CN114030607B - Automatic compound universal axis steering device and aircraft - Google Patents
Automatic compound universal axis steering device and aircraft Download PDFInfo
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- CN114030607B CN114030607B CN202111408245.4A CN202111408245A CN114030607B CN 114030607 B CN114030607 B CN 114030607B CN 202111408245 A CN202111408245 A CN 202111408245A CN 114030607 B CN114030607 B CN 114030607B
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- 230000007246 mechanism Effects 0.000 claims description 82
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
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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
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Abstract
The invention discloses an automatic compound universal axis steering device and an aircraft, which comprise a spherical universal joint, a three-section universal shaft, a driving device and a control system, wherein the spherical universal joint is formed by hinging two parts capable of realizing space relative swinging; 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 space swinging angle of the two parts; the control system is arranged on the driving device or the spherical universal joint and is used for controlling the action of the driving device. The automatic compound universal axis direction changing device has the advantages of small structure, large transmission amplitude and stable transmission; the aircraft can realize the direction-changing adjustment of driving power, and the adjustment process is stable and reliable.
Description
Technical Field
The invention relates to the technical field of aircraft transmission, in particular to an automatic compound universal axis steering device and an aircraft.
Background
The universal joint is a part for realizing variable-angle power transmission, is used for changing the position of the transmission axis direction, but is a two-joint structure in many cases, the universal joint of the two-joint structure mainly realizes swinging in at most two plane dimensions, and the range of the swinging distance and amplitude is limited, and the range is smaller, so the universal joint has the limitation in application. For this purpose, three-joint universal joints are often used in the industry, which can increase the transmission amplitude and the wobble space.
In the practical use process, two ends of the three-joint universal joint are connected with two fixed structures, namely fixed transmission is realized, so that the three-joint universal joint basically cannot irregularly swing at two ends of the transmission process to cause transmission looseness. However, in some transmission fields with one end being open, such as unmanned aerial vehicle or ship transmission fields, since the end to which the three-joint universal joint is connected is the open end, for this purpose, the end of the three-joint universal joint that is driven outwards must be fixed by means of a multi-link fixing structure, such as a multi-link suspension structure on an automobile chassis, but the swing amplitude of the three-joint universal joint is limited by the multi-link fixing structure, and the three-joint universal joint is limited in use in practical application. Meanwhile, the multi-connecting-rod fixing structure is complex in structure, and large in space requirement for part movement, so that the multi-connecting-rod fixing structure is very restricted from being used in some fields, especially in the field of unmanned aerial vehicle blade transmission.
Disclosure of Invention
The invention aims to at least solve one of the above-mentioned technical problems, and provides an automatic compound universal axis steering device and an aircraft. The aircraft can realize the direction-changing adjustment of driving power, and the adjustment process is stable and reliable.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
automatic change compound universal axle center deviator, include
A ball joint; the device consists of two parts capable of realizing space relative swinging in a hinged manner;
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;
a driving device mounted on the ball joint 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 spherical universal 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, wherein the main body seat is arranged on any component, the first adjusting mechanism and the second adjusting mechanism are respectively arranged on any component, the output ends of the first adjusting mechanism and the second adjusting mechanism are respectively connected with another 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 independently drive the two components to swing around the hinge point.
Further, the first adjusting mechanism and the second adjusting mechanism have the same structure, and each of the first adjusting mechanism and the second adjusting mechanism comprises an arc-shaped rack and a driver; two ends of the two arc racks are respectively hinged to the parts which are not provided with the main body seat, the two arc racks are respectively provided with an avoidance slot along the length direction of the arc racks, and one corresponding end of the three-section universal shaft movably passes through the avoidance slot and can slide in the avoidance slot along the circumferential direction of the arc racks; the two arc racks are arranged in a staggered way, and do not 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 a corresponding arc-shaped rack; the output end of each driver can creep along one corresponding arc-shaped rack and drive the main body seat and the corresponding part to swing in space relative to the other part, and the two drivers are electrically connected with the control system.
Further, the two parts are respectively a fixed base and a spherical seat, the spherical seat is at least of a hemispherical structure, a containing cavity is formed in the fixed base, and a first channel is formed in the bottom of the containing cavity; the spherical seat is arranged in the opening of the containing cavity in a blocking manner, the spherical seat can swing around the containing cavity in space, and a second channel is arranged on one side of the spherical seat away from the bottom of the containing cavity; the three-section type universal shaft is arranged in the accommodating cavity, one end of the three-section type universal shaft can rotationally penetrate out of the first channel, and the other end of the three-section type universal shaft can rotationally penetrate out of the second channel; the main body seat is arranged on the spherical seat, and two ends of the two arc racks are respectively hinged to the outer wall of the fixed base.
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, on which the main body seat is not mounted, of the part, the first driving assembly is mounted on the main body seat, and the output end of the first driving assembly can be always meshed with the first rack; the first rack is provided with an avoidance hole along the length direction of the first rack, and one end of the three-section universal shaft corresponding to the first rack movably passes through the avoidance hole and can slide in the avoidance hole along the circumferential direction of the first rack; the second adjusting mechanism comprises a second rack and a second driving assembly, the second rack and the second driving assembly are respectively provided with two groups, the second racks are symmetrically arranged on two sides of the first rack, one end of each second rack is respectively installed on the main body seat, the other end of each second rack is a movable end, the second driving assembly is respectively and rotatably installed on the side wall of a part of the main body seat, the second driving assembly is respectively and rotatably meshed with the second rack on one side of the corresponding second rack, and the second driving assembly can swing along with the corresponding second rack.
Further, the two parts are respectively a fixed base and a spherical seat, the spherical seat is at least of a hemispherical structure, a containing cavity is formed in the fixed base, and a first channel is formed in the bottom of the containing cavity; the spherical seat is arranged in the opening of the containing cavity in a blocking manner, the spherical seat can swing around the containing cavity in space, and a second channel is arranged on one side of the spherical seat away from the bottom of the containing cavity; the three-section type universal shaft is arranged in the accommodating cavity, one end of the three-section type universal shaft can rotationally penetrate out of the first channel, and the other end of the three-section type universal shaft can rotationally penetrate out of the second channel; the main body seat is arranged on the spherical seat, and both ends of the first rack and one ends corresponding to the two second racks are hinged on the outer wall of the corresponding position of the fixed base.
Further, 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 a spherical center of the bowl-shaped cover in space 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 containing cavity and is used for adsorbing the bowl-shaped cover on the opening of the containing cavity all the time.
Further, 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 with the outer wall of the bowl-shaped cover; the inner magnetic ring is arranged on the inner wall of the bowl-shaped cover, which is positioned in the opening area, and the inner magnetic ring and the outer magnetic ring can be attracted mutually.
Further, the fixed base comprises a base seat and a main body block arranged on the base seat, the accommodating cavity is arranged in the main body block, and the opening is arranged on one side far away from the base seat; the first channel is arranged on the main body block, and one outward end penetrates through the main body block and the seat bottom.
Further, the three-section type universal shaft comprises a first connecting shaft, a second connecting shaft and a transmission body, 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 out of the first channel, the other end of the second connecting shaft movably penetrates out of 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 compound universal axis steering device, wherein the installation end of the spherical universal joint can be detachably installed on the aircraft body, and the blades are installed on the output end of the three-section universal shaft.
The beneficial effects of the invention are as follows:
the automatic compound universal axis steering device is characterized in that a spherical universal joint is additionally arranged on the basis of the existing three-section universal axis, two parts which can realize space relative swinging on the spherical universal joint are respectively utilized to limit the relative swinging amplitude of two ends of the three-section universal axis, wherein the two parts can be relatively locked, so that the two ends of the three-section universal axis can be effectively fixed, and the original swinging amplitude of the three-section universal axis is not influenced. Wherein, when the swing angle of the two parts of the spherical universal joint is adjusted, the rotation of the three-section universal shaft is not influenced; meanwhile, the structure of the spherical universal joint can better protect the middle area of the three-section universal shaft, prevent external sundries from falling into the joint, and reduce abrasion. The driving device is used for adjusting and locking the space swinging angles of the two parts, so that the space swinging angles and the transmission directions of the three-section universal shaft can be adjusted and locked, and the use convenience is improved.
Drawings
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention 1;
FIG. 2 is a schematic diagram of the structure of an embodiment of the present invention 2;
FIG. 3 is a schematic diagram of another embodiment of the present invention 1;
FIG. 4 is a schematic diagram of another embodiment of the present invention 2;
FIG. 5 is a top view of another embodiment of the present invention;
FIG. 6 is a cross-sectional view taken along the direction A-A in FIG. 5;
fig. 7 is a schematic structural diagram of a three-section universal shaft according to an embodiment of the present invention.
In the figure: the ball joint 100, the fixed mount 110, the housing 111, the first passage 112, the vertical portion 113, the closing-in portion 114, the mount base 115, the body block 116, the confinement ring mount 117, the mounting hole 118, the ball mount 120, the second passage 121, the bowl-shaped cover 122, the inner magnet ring 123, the outer magnet ring 124, the three-stage universal shaft 200, the first connecting shaft 210, the second connecting shaft 220, the transmission body 230, the cross shaft 240, the driving device 300, the arc rack 301, the driver 302, the escape slot 303, the body mount 310, the first adjustment mechanism 320, the first rack 321, the first driving assembly 322, the escape hole 323, the second adjustment mechanism 330, the second rack 331, the second driving assembly 332
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 7, the present application provides an automatic compound universal axis steering device, which comprises a spherical universal joint 100, a three-section universal shaft 200, a driving device 300 and a control system, wherein the spherical universal joint 100 is composed of two components capable of realizing space relative swinging; the three-section type universal shaft 200 is installed in the spherical universal joint 100, two ends of the three-section type universal shaft 200 can respectively and movably penetrate through two parts on the spherical universal joint 100, and two ends of the three-section type universal shaft 200 can rotate relative to the parts; the driving device 300 is mounted on the ball joint 100 for adjusting and locking the spatial swing angle of the two said parts. The control system is mounted on the driving device 300 or the ball joint 100 for controlling the action of the driving device 300. In practice, the ball joint 100 may be of conventional ball-and-socket construction, although in this application there is a certain modification in the structural design due to the internal need to mount the three-part universal shaft 200. In the practical use process, the two parts can be locked relatively, so that the purpose is to keep the swing angles at the input end and the output end of the three-section universal shaft 200 fixed, and the whole transmission direction is convenient to adjust, so that the transmission fixation is realized. The three-section universal shaft 200 may be a conventional three-section universal joint, such as the structure disclosed in the 201921217257.7 three-section universal joint, which is not described in detail herein. It should be noted that, in the present application, the spherical universal joint 100 has a space inside, so that the middle area of the three-section type universal shaft 200 can be conveniently accommodated, and meanwhile, a channel is provided at one end of the two parts outwards, so that two ends of the three-section type universal shaft 200 can be conveniently penetrated out. The driving device 300 may have other structures, for example, a structure in which a driving wheel directly drives a movable component on the ball joint 100 to act, or may have a multi-link telescopic structure, and a plurality of groups of telescopic links with different directions are used to control opposite swinging of two components on the ball joint 100. Of course, in other embodiments, not limited to the embodiments listed above. The control system is a conventional programmable control board in the present application, and may be a dedicated control electronic component, as long as it can control the driving device 300 to operate.
The automatic compound universal axis steering device is characterized in that a spherical universal joint 100 is additionally arranged on the basis of the existing three-section universal axis 200, two parts which can realize space relative swinging on the spherical universal joint 100 are respectively utilized to limit the relative swinging amplitude of two ends of the three-section universal axis 200, wherein the two parts can be relatively locked, so that the two ends of the three-section universal axis 200 can be effectively fixed, and the original swinging amplitude of the three-section universal axis 200 is not influenced. Wherein the two parts of the ball joint 100 do not affect the rotation of the three-section universal shaft 200 when adjusting the swing angle; meanwhile, the structure of the ball joint 100 can better protect the middle area of the three-section universal shaft 200, prevent external sundries from falling into the connecting position, and reduce abrasion.
In one embodiment of the present application, a specific form of the driving device 300 is provided, where 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 installed on any one of the components, the first adjusting mechanism 320 and the second adjusting mechanism 330 are respectively installed on any one of the components, output ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are respectively connected with another of the components, and each of the first adjusting mechanism 320 and the second adjusting mechanism 330 can simultaneously or individually drive two of the components to spatially swing around a hinge point. In practice, the first adjusting mechanism 320 and the second adjusting mechanism 330 may be of a conventional telescopic arm structure, or may be rotatably mounted on any one of the components, 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 mounting angles of the first adjusting mechanism 320 and the second adjusting mechanism 330 cannot be coplanar, the directions in which the two components are driven to swing are not coplanar, and in practical mounting, it is preferable that the first adjusting mechanism 320 and the second adjusting mechanism 330 are both mounted on the same mounting surface of the fixed component, and the first adjusting mechanism and the second adjusting mechanism are vertically distributed on the mounting plane. The first adjustment mechanism 320 and the second adjustment mechanism 330 are each electrically connected to a control system, which facilitates control by the control system.
Furthermore, the present application provides a specific structure of the ball joint 100, wherein two parts are a fixed base 110 and a spherical seat 120, the spherical seat 120 is at least a hemispherical structure, the fixed base 110 is provided with a cavity 111, and a first channel 112 is arranged at the bottom of the cavity 111; the spherical seat 120 is installed in the opening of the accommodating cavity 111 in a blocking manner, the spherical seat 120 can swing around the accommodating 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 accommodating cavity 111; the three-section universal shaft 200 is installed in the accommodating cavity 111, one end of the three-section universal shaft can rotatably pass through the first channel 112, and the other end of the three-section universal shaft can rotatably pass through the second channel 121. In actual use, the fixing base 110 is used to be fixed to an external structure, so that the stability of the entire ball joint 100 can be maintained, and the ball seat 120 is a movable end of the entire ball joint 100, and the fixing base 110 and the ball seat 120 can support the input end and the output end of the three-section universal shaft 200 to some extent, so that the transmission strength of the three-section universal shaft 200 can be improved. In fact, the inner wall of the cavity 111 abuts against the outer surface of the spherical end of the spherical seat 120, so that the tightness of the connection can be ensured. 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 universal shaft 200, so that the input end and the output end of the three-section universal shaft 200 can be abutted with the inner walls of the first channel 112 and the second channel 121 to realize rotation. To better achieve rotation, rotational bearings may be mounted within the first and second channels 112, 121 to facilitate reduced resistance to rotation and reduced wear. In fact, the open end of the cavity 111 is provided with a limiting structure, which prevents the spherical seat 120 from coming out of the cavity 111. In fact, the first adjusting mechanism 320 and the second adjusting mechanism 330, the main body seat 310 is mounted on the spherical seat 120, the first adjusting mechanism 320 and the second adjusting mechanism 330 may be mounted on the fixed base 110 or the spherical seat 120, and if the mounting ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are both mounted on the fixed base 110, the active ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are both 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 mounted on the spherical seat 120, and the acting ends of the first adjusting mechanism 320 and the second adjusting mechanism 330 are connected with the fixed base 110 or hinged or abutted. The specific installation form of the first adjusting mechanism 320 and the second adjusting mechanism 330 can be enough to simultaneously or individually drive the fixed base 110 and the spherical seat 120 to swing around the hinge point.
Referring to fig. 1 and 2, in order to simplify the structure and facilitate the maintenance of the later parts, in one embodiment of the present application, the first adjusting mechanism 320 and the second adjusting mechanism 330 have the same 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 parts which are not provided with the main body seat 310, the two arc-shaped racks 301 are respectively provided with an avoidance slot 303 along the length direction of the two arc-shaped racks, and the corresponding end of the three-section universal shaft 200 movably passes through the avoidance slot 303 and can slide in the avoidance slot 303 along the circumferential direction of the arc-shaped racks 301; the two arc racks 301 are staggered, and do not interfere with each other when swinging mutually; the two drivers 302 are mounted on the main body seat 310, and the output end of each driver 302 can be always meshed with a corresponding arc-shaped rack 301; the output end of each driver 302 can crawl along a corresponding one of the arc racks 301 and drive the main body seat 310 and the corresponding component to spatially swing relative to the other component. In practice, the main body seat 310 is mounted on the spherical seat 120, and two ends of the two arc-shaped racks 301 are respectively hinged to the outer wall of the fixed base 110. The fixed base 110 is installed on an external fixed structure in the present embodiment, and the spherical base 120 is a movable end, and a load structure, such as a fan blade or a paddle in the unmanned plane, can be installed on a corresponding end of the three-section universal shaft 200. The two arc racks 301 are in a semicircular structure, and the two ends of the arc racks are provided with mounting lugs, so that the arc racks are conveniently hinged with the outer wall of the fixed base 110, and in fact, two hinge points of the two arc racks 301 are all mounted on any plane of the spherical seat 120 passing through the center of the sphere. Furthermore, both drivers 302 are electrically connected to the control system.
The above embodiment should be further described that, the staggered positions of the avoiding slots 303 on the two arc racks 301 are the space through which the corresponding ends of the three-section universal shaft 200 movably pass, and because the two arc racks 301 can swing respectively, the position change point of the staggered points of the two arc racks 301 in space is the direction in which the corresponding ends of the three-section universal shaft 200 can swing in space. In this embodiment, the corresponding end of the three-section universal shaft 200 is required to pass through the two arc racks 301 and the main body seat 310 which are arranged in a staggered manner, and thus the three-section universal shaft 200 is more likely to be jammed during swinging due to the need of passing through three components at the same time. In order to better achieve a larger range of motion of the point where the two arc racks 301 are staggered, and to better transmit the load force transmitted on the main body seat 310, the two arc racks 301 are vertically staggered, i.e. crisscross. Meanwhile, in order to avoid motion interference, the radius of one arc-shaped rack 301 is larger than the outer diameter of the other arc-shaped rack 301, so that motion interference can be reduced, and respective motion 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 seat 310, and the gear on the output end of the servo motor is always kept in a meshed state with the corresponding meshed arc-shaped rack 301, so that the main body seat 310 is convenient to drive the corresponding arc-shaped rack 301 to swing correspondingly during movement. For this purpose, the teeth on the curved rack 301 are mounted on the outside of the curved rack 301, which facilitates the mounting of the servo motor without interfering with other components during movement. 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 are designed by adopting the arc racks 301 and the driver 302, when the two arc racks 301 are staggered with each other to change the staggered points of the two arc racks, the corresponding ends of the three-section universal shaft 200 passing through the staggered positions of the avoiding slots 303 on the arc racks 301 are easy to be blocked and move 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. Wherein the first adjusting mechanism 320 comprises a first rack 321 and a first driving assembly 322, two ends of the first rack 321 are respectively hinged on two opposite sides of the component not mounted with the main body seat 310, the first driving assembly 322 is mounted 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; the first rack 321 is provided with an avoidance hole 323 along the length direction thereof, and one end of the three-section universal shaft 200 corresponding to the first rack 321 movably passes through the avoidance hole 323 and can slide in the avoidance hole 323 along the circumferential direction of the first rack 321. In fact, the technical solution of the first adjusting mechanism 320 in this embodiment is substantially the same as the first adjusting mechanism 320 or the second adjusting mechanism 330 in the previous embodiment, and this embodiment is not described in detail here. The second adjusting mechanism 330 includes a second rack 331 and a second driving assembly 332, the second rack 331 and the second driving assembly 332 are both provided with two groups, two second racks 331 are symmetrically disposed on two sides of the first rack 321, one ends of the two second racks 331 are respectively mounted on the main body seat 310, the other ends are movable ends, two groups of second driving assemblies 332 are respectively rotatably mounted on side walls of the component which is not mounted on the main body seat 310, and two groups of second driving assemblies 332 can be respectively engaged with the second racks 331 on the corresponding side all the time, and can follow the corresponding second racks 331 to swing. The main body seat 310 is mounted on the spherical seat 120, and two ends of the first rack 321 and two corresponding ends of the second racks 331 are both hinged on the outer wall of the fixed base 110 at corresponding positions.
Through the above design, the second rack 331 can be directly fixed to the main body seat 310 and form a whole, so compared with the previous embodiment, the corresponding end of the three-section universal shaft 200 only passes through the avoidance hole 323 on the first rack 321 and the main body seat 310, the structure that the corresponding end of the three-section universal shaft 200 passes through is reduced, and the blocking of the movement can be reduced to a certain extent. It should be noted that, in the present application, the structure of installing two sets of second driving components 332 all adopts the design of frame-shaped structure, two sets of second driving components 332 all adopt servo motor and install the gear on 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 to pass simultaneously, so both can restrict the space motion of second rack 331, can drive frame-shaped structure through second rack 331 at the later stage again and follow the swing.
In the above embodiment, the first driving component 322 can drive the main body seat 310 and the spherical seat 120 to swing along the circumferential direction of the first rack 321 relative to the fixed base 110 by cooperating with the meshing action of the first rack 321; the two sets of second racks 331 and the second driving assembly 332 are respectively mounted on two sides of the first rack 321, so that when the main body base 310 and the second racks 331 along with the spherical base 120 move along the second racks 331 on either side, the second driving assembly 332 on the other side drives the corresponding second racks 331 on one side to move in opposite directions, and when the main body base 310 and the second racks 331 along with the spherical base 120 move along the second racks 331 on either side, the first driving assembly 322 mounted on the main body base 310 forces the first racks 321 to follow and swing around the hinge points thereof, so that the swing assembly formed by the main body base 310, the spherical base 120 and the corresponding end of the three-section universal shaft 200 passing through the spherical base 120 can keep a stable space swing angle relative to the fixed end formed by the fixed base 110, and movement interference and movement blocking between different parts are reduced.
See the two embodiments described above with respect to the different specific configurations of the first adjustment mechanism 320 and the second adjustment mechanism 330, wherein the control system comprises at least a PLC control board for control; the PLC board is preferably mounted on the fixed base 110 for ease of attachment while the first adjustment mechanism 320 is on the spherical seat 120, for which purpose the wiring of the PLC board may be threaded into the spherical seat 120 and ultimately electrically connected to the first drive assembly 322. When the first adjusting mechanism 320 and the second adjusting mechanism 330 are in the same structural design, the PLC control board is electrically connected with the driver 302, and the PLC control board can be connected with the operation terminal through a wireless module in a wireless communication manner, 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 in different structures, the PLC control boards are electrically connected to the first driving component 322 and the second driving component 332. In fact, the control system may also adopt a scheme in the prior art, and the first driving component 322 and the second driving component 332 are both internally provided with a servo motor, so that the forward and reverse rotation of the servo motor controlled by the PLC control board is a conventional technical means, and the angle adjusting function in the present application is realized by only using the principle. Of course, in some embodiments, reference may also be made to a drone control system of patent 201820529849.1 and a technical solution disclosed in the drone system for a specific structure of the control system of the aircraft in the present application, which are not described in detail herein.
Referring to fig. 1 to 7, in some embodiments, in order to make the spherical seat 120 simpler and at the same time have a certain controllability, the spherical seat 120 includes a bowl-shaped cover 122 and a magnetic ring assembly, one open side of the bowl-shaped cover 122 is fastened in the opening of the cavity 111, and the bowl-shaped cover 122 can spatially rotate around its spherical center relative to the opening of the cavity 111 and always block 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 mounted in the cavity 111 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 actual use, the position of bowl cover 122 within cavity 111 is not fixed, i.e., the position of the center of sphere of bowl cover 122 within cavity 111 is not fixed, which may increase the mobility of the overall ball and socket joint 100. In fact, during use, the three-section universal shaft 200 will move along the transmission direction during transmission, so that the bowl-shaped cover 122 may be driven to move, and the bowl-shaped cover 122 may move in the cavity 111. Therefore, the magnetic ring assembly is mainly used in the present application to limit the movement of the bowl-shaped cover 122, and in fact, the position sensing is disposed at the opening of the cavity 111, so that the displacement of the bowl-shaped cover 122 can be detected, and meanwhile, the adsorption force of the magnetic ring assembly can be controlled according to the position of the bowl-shaped cover 122 away from the opening of the cavity 111, so that the flexibility of using the whole spherical universal joint 100 is increased.
Further, in a modified embodiment, the magnetic ring assembly includes 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 magnetic ring 123 is mounted on the inner wall of the bowl-shaped cover 122 located in the opening area, and the inner magnetic ring 123 and the outer magnetic ring 124 can attract each other. Wherein, the inner magnetic ring 123 and the outer magnetic ring 124 are respectively provided with rollers, which are convenient for the bowl-shaped cover 122 to swing. In fact, in some embodiments, the inner magnetic ring 123 and the outer magnetic ring 124 are both provided with driving members, and the rollers may be connected to the driving members, that is, the rollers may implement the swinging of the bowl-shaped cover 122. In general, rollers may be disposed at equal four portions of the inner magnetic ring 123 and the outer magnetic ring 124, and two or more adjacent rollers in a desired adjustment direction may be used to drive the bowl-shaped cover 122 to move, so as to implement swinging adjustment of the bowl-shaped cover 122.
Referring to fig. 6, in some embodiments, in addition to using a position sensor to detect the position of the bowl 122 within the cavity 111, the cavity 111 may be modified to allow the bowl 122 to move within the cavity 111 to accommodate movement in the direction of transmission during transmission of the three-stage cardan shaft 200. The accommodating cavity 111 includes a vertical portion 113 and a closing portion 114, the diameter of the vertical portion 113 is greater than or equal to the diameter of the bowl-shaped cover 122, the diameter of an opening end of the closing portion 114 is smaller than the diameter of the bowl-shaped cover 122, and the bowl-shaped cover 122 can slide along the vertical portion 113. In practice, the cavity 111 may be configured as a separate structure to mount the bowl-shaped cover 122, and of course, in some embodiments, the fixing base 110 may also be configured as a separate structure to mount the bowl-shaped cover 122 into the cavity 111.
Referring further to fig. 1 to 6, in order to facilitate the later installation and fixation of the fixing base 110 to an external fixture, the fixing base 110 includes a base 115 and a body block 116 mounted on the base 115, the cavity 111 is provided in the body block 116, and an opening is provided on a side remote from the base 115; the first channel 112 is disposed on the body block 116 and has an outward end extending through 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 later-stage mounting work is facilitated. Of course, the whole body block 116 can be hemispherical or square, and the cross section of the cavity 111 is circular, so as to be convenient for fitting with the hemispherical shape of the bowl-shaped cover 122.
Referring to fig. 1 and 2, in fact, in one embodiment of the present application, in order to avoid the bowl-shaped cover 122 from being pulled out of the cavity 111, the fixing base 110 further includes a limiting ring seat 117, the limiting ring seat 117 is mounted on a side of the body block 116, which is located at the opening of the cavity 111, an outer surface of the spherical seat 120 abuts against an inner wall of an inner ring of the limiting ring seat 117, and the limiting ring seat 117 is capable of limiting the spherical seat 120 within the cavity 111. The limiting ring seat 117 can be fixed on the main body block 116 through screws, so that later disassembly is facilitated. In some embodiments, the inner wall of the limiting ring seat 117 is provided with a rubber pad, and the rubber pad is provided with lubricating oil, so that abrasion to the outer spherical surface of the spherical seat 120 is reduced.
Referring further to fig. 7, the three-section universal shaft 200 used in the present application may be a conventional three-section universal joint, but the conventional three-section universal joint is difficult to adapt to the specific structure of the ball-and-socket joint 100 in the present application, for which reason the three-section universal shaft 200 includes a first connecting shaft 210, a second connecting shaft 220 and a transmission body 230, wherein 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 the cross 240; the transmission body 230 is located in the cavity 111, the other end of the first connecting shaft 210 movably passes through the first channel 112, the other end of the second connecting shaft 220 movably passes 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 in a double-head structure, two ends of the transmission body are provided with connecting lugs, the connecting lugs are connected and hinged with the cross shaft 240, and similarly, one ends corresponding to the first connecting shaft 210 and the second connecting shaft 220 are also provided with connecting lugs, so that the transmission body 230 is conveniently hinged with two ends of the remaining one shaft of the cross shaft 240 on the connecting lugs.
Of course, in some embodiments, the outward ends of the first and second connection shafts 210 and 220 are stepped shafts, which facilitates the installation of bearings, by which the first and second connection shafts 210 and 220 may be installed in the first and second passages 112 and 121, respectively. In fact, since the first connecting shaft 210 and the second connecting shaft 220 may generate axial movement during the transmission, the bearings may be ball spline bearings, and accordingly spline grooves are provided on the first connecting shaft 210 and the second connecting shaft 220, so that the first connecting shaft 210 and the second connecting shaft 220 can both rotate and move axially.
The invention also provides an aircraft, which comprises an aircraft body, the blades and the automatic compound universal axis direction changing device, wherein the installation end of the spherical universal joint 100 can be detachably installed on the aircraft body, and the blades are installed on the output end of the three-section universal shaft 200. The adjustable composite universal direction changer comprises an aircraft body, a blade and an adjustable composite universal direction changer, wherein the spherical universal joint 100 can be detachably arranged on the aircraft body, and the blade is arranged on the output end of the three-section universal shaft 200. In fact, the fixing base 110 on the ball-and-socket joint 100 in the above embodiment is used to be fixed on the aircraft body, so that the stability of the entire ball-and-socket joint 100 can be maintained, while the first connecting shaft 210 in the three-stage joint 200 is directly connected to the power structure of the aircraft body, which can be a motor or a diesel engine. Because in this application spherical universal joint 100 has certain motion dead angle, in order to realize the no dead angle motion of whole paddle on the action space, can set up the mounting structure of certain angle on the aircraft body, for example the support arm, utilize the space oblique angle of support arm to compensate the motion dead angle of spherical universal joint 100 for the paddle can realize no dead angle swing in the action space, adjusts the flight condition. The above-mentioned working space is understood to be the space formed by all the adjustment angles required by the blade when carrying out various flight actions.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and any modifications or equivalent substitutions without departing from the spirit and scope of the present invention should be covered in the scope of the technical solution of the present invention.
Claims (7)
1. Automatic change compound universal axle center deviator, its characterized in that includes
A ball joint; the device consists of two parts capable of realizing space relative swinging in a hinged manner;
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;
a driving device mounted on the ball joint for adjusting and locking the spatial swing angle of the two parts; and
The control system is arranged on the driving device or the spherical universal joint and used for controlling the action of the driving device;
the driving device comprises a main body seat, a first adjusting mechanism and a second adjusting mechanism, wherein the main body seat is arranged on any part, the first adjusting mechanism and the second adjusting mechanism are respectively arranged on any part, the output ends of the first adjusting mechanism and the second adjusting mechanism are respectively connected with the other part, 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 independently drive the two parts to swing around a hinge point;
the first adjusting mechanism comprises a first rack and a first driving component, two ends of the first rack are respectively hinged to two opposite sides of the part, not provided with the main body seat, of the part, the first driving component is arranged on the main body seat, and the output end of the first driving component can be always meshed with the first rack; the first rack is provided with an avoidance hole along the length direction of the first rack, and one end of the three-section universal shaft corresponding to the first rack movably passes through the avoidance hole and can slide in the avoidance hole along the circumferential direction of the first rack; the second adjusting mechanism comprises a second rack and a second driving assembly, the second rack and the second driving assembly are respectively provided with two groups, the second racks are symmetrically arranged on two sides of the first rack, one end of each second rack is respectively installed on the main body seat, the other end of each second rack is a movable end, the second driving assembly is respectively and rotatably installed on the side wall of a part of the main body seat, the second driving assembly is respectively and rotatably meshed with the second rack on one side of the corresponding second rack all the time, the second driving assembly can swing along with the corresponding second rack, and the first driving assembly and the second driving assembly are electrically connected with the control system.
2. The automatic compound universal axis steering device according to claim 1, wherein the two parts are a fixed base and a spherical seat respectively, the spherical seat is at least of a hemispherical structure, a containing cavity is formed in the fixed base, and a first channel is formed in the bottom of the containing cavity; the spherical seat is arranged in the opening of the containing cavity in a blocking manner, the spherical seat can swing around the containing cavity in space, and a second channel is arranged on one side of the spherical seat away from the bottom of the containing cavity; the three-section type universal shaft is arranged in the accommodating cavity, one end of the three-section type universal shaft can rotationally penetrate out of the first channel, and the other end of the three-section type universal shaft can rotationally penetrate out of the second channel; the main body seat is arranged on the spherical seat, and both ends of the first rack and one ends corresponding to the two second racks are hinged on the outer wall of the corresponding position of the fixed base.
3. The automatic compound universal axis steering device according to claim 2, 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 containing cavity, and the bowl-shaped cover can spatially rotate around a spherical center of the bowl-shaped cover 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 containing cavity and is used for adsorbing the bowl-shaped cover on the opening of the containing cavity all the time.
4. The automated composite universal axle center deviator of claim 3, 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 abuts the outer wall of the bowl-shaped cover; the inner magnetic ring is arranged on the inner wall of the bowl-shaped cover, which is positioned in the opening area, and the inner magnetic ring and the outer magnetic ring can be attracted mutually.
5. The automated compound universal axle center deviator of claim 2, wherein the stationary base includes a base and a body block mounted on the base, the cavity is disposed within the body block and the opening is disposed on a side remote from the base; the first channel is arranged on the main body block, and one outward end penetrates through the main body block and the seat bottom.
6. The automatic compound universal axis steering device according to claim 2, wherein the three-section universal axis comprises a first connecting shaft, a second connecting shaft and a transmission body, 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 out of the first channel, the other end of the second connecting shaft movably penetrates out of 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.
7. The aircraft, its characterized in that: the automatic composite universal shaft center turning device comprises an aircraft body, a blade and the automatic composite universal shaft center turning device of any one of claims 1-6, wherein the installation end of the spherical universal joint can be detachably installed on the aircraft body, and the blade is installed on the output end of the three-section universal shaft.
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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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| Publication number | Publication date |
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| CN114030607A (en) | 2022-02-11 |
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