CN205952302U - Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device - Google Patents
Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device Download PDFInfo
- Publication number
- CN205952302U CN205952302U CN201620829327.4U CN201620829327U CN205952302U CN 205952302 U CN205952302 U CN 205952302U CN 201620829327 U CN201620829327 U CN 201620829327U CN 205952302 U CN205952302 U CN 205952302U
- Authority
- CN
- China
- Prior art keywords
- electric motors
- fuselage
- linear electric
- plant protection
- flight attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device including the helicopter fuselage, is provided with on the helicopter fuselage for fuselage mobilizable balancing weight all around, thereby it obtains required flight gesture to make the complete machine focus change the whole slope of back helicopter through the position of adjusting portable balancing weight. This device simple structure easily realizes, and is with low costs, and it can effectual reduce cost to use on oil moves many heligyro, and the flight gesture is directly perceived visual, uses the cost that this device can greatly reduced oil moves many heligyro, is favorable to penetration and promotion and application in the agriculture plant protection field.
Description
Technical field
This utility model is related to attitude of flight vehicle regulation device, unmanned straight particularly to a kind of dynamic many rotors agricultural plant protection of oil
Rise machine flight attitude regulation device, belong to vehicle technology field.
Background technology
The dynamic multirotor helicopter of oil adopts fuel engines, has the advantages that hours underway length, power are reliable, and oil moves revolve more
Wing helicopter delivers power to a rotor shaft by fuel engines, and rotor quantity is even number, the rotation of two neighboring rotor
In opposite direction, with realize helicopter in fuselage direction suffered by spin offset, rise when each rotor wing rotation be produce to
Under thrust be that helicopter provides lift, need to adjust flight attitude constantly, pitch adjusted according to concrete direction, so that helicopter
Obtain the power move ahead, turn to, retreating, tilting, so the adjustment of flight attitude needs to configure on the dynamic multirotor helicopter of oil
Corresponding mechanism, this mechanism generally to be realized using pitch-setting mechanism, at present this tune on the dynamic multirotor helicopter of oil
Section mechanism is complicated, and fault rate is high, and maintenance maintenance is inconvenient, and particularly in depopulated helicopter field, the operation of helicopter is by each
Sensor and controller need accurate pitch mechanical mechanism and high-precision sensing realizing automatic running, this regulative mode
Device and control system, also can often signal error in actual use and control error, be unfavorable for the carrying out of precise and high efficiency
Various operations.Although the flight attitude of electronic multirotor helicopter is realized relatively easy, because current battery is to its voyage
Restricted problem is it is impossible to carry out long working, and the energy efficiency during the adjustment of its flight attitude is very low, and oil electricity mixing is many
Heligyro combines both advantages, but its complex structure, and fuselage itself is heavier, particularly in agricultural plant protection helicopter
On, flying height is relatively low due to its small volume and in practical application, if joined as big-and-middle-sized oil moves multirotor helicopter
Cost can be led to very high if putting pitch adjustment system, on the one hand this be derived from the cost configuring with it, on the other hand comes from oar
Mechanism away from adjustment system complex lead in follow-up personnel requirement, safeguard higher cost in terms of technical ability, so from many aspects
It is required to a kind of more simple and reliable flight attitude adjusting apparatus.
Content of the invention
The purpose of this utility model is to overcome be configured to flight attitude regulation and control on the dynamic multirotor helicopter of existing oil
The problems referred to above of existing of pitch-setting mechanism, a kind of dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation and control of oil are provided
Device.
For realizing the purpose of this utility model, employ following technical schemes：The dynamic many rotors agricultural plant protection of oil is unmanned straight
Rise machine flight attitude regulation device, including helicopter fuselage, helicopter fuselage is provided with and all around may be used with respect to fuselage
The balancing weight of movement, by adjust moveable counter weight block position so that machine gravity is changed after helicopter integral inclined thus
Obtain required flight attitude, further, described movable balance weight block is arranged on guider, described guiding fills
Be set to guide rail or for linear electric motors just/secondary or be ball-screw, further, described balancing weight is four pieces, four
Block balancing weight is separately positioned on the guider on fuselage all around four direction, and described guider is guide rail
Or linear electric motors just/secondary or be ball-screw, further, described balancing weight is four pieces, left along before and after fuselage
Right direction is provided with four guide rails, and four balancing weights are separately positioned on four guide rails, and each balancing weight is all connected by drawstring
There is a motor, four motors make machine gravity change by the relative position of mobile four balancing weights thus obtaining required
Flight attitude, further, described balancing weight is four pieces, and along fuselage, all around direction is provided with four linear electric motors,
Four balancing weights are connected in the mobile level of four linear electric motors, and further, described balancing weight is four pieces, along fuselage
Fore-and-aft direction is provided with linear electric motors one, is provided with linear electric motors two along about fuselage, and two linear electric motors using secondary are all
Mobile level, the secondary of linear electric motors stretches out primary two ends, and two balancing weights are arranged on the secondary two ends of linear electric motors one, join for two
Pouring weight is arranged on the secondary two ends of linear electric motors two, and further, described balancing weight is four pieces, along fuselage direction all around
It is provided with four ball-screws, four balancing weights are connected in the lead screw pair of four ball-screws.
Positive Advantageous Effects of the present utility model are：This utility model structure is simple, it is easy to accomplish, low cost,
Apply and can effectively reduce cost on the dynamic multirotor helicopter of oil, flight attitude is intuitively visual, applies this device big
The big cost reducing the dynamic multirotor helicopter of oil, is conducive to the penetration and promotion in agricultural plant protection field and application.
Brief description
Fig. 1 is the left view schematic diagram that this utility model adopts configuration block on guide rail.
Fig. 2 is the schematic front view that this utility model adopts configuration block on guide rail.
Fig. 3 is the schematic diagram that this utility model adopts four linear electric motors.
Fig. 4 is the schematic diagram that this utility model adopts two linear electric motors.
Specific embodiment
In order to more fully explain enforcement of the present utility model, provide embodiment of the present utility model, these implement real
Example is only to elaboration of the present utility model, does not limit scope of the present utility model.
In conjunction with accompanying drawing further details of elaboration to this utility model, respectively it is labeled as in accompanying drawing：11：Servomotor A；12：
Balancing weight A；13：Drawstring A；14：Guide rail A；21：Servo motor B；22：Balancing weight B；23：Drawstring B；24：Guide rail B；31：Servo electricity
Machine C；32：Balancing weight C；33：Drawstring C；34：Guide rail C；41：Servomotor D；42：Balancing weight D；43：Drawstring D；44：Guide rail D；
51：Linear electric motors A；52：Linear electric motors B；53：Linear electric motors C；54：Linear electric motors D；61：The primary of linear electric motors one；62：Directly
The secondary of line motor one；63：Balancing weight E；64：Balancing weight F；71：The primary of linear electric motors two；72：The secondary of linear electric motors two；
73：Balancing weight G；74：Balancing weight H；It should be noted that being all around in accompanying drawing illustrates that conveniently carry out determines
Justice, does not represent actual direction.First/the secondary of linear electric motors refers to primary or the secondary of linear electric motors.As shown in drawings, the dynamic many rotations of oil
Wing agricultural plant protection unmanned helicopter flight attitude regulation device, including helicopter fuselage, is easy to adjust, using this regulation device
Helicopter can select center of gravity to be located at middle and upper part, in order to realize the inclination in this utility model, arranges on helicopter fuselage
Have with respect to fuselage movable balance weight block all around, so that machine gravity is become by adjusting the position of moveable counter weight block
After change helicopter integral inclined thus obtaining required flight attitude, further, described movable balance weight block is arranged on
On guider, described guider is guide rail or for the first/secondary of linear electric motors or is ball-screw, described joins
Pouring weight is four pieces, and four pieces of balancing weights are separately positioned on machine on the guider on all around four direction, described
Guider is the first/secondary of guide rail or linear electric motors or is ball-screw.
There is provided following several more detailed embodiments, first kind of way is shown in Fig. 1, Fig. 2, and Fig. 1, Fig. 2 are four sides
To guide rail and balancing weight and motor schematic diagram, balancing weight is respectively positioned on guide rail, and described balancing weight is four pieces, along fuselage
All around direction is provided with four guide rails 14,24,34,44, and four balancing weights 12,22,32,42 are separately positioned on four guide rails
14th, on 24,34,44, each balancing weight of horizontal direction is needed all to be connected with a motor by drawstring, 11,12,13,14 respectively
For four motors, motor here adopts servomotor, and in Fig. 1, Fig. 2,13,23,33,43 are respectively what four balancing weights connected
Drawstring, drawstring can adopt steel wire rope, and four motors make machine gravity change by the relative position of mobile four balancing weights
Thus obtaining required flight attitude；For example when needing flight forward, servomotor A11 drive balancing weight A move forward or/and
Servomotor C13 drives balancing weight C forward movement to make the center of gravity of aircraft cheap forward, so that downward-sloping in front of fuselage, by
The power producing during rotor wing rotation with respect to rotor plane formula vertically upward, so fuselage is vertical flat with rotor after tilting
The power in face produces separation vector forward in horizontal direction forward, drives helicopter change of flight attitude flight forward, to
When other directions or turning in the same manner.
As shown in Figure 2, described balancing weight is four pieces to the second way, and along fuselage, all around direction is provided with four
Linear electric motors, four balancing weights are connected in the mobile level of four linear electric motors, are shown without configuration block, in figure in Fig. 2
Position shown in each lead is the primary of each linear electric motors, and in this embodiment, the primary of linear electric motors can be directly as
Balancing weight it is also possible to increase balancing weight in the primary of linear electric motors, move, secondary fixing by the primary of linear electric motors.
As described in accompanying drawing 3, described balancing weight is four pieces to the third mode, and fuselage fore-and-aft direction is provided with linear electric motors
One, be provided with linear electric motors two along about fuselage, two linear electric motors all using secondary for mobile level, two linear electric motors time
Level is stretched and is all gone out primary two ends, and 61 show the primary of linear electric motors one, and 62 show the secondary of linear electric motors one, and 71 show directly
The primary of line motor two, the secondary of linear electric motors two shown in 72, the balancing weight E shown in 63, the balancing weight F shown in 64 are arranged on
Secondary 62 two ends of linear electric motors one, the balancing weight G shown in 73, the balancing weight H shown in 74 are arranged on the secondary of linear electric motors two
72 two ends.Connection on ball-screw is similar to linear electric motors, is no longer described in detail.Adjust balancing weight using linear electric motors
Position with adjust flight attitude process ibid.
After describing embodiment of the present utility model in detail, one of ordinary skilled in the art is clearly understood that,
Various change and modification can be carried out without departing under above-mentioned claim and spirit, all according to technical spirit of the present utility model
Any simple modification, equivalent variations and the modification that above example is made, belongs to the scope of technical solutions of the utility model,
And this utility model is also not only restricted to the embodiment of example in description.
Claims (7)
1. the dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation device of oil, including helicopter fuselage it is characterised in that：
Helicopter fuselage is provided with respect to fuselage movable balance weight block all around, by adjusting the position of moveable counter weight block
Put helicopter after making machine gravity change integral inclined thus obtaining required flight attitude.
2. oil according to claim 1 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described movable balance weight block is arranged on guider, and described guider is guide rail or is linear electric motors
Just/secondary or be ball-screw.
3. oil according to claim 1 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described balancing weight is four pieces, and four pieces of balancing weights are separately positioned on the guiding on fuselage all around four direction
On device, described guider is the first/secondary of guide rail or linear electric motors or is ball-screw.
4. oil according to claim 3 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described balancing weight is four pieces, and along fuselage, all around direction is provided with four guide rails, and four balancing weights are separately positioned on
On four guide rails, each balancing weight is all connected with a motor by drawstring, and four motors pass through the phase of mobile four balancing weights
Machine gravity is made to change position thus obtaining required flight attitude.
5. oil according to claim 3 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described balancing weight is four pieces, and along fuselage, all around direction is provided with four linear electric motors, and four balancing weights connect respectively
It is connected in the mobile level of four linear electric motors.
6. oil according to claim 3 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described balancing weight is four pieces, fuselage fore-and-aft direction is provided with linear electric motors one, is provided with straight-line electric along about fuselage
Machine two, two linear electric motors are mobile level all using secondary, and the secondary of linear electric motors stretches out primary two ends, two balancing weights settings
At the secondary two ends of linear electric motors one, two balancing weights are arranged on the secondary two ends of linear electric motors two.
7. oil according to claim 3 moves many rotors agricultural plant protection unmanned helicopter flight attitude regulation device, its feature
It is：Described balancing weight is four pieces, and along fuselage, all around direction is provided with four ball-screws, and four balancing weights connect respectively
It is connected in the lead screw pair of four ball-screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620829327.4U CN205952302U (en) | 2016-08-03 | 2016-08-03 | Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620829327.4U CN205952302U (en) | 2016-08-03 | 2016-08-03 | Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205952302U true CN205952302U (en) | 2017-02-15 |
Family
ID=57972789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620829327.4U Active CN205952302U (en) | 2016-08-03 | 2016-08-03 | Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205952302U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081086A (en) * | 2016-08-03 | 2016-11-09 | 安阳全丰航空植保科技股份有限公司 | The dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation device of oil |
| CN107380433A (en) * | 2017-07-27 | 2017-11-24 | 朱秋虹 | Shatter-resistant unmanned plane |
| CN112566842A (en) * | 2019-02-01 | 2021-03-26 | 松下知识产权经营株式会社 | Unmanned aerial vehicle, information processing method, and program |
| CN114766405A (en) * | 2022-05-14 | 2022-07-22 | 浙江大学 | Semi-submersible type fan system combined with aquaculture net cage for enhancing wind and wave resistance |
-
2016
- 2016-08-03 CN CN201620829327.4U patent/CN205952302U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081086A (en) * | 2016-08-03 | 2016-11-09 | 安阳全丰航空植保科技股份有限公司 | The dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation device of oil |
| CN107380433A (en) * | 2017-07-27 | 2017-11-24 | 朱秋虹 | Shatter-resistant unmanned plane |
| CN112566842A (en) * | 2019-02-01 | 2021-03-26 | 松下知识产权经营株式会社 | Unmanned aerial vehicle, information processing method, and program |
| CN114766405A (en) * | 2022-05-14 | 2022-07-22 | 浙江大学 | Semi-submersible type fan system combined with aquaculture net cage for enhancing wind and wave resistance |
| CN114766405B (en) * | 2022-05-14 | 2023-10-17 | 浙江大学 | Semi-submersible blower system combining cultivation net cage to enhance wind and wave resistance |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205952302U (en) | Oil moves unmanned helicopter of agricultural plant protection of many rotors flight gesture regulation and control device | |
| CN205770078U (en) | A kind of gravity center adjusting mechanism of underwater glider | |
| CN108844711B (en) | Wing type two-degree-of-freedom dynamic wind tunnel test device | |
| CN203318676U (en) | Coaxial double-wing aircraft with moving centre-of-gravity ball | |
| CN102750850B (en) | Three-rotational-freedom series-parallel driving mechanism | |
| CN103407571B (en) | A kind of can be initiatively shimmy helicopter rotor system | |
| CN104477381B (en) | A kind of double displacement oar aircraft | |
| CN204310038U (en) | A kind of pilotless helicopter | |
| CN110194277A (en) | It is a kind of that charging unit is recycled based on the unmanned plane of extension means and parallel institution | |
| CN105466662A (en) | Wind tunnel angle-of-attack adjusting device | |
| CN104139855A (en) | Course control system for coaxial helicopter | |
| CN106081086A (en) | The dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation device of oil | |
| CN104691753A (en) | Oil-relay multi-rotor helicopter driving system | |
| CN205978318U (en) | Many nuts of ball screw unipolar linkage control device | |
| CN104019959A (en) | Variable attack angel apparatus for wind tunnel test of aircraft engine model | |
| CN205228762U (en) | Automatic adjusting device of wind tunnel test model aircraft rudder face angle | |
| CN204008060U (en) | Aircraft engine model wind tunnel test becomes attack angle mechanism | |
| CN109204805B (en) | External motor's two rotor unmanned aerial vehicle | |
| CN102941571B (en) | Low-space dual-rod guide type three-degree of freedom moving platform | |
| CN203996887U (en) | A kind of oil moves multirotor helicopter drive system | |
| CN107953987A (en) | A kind of serial mixed power vector promotes air-sea detection carrying platform | |
| CN205356207U (en) | A mechanical speed governor for direct current motor constant speed is rotatory | |
| CN105523172A (en) | Attack angle control system and attack angle control method | |
| CN205841243U (en) | It is applied to variable oar vane pump mechanical type corner and regulates indicating mechanism | |
| CN105501417A (en) | Underwater aerodone compact gesture adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |