CN114030625B - Method for loading articles on unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Method for loading articles on unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN114030625B CN114030625B CN202111445218.4A CN202111445218A CN114030625B CN 114030625 B CN114030625 B CN 114030625B CN 202111445218 A CN202111445218 A CN 202111445218A CN 114030625 B CN114030625 B CN 114030625B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005484 gravity Effects 0.000 claims abstract description 51
- 238000007689 inspection Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008093 supporting effect Effects 0.000 description 36
- 238000012360 testing method Methods 0.000 description 12
- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 229920001971 elastomer Polymers 0.000 description 7
- KHDSWONFYIAAPE-UHFFFAOYSA-N silicon sulfide Chemical compound S=[Si]=S KHDSWONFYIAAPE-UHFFFAOYSA-N 0.000 description 6
- 238000005452 bending Methods 0.000 description 4
- 229920002379 silicone rubber Polymers 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 206010066054 Dysmorphism Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002968 anti-fracture Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000013095 identification testing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003562 lightweight material Substances 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Supports For Pipes And Cables (AREA)
Abstract
The application relates to a method for hanging articles on an unmanned aerial vehicle and the unmanned aerial vehicle, belongs to the technical field of equipment hanging and solves the problems that in the prior art, the gravity center is unstable after being hung and the adjustment is inconvenient. The application passes through the step S1: obtaining the gravity center of the unmanned aerial vehicle; s2: the hanging rack is hung on the unmanned plane; s3: and (5) mounting the mounted object, and carrying out X, Y and Z-direction adjustment on the mounted object to mount the object on the unmanned aerial vehicle. The application realizes the leveling of the gravity centers of the unmanned aerial vehicle in the X, Y, Z directions after the unmanned aerial vehicle mounts articles, so that the unmanned aerial vehicle with the mounted articles with different weights and gravity center positions mounted on the two sides has stable integral flight, is not easy to damage and has good inspection effect.
Description
Technical Field
The application relates to the technical field of equipment hanging, in particular to a method for hanging articles on an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
Unmanned aerial vehicle is because of its small and exquisite, simple operation and wide application in various inspection work, replaces the manual work to have realized dangerous environment, be difficult for arriving special environment such as environment and patrol the work, unmanned aerial vehicle's use in the field of patrolling and examining has improved work efficiency, operational reliability and artificial security, has increased the scope that can patrol and examine.
In order to realize different inspection works, the unmanned aerial vehicle is often required to be replaced and carried with different inspection equipment, and meanwhile, a plurality of different inspection equipment can be mounted for simultaneously completing various inspection tasks, and the unmanned aerial vehicle and the inspection equipment are connected and fixed by using a hanging frame. When different inspection equipment is mounted or the inspection equipment is replaced at the same time, the hanger in the prior art cannot obtain a stable gravity center according to actual conditions, so that the gravity center of the whole unmanned aerial vehicle after the inspection equipment is mounted is unstable, the inspection effect is affected, and the safety of the equipment during inspection is affected. In addition, because the flight action of the unmanned aerial vehicle and the patrol operation of the patrol equipment and the influence of natural environment are carried out in the patrol process, the hanging frame in the prior art is extremely easy to break and damage due to the shock generated by the carried patrol equipment and the flight of the unmanned aerial vehicle and the influence of the natural environment (such as wind, snow and the like), meanwhile, the hanging frame can also cause the falling damage of the mounting equipment in the process of executing tasks, the safety and the reliability of the hanging frame and the patrol equipment are not facilitated, and the equipment cost is increased.
Disclosure of Invention
In view of the above analysis, the embodiment of the application aims to provide a method for hanging articles on an unmanned aerial vehicle and the unmanned aerial vehicle, which are used for solving the problems of unstable gravity center and inconvenient adjustment of the existing hanging method.
In one aspect, the application provides a method for loading articles on an unmanned aerial vehicle, wherein the articles to be loaded are loaded on the unmanned aerial vehicle through a hanger, and the method comprises the following steps:
s1: obtaining the gravity center of the unmanned aerial vehicle;
s2: the hanging rack is hung on the unmanned plane;
s3: the mounted articles are mounted, and X, Y and Z-direction adjustment is carried out on the mounted articles.
Preferably, in the step S2, the hanger connector (9) of the hanger is connected with the hanger of the unmanned aerial vehicle, and then the pipe hoop (10) of the hanger is fixedly connected with the side sill of the unmanned aerial vehicle, and the heading direction is the X direction.
Preferably, in the step S2, the Y position of the hanger is adjusted to the deepest position relative to the unmanned plane.
Preferably, in the step S2, an integrated center of gravity of the unmanned aerial vehicle after mounting the hanger is obtained, and the integrated center of gravity is used as a reference for adjustment.
Preferably, the two hangers are symmetrically arranged on two sides of the bottom of the unmanned aerial vehicle.
Preferably, in the step S3, the center of gravity and the mass of the mounted objects to be mounted on both sides of the unmanned plane body are obtained, and the mass of the mounted objects on both sides is M respectively 1 And M 2 Wherein M is 1 ＜M 2 The method comprises the steps of carrying out a first treatment on the surface of the The gravity center of the mounted object is aligned with the integrated gravity center in the X direction, and then the mounted object is fixedly connected with the hanging frame.
Preferably, in the step S3, the adjustment mass is M 1 The Z-direction angle of the side hanging rack makes the gravity center and the mass of the side hanging rack M 2 The center of gravity Z of the side mounted article is aligned.
Preferably, in the step S3, the hanger is adjustable in length lmm, and the measured mass is M 1 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center isL 1 mm, measured mass M 2 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center is L 2 mm, by the formula: m is M 1 ×(L 1 +l 1 )＝M 2 ×(L 2 ) Obtaining l 1 The method comprises the steps of carrying out a first treatment on the surface of the For mass of M 1 The distance between the side mounted articles is adjusted by an adjustment amount of l 1 mm; so that the mounted items are balanced in the Y-direction on both sides of the unmanned aerial vehicle fuselage.
On the other hand, the application also provides an unmanned aerial vehicle, which is used for the method for hanging the articles on the unmanned aerial vehicle and comprises a body, hangers and a side sill.
Preferably, the suspension loops are located above the side sills.
Compared with the prior art, the application has at least one of the following beneficial effects:
(1) The installation method adopted by the application is simple and easy to operate, is convenient for temporary replacement and gravity center readjustment of the field device, and saves time cost;
(2) According to the hanger disclosed by the application, the object to be mounted can be adjusted in the X, Y, Z directions, so that the gravity center of the unmanned aerial vehicle after the object is mounted by adopting the hanger can still be kept stable, and the stability of the flight and inspection process is facilitated;
(3) The hanger with the preset space and the specific shape, which is formed by bending the high-strength space bent pipe, increases the structural strength of the hanger body structure at the contact point, reduces the fracture and damage probability of the contact point, improves the safety and reliability of the hanger and the inspection equipment, and reduces the equipment cost;
(4) The anti-swing bracket adopted by the application can ensure that the compressed compression nut can obtain better pretightening force and can not be compressed too tightly so that a structural member is easy to damage in a vibration environment.
In the application, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the application, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a schematic view of a hanger in accordance with an embodiment;
FIG. 2 is a left side view of a hanger of an embodiment;
FIG. 3 is a right side view of the hanger of the embodiment;
FIG. 4 is a schematic view of an anti-swing bracket according to an embodiment;
FIG. 5 is a schematic view showing the deployment of an anti-swing bracket according to an embodiment;
fig. 6 is a schematic structural view of a hoop according to an embodiment;
fig. 7 is a schematic structural diagram of a second embodiment of the Z-direction adjustment of the first connecting end of the embodiment;
FIG. 8 is a schematic view of a straight pipe section end of a second embodiment of a Z-direction adjustment of a first connecting end of an embodiment;
FIG. 9 is a schematic view of a first connecting end of a second embodiment of Z-direction adjustment of the first connecting end of the embodiment;
FIG. 10 is a partial cross-sectional view of a second embodiment of a first connector tip Z-direction adjustment of a particular embodiment;
a third embodiment of the Z-direction adjustment of the first connecting end of the embodiment of fig. 11 is a schematic structural diagram;
the first connector end of the embodiment of FIG. 12 is a schematic view of the straight tube segment end of embodiment three with Z-direction adjustment;
first connection end schematic of embodiment three of the first connection end Z-direction adjustment of the embodiment of fig. 13;
fig. 14 is a cross-sectional view of a third embodiment of a first connector tip Z-adjustment of a particular embodiment.
Reference numerals:
1-space elbow; 2-a long straight pipe; 3-arc tube; 4-a rectangular sheet body; 5-inspection equipment; a 6-L-shaped bracket; 7-a bracket fixing tube; 8-an anti-swing bracket; 9-a hanging lug connector; 10-a pipe hoop; 11-a first ear; 12-u-shaped tablets; 13-a second ear; 14-passing through the slot; 15-connecting pipes; 16-a support plate; 17-a first support plate; 18-a second support plate; 19-limiting plates;
101-a first straight pipe section; 102-a second straight pipe section; 103-a third straight pipe section; 104-a fourth straight pipe section; 105-a fifth straight pipe section; 106-a first arc segment; 107-a second arc segment; 108-third arc segment.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, detachably coupled, integrally coupled, mechanically coupled, electrically coupled, directly coupled, or indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "top," "bottom," "above … …," "below," and "on … …" are used throughout the description to refer to the relative positions of components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are versatile, irrespective of their orientation in space.
As shown in fig. 1-3, the application discloses an adjustable hanger, which comprises a space bent pipe 1 and a long straight pipe 2, wherein the space bent pipe 1 is bent to form a preset space, and the long straight pipe 2 is fixedly arranged in the preset space of the space bent pipe 1; the space elbow pipe 1 is provided with a first connecting end, the long straight pipe 2 is provided with a second connecting end, and the space elbow pipe is connected with the mounting main body through the first connecting end and the second connecting end. Preferably, the mounting main body is an unmanned aerial vehicle.
Alternatively, the space elbow 1 includes a first straight pipe section 101, a fifth straight pipe section 105, a second straight pipe section 102, a third straight pipe section 103, and a fourth straight pipe section 104 in this order; the first straight pipe section 101 and the fifth straight pipe section 105 are both positioned on a first longitudinal plane, the second straight pipe section 102 is positioned on a first plane, the first longitudinal plane is perpendicular to the first plane, the projection of the axis of the first straight pipe section 101 on the first plane is perpendicular to the axis of the second straight pipe section 102, the projection of the axis of the fifth straight pipe section 105 on the first plane is perpendicular to the axis of the second straight pipe section 102, and the fifth straight pipe section 105 and the second straight pipe section 102 are in smooth transition connection at the connecting end through a first circular arc section 106; the axis of the first straight tube section 101 and the axis of the fifth straight tube section 105 are arranged at an angle α in a first longitudinal plane, preferably 125 ° or more α or less 135 °; the axis of the fifth straight tube segment 105 is disposed at an angle τ from the first plane, preferably 25 τ 35;
the third straight pipe section 103 is located in a second plane, the second plane is located below the first plane, and the first plane is horizontal to the second plane; the projection of the axis of the third straight pipe section 103 on the first plane is parallel to the axis of the second straight pipe section 102, and a certain distance is reserved between the projection of the axis of the third straight pipe section 103 on the first plane and the axis of the second straight pipe section 102; the second straight pipe section 102 and the third straight pipe section 103 are in smooth transition connection through a second circular arc section 107 at the connecting end; the fourth straight pipe section 104 is located on a second longitudinal plane, the first longitudinal plane is parallel to the second longitudinal plane, the second longitudinal plane is perpendicular to the first plane, and the projection of the axis of the fourth straight pipe section 104 on the first plane is perpendicular to the axis of the second straight pipe section 102; the third straight pipe section 103 and the fourth straight pipe section 104 are in smooth transition connection at the connecting end through a third circular arc section 108; an angle gamma between a virtual line extending from an intersection point of the axis of the third straight pipe section 103 and the axis of the fourth straight pipe section 104 toward the second straight pipe section 102 and intersecting the second straight pipe section 102 and the first plane is set, preferably, 25 degrees or more and 35 degrees or less; the virtual line lies in a second longitudinal plane on which the virtual line and the axis of the fourth straight tube segment 104 are disposed at an angle β, preferably 125 β 135 °.
Further, two first connecting ends are provided and are respectively arranged at the end of the first straight pipe section 101 and the end of the fourth straight pipe section 104; the distances between the two first connecting ends and the second straight pipe section 102 are equal, the two first connecting ends are positioned on the same third plane, and the third plane is positioned below the second plane; the third plane is parallel to the second plane. It will be appreciated that the axis of the second straight tube section 102 extends in the X direction, and that the first straight tube section 101, the fourth straight tube section 104, the fifth straight tube section 105 and the long straight tube 2 extend in the-Y direction according to the right-hand screw rule, and that the first connection end and the second connection end can be adjusted in position in the ±z direction.
The first straight pipe section 101 is disposed at the rearmost end of the hanger in the X direction, the axis of the second straight pipe section 102 extends forward in the X direction along the first straight pipe section 101, and further, one end of the second circular arc section 107 connected to the third straight pipe section 103 is bent toward the direction of the first straight pipe section 101.
Optionally, the first straight tube section 101, the fifth straight tube section 105, the first circular arc section 106, the second straight tube section 102, the second circular arc section 107, the third straight tube section 103, the third circular arc section 108 and the fourth straight tube section 104 are integrally formed from a tube, preferably a high strength lightweight material.
Optionally, one end of the long straight pipe 2 is fixedly connected to the second straight pipe section 102, and the second connecting end is arranged at the other end of the long straight pipe 2; the long straight pipe 2 is positioned on a third longitudinal plane, the first longitudinal plane, the second longitudinal plane and the third longitudinal plane are mutually parallel, the third longitudinal plane is perpendicular to the first plane, and the axis of the long straight pipe 2 is perpendicular to the axis of the second straight pipe section 102; the axis of the long straight tube 2 is disposed at an angle θ from the first plane, preferably at an angle θ of 0 degrees.
Preferably, the third longitudinal plane passes through the geometric center of the preset space formed by bending the space elbow 1.
Optionally, the pipe further comprises an arc pipe 3, two ends of the arc pipe 3 are respectively fixed on the first straight pipe section 101 and the fourth straight pipe section 104, the long straight pipe 2 is connected with a pipe body of the arc pipe 3, preferably, two ends of the arc pipe 3 are respectively fixedly connected at the junction of the first straight pipe section 101 and the fifth straight pipe section 105 and the junction of the fourth straight pipe section 104 and the third arc section 108; a reinforcing pipe is arranged between the second straight pipe section 102 and the third straight pipe section 103; the arc tube 3 and the reinforcing tube can make the whole hanger structure more stable.
Optionally, a rectangular sheet 4 is fixedly arranged below the second straight pipe section 102, the axis of the rectangular sheet 4 is horizontal to the axis of the second straight pipe section 102, and a plurality of pin holes are arranged at equal intervals along the axis direction of the rectangular sheet 4; the rectangular sheet body 4 is arranged near one end of the second circular arc section 107; the plurality of pairs of L-shaped brackets 6 are fixedly arranged on the mounted object, the plurality of pairs of L-shaped brackets 6 are arranged along the axis of the mounted object, the distance between each pair of L-shaped brackets 6 is the same as the width of the rectangular sheet body 4, and the rectangular sheet body 4 can be inserted between the plurality of pairs of L-shaped brackets 6. Preferably, the mounted article is a patrol equipment 5, and further, the appearance of the patrol equipment 5 is a long cylinder. The rectangular sheet 4 is fixedly connected with the L-shaped bracket 6 through the locknut, and then the object to be mounted is fixedly connected with the hanging frame.
Further, bracket fixing pipes 7 are respectively arranged at the two ends of the rectangular sheet body 4 on the second straight pipe section 102; the bracket fixing tube 7 is perpendicular to the second straight tube section 102, the bracket fixing tube 7 is positioned on a fourth longitudinal plane, and the first longitudinal plane, the second longitudinal plane, the third longitudinal plane and the fourth longitudinal plane are parallel to each other; preferably, in order to be convenient for with the more firm fixed mounting of mounted article, support fixed pipe 7 is the dysmorphism, can laminate with the appearance of being mounted article mounting point mutually, and further, support fixed pipe 7 is convex, and the convex of support fixed pipe 7 can laminate with the equipment 5 that patrols and examines that the appearance is long barrel mutually.
Further, the middle position of the bracket fixing tube 7 is connected with the second straight tube section 102; screw holes are formed in two ends of the support fixing tube 7, the support fixing tube further comprises an anti-swing support 8, the anti-swing support 8 is omega-shaped, the anti-swing support 8 and the fixing tube 7 are fixedly arranged on the mounted object through screws, and the mounted object is fixedly connected with the mounting object; the bottom of the anti-sway brace 8 is provided with a silicone rubber mat, preferably bonded to the bottom of the anti-sway brace 8. Further, the arc-shaped distance formed between the second straight pipe section 102 and the third straight pipe section 103 is greater than half the length of the bracket fixing pipe 7.
Further, the Ω -shaped anti-swing bracket 8 is formed by integrally connecting a first tab 11, a u-shaped tab 12 and a second tab 13 in sequence, wherein the width of the first tab 11 is smaller than that of the u-shaped tab 12, the width of the second tab 13 is smaller than that of the u-shaped tab 12, and the width of the first tab 11 is equal to that of the second tab 13; the two side walls of the u-shaped sheet 12 are respectively bent to form an angle of 90 degrees at the contact surface with the mounted object, and then are respectively bent to form an angle of 180 degrees at one end close to the first lug 11 and the second lug 13; a through groove 14 is formed at the 90-degree bending position, the first lug 11 and the second lug 13 are bent to form an arch bridge shape, and then are inserted into the corresponding through grooves 14 and pass out of the through grooves 14; the first lug 11 and the second lug 13 are provided with a plurality of spines on one surface contacted with the silicon rubber pad, one end of the first lug and the second lug, which is inserted into the through groove, is provided with a plurality of spines, and when the torque applied by the compression nut is used for screwing operation, the plurality of spines can be pricked into the silicon rubber pad. The omega-shaped anti-swing support 8 can improve anti-swing performance during vibration, and the anti-loosening and anti-fracture performances of the hanger parts are improved.
Optionally, one end of the second connecting end is provided with an internal thread, the other end of the second connecting end is provided with a ring groove, the end of the long straight pipe 2 is provided with an annular guide rail, the ring groove and the annular guide rail are mutually clamped and relatively rotated, and Y-direction adjustment can be carried out on the mounted object; the novel connecting device is characterized by further comprising a hanging lug connector 9, wherein an external thread pipe is arranged at one end of the hanging lug connector 9 and can be in threaded connection with an internal thread of the second connecting end, an external limiting table is arranged at the opening end of the external thread pipe, an internal limiting table is arranged at the outermost end of the internal thread of the second connecting end, and the external limiting table and the internal limiting table can be used for limiting a clamp and preventing the second connecting end from being accidentally separated from the hanging lug connector 9 when reaching the limit of the rotating position; the other end of the hanging lug connector 9 is hinged with a hanging point on the article to be mounted and is used for carrying out Z-direction adjustment on the article to be mounted.
First embodiment of Z-direction adjustment of first connection terminal:
referring to fig. 1-3 and 6, by the hanger described above, one end of the first connecting end is provided with external threads, the other end of the first connecting end is provided with annular grooves, the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with annular guide rails, the annular grooves and the annular guide rails are mutually clamped and relatively rotated, and Y-direction adjustment can be performed on the mounted articles; still include the pipe strap 10, pipe strap 10 one end is provided with the internal thread pipe, can carry out threaded connection with the external screw thread of first connecting end, the open end of internal thread pipe is provided with interior spacing platform, the outermost end of first connecting end external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card and, prevent that first connecting end from reaching unexpected breaking away from with pipe strap 10 when rotation position's the limit.
Further, the other end of the pipe hoop 10 is a hoop, and the Z-direction position of the first connecting end is adjusted by adjusting the angle between the hoop and the mounting bracket of the mounting main body, so as to adjust the Z-direction position of the gravity center of the mounted article; in order to prevent sliding, an anti-slip rubber mat is arranged between the anchor ear and the mounting bracket.
Second embodiment of the first connection end Z-direction adjustment:
referring to fig. 7-10, the hanger further comprises a pipe hoop 10, wherein one end of the pipe hoop 10 is provided with an internal threaded pipe, in order to obtain a better anti-slip effect, the other end of the pipe hoop 10 is fixedly connected with the mounting bracket, preferably, the end of the pipe hoop 10 is provided with a screw hole, the corresponding position of the mounting bracket is provided with a screw hole, and the pipe hoop 10 is detachably and fixedly connected with the mounting bracket by using a screw.
Further, the first connecting end comprises a connecting pipe 15, a supporting disc 16 and a first supporting plate 17, and the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with a second supporting plate 18; the first connecting end and the end of the first straight pipe section 101 are respectively provided with a telescopic clamp and a telescopic assembly; one end of the connecting pipe 15 is provided with external threads, the other end of the connecting pipe 15 is provided with a ring groove, one end face of the supporting disc 16 is provided with a ring guide rail, the ring groove and the ring guide rail are mutually clamped and relatively rotated, and Y-direction adjustment can be carried out on the mounted articles; the internal thread pipe of ferrule 10 carries out threaded connection with the external screw thread of connecting pipe 15, the open end of internal thread pipe is provided with interior spacing platform, the one end outer end that connecting pipe 15 is provided with the external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card and, prevent that the connecting pipe from breaking away from with ferrule 10 accident when reaching rotary position's limit.
Further, the first supporting plate 17 is provided with two pieces, and is symmetrically arranged on the other end face of the supporting disc 16; the second support plates 18 on the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are symmetrically provided with two blocks and are clamped and connected with the corresponding first support plates 17; the first support plate 17 is provided with a shaft hole, the outer side of the second support plate 18 is provided with a shaft, and the shaft penetrates through the shaft hole so as to clamp the first support plate on the outer side of the second support plate; the outer side surface of the second support plate 18 is provided with a plurality of locating pins, a plurality of circumferential pin holes are formed in positions, corresponding to the locating pins, of the first support plate and the second support plate, the Z-direction position of the first connecting end is adjusted by adjusting the positions, inserted into the circumferential pin holes, of the locating pins, and then the Z-direction position of the gravity center of the mounted article is adjusted.
Further, the telescopic clamp and the assembly comprise two sliding grooves, two springs, a supporting column, two sliding blocks, an elliptic cam and an adjusting handle, wherein the two sliding grooves are radially and symmetrically arranged on the end surfaces of the ends of the first straight pipe section 101 and the fourth straight pipe section 104; a spring and a sliding block are arranged in the sliding groove, one end of the spring is fixedly connected to the innermost end of the sliding groove, the other end of the spring is fixedly connected with the sliding block, the sliding block is slidably arranged in the sliding groove, clamping rails are arranged on the inner walls of the opposite sides of the sliding groove, clamping grooves are arranged on the side faces of the opposite sides of the sliding block, and the clamping grooves are clamped in the clamping rails; the second supporting plate is fixedly connected with the sliding block and can move along the radial direction of the connecting pipe under the drive of the sliding block; the support column is arranged at the center of a circle of one side surface of the support disc between the two first support plates, a placement hole is formed in the position of the support column, which is flush with the shaft hole, the oval cam is connected with the adjusting handle through the placement hole, and the oval cam is rotated by rotating the adjusting handle; the inner side of the adjusting handle is connected with a rotating shaft, and the rotating shaft is arranged in the center of one side of the elliptical cam and penetrates through the placing hole; the end surfaces of the ends of the first straight pipe section 101 and the fourth straight pipe section 104, the inner end surface of the supporting disc and the inner side surface of the second supporting plate are provided with arc grooves matched with the long side edges of the elliptical cams, so that the elliptical cams can rotate and limit conveniently; and the support column is provided with a limiting piece for limiting the rotation of the adjusting handle when the elliptical cam rotates in place.
Further, a plurality of protruding bars are arranged on the outer side edges of the two first support plates, a plurality of grooves corresponding to the protruding bars one by one are arranged on the end faces of the first straight pipe section 101 and the fourth straight pipe section 104, which are located on the outer sides of the two second support plates, so that sliding between the first straight pipe section 101 and the first connecting end of the fourth straight pipe section 104 can be further prevented.
When the gravity center Z direction position of the mounted article needs to be adjusted, the rotation adjusting handle adjusts the elliptical cam to be parallel to the end face of the connecting pipe at the short side, at the moment, the two springs retract, the two second supporting plates are simultaneously drawn close to the middle, so that the positioning pin is separated from the circumferential pin hole, the second supporting plates are rotated to adjust the position of the positioning pin, the rotation adjusting handle adjusts the elliptical cam to be parallel to the end face of the connecting pipe at the long side after the adjustment, at the moment, the two springs are reset and stretched, the second supporting plates are outwards propped open, and the positioning pin is inserted into the circumferential pin hole to be clamped and positioned.
Embodiment three of the first connection end Z-direction adjustment:
referring to fig. 11-14, the hanger further comprises a pipe hoop 10, wherein one end of the pipe hoop 10 is provided with an internal threaded pipe, in order to obtain a better anti-slip effect, the other end of the pipe hoop 10 is fixedly connected with the mounting bracket, preferably, the end of the pipe hoop 10 is provided with a screw hole, the corresponding position of the mounting bracket is provided with a screw hole, and the pipe hoop 10 is detachably and fixedly connected with the mounting bracket by using a screw.
Further, the first connecting end comprises a connecting pipe 15, a supporting disc 16, a first supporting plate 17 and a limiting plate 19, and the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with a second supporting plate 18; the first supporting plate and the second supporting plate are connected through pin holes, pins and shafts; one end of the connecting pipe is provided with external threads, the other end of the connecting pipe is provided with a ring groove, one end face of the supporting disc is provided with a ring-shaped guide rail, the ring groove and the ring-shaped guide rail are mutually clamped and relatively rotated, and Y-direction adjustment can be carried out on the mounted articles; the internal thread pipe of ferrule 10 carries out threaded connection with the external screw thread of connecting pipe, the open end of internal thread pipe is provided with interior spacing platform, the one end outer end that the connecting pipe was provided with the external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card with, prevent that the connecting pipe from breaking away from with ferrule 10 accident when reaching rotary position's limit.
Further, the first supporting plate is provided with two supporting plates which are symmetrically arranged on the other end face of the supporting plate; two second support plates on the end heads of the first straight pipe section 101 and the fourth straight pipe section 104 are symmetrically arranged and are clamped and connected with the corresponding first support plates; the first support plate is provided with a shaft hole, the inner side of the second support plate is provided with a shaft, and the shaft penetrates through the shaft hole so as to clamp the second support plate on the outer side of the first support plate; the first supporting plate and the second supporting plate are correspondingly provided with a plurality of pin holes, the pin holes are respectively arranged around the shaft holes and the shaft circumference, the first supporting plate and the second supporting plate are also provided with a plurality of pins, when the gravity center Z-direction position of the mounted article needs to be adjusted, the first supporting plate and the second supporting plate are relatively rotated by taking down the pins, and after the angle is adjusted, the first supporting plate and the second supporting plate are fixedly positioned by being inserted into the pin holes in the first supporting plate and the second supporting plate.
Further, the top ends of the two first support plates are connected through the connecting plate, a plurality of protruding bars are arranged on the connecting plate connecting outer side face, a plurality of grooves corresponding to the protruding bars one by one are arranged on the end faces of the first straight pipe section 101 and the fourth straight pipe section 104, which are located on the inner sides of the two second support plates, respectively, and the sliding between the first straight pipe section 101 and the fourth straight pipe section 104 and the first connecting end can be further prevented.
One end of the limiting plate is arranged on the supporting disc, and the other end of the limiting plate is suspended and is separated from the end faces of the ends of the corresponding first straight pipe section 101 and the corresponding fourth straight pipe section 104 by a certain distance; the limiting plate is parallel to the axis of the connecting pipe, and the flat plate surface of the limiting plate is parallel to the axis of the shaft; the limiting plates are arranged on one side or two sides of the two first supporting plates, and when the first connecting end head is inclined to the maximum position after Z-direction adjustment, auxiliary supporting force can be provided. Optionally, a limiting plate with the same structure is also arranged in the second embodiment of the Z-direction adjustment of the first connecting end.
Compared with the prior art, the hanger provided by the embodiment can enable the mounted articles to be subjected to position adjustment in X, Y, Z three directions, the adjustment process is convenient and practical, meanwhile, the preset space formed by the space bent pipe with the special shape and angle of the hanger increases the integral strength of the structure of the hanger body and the structural strength of the contact point and the connecting point, the breaking damage and loosening probability of the contact point can be reduced, the safety and reliability of the hanger and the mounted articles are improved, and the equipment cost is reduced.
And (3) testing the performance of the hanging rack:
1. test object:
the hanger is formed by bending by selecting the values of angles alpha and beta as 100 degrees, 110 degrees, 125 degrees and 135 degrees and selecting the values of angles tau and gamma as 5 degrees, 10 degrees, 25 degrees and 35 degrees correspondingly.
2. Test item, test method and test result:
2.1. the tested hanger is clamped by a general laboratory vibration table (such as a vibration exciter) through a clamp so as to test whether the tested hanger can bear vibration conditions in a life cycle and work normally as an identification test. The mounting main body is used as an excitation point, vibration load is transmitted to the tested hanging rack and the mounted object, and the combined rigid body modal frequency of the mounting main body, the tested hanging rack and the mounted object is between 5Hz and 20 Hz; sinusoidal vibration is carried out at X, Y, Z to vibration frequencies of 10 Hz-500 Hz-10 Hz respectively, the acceleration is 2g, wherein g=9.8 m/s 2 The fracture failure test was performed by using a vibration method, and vibration was performed for 0 to 4 hours in total in each direction, and in order to improve the contrast efficiency, the vibration operation sequence was as follows: firstly vibrating for 0-2 hours in the direction of X, Y, Z respectively, and if the qualified condition is met, vibrating for 0-2 hours in the direction of X, Y, Z respectively, and judging again. According to the standard, vibrating for 0-2 hours in the X, Y, Z direction respectively, and if the vibration time of any one of the three directions is less than 2 hours, the tested hanger is broken, namely, the hanger is judged to be invalid; in the X, Y, Z directionVibrating for 0-2 hours, if the vibration time of each vibration direction of the three directions is more than or equal to 2 hours, the tested hanging frame is not broken, vibrating for 0-2 hours in the X, Y, Z direction again, and if the vibration time of any vibration direction of the three directions is less than 2 hours, the tested hanging frame is broken, and the tested hanging frame is judged to be qualified; and (3) vibrating for 0-2 hours in the X, Y, Z direction respectively, if the vibration time of each vibration direction of the three directions is more than or equal to 2 hours, the tested hanger is not broken, vibrating for 0-2 hours in the X, Y, Z direction again respectively, and if the vibration time of each vibration direction of the three directions is more than or equal to 2 hours, the tested hanger is not broken, and the tested hanger is judged to be excellent.
2.2. Test results
When the angles alpha and beta are 100 degrees and the angles tau and gamma are 5 degrees, 10 tested pieces are adopted to test respectively, the vibration time is two hours in the X direction and the Y direction on average, when the vibration time in the Z direction is half hour for the first time, the joint of the arc-shaped pipe 3 and the first straight pipe section 101 and the fourth straight pipe section 104 is broken, and the failure is judged;
when the angles alpha and beta are 110 degrees and the angles tau and gamma are 10 degrees, 10 tested pieces are adopted to test respectively, the vibration time is two hours in the X direction and the Y direction on average, when the arc tube 3 vibrates for one hour in the Z direction for the first time, the connection parts of the arc tube 3, the first straight tube section 101 and the fourth straight tube section 104 are broken, and the failure is judged;
when the angles alpha and beta are 125 degrees and the angles tau and gamma are 25 degrees, 10 tested pieces are adopted to test respectively, the average vibration time is four hours in the X and Y directions, when the first vibration in the Z direction is two hours, the joint of the arc tube 3 and the first straight tube section 101 and the fourth straight tube section 104 is not broken, when the second vibration in the Z direction is one hour, the joint of the arc tube 3 and the first straight tube section 101 and the fourth straight tube section 104 is measured to have a fracture tendency, and the judgment is qualified;
when the angles alpha and beta are 135 degrees and the angles tau and gamma are 35 degrees, 10 tested pieces are adopted to test respectively, the vibration time is four hours in the X, Y and Z directions on average, the connection positions of the arc-shaped pipe 3, the first straight pipe section 101 and the fourth straight pipe section 104 are measured, the fracture tendency is still not generated, and the judgment is excellent.
According to product performance tests, the adopted angle alpha, beta, tau and gamma values not only enable the whole space structure of the hanger to be more compact, but also can increase the structural strength of the hanger, so that the hanger is not easy to break, the equipment reliability is improved, and the equipment cost is reduced.
The utility model provides an unmanned aerial vehicle, includes fuselage, hangers and side sill, and hangers and side sill all symmetry set up in the both sides of unmanned aerial vehicle fuselage bottom, and hangers and side sill are connected with the hangers connector 9 and the ferrule 10 of aforesaid stores pylon respectively.
Preferably, two hangers and two side sills are arranged; the number of the hanging frames is two, and the hanging frames adopt the hanging frames; the two hanging frames are symmetrically hung on the hanging lugs and the lower longitudinal beam which are respectively corresponding in a mirror image mode.
Preferably, the axis direction of the side sill is set towards the heading direction of the unmanned aerial vehicle; and setting the heading of the unmanned aerial vehicle as X direction.
Preferably, the suspension loops are located above the side sills, and the suspension loops are aligned with the center of gravity of the unmanned aerial vehicle in the X direction.
Preferably, the hanging lugs are hinged with the hanging lug connector 9, and can rotate by an angle along with the adjustment of the Z direction of the first connecting end.
The method for hanging the articles on the unmanned aerial vehicle is based on the hanging frame and the unmanned aerial vehicle, and comprises the following steps:
s1: and obtaining the gravity center of the unmanned aerial vehicle.
S2: the hanger is mounted on the unmanned aerial vehicle.
The hanger connector 9 is connected with the hanger, and then the pipe hoops 10 of the first straight pipe section 101 and the fourth straight pipe section 104 are respectively and fixedly connected with the lower longitudinal beam; the pipe clamp 10 of the first straight pipe section 101 is positioned at the rear part of the side sill, and the pipe clamp 10 of the fourth straight pipe section 104 is positioned at the front part of the side sill.
Screwing the external thread of the first connecting end or the connecting pipe of the hanger and the internal thread of the pipe hoop 10 to the deepest position; the inner thread of the second connecting end of the long straight pipe 2 and the outer thread of the hanging lug connector 9 are screwed together to the deepest position.
And obtaining an integrated gravity center of the unmanned aerial vehicle after the hanging rack is mounted, and adjusting by taking the integrated gravity center as a reference.
S3: the mounted articles are mounted, and X, Y and Z-direction adjustment is carried out on the mounted articles.
The gravity center and the mass of the mounted articles to be mounted on the two sides of the unmanned plane body are obtained, and the mass of the mounted articles on the two sides is M respectively 1 And M 2 (kg), wherein M 1 ＜M 2 The method comprises the steps of carrying out a first treatment on the surface of the The fixed position of the L-shaped bracket 6 of the mounted object relative to the rectangular sheet body 4 is adjusted by taking the integrated gravity center as a reference, so that the gravity center of the mounted object is aligned with the integrated gravity center in the X direction; the rectangular 4 and the L-shaped bracket 6 are fixedly connected through the locknut, so that the article to be mounted is fixedly connected with the hanger.
The compression nut is rotated by using a torque wrench, so that the compression nut is fastened with the screw rod to fix the bracket fixing tube 7 and the anti-swing bracket 8 on the object to be mounted, thereby obtaining a stable supporting effect. When the torque wrench rotates the compression nut, the joint surface of the silicon sulfide rubber pad and the mounted object is compressed and deformed, and when the ratio of the compression thickness H (mm) of the silicon sulfide rubber pad to the original thickness H (mm) of the silicon sulfide rubber pad is 10-30%, the screwing is stopped preferably 20%. When the torque T (N.m) applied by the torque wrench to the compression nut and the compression thickness h (mm) of the silicon sulfide rubber pad meet the following formula: when T=7700×h/1000+106, the operator is prompted to stop screwing, so that the operator can stop operation timely and accurately, the operation relying on experience is avoided, and the accuracy of fixing the parts is improved.
It can be understood that the vibration method is adopted to carry out the product part loosening and deformation performance comparison test, and the anti-swing bracket 8 and the ratio of the compression thickness H (mm) of the adopted silicon sulfide rubber pad to the original thickness H (mm) of the silicon sulfide rubber pad are under the same condition, so that the parts of the hanger are not easy to loosen and deform, and the hanger is not easy to loosen and deform.
Adjusting mass to M 1 The first connecting end on the side is provided with an angle in Z direction to ensure that the gravity center and the mass are M 2 The center of gravity Z of the side mounted article is aligned.
And adjusting the distance between the mounted articles on two sides of the unmanned aerial vehicle body in the Y direction. The adjustable length between the first connecting end and the pipe hoop 10 is l (mm), and the mass is M 1 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center is L 1 (mm), mass M 2 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center is L 2 (mm) by the formula: m is M 1 ×(L 1 +l 1 )＝M 2 ×(L 2 ) Obtaining l 1 (mm), wherein l 1 Is of mass M 1 Y-direction adjusting distance of side mounted articles, l 1 < l; for mass of M 1 The distance between the first connecting end of the side mounted article and the pipe hoop 10 is adjusted by the adjustment amount of l 1 (mm), at this time, the mounted items are balanced in the Y direction on both sides of the unmanned aerial vehicle body.
From this forms the focus leveling of X, Y, Z three directions for unmanned aerial vehicle whole flight after the mounted article of different weight and focus position is hung to both sides is steady, and is not fragile, and it is effectual to patrol and examine.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application.
Claims (5)
1. The method for hanging the articles on the unmanned aerial vehicle is characterized by comprising the following steps of:
s1: obtaining the gravity center of the unmanned aerial vehicle;
s2: the hanging rack is hung on the unmanned plane;
obtaining an integrated gravity center of the unmanned aerial vehicle after the hanging rack is mounted, and adjusting by taking the integrated gravity center as a reference;
s3: mounting the mounted articles, and carrying out X, Y and Z-direction adjustment on the mounted articles;
solving the gravity center and the mass of the object to be mounted on the two sides of the unmanned plane body, and obtaining the weight of the object to be mounted on the two sidesThe mass of the mounted articles is M respectively 1 And M 2 Wherein M is 1 ＜M 2 The method comprises the steps of carrying out a first treatment on the surface of the Aligning the gravity center of the mounted object with the integrated gravity center in the X direction, and then fixedly connecting the mounted object with the hanging frame;
the adjustable length of the hanging frame is lmm, and the measured mass is M 1 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center is L 1 mm, measured mass M 2 The Y-direction distance between the gravity center of the side mounted object and the integrated gravity center is L 2 mm, by the formula: m is M 1 ×(L 1 +l 1 )＝M 2 ×(L 2 ) Obtaining l 1 The method comprises the steps of carrying out a first treatment on the surface of the For mass of M 1 The distance between the side mounted articles is adjusted by an adjustment amount of l 1 mm; so that the mounted items are balanced in the Y-direction on both sides of the unmanned aerial vehicle fuselage.
2. The method for loading the articles on the unmanned aerial vehicle according to claim 1, wherein in the step S2, the hanger connector (9) of the hanger is connected with the hanger of the unmanned aerial vehicle, and then the pipe hoop (10) of the hanger is fixedly connected with the side sill of the unmanned aerial vehicle respectively, and the heading direction is X direction.
3. The method of loading an item on an unmanned aerial vehicle according to claim 2, wherein in step S2 the Y position of the rack is adjusted to the deepest position relative to the unmanned aerial vehicle.
4. The method of claim 1, wherein two hangers are symmetrically arranged on two sides of the bottom of the unmanned aerial vehicle.
5. The method for loading articles on an unmanned aerial vehicle according to claim 1, wherein in step S3, the mass is adjusted to M 1 The Z-direction angle of the side hanging rack makes the gravity center and the mass of the side hanging rack M 2 The center of gravity Z of the side mounted article is aligned.
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| JP2020029258A (en) * | 2019-11-28 | 2020-02-27 | 株式会社エアロネクスト | Rotorcraft |
| CN113232829A (en) * | 2021-06-11 | 2021-08-10 | 王陆峰 | Unmanned aerial vehicle frame of adjustable focus |
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| US9845161B2 (en) * | 2016-04-22 | 2017-12-19 | Sharper Shape Oy | System and method for calculating weight distribution of drone |
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| RU2012152591A (en) * | 2012-12-07 | 2014-06-20 | Закрытое акционерное общество "Гражданские самолеты Сухого" | ENGINE MOUNT POWER MOUNT HANGED ASSEMBLY ASSEMBLY WITH WING CASSON |
| CN104981403A (en) * | 2014-08-08 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle base station and battery change device therefor |
| WO2018035482A1 (en) * | 2016-08-19 | 2018-02-22 | Intelligent Flying Machines, Inc. | Robotic drone |
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