CN117775339A - Servo control mechanism and unmanned aerial vehicle of collapsible rudder - Google Patents
Servo control mechanism and unmanned aerial vehicle of collapsible rudder Download PDFInfo
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Abstract
The invention relates to the technical field of vertical tails of unmanned aerial vehicles, in particular to a servo control mechanism of a foldable rudder and an unmanned aerial vehicle; the servo control mechanism of the foldable rudder comprises a foldable vertical fin, a steering engine, a rocker arm and a connecting rod; the foldable vertical fin comprises a mounting part, a turnover part and a rotating part, wherein the mounting part is connected with the machine body, the mounting part is connected with the turnover part through the rotating part, and the turnover part realizes folding or unfolding at two sides of the machine body in a turnover rotation mode through the rotating part; when the turnover part is in an unfolding state, the turnover part is vertical to the machine body; the steering engine is used for controlling the rocker arm to rotate, and the rocker arm is used for controlling the connecting rod to move; when the turnover part is in an unfolding state, the end part of the connecting rod is propped against one side of the turnover part, which is close to the machine body; the unmanned aerial vehicle vertical fin unfolding and folding device can achieve unfolding and folding and rotation control of the unmanned aerial vehicle vertical fin, and has the advantages of being simple and compact in overall structure, light in weight, high in cruising ability and good in control degree.
Description
Technical Field
The invention relates to the technical field of vertical tails of unmanned aerial vehicles, in particular to a servo control mechanism of a foldable rudder and the unmanned aerial vehicle.
Background
The vertical fin is an important component of the aircraft, and generally comprises a fixed stabilizer and a movable control surface, wherein the fixed stabilizer is mainly responsible for stabilizing the aircraft, and the movable control surface is responsible for controlling the flight attitude of the aircraft; the full-motion vertical fin integrates the original stabilizer and the control surface, namely, the whole vertical fin has only one surface, the surface has the stabilizing function of the stabilizer, and simultaneously has the adjusting function of the control surface, and the whole surface is movable; along with the rapid development of unmanned aerial vehicle technology, the application field of unmanned aerial vehicles is also becoming wider and wider; in order to be convenient to carry and transport and meet the ejection or shooting requirements, the vertical tail of the unmanned aerial vehicle is required to be designed into a foldable mode.
How to fold the vertical tail of the unmanned aerial vehicle and realize full movement is a technical problem to be solved at present.
There is a actuating mechanism of full-motion vertical fin in the present market, for example, chinese patent with application number CN202310283663.8, this actuating mechanism of full-motion vertical fin includes power component, drive assembly, butt flange and folding control assembly, power component includes steering wheel and mounting bracket, the mounting bracket includes the baffle, curb plate and fixed plate, drive assembly includes the center pin, first bearing, the second bearing, sleeve and set nut, the center pin includes cylinder axle and cubic axle, the sleeve includes barrel and stationary blade, folding control assembly includes gear box and motor, folding control assembly passes through butt flange control vertical fin and rotates, realize folding or expansion of vertical fin, drive assembly cooperation power component control vertical fin rotates, realize the rudder face function of vertical fin.
However, although the operating mechanism of the full-motion vertical fin has the advantages as above, in the practical use process, the inventor finds that the operating mechanism of the full-motion vertical fin has the defects, specifically:
the steering engine in the power assembly and the motor in the folding control assembly in the full-motion vertical tail control mechanism are controlled by electric power, so that the electric quantity consumption of the unmanned aerial vehicle is increased, and the cruising ability of the unmanned aerial vehicle is reduced; further, in the flight process of the unmanned aerial vehicle, in order to keep the vertical fin always perpendicular to the machine body, the folding control assembly may need to be always in a working state so as to prevent the vertical fin from folding under the action of wind power and losing the vertical fin function, so that the electric quantity consumption of the unmanned aerial vehicle is further increased, and the cruising ability of the unmanned aerial vehicle is further reduced; even if the folding control assembly does not need to be in a working state all the time, the folding control assembly only acts when the vertical tail is folded or unfolded, so that the folding control assembly does not work as a single load in the flight process of the unmanned aerial vehicle, the weight of the unmanned aerial vehicle is increased, the electric quantity consumption of the unmanned aerial vehicle is also increased, and the cruising ability of the unmanned aerial vehicle is reduced.
Therefore, based on the above-mentioned shortcomings, there is a need to design a servo control mechanism of a foldable rudder and an unmanned aerial vehicle for folding a vertical tail, simplifying the vertical tail control mechanism and improving the cruising ability of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims at: aiming at the defects of the operating mechanism of the full-motion vertical tail of the unmanned aerial vehicle in the actual use process, the servo control mechanism of the foldable rudder and the unmanned aerial vehicle are provided, and the servo control mechanism is used for folding the vertical tail, simplifying the vertical tail control mechanism and improving the cruising ability of the unmanned aerial vehicle.
In order to achieve the above object, the present invention provides the following technical solutions:
a servo control mechanism of a foldable rudder comprises a foldable vertical tail, a steering engine, a rocker arm and a connecting rod;
the foldable vertical fin comprises a mounting part, a turnover part and a rotating part, wherein the mounting part is used for being connected with the machine body, the mounting part is connected with the turnover part through the rotating part, and the turnover part realizes folding or unfolding at two sides of the machine body in a turnover and rotation mode through the rotating part;
when the turnover part is in an unfolding state, the turnover part is vertical to the machine body;
the switching mode of the turnover part from the folded state to the unfolded state is as follows:
manually unfolding;
or is: the elastic piece is arranged on the turnover part, and the turnover part is unfolded through the elasticity of the elastic piece;
or is: when the unmanned aerial vehicle flies in a launching mode, the turnover part is unfolded by utilizing wind power;
the steering engine is used for controlling the rocker arm to rotate, and the rocker arm is used for controlling the connecting rod to move;
when the turnover part is in an unfolding state, the end part of the connecting rod is propped against one side of the turnover part, which is close to the machine body.
As the preferential technical scheme of this application, rotation portion slope sets up in fuselage both sides, just rotation portion is close to the one end of tail and is less than the one end of keeping away from the tail.
As a preferred technical solution of the present application, the inclination angle of the rotating portion is 45 °.
As the preferential technical scheme of this application, when the folding portion is the folding state, have the reservation clearance between folding portion and the fuselage.
As the preferential technical scheme of this application, the rotation portion is flexible material.
As a preferential technical scheme of the application, two ends of the connecting rod are respectively connected with a magnetic block, the turnover part is provided with a magnetic sheet, and the magnetic sheet and the magnetic block are mutually connected under the action of attractive force;
when the turnover part is in an unfolding state, the magnetic sheet is contacted with the magnetic block.
As the preferential technical scheme of this application, be provided with the recess on the folded-over portion, the magnetic sheet is located in the recess.
As a preferred technical scheme of the application, the surface of the magnetic sheet, which is in contact with the magnetic block, is a surface a, the surface of the magnetic block, which is in contact with the magnetic sheet, is a surface b, and the area of the surface a is larger than that of the surface b; when the turnover part is vertical to the machine body, the a surface is contacted with the central area of the b surface.
As the preferential technical scheme of this application, the connecting rod includes left connecting rod and right connecting rod, the rocking arm is two, left side connecting rod through one of them the rocking arm with steering engine connection, right side connecting rod through another the rocking arm with steering engine connection.
In order to achieve the above object, the present invention further provides the following technical solutions:
an unmanned aerial vehicle comprising the servo control mechanism of the foldable rudder.
Compared with the prior art, the invention has the beneficial effects that:
1. in the scheme of the application, the installation parts of the foldable vertical tails are fixed on two sides of the tail of the unmanned aerial vehicle, the turnover parts are folded or unfolded on two sides of the machine body in a turnover rotating mode through the rotating parts, when the turnover parts are folded on two sides of the machine body, the space occupied by the vertical tails is reduced, the storage and transportation space of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle is convenient to store, transport and launch in the launching box or the launching cylinder; when the turnover part needs to be unfolded, the turnover part can be unfolded manually or can be sprung out through the elastic piece, and the turnover part can be unfolded by utilizing wind power when the unmanned aerial vehicle flies in a launching mode, so that the folding and unfolding functions of the vertical fin can be realized without an additional folding and unfolding control assembly, the structure of the unmanned aerial vehicle is simplified, the weight of the unmanned aerial vehicle is reduced, the electricity consumption of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is improved; further, the steering engine controls the rocker arm to rotate, the rocker arm rotates to drive the connecting rod to move, the connecting rod moves to act on the turnover part, the turnover part deflects around the rotation part, so that the deflection of the vertical tail is realized, the control of the flight direction of the unmanned aerial vehicle is realized, the flight attitude of the unmanned aerial vehicle is further changed, and in the application, the acting force of the connecting rod on the turnover part is larger than the wind force received by the turnover part;
2. in the application, the rotating parts are obliquely arranged on two sides of the machine body, one end of the rotating part, which is close to the machine tail, is lower than one end, which is far away from the machine tail, and the rotating parts are arranged in such a way that when the folding state is switched to the unfolding state, the folding parts are folded and rotated from the machine head direction to the machine tail direction, so that the effect is that when the unmanned aerial vehicle is in a flying state, the folding parts are in the unfolding state and vertically stand on two sides of the machine tail, at the moment, the windage born by the folding parts in the flying direction is minimum, when the folding parts rotate downwards under the action of self gravity, the side surfaces of the folding parts become windward surfaces, the wind force born by the side surfaces of the folding parts is larger and larger along with the increasing angle of rotating and folding, and under the action of wind force, the folding parts are forced to rotate back to the unfolding state and vertically stand on two sides of the machine tail, so that the foldable vertical tail of the application fully utilizes aerodynamic force to realize the maintenance of the unfolding state of the vertical tail;
3. in the application, when the turnover part rotates and folds in a flying state of the unmanned aerial vehicle, the windward side of the turnover part is larger and larger along with the larger and larger rotating angle, so that the wind force born by the turnover part is larger and larger, and the turnover part is forced to return to the unfolding state, so that the turnover part can be kept in the unfolding state only by small attractive force, on one hand, the turnover fixing of the vertical tail is reliable by adopting a magnetic attraction mode, and on the other hand, the gravity requirement can be met by selecting smaller or lighter magnetic blocks and magnetic sheets in the design of the unmanned aerial vehicle, and the weight of the unmanned aerial vehicle is further lightened;
further, the steering engine controls the rocker arm to rotate, the rocker arm rotates to drive the connecting rod to move, the connecting rod moves to drive the magnetic block to move, the magnetic block moves to drive the magnetic sheet to move, the magnetic sheet moves to drive the turnover part to move, the turnover part deflects around the rotation part, so that the deflection of the vertical tail is realized, the control of the flight direction of the unmanned aerial vehicle is realized, and the flight attitude of the unmanned aerial vehicle is further changed; in the application, the attraction force between the magnetic block and the magnetic sheet is larger than the wind force received by the turnover part;
4. by adopting the foldable vertical fin, the unmanned aerial vehicle has compact structure, light weight and convenient carrying and transportation, and is beneficial to improving the endurance capacity of the unmanned aerial vehicle; by adopting the servo control mechanism, the structure of the servo control mechanism is simplified, and the space of the unmanned aerial vehicle is saved, so that the unmanned aerial vehicle has the performance advantages of simple structure, light weight and good control degree.
Drawings
FIG. 1 is a schematic diagram of an assembled configuration of one embodiment of a servo control mechanism of a collapsible rudder of the present application;
FIG. 2 is a schematic view of one embodiment of a collapsible tail of a servo control mechanism of a collapsible rudder of the present application;
FIG. 3 is a schematic view of a foldable tail of one embodiment of a servo control mechanism of a foldable rudder of the present application in a folded state;
FIG. 4 is a schematic view of a configuration of one embodiment of a collapsible tail of a servo control mechanism of a collapsible rudder of the present application in an expanded state;
FIG. 5 is a schematic top view of one embodiment of a collapsible tail of a servo control mechanism of a collapsible rudder of the present application in a collapsed state;
FIG. 6 is a split structural schematic diagram of one embodiment of a servo control mechanism of a collapsible rudder of the present application;
FIG. 7 is a schematic diagram of an assembled configuration of another embodiment of a servo control mechanism of a collapsible rudder of the present application;
the figures indicate: the foldable vertical fin type magnetic block comprises a foldable vertical fin, a 2-servo control mechanism, a 3-machine body, a 4-reserved gap, a 11-installation part, a 12-turnover part, a 13-rotation part, a 14-magnetic sheet, a 141-a surface, a 15-groove, a 21-steering engine, a 22-rocker arm, a 23-connecting rod, a 231-left connecting rod, a 232-right connecting rod, a 24-magnetic block and a 241-b surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the invention.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is merely representative of some 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.
It should be noted that, under the condition of no conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or a positional relationship conventionally put in use of the inventive product, or an azimuth or a positional relationship conventionally understood by those skilled in the art, such terms are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Embodiment one: as shown in reference to figures 1 to 6,
the servo control mechanism 2 of the foldable rudder comprises a foldable vertical tail 1, a steering engine 21, a rocker arm 22 and a connecting rod 23;
the foldable vertical fin 1 comprises a mounting part 11, a turnover part 12 and a rotating part 13, wherein the mounting part 11 is used for being connected with the machine body 3, the mounting part 11 is connected with the turnover part 12 through the rotating part 13, and the turnover part 12 is folded or unfolded on two sides of the machine body 3 in a turnover and rotation mode through the rotating part 13;
the switching mode of the folded part 12 from the folded state to the unfolded state is as follows:
manually unfolding;
or is: by arranging an elastic piece on the turnover part 12, the turnover part 12 is unfolded by the elasticity of the elastic piece;
or is: when the unmanned aerial vehicle flies through the launching mode, the turnover part 12 is unfolded by utilizing wind power;
the steering engine 21 is used for controlling the rocker arm 22 to rotate, and the rocker arm 22 is used for controlling the connecting rod 23 to move;
when the folded portion 12 is in the unfolded state, the end of the link 23 abuts against the side of the folded portion 12 close to the body 3.
In the application, the installation parts 11 of the foldable vertical fin 1 are fixed on two sides of the tail of the unmanned aerial vehicle, the turnover parts 12 are folded or unfolded on two sides of the body 3 in a turnover and rotation mode through the rotation parts 13, when the turnover parts 12 are folded on two sides of the body 3, the space occupied by the vertical fin is reduced, the storage and transportation space of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle is convenient to store, transport and emit in the emission box or the emission barrel; when the turnover part 12 needs to be unfolded, the turnover part 12 can be unfolded manually or can be sprung out through the elastic piece, and the turnover part 12 can be unfolded by utilizing wind power when the unmanned aerial vehicle flies in a launching mode, so that the folding and unfolding functions of the vertical fin can be realized without an additional folding and unfolding control assembly, the structure of the unmanned aerial vehicle is simplified, the weight of the unmanned aerial vehicle is reduced, the electricity consumption of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is improved; further, steering engine 21 controls rocking arm 22 to rotate, and rocking arm 22 rotates and drives connecting rod 23 motion, and connecting rod 23 motion acts on the turn-over part 12, and turn-over part 12 is deflected around rotation part 13, realizes the deflection of vertical tail, realizes the control to unmanned aerial vehicle direction of flight, further changes unmanned aerial vehicle's flight gesture, and in this application, connecting rod 23 is greater than the wind-force that turn-over part 12 received to the effort of turn-over part 12.
As a preferred embodiment, in addition to the above-mentioned embodiments, the rotating portion 13 is disposed at both sides of the body 3 in an inclined manner, and an end of the rotating portion 13 near the tail is lower than an end far from the tail.
The turning part 13 is obliquely arranged on two sides of the machine body 3, one end of the turning part 13, which is close to the machine tail, is lower than one end, which is far away from the machine tail, and is arranged in such a way that when the turning part 12 is switched from a folded state to an unfolded state, the turning part 12 is folded and rotated from the machine head direction to the machine tail direction, and the effect is that when the unmanned aerial vehicle is in a flying state, the turning part 12 is in an unfolded state and vertically stands on two sides of the machine tail, at the moment, the windage received by the turning part 12 in the flying direction is minimum, when the turning part 12 rotates and folds downwards under the action of self gravity, the side surface of the turning part 12 becomes a windward surface, the wind force received by the side surface of the turning part 12 is also larger and larger along with the increasing of the rotating and folding angle, and the turning part 12 is forced to rotate back to the unfolded state and vertically stand on two sides of the machine tail under the action of wind force, so that the foldable vertical tail 1 fully utilizes aerodynamic force to realize the maintenance of the unfolded state of the vertical tail.
In a preferred embodiment, the inclination angle of the rotating portion 13 is 45 °.
The inclination angle of the rotating part 13 is set to 45 degrees, so that when the turnover part 12 is switched from an unfolding state to a folding state, the orientation of the turnover part 12 just turns by 90 degrees, and the effect is that when the turnover part 12 is in the folding state while being perpendicular to the machine body 3 during unfolding of the turnover part 12, the turnover part 12 is just parallel to the machine body 3, folding of the turnover part 12 is facilitated, the turnover part 12 is prevented from being higher or lower than the machine body 3 after folding, the space occupied by a vertical tail is reduced, and the storage and transportation space of the unmanned aerial vehicle is reduced.
In a preferred embodiment, in addition to the above embodiment, when the folded portion 12 is in a folded state, a clearance 4 is provided between the folded portion 12 and the body 3.
When unmanned aerial vehicle flies through the mode of transmission, unmanned aerial vehicle flies in the air, and the air flows from aircraft nose direction to the tail direction, and the air that flows forms wind, after wind gets into reservation clearance 4 between folding portion 12 and the fuselage 3, wind acts on folding portion 12, makes folding portion 12 turn over and turns over and rotate, realizes expanding, so, has realized utilizing wind-force to make folding portion 12 switch over into the state of expanding by folding state.
In a preferred embodiment, in addition to the above embodiment, the rotating portion 13 is made of a flexible material.
The flexible material can be flexible plastic, and flexible plastic can make installation department 11 and the integrative injection moulding of folding portion 12, satisfies the requirement that the vertical fin turned over, and relative metal material simultaneously for vertical fin weight is lighter, has alleviateed unmanned aerial vehicle's weight, has improved unmanned aerial vehicle's duration and bearing capacity.
Embodiment two: referring to figures 1, 2 and 6,
on the basis of the first technical solution of the embodiment, further, the turnover part 12 is provided with a magnetic sheet 14, and the magnetic sheet 14 and the magnetic block 24 are connected with each other under the action of attraction force;
when the folded portion 12 is in the unfolded state, the magnet sheet 14 contacts the magnet block 24.
In the flying state of the unmanned aerial vehicle, when the turnover part 12 rotates and folds, the windward side of the turnover part 12 is larger and larger along with the larger and larger rotating angle, so that the wind force borne by the turnover part 12 is larger and larger, the turnover part 12 is forced to return to the unfolding state, and the turnover part 12 can be kept in the unfolding state only by small attractive force, therefore, on one hand, the turnover fixation of the vertical tail is reliable by adopting a magnetic attraction mode, and on the other hand, the requirement of the attractive force can be met by selecting smaller or lighter magnetic blocks 24 and magnetic sheets 14 on the design of the unmanned aerial vehicle, and the weight of the unmanned aerial vehicle is further reduced;
further, the steering engine 21 controls the rocker arm 22 to rotate, the rocker arm 22 rotates to drive the connecting rod 23 to move, the connecting rod 23 moves to drive the magnetic block 24 to move, the magnetic block 24 moves to drive the magnetic sheet 14 to move, the magnetic sheet 14 moves to drive the turnover part 12 to move, the turnover part 12 deflects around the rotating part 13, so that the vertical tail is deflected, the control of the flight direction of the unmanned aerial vehicle is realized, and the flight attitude of the unmanned aerial vehicle is further changed; in the present application, the attractive force between the magnet pieces 24 and the magnet pieces 14 acts more than the wind force received by the turnover 12.
In a preferred embodiment, in addition to the above embodiment, a groove 15 is provided on the turnover part 12, and the magnetic sheet 14 is located in the groove 15.
In the deflection process of the turnover part 12, the magnetic block 24 slides relative to the magnetic sheet 14, and the arrangement of the groove 15 plays a limiting role on the magnetic sheet 14, so that the magnetic sheet 14 moves in the relative position on the turnover part 12 under the action of the magnetic block 24 in the deflection process of the turnover part 12, and the deflection angle of the turnover part 12 is ensured; on the other hand, when the turnover part 12 is folded on two sides of the machine body 3, the magnetic sheets 14 are prevented from protruding out of the surface of the turnover part 12, and carrying, transporting or launching of the unmanned aerial vehicle is facilitated.
In a preferred embodiment, in addition to the above embodiment, a surface of the magnet sheet 14 in contact with the magnet piece 24 is an a surface 141, a surface of the magnet piece 24 in contact with the magnet sheet 14 is a b surface 241, and an area of the a surface 141 is larger than an area of the b surface 241; when the turnover 12 is perpendicular to the body 3, the a-plane 141 contacts with the center region of the b-plane 241.
When the turnover part 12 deflects, the magnetic block 24 slides on the magnetic sheet 14, the movable area of the magnetic block 24 is increased, the area of the a surface 141 is set to be larger than the area of the b surface 241, and the arrangement increases the movable area of the magnetic block 24, reduces the area of the magnetic block 24 outside the magnetic sheet 14, is beneficial to the interconnection of the magnetic block 24 and the magnetic sheet 14, is beneficial to the control of the deflection angle of the turnover part 12 and is beneficial to the control of the direction of the unmanned plane; further, when the turnover part 12 deflects, the magnetic block 24 slides on the magnetic sheet 14, the a surface 141 is arranged in the central area of the b surface 241, and the arrangement is such that the magnetic block 24 can ensure the largest contact area between the magnetic block 24 and the magnetic sheet 14 no matter sliding in any direction during sliding, thereby ensuring the connection of the magnetic block 24 and the magnetic sheet 14, being beneficial to controlling the deflection angle of the turnover part 12 and controlling the direction of the unmanned aerial vehicle.
Embodiment III: as can be seen in figure 7 of the drawings,
the difference between this embodiment and the second embodiment is that the connecting rod 23 includes a left connecting rod 231 and a right connecting rod 232, the number of the rocker arms 22 is two, the left connecting rod 231 is connected with the steering engine 21 through one of the rocker arms 22, and the right connecting rod 232 is connected with the steering engine 21 through the other rocker arm 22.
The steering engine 21 rotates through a rocker arm 22 connected with a left connecting rod 231 to drive the left connecting rod 231 to move, and the left connecting rod 231 moves to drive the left vertical tail to deflect; the steering engine 21 rotates through a rocker arm 22 connected with a right connecting rod 232 to drive the right connecting rod 232 to move, and the right connecting rod 232 moves to drive the right vertical tail to deflect; therefore, synchronous or asynchronous deflection of the vertical tails on the left side and the right side is realized, multielement control of the vertical tails is realized, and the accuracy of changing the flight attitude of the unmanned aerial vehicle is improved.
Embodiment four: as can be seen in the view of figure 1,
the unmanned aerial vehicle provided by the embodiment comprises the servo control mechanism 2 of the foldable rudder; by adopting the servo control mechanism 2 of the foldable rudder, the unmanned aerial vehicle has compact structure, light weight and convenient carrying and transportation, and is beneficial to improving the cruising ability of the unmanned aerial vehicle; by adopting the servo control mechanism 2 of the foldable rudder, the structure of the servo control mechanism is simplified, the space of the unmanned aerial vehicle is saved, and the unmanned aerial vehicle has the performance advantages of simple structure, light weight and good control degree.
Fifth embodiment:
the control method of the unmanned aerial vehicle provided by the embodiment comprises the following steps:
s1, judging the flight direction: the unmanned aerial vehicle main control unit judges the direction of unmanned aerial vehicle required to fly and deflect according to the state data sent by the unmanned aerial vehicle detection unit;
s2, sending a deflection command: the unmanned aerial vehicle main control unit sends a corresponding deflection instruction to the servo control mechanism 2 of the foldable rudder;
s3, executing deflection actions: the servo control mechanism 2 of the foldable rudder executes corresponding deflection motions according to the received instructions, specifically, the steering engine 21 of the servo control mechanism 2 of the foldable rudder drives the rocker arm 22 to rotate, the rocker arm 22 rotates to drive the connecting rod 23 to move, the connecting rod 23 moves to drive the magnetic block 24 to move, the magnetic block 24 moves to drive the magnetic sheet 14 to move, the magnetic sheet 14 moves to drive the turnover part 12 to move, the turnover part 12 deflects under the limiting action of the rotating part 13, and further the change of the flight attitude of the unmanned aerial vehicle is realized.
By using the control method, the unmanned aerial vehicle has the advantages of being simple in operation, good in control degree and high in accuracy when controlling the flight attitude of the unmanned aerial vehicle.
The above embodiments are only for illustrating the present invention and not for limiting the technical solutions described in the present invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above specific embodiments, and thus any modifications or equivalent substitutions are made to the present invention; all technical solutions and modifications thereof that do not depart from the spirit and scope of the invention are intended to be included in the scope of the appended claims.
Claims (10)
1. A servo control mechanism for a collapsible rudder, characterized by: comprises a foldable vertical tail, a steering engine, a rocker arm and a connecting rod;
the foldable vertical fin comprises a mounting part, a turnover part and a rotating part, wherein the mounting part is used for being connected with the machine body, the mounting part is connected with the turnover part through the rotating part, and the turnover part realizes folding or unfolding at two sides of the machine body in a turnover and rotation mode through the rotating part;
when the turnover part is in an unfolding state, the turnover part is vertical to the machine body;
the switching mode of the turnover part from the folded state to the unfolded state is as follows:
manually unfolding;
or is: the elastic piece is arranged on the turnover part, and the turnover part is unfolded through the elasticity of the elastic piece;
or is: when the unmanned aerial vehicle flies in a launching mode, the turnover part is unfolded by utilizing wind power;
the steering engine is used for controlling the rocker arm to rotate, and the rocker arm is used for controlling the connecting rod to move;
when the turnover part is in an unfolding state, the end part of the connecting rod is propped against one side of the turnover part, which is close to the machine body.
2. A servo control mechanism for a collapsible rudder according to claim 1, wherein: the rotating part is obliquely arranged on two sides of the machine body, and one end of the rotating part, which is close to the machine tail, is lower than one end, which is far away from the machine tail.
3. A servo control mechanism for a collapsible rudder as claimed in claim 2, wherein: the inclination angle of the rotating part is 45 degrees.
4. A servo control mechanism for a collapsible rudder according to claim 3, wherein: when the turnover part is in a folded state, a reserved gap is reserved between the turnover part and the machine body.
5. A servo control mechanism for a collapsible rudder as in claim 4, wherein: the rotating part is made of flexible materials.
6. A servo control mechanism for a collapsible rudder according to claim 1, wherein: the two ends of the connecting rod are respectively connected with a magnetic block, the turnover part is provided with a magnetic sheet, and the magnetic sheet and the magnetic block are mutually connected under the action of attractive force;
when the turnover part is in an unfolding state, the magnetic sheet is contacted with the magnetic block.
7. A servo control mechanism for a collapsible rudder as in claim 6, wherein: the turnover part is provided with a groove, and the magnetic sheet is positioned in the groove.
8. A servo control mechanism for a collapsible rudder as in claim 7, wherein: the surface of the magnetic sheet, which is in contact with the magnetic block, is a surface a, the surface of the magnetic block, which is in contact with the magnetic sheet, is a surface b, and the area of the surface a is larger than that of the surface b; when the turnover part is vertical to the machine body, the a surface is contacted with the central area of the b surface.
9. A servo control mechanism for a collapsible rudder as in claim 8, wherein: the connecting rod comprises a left connecting rod and a right connecting rod, two rocker arms are arranged, the left connecting rod is connected with the steering engine through one rocker arm, and the right connecting rod is connected with the steering engine through the other rocker arm.
10. An unmanned aerial vehicle, its characterized in that: a servo control mechanism comprising a collapsible rudder according to any one of claims 1-9.
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