranged on one side of the spherical seat, which is far away from the bottom of the cavity; the three-section type universal shaft is arranged in the containing cavity, one end of the three-section type universal shaft can penetrate through the first channel in a rotating mode, and the other end of the three-section type universal shaft can penetrate through the second channel in a rotating mode; the main part seat is installed on spherical seat, two the both ends of arc rack articulate respectively on unable adjustment base's outer wall.
Further, the first adjusting mechanism comprises a first rack and a first driving assembly, two ends of the first rack are respectively hinged to two opposite sides of the part which is not provided with the main body seat, the first driving assembly is arranged on the main body seat, and an output end of the first driving assembly can be always meshed with the first rack; an avoidance hole is formed in the first rack along the length direction of the first rack, and one end, corresponding to the three-section type universal shaft, of the three-section type universal shaft movably penetrates through the avoidance hole and can slide in the avoidance hole along the circumferential direction of the first rack; the second adjustment mechanism comprises a second rack and a second driving assembly, wherein the second rack and the second driving assembly are provided with two sets, of the second rack are symmetrically arranged on two sides of the first rack, two sets are arranged at one end of the second rack and are respectively arranged on the main body seat, the other end of the second rack is a movable end, and the second driving assembly can be respectively rotatably arranged on the non-arranged side wall of the main body seat and is two sets.
Furthermore, the two parts are respectively a fixed base and a spherical seat, the spherical seat is at least of a hemispherical structure, a cavity is arranged in the fixed base, and a first channel is arranged at the bottom of the cavity; the spherical seat is installed in the opening of the cavity in a sealing manner, the spherical seat can swing around the cavity in space, and a second channel is arranged on one side of the spherical seat, which is far away from the bottom of the cavity; the three-section type universal shaft is arranged in the containing cavity, one end of the three-section type universal shaft can penetrate through the first channel in a rotating mode, and the other end of the three-section type universal shaft can penetrate through the second channel in a rotating mode; the main part seat is installed on spherical seat, the both ends of first rack and two the one end that the second rack corresponds all articulates on the outer wall that unable adjustment base corresponds the position.
Furthermore, the spherical seat comprises a bowl-shaped cover and a magnetic ring assembly, one side of an opening of the bowl-shaped cover is buckled in an opening of the containing cavity, and the bowl-shaped cover can rotate around the center of the sphere relative to the opening of the containing cavity and always block the opening of the containing cavity; the bottom of the bowl-shaped cover is provided with the second channel; the magnetic ring assembly is arranged in the cavity and is used for adsorbing the bowl-shaped cover on the opening of the cavity all the time.
Furthermore, the magnetic ring assembly comprises an inner magnetic ring and an outer magnetic ring, the outer magnetic ring is arranged on the inner wall of the containing cavity, and the inner ring is abutted against the outer wall of the bowl-shaped cover; the inner magnetic ring is arranged on the inner wall of the bowl-shaped cover located in the opening area, and the inner magnetic ring and the outer magnetic ring can attract each other.
Furthermore, the fixed base comprises a base bottom and a main body block arranged on the base bottom, the cavity is arranged in the main body block, and the opening is arranged on one side far away from the base bottom; the first channel is arranged on the main body block, and one outward end of the first channel penetrates through the main body block and the seat bottom.
Furthermore, the three-section type universal shaft comprises a first connecting shaft, a second connecting shaft and a transmission body, wherein one end of the first connecting shaft is hinged with one end of the transmission body through a cross shaft, and one end of the second connecting shaft is hinged with the other end of the transmission body through the cross shaft; the transmission body is located in the containing cavity, the other end of the first connecting shaft movably penetrates through the first channel, the other end of the second connecting shaft movably penetrates through the second channel, and the first connecting shaft and the second connecting shaft can rotate relative to the first channel and the second channel respectively.
The aircraft comprises an aircraft body, blades and an automatic composite universal axis turning device, wherein the mounting end of the spherical universal joint can be detachably mounted on the aircraft body, and the blades are mounted on the output end of the three-section type universal shaft.
The invention has the beneficial effects that:
the automatic composite universal axis turning device is additionally provided with the spherical universal joint on the basis of the existing three-section type universal shaft, and the relative swinging amplitude of two ends of the three-section type universal shaft is limited by utilizing two parts capable of realizing spatial relative swinging on the spherical universal joint respectively, wherein the two parts can be locked relatively, so that two ends of the three-section type universal shaft can be effectively fixed, and the original swinging amplitude of the three-section type universal shaft is not influenced. When the swing angle is adjusted, the rotation of the three-section type universal shaft is not influenced by the two parts of the spherical universal joint; meanwhile, the structure of the spherical universal joint can better protect the middle area of the three-section type universal shaft, so that external sundries are prevented from falling into the joint, and the abrasion is reduced. The driving device is used for adjusting and locking the space swing angles of the two components, so that the space swing angle and the transmission direction of the three-section type universal shaft can be adjusted and locked, and the use convenience is improved.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a schematic structural diagram 1 according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention 2;
FIG. 3 is a schematic structural diagram of FIG. 1 according to another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another embodiment of the present invention, FIG. 2;
FIG. 5 is a top view of another embodiment of the present invention;
FIG. 6 is a cross-sectional view taken along A-A of FIG. 5;
FIG. 7 is a schematic structural diagram of a three-segment type cardan shaft according to an embodiment of the present invention.
In the figure: the ball-and-socket joint comprises a ball-and-socket joint 100, a fixed base 110, a cavity 111, a first channel 112, a vertical portion 113, a closing portion 114, a base 115, a main body block 116, a limit ring base 117, a mounting hole 118, a ball base 120, a second channel 121, a bowl-shaped cover 122, an inner magnetic ring 123, an outer magnetic ring 124, a three-segment universal shaft 200, a first connecting shaft 210, a second connecting shaft 220, a transmission body 230, a cross shaft 240, a driving device 300, an arc-shaped rack 301, a driver 302, an avoiding slotted hole 303, a main body base 310, a first adjusting mechanism 320, a first rack 321, a first driving assembly 322, an avoiding hole 323, a second adjusting mechanism 330, a second rack 331 and a second driving assembly 332
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 7, the present application provides an automatic composite universal axis direction changing device, including a ball joint 100, a three-section type universal shaft 200, a driving device 300 and a control system, where the ball joint 100 is composed of two components capable of realizing relative spatial swing; the three-section type universal shaft 200 is arranged in the ball universal joint 100, two ends of the three-section type universal shaft can respectively and movably penetrate through two parts on the ball universal joint 100, and two ends of the three-section type universal shaft 200 can rotate relative to the parts; a drive device 300 is mounted on the ball joint 100 for adjusting and locking the spatial oscillation angle of the two components. The control system is mounted on the driving device 300 or the ball joint 100 for controlling the motion of the driving device 300. In fact, the ball joint 100 may be of a conventional ball joint construction, although in this application there is a certain amount of structural design variation due to the need to mount the three-piece cardan shaft 200 therein. In the actual use process, the two parts can be locked relatively, so that the swinging angles of the input end and the output end of the three-section type universal shaft 200 are kept fixed, the whole transmission direction is convenient to adjust, and transmission fixation is realized. Three-piece cardan shaft 200 may be a conventional three-piece cardan joint, such as the structure disclosed in the 201921217257.7 three-piece cardan joint, and will not be described in detail in this application. It should be added that, in the present application, the ball joint 100 has a space inside, which is convenient for accommodating the middle region of the three-segment type cardan shaft 200, and at the same time, the outward ends of the two components are provided with channels, which are convenient for the two ends of the three-segment type cardan shaft 200 to penetrate out. The driving device 300 may have another structure in the present application, for example, a structure in which a driving wheel directly drives a movable member of the ball joint 100 to operate, or a structure in which a plurality of telescopic links are extended and contracted, and the opposite swinging of two members of the ball joint 100 is controlled by a plurality of sets of telescopic links in different directions. Of course, other embodiments are not limited to the above-listed embodiments. The control system is a conventional programmable control board in the present application, but may be a configuration composed of dedicated control electronics as long as it can control the operation of the driving device 300.
The automatic composite universal axis direction changing device is additionally provided with the ball universal joint 100 on the basis of the existing three-section type universal shaft 200, and the relative swinging amplitude of two ends of the three-section type universal shaft 200 is limited by two parts which can realize relative spatial swinging on the ball universal joint 100 respectively, wherein the two parts can be locked relatively, so that two ends of the three-section type universal shaft 200 can be effectively fixed, and the original swinging amplitude of the three-section type universal shaft 200 is not influenced. When the swing angle is adjusted, the two components of the ball joint 100 do not affect the rotation of the three-segment type universal shaft 200; meanwhile, the structure of the ball joint 100 can better protect the middle area of the three-section type universal shaft 200, prevent external impurities from falling into the joint and reduce abrasion.
In one embodiment of the present application, the present application provides a specific form of the driving device 300, wherein the driving device 300 includes a main body seat 310, a first adjusting mechanism 320 and a second adjusting mechanism 330, the main body seat 310 is mounted on any one of the components, the first adjusting mechanism 320 and the second adjusting mechanism 330 are respectively mounted on any one of the components, output ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are respectively connected with the other of the components, and both the first adjusting mechanism 320 and the second adjusting mechanism 330 can drive the two components to spatially swing around a hinge point simultaneously or individually. In fact, the first adjusting mechanism 320 and the second adjusting mechanism 330 may be a common telescopic arm structure, or may be rotatably mounted on any one of the components by using a roller, the roller abuts against the spherical outer wall of the other component, and the roller is used to directly drive the abutted component to swing relative to the other component. In practice, the installation angles of the first adjusting mechanism 320 and the second adjusting mechanism 330 cannot be coplanar, and the directions in which the first adjusting mechanism 320 and the second adjusting mechanism 330 drive the two components to swing are not coplanar, and in practical installation, it is preferable that the first adjusting mechanism 320 and the second adjusting mechanism 330 are both installed on the same installation surface of the fixed component, and the first adjusting mechanism 320 and the second adjusting mechanism 330 are vertically distributed on the installation plane. The first adjustment mechanism 320 and the second adjustment mechanism 330 are electrically connected to the control system, which facilitates control of the control system.
In addition, the present application provides a specific structure of the ball-and-socket joint 100, where two of the components are a fixed base 110 and a ball-and-socket 120, respectively, the ball-and-socket 120 is at least a hemisphere structure, a cavity 111 is provided in the fixed base 110, and a first channel 112 is provided at the bottom of the cavity 111; the spherical seat 120 is installed in the opening of the cavity 111 in a sealing manner, the spherical seat 120 can swing around the cavity 111 in space, and a second channel 121 is arranged on one side of the spherical seat 120 away from the bottom of the cavity 111; the three-section type cardan shaft 200 is installed in the accommodating cavity 111, and one end of the three-section type cardan shaft can penetrate through the first passage 112 in a rotating mode, and the other end of the three-section type cardan shaft can penetrate through the second passage 121 in a rotating mode. In the actual use, unable adjustment base 110 is used for fixing on the structure of outside for can keep whole ball joint 100 stable, and ball seat 120 is whole ball joint 100's expansion end, and unable adjustment base 110 and ball seat 120 can support the input and the output of syllogic cardan shaft 200 to a certain extent, can also improve this syllogic cardan shaft 200's transmission intensity like this. In fact, the inner wall of the housing 111 abuts against the outer surface of the spherical end of the spherical seat 120, which ensures the tightness of the connection. The first channel 112 and the second channel 121 can be abutted with the outer walls of the input end and the output end of the three-section type universal shaft 200, so that the input end and the output end of the three-section type universal shaft 200 can be abutted against the inner walls of the first channel 112 and the second channel 121 to realize rotation. To better effect rotation, a rotation bearing may be installed in the first and second passages 112 and 121, so as to reduce resistance to rotation and reduce wear. In fact, the open end of the cavity 111 is provided with a limiting structure to prevent the spherical seat 120 from falling out of the cavity 111. Actually, the first adjusting mechanism 320 and the second adjusting mechanism 330, the main body seat 310 is installed on the spherical seat 120, the first adjusting mechanism 320 and the second adjusting mechanism 330 can be installed on the fixed base 110 or the spherical seat 120, if the installation ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are installed on the fixed base 110, the action ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are connected with or hinged or abutted to the spherical seat 120; similarly, the mounting ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are both mounted on the spherical seat 120, and the action ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are both connected with the fixed base 110 or hinged or abutted. The specific installation configuration of the first adjusting mechanism 320 and the second adjusting mechanism 330 is only required to be able to simultaneously or separately drive the relative swing around the hinge point of the fixed base 110 and the spherical seat 120.
Referring to fig. 1 and 2, for the sake of structural simplicity and convenience of later maintenance of components, in one embodiment of the present application, the first adjusting mechanism 320 and the second adjusting mechanism 330 are identical in structure, and each of the first adjusting mechanism 320 and the second adjusting mechanism 330 includes an arc-shaped rack 301 and a driver 302; two ends of the two arc-shaped racks 301 are respectively hinged to the part which is not provided with the main body seat 310, an avoidance slotted hole 303 is formed in each of the two arc-shaped racks 301 along the length direction of the arc-shaped rack, and one end, corresponding to the three-section type universal shaft 200, of the three-section type universal shaft movably penetrates through the avoidance slotted hole 303 and can slide in the avoidance slotted hole 303 along the circumferential direction of the arc-shaped rack 301; the two arc-shaped racks 301 are arranged in a staggered manner, and do not move and interfere when swinging mutually; the two drivers 302 are arranged on the main body seat 310, and the output end of each driver 302 can be always meshed with the corresponding arc-shaped rack 301; the output end of each driver 302 can crawl along a corresponding one of the arc-shaped racks 301 and drive the main body seat 310 and the corresponding component to swing relative to the other component space. In fact, the main body seat 310 is installed on the spherical seat 120, and both ends of the two arc-shaped racks 301 are respectively hinged on the outer wall of the fixed base 110. The fixed base 110 is installed on an external fixed structure in this embodiment, and the spherical seat 120 is a movable end, and a load structure, such as a fan blade or a paddle in the field of unmanned aerial vehicles, can be installed at a corresponding end of the three-segment type cardan shaft 200 that penetrates through the movable end. The two arc-shaped racks 301 are semicircular structures, and mounting lugs are arranged at two ends of each arc-shaped rack 301, so that the two arc-shaped racks are conveniently hinged to the outer wall of the fixed base 110, and actually, two hinge points of the two arc-shaped racks 301 are both mounted on any plane of the spherical seat 120, which penetrates through the center of the sphere of the spherical seat. In addition, both drivers 302 are electrically connected to the control system.
It should be added to the above embodiment that the staggered positions of the avoidance slots 303 on the two arc-shaped racks 301 are spaces through which the corresponding end of the three-section type cardan shaft 200 can move, and since the two arc-shaped racks 301 can swing respectively, the position change point of the staggered point of the two arc-shaped racks 301 in the space is the direction in which the corresponding end of the three-section type cardan shaft 200 can swing in the space. Meanwhile, in this embodiment, one end of the three-segment type universal shaft 200 is required to simultaneously penetrate through the two arc-shaped racks 301 and the main body seat 310, which are arranged in a staggered manner, and since three parts are required to simultaneously penetrate through the three-segment type universal shaft 200, the three-segment type universal shaft is more prone to jamming during swinging. In order to better realize that the movement range of the staggered point of the two arc-shaped racks 301 is larger and better transmit the load force transmitted from the main body seat 310, the two arc-shaped racks 301 are vertically staggered, i.e. arranged in a crisscross manner. Meanwhile, in order to avoid movement interference, the radius of one arc-shaped rack 301 is larger than the outer diameter of the other arc-shaped rack 301, so that the movement interference can be reduced, and the respective movement of the two arc-shaped racks 301 is ensured.
The driver 302 in the above embodiment may be composed of a servo motor and a gear installed on an output end of the servo motor, and in this embodiment, the servo motor is installed on the main body base 310, and the gear on the output end of the servo motor is always engaged with the arc-shaped rack 301 that is correspondingly engaged, so that the main body base 310 drives the corresponding arc-shaped rack 301 to swing correspondingly when moving. For this reason, the teeth of the arc-shaped rack 301 are installed on the outer side of the arc-shaped rack 301, which facilitates the installation of the servo motor while not interfering with other components when moving. In this embodiment, the servo motor is electrically connected to the control system.
Referring to fig. 3 to 6, since the first adjusting mechanism 320 and the second adjusting mechanism 330 have the same structure and both adopt the design of the arc-shaped racks 301 and the driver 302, when the two arc-shaped racks 301 are staggered with each other to change the staggered points of the two arc-shaped racks 301, the corresponding end of the three-segment type cardan shaft 200 passing through the staggered position of the escape slots 303 on the arc-shaped racks 301 is easily blocked and moves unsmoothly, and therefore in another embodiment of the present application, another improvement scheme related to the first adjusting mechanism 320 and the second adjusting mechanism 330 is provided. The first adjusting mechanism 320 comprises a first rack 321 and a first driving assembly 322, wherein two ends of the first rack 321 are respectively hinged to two opposite sides of the component which is not provided with the main body seat 310, the first driving assembly 322 is arranged on the main body seat 310, and an output end of the first driving assembly 322 can be always meshed with the first rack 321; first rack 321 is provided with dodge hole 323 along its length direction, the activity of the corresponding one end of syllogic cardan shaft 200 passes dodge hole 323 to can slide in dodging hole 323 along the circumference of first rack 321. In fact, the technical solution of the first adjusting mechanism 320 in the present embodiment is substantially the same as that of the first adjusting mechanism 320 or the second adjusting mechanism 330 in the previous embodiment, and therefore, the present embodiment is not described in detail herein. And the second adjusting mechanism 330 includes a second rack 331 and a second driving component 332, the second rack 331 and the second driving component 332 are provided with two sets, two sets of the second rack 331 are symmetrically disposed on two sides of the first rack 321, two sets of the second rack 331 are respectively disposed on the main body base 310, the other end is a movable end, two sets of the second driving component 332 are respectively rotatably disposed on the side wall of the component which is not disposed on the main body base 310, and two sets of the second driving component 332 are respectively engaged with the second rack 331 on the corresponding side all the time, and can swing along with the corresponding second rack 331. The main body seat 310 is installed on the spherical seat 120, and both ends of the first rack 321 and one end corresponding to the two second racks 331 are hinged to the outer wall of the corresponding position of the fixed base 110.
Through the above design, the second rack 331 can be directly fixed with the main body seat 310 and form a whole, so that compared with the previous embodiment, one end of the three-section type cardan shaft 200 corresponding to the first rack 321 only passes through the avoiding hole 323 and the main body seat 310, a structure that one end of the three-section type cardan shaft 200 corresponding to the first rack passes through is reduced, and the movement clamping stagnation can be reduced to a certain extent. It should be noted that, in this application, the structure of installing two sets of second drive components 332 all adopts the design of frame-shaped structure, two sets of second drive components 332 all adopt servo motor and install the gear on the servo motor output, wherein servo motor installs on frame-shaped structure, and the gear is installed in frame-shaped structure, and gear cooperation frame-shaped structure constitutes a space that can hold second rack 331 and pass simultaneously, so both can restrict the space motion of second rack 331, can drive frame-shaped structure through second rack 331 at later stage again and follow the swing.
In the above embodiment, the first driving assembly 322 can drive the main body seat 310 and the spherical seat 120 to swing relative to the fixed base 110 along the circumferential direction of the first rack 321 by cooperating with the engaging action of the first rack 321; the two sets of second racks 331 and the second driving assemblies 332 are respectively installed on two sides of the first rack 321, so that when the main body seat 310 and the ball seat 120 move along the second racks 331 on either side, the second driving assembly 332 on the other side drives the second rack 331 on the corresponding side to move in the opposite direction, and when the main body seat 310 and the ball seat 120 move along the second racks 331 on either side, the first driving assembly 322 installed on the main body seat 310 also forces the first rack 321 to swing around the hinge point thereof, so that the swing assembly formed by the main body seat 310, the ball seat 120 and the corresponding end of the three-segment type universal shaft 200 passing through the ball seat 120 can maintain a stable spatial swing angle relative to the fixed end formed by the fixed base 110, thereby reducing motion interference and motion stagnation between different components.
See the two embodiments described above regarding the different specific structures of the first adjustment mechanism 320 and the second adjustment mechanism 330, wherein the control system at least comprises a PLC control board to realize the control; the PLC control board is preferably installed on the fixing base 110 for fixing, and the first adjusting mechanism 320 is installed on the spherical seat 120, for which the wiring of the PLC control board can be inserted into the spherical seat 120 and finally electrically connected to the first driving assembly 322. When the first adjusting mechanism 320 and the second adjusting mechanism 330 are designed in the same structure, the PLC control board is electrically connected to the driver 302, and the PLC control board can be wirelessly connected to the operating terminal through a wireless module, which is a conventional technical means and is not described in detail herein. When the first adjusting mechanism 320 and the second adjusting mechanism 330 are designed to have different and same structures, the PLC control board is electrically connected to the first driving assembly 322 and the second driving assembly 332. In fact, the control system can also adopt the scheme in the prior art, and both the first driving assembly 322 and the second driving assembly 332 have the servo motors therein, so that the forward and reverse directions of the servo motors are controlled by the PLC control board to be the conventional technical means, and the present application only utilizes the principle to realize the function of angle adjustment in the present application. Of course, in some embodiments, the specific structure of the control system of the aircraft in the present application may also refer to the technical solution disclosed in patent 201820529849.1, a drone control system and a drone system, which is not detailed herein.
Referring to fig. 1 to 7, in some embodiments, in order to make the spherical seat 120 simpler and have certain controllability, the spherical seat 120 includes a bowl-shaped cover 122 and a magnetic ring assembly, one side of an opening of the bowl-shaped cover 122 is buckled in the opening of the cavity 111, and the bowl-shaped cover 122 can rotate around a spherical center thereof in a space relative to the opening of the cavity 111 and always blocks the opening of the cavity 111; the bottom of the bowl-shaped cover 122 is provided with the second channel 121; the magnetic ring assembly is installed in the cavity 111 and is used for adsorbing the bowl-shaped cover 122 on the opening of the cavity 111 all the time. In fact, the bowl-shaped cover 122 can slide along the opening direction of the cavity 111. In practical use, the position of the bowl-shaped cover 122 in the cavity 111 is not fixed, that is, the position of the center of the bowl-shaped cover 122 in the cavity 111 is not fixed, which can increase the mobility of the whole ball joint 100. In fact, during use, the three-segment cardan shaft 200 will move along its transmission direction during transmission, and therefore it is possible to drive the bowl-shaped cover 122 to move, and thus the bowl-shaped cover 122 will move in the cavity 111. For this reason, the magnetic ring subassembly main role is in this application for the motion of spacing bowl shape cover 122, and in fact, the appearance chamber 111 opening part is provided with position sensing, can detect bowl shape cover 122's displacement, can also control the adsorption affinity of magnetic ring subassembly according to bowl shape cover 122 apart from appearance chamber 111 open-ended position simultaneously, increases whole ball joint 100's use flexibility like this.
Further, in a modified embodiment, the magnetic ring assembly comprises an inner magnetic ring 123 and an outer magnetic ring 124, the outer magnetic ring 124 is mounted on the inner wall of the cavity 111, and the inner ring abuts against the outer wall of the bowl-shaped cover 122; the inner magnet ring 123 is mounted on the inner wall of the bowl-shaped cover 122 in the opening area, the inner magnet ring 123 and the outer magnet ring 124 being capable of attracting each other. Wherein, the inner magnetic ring 123 and the outer magnetic ring 124 are both provided with rollers, which is convenient for the bowl-shaped cover 122 to swing. In fact, in some embodiments, driving members are disposed in both the inner magnetic ring 123 and the outer magnetic ring 124, and the driving members can be connected to the rollers, that is, the rollers can realize the directional swing of the bowl-shaped cover 122. Generally, rollers may be disposed at four equal positions of the inner magnetic ring 123 and the outer magnetic ring 124, and two adjacent rollers or a plurality of rollers with a desired adjustment direction are used to drive the bowl-shaped cover 122 to move, so as to achieve the swing adjustment of the bowl-shaped cover 122.
Referring to fig. 6, in fact, in some embodiments, in addition to using a position sensor to detect the position of the bowl-shaped cover 122 in the cavity 111, the cavity 111 may be modified so that the bowl-shaped cover 122 can move in the cavity 111 to accommodate the play of the three-segment type cardan shaft 200 in the transmission direction. The cavity 111 comprises a vertical portion 113 and a closing-in portion 114, the diameter of the vertical portion 113 is larger than or equal to that of the bowl-shaped cover 122, the diameter of the opening end of the closing-in portion 114 is smaller than that of the bowl-shaped cover 122, and the bowl-shaped cover 122 can slide along the vertical portion 113. In fact, the cavity 111 may be a separate structure to achieve the installation of the bowl-shaped cover 122, and in some embodiments, the fixing base 110 may also be a separate structure to achieve the installation of the bowl-shaped cover 122 into the cavity 111.
With further reference to fig. 1 to 6, in order to facilitate the later installation and fixation of the fixation base 110 on an external fixture, the fixation base 110 includes a base 115 and a main body block 116 mounted on the base 115, the cavity 111 is disposed in the main body block 116, and the opening is disposed on a side away from the base 115; the first channel 112 is disposed on the body block 116, and the outward end penetrates the body block 116 and the seat bottom 115. The base 115 is of a plate-shaped structure, and a plurality of mounting holes 118 are formed in the base 115, so that the later-stage mounting work is facilitated. Of course, the body block 116 may be a hemisphere or a square block, and the cross section of the cavity 111 is a circle, so as to fit the hemisphere shape of the bowl-shaped cover 122.
Referring to fig. 1 and 2, in fact, in an embodiment of the present application, in order to prevent the bowl-shaped cover 122 from coming out of the cavity 111, the fixed base 110 further includes a limit ring seat 117, the limit ring seat 117 is mounted on one side of the body block 116 at the opening of the cavity 111, the outer surface of the spherical seat 120 abuts against the inner wall of the inner ring of the limit ring seat 117, and the limit ring seat 117 can limit the spherical seat 120 in the cavity 111. Wherein, the limiting ring seat 117 can be fixed on the main body block 116 by screws, which facilitates the later disassembly. In fact, in some embodiments, the limiting ring seat 117 is provided with a rubber pad on the inner wall thereof, and the rubber pad is provided with lubricating oil, so as to reduce the wear on the outer spherical surface of the spherical seat 120.
Referring further to fig. 7, the three-piece type universal shaft 200 used in the present application may be a conventional three-piece type universal joint, but it is difficult to adapt to the specific structure of the ball joint 100 in the present application, and for this reason, the three-piece type universal shaft 200 in the present application includes a first connecting shaft 210, a second connecting shaft 220, and a transmission body 230, one end of the first connecting shaft 210 is hinged to one end of the transmission body 230 through a cross 240, and one end of the second connecting shaft 220 is hinged to the other end of the transmission body 230 through a cross 240; the transmission body 230 is located in the accommodating cavity 111, the other end of the first connecting shaft 210 movably penetrates through the first channel 112, the other end of the second connecting shaft 220 movably penetrates through the second channel 121, and the first connecting shaft 210 and the second connecting shaft 220 can rotate relative to the first channel 112 and the second channel 121 respectively. In fact, the lengths of the first connecting shaft 210 and the second connecting shaft 220 are greater than the depths of the first channel 112 and the second channel 121, so that the first connecting shaft 210 and the second connecting shaft 220 are conveniently connected with an external structure, the transmission body 230 is actually a double-head structure, both ends of the transmission body are provided with connecting lugs, the connecting lugs are connected and hinged with the cross shaft 240, and similarly, the corresponding ends of the first connecting shaft 210 and the second connecting shaft 220 are also provided with connecting lugs, so that both ends of the remaining one of the cross shaft 240 on the connecting lug of the transmission body 230 are conveniently hinged.
Of course, in some embodiments, the outward ends of the first connecting shaft 210 and the second connecting shaft 220 are stepped shafts, which facilitates the installation of bearings, by which the first connecting shaft 210 and the second connecting shaft 220 can be installed in the first passage 112 and the second passage 121, respectively. In fact, since the first connecting shaft 210 and the second connecting shaft 220 may generate axial play during the transmission process, the bearings may be ball spline bearings, and accordingly, the first connecting shaft 210 and the second connecting shaft 220 are provided with spline grooves, so that the first connecting shaft 210 and the second connecting shaft 220 can rotate and move in the axial direction.
The invention also provides an aircraft, which comprises an aircraft body, blades and an automatic composite universal axis turning device, wherein the mounting end of the spherical universal joint 100 can be detachably mounted on the aircraft body, and the blades are mounted on the output end of the three-section type universal shaft 200. Including aircraft body, paddle and compound universal deviator with adjustable, install on the aircraft body with spherical universal joint 100 can be dismantled, the paddle is installed on the output of syllogic cardan shaft 200. In fact, the fixing base 110 of the ball joint 100 in the above embodiment is used for fixing on the aircraft body, so that the stability of the whole ball joint 100 can be maintained, and the first connecting shaft 210 of the three-segment type universal shaft 200 is directly connected with the power structure of the aircraft body, and can be an electric motor or an oil-electric motor. Because the ball joint 100 has a certain movement dead angle in the application, in order to realize the dead angle-free movement of the whole blade in the action space, a mounting structure with a certain angle can be arranged on the aircraft body, for example, a support arm, and the movement dead angle of the ball joint 100 is compensated by using the space oblique angle of the support arm, so that the blade can swing in the action space without dead angle, and the flight state can be adjusted. The above-mentioned action space is understood to be the space formed by all the adjustment angles required by the blade in achieving various flight actions.
The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.
Claims (11)
1. An automatic composite universal axis direction changing device is characterized by comprising
A ball joint; the device is formed by hinging two parts which can realize relative spatial swing;
the three-section type universal shaft is arranged in the spherical universal joint, two ends of the three-section type universal shaft can respectively and movably penetrate through the two parts on the spherical universal joint, and two ends of the three-section type universal shaft can rotate relative to the parts;
the driving device is arranged on the ball universal joint and used for adjusting and locking the spatial swing angle of the two parts; and
and the control system is arranged on the driving device or the ball joint and is used for controlling the action of the driving device.
2. The automatic composite universal axis direction changing device according to claim 1, wherein the driving device comprises a main body seat, a first adjusting mechanism and a second adjusting mechanism, the main body seat is mounted on any one of the components, the first adjusting mechanism and the second adjusting mechanism are respectively mounted on any one of the components, output ends of the first adjusting mechanism and the second adjusting mechanism are respectively connected with the other component, the first adjusting mechanism and the second adjusting mechanism are electrically connected with a control system, and the first adjusting mechanism and the second adjusting mechanism can simultaneously or respectively and independently drive the two components to spatially swing around a hinge point.
3. The automatic composite universal axle center deviator as claimed in claim 2, wherein the first and second adjusting mechanisms have the same structure, and each of the first and second adjusting mechanisms comprises an arc-shaped rack and a driver; two ends of the two arc-shaped racks are respectively hinged to the part which is not provided with the main body seat, avoidance slotted holes are formed in the two arc-shaped racks along the length direction of the two arc-shaped racks, and one ends, corresponding to the three-section type universal shafts, movably penetrate through the avoidance slotted holes and can slide in the avoidance slotted holes along the circumferential direction of the arc-shaped racks; the two arc-shaped racks are arranged in a staggered mode, and do not move and interfere when swinging mutually; the two drivers are arranged on the main body seat, and the output end of each driver can be always meshed with one corresponding arc-shaped rack; the output end of each driver can crawl along a corresponding arc-shaped rack and drive the main body seat and the corresponding part to swing relative to the other part space, and the drivers are connected with the control system electrically.
4. The automatic composite universal axis turning device according to claim 3, wherein the two components are a fixed base and a spherical seat respectively, the spherical seat is at least of a hemispherical structure, a cavity is formed in the fixed base, and a first channel is arranged at the bottom of the cavity; the spherical seat is installed in the opening of the cavity in a sealing manner, the spherical seat can swing around the cavity in space, and a second channel is arranged on one side of the spherical seat, which is far away from the bottom of the cavity; the three-section type universal shaft is arranged in the containing cavity, one end of the three-section type universal shaft can penetrate through the first channel in a rotating mode, and the other end of the three-section type universal shaft can penetrate through the second channel in a rotating mode; the main part seat is installed on spherical seat, two the both ends of arc rack articulate respectively on unable adjustment base's outer wall.
5. The automatic composite universal axle center turning device as claimed in claim 2, wherein the first adjusting mechanism comprises a first rack and a first driving assembly, two ends of the first rack are respectively hinged to two opposite sides of the component which is not provided with the main body seat, the first driving assembly is arranged on the main body seat, and an output end of the first driving assembly can be always meshed with the first rack; an avoidance hole is formed in the first rack along the length direction of the first rack, and one end, corresponding to the three-section type universal shaft, of the three-section type universal shaft movably penetrates through the avoidance hole and can slide in the avoidance hole along the circumferential direction of the first rack; the second adjustment mechanism comprises a second rack and a second driving assembly, the second rack and the second driving assembly are both provided with two sets of second racks, the second racks are symmetrically arranged on two sides of the first rack, the second racks are arranged on the main body seat respectively, the other ends of the second racks are movable ends, the second driving assembly is arranged on the non-installed side of the main body seat in a rotating mode respectively, the second driving assembly is arranged on the side wall of the component in a two-set mode and can be always meshed with the second racks on one side correspondingly and can follow the second racks to swing correspondingly, and the first driving assembly and the second driving assembly are electrically connected with the control system.
6. The automatic composite universal axis turning device according to claim 5, wherein the two components are a fixed base and a spherical seat respectively, the spherical seat is at least of a hemispherical structure, a cavity is formed in the fixed base, and a first channel is arranged at the bottom of the cavity; the spherical seat is installed in the opening of the cavity in a sealing manner, the spherical seat can swing around the cavity in space, and a second channel is arranged on one side of the spherical seat, which is far away from the bottom of the cavity; the three-section type universal shaft is arranged in the containing cavity, one end of the three-section type universal shaft can penetrate through the first channel in a rotating mode, and the other end of the three-section type universal shaft can penetrate through the second channel in a rotating mode; the main part seat is installed on spherical seat, the both ends of first rack and two the one end that the second rack corresponds all articulates on the outer wall that unable adjustment base corresponds the position.
7. The automatic composite universal axle center turning device as claimed in claim 4 or 6, wherein the spherical seat comprises a bowl-shaped cover and a magnetic ring assembly, one side of an opening of the bowl-shaped cover is buckled in an opening of the cavity, the bowl-shaped cover can rotate around a spherical center of the bowl-shaped cover in space relative to the opening of the cavity and always seals the opening of the cavity; the bottom of the bowl-shaped cover is provided with the second channel; the magnetic ring assembly is arranged in the cavity and is used for adsorbing the bowl-shaped cover on the opening of the cavity all the time.
8. The automatic composite universal axis turning device according to claim 7, wherein the magnetic ring assembly comprises an inner magnetic ring and an outer magnetic ring, the outer magnetic ring is mounted on the inner wall of the cavity, and the inner ring is abutted against the outer wall of the bowl-shaped cover; the inner magnetic ring is arranged on the inner wall of the bowl-shaped cover located in the opening area, and the inner magnetic ring and the outer magnetic ring can attract each other.
9. The automatic composite universal axis direction changing device as claimed in claim 4 or 6, wherein the fixed base comprises a base bottom and a main body block mounted on the base bottom, the cavity is arranged in the main body block, and the opening is arranged on one side far away from the base bottom; the first channel is arranged on the main body block, and one outward end of the first channel penetrates through the main body block and the seat bottom.
10. The automatic composite universal axle center turning device as claimed in claim 4 or 6, wherein the three-section type universal axle comprises a first connecting axle, a second connecting axle and a transmission body, one end of the first connecting axle is hinged with one end of the transmission body through a cross axle, and one end of the second connecting axle is hinged with the other end of the transmission body through a cross axle; the transmission body is located in the containing cavity, the other end of the first connecting shaft movably penetrates through the first channel, the other end of the second connecting shaft movably penetrates through the second channel, and the first connecting shaft and the second connecting shaft can rotate relative to the first channel and the second channel respectively.
11. An aircraft, characterized in that: the automatic composite universal axis turning device comprises an aircraft body, blades and the automatic composite universal axis turning device as claimed in any one of claims 1 to 10, wherein the mounting end of the spherical universal joint can be detachably mounted on the aircraft body, and the blades are mounted on the output end of a three-section type universal shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111408245.4A CN114030607B (en) | 2021-11-25 | 2021-11-25 | Automatic compound universal axis steering device and aircraft |
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| CN202111408245.4A CN114030607B (en) | 2021-11-25 | 2021-11-25 | Automatic compound universal axis steering device and aircraft |
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| CN114030607B CN114030607B (en) | 2024-01-30 |
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|---|---|
| CN114030607B (en) | 2024-01-30 |
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