CN206856983U - It is a kind of can be with the quadrotor of center-of-gravity regulating - Google Patents
It is a kind of can be with the quadrotor of center-of-gravity regulating Download PDFInfo
- Publication number
- CN206856983U CN206856983U CN201720477479.7U CN201720477479U CN206856983U CN 206856983 U CN206856983 U CN 206856983U CN 201720477479 U CN201720477479 U CN 201720477479U CN 206856983 U CN206856983 U CN 206856983U
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- China
- Prior art keywords
- supporting table
- motor
- quadrotor
- center
- gravity
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Abstract
Aircraft field can be belonged to the quadrotor of center-of-gravity regulating the utility model discloses a kind of.The device includes quadrotor body, gravity adjusting device and control device；Gravity adjusting device includes housing, balancing weight, the first adjustment mechanism being arranged in the housing and the second adjustment mechanism being arranged in the housing being connected with the quadrotor body, aircraft of the prior art, the problem of in the presence of needing to be adjusted center of gravity, the utility model detects center of gravity information by gyroscope, and the first motor and the second motor is controlled to drive balancing weight to adjust center of gravity by processor, the stabilization of aircraft center of gravity can be realized, is easy to aircraft also to keep stably flying in severe operating environment.
Description
Technical field
The utility model aircraft field, it is more particularly to a kind of can be with the quadrotor of center-of-gravity regulating.
Background technology
Rotor craft has been widely applied to the every field of life at present, in order to ensure that the normal of rotor craft flies
OK, it is necessary to the center of gravity of rotor craft is in the point of intersection of each propeller, it is main in the prior art to be use up using in design
The entirety of rotor craft may be made to be centrosymmetric, also keep symmetrical as far as possible when production and assembling.But produced
The influence of technique, the center of gravity of rotor craft can not be completely in the point of intersection of each propeller, more or less occur necessarily
Centre-of gravity shift, for aircraft, small centre-of gravity shift can all cause to occur during aircraft flight rotation or not
It is stable, or even can not normally take off.
In summary, the problem of needing to be adjusted center of gravity be present in aircraft of the prior art.
Utility model content
The utility model offer is a kind of can solve flight of the prior art with the quadrotor of center-of-gravity regulating
The problem of device is due to rotation caused by crank, flight is unstable or even can not take off.
It is a kind of can be with the quadrotor of center-of-gravity regulating, including quadrotor body, gravity adjusting device and control
Device processed；Housing that gravity adjusting device includes being connected with the quadrotor body, balancing weight, it is arranged on the shell
The first internal adjustment mechanism and the second adjustment mechanism being arranged in the housing；First adjustment mechanism includes the first peace
Dress seat, the first motor on the housing and first be connected with the output end of first motor are installed
Thick stick, has the first supporting table and the second supporting table for being used for supporting first leading screw in first mounting seat, and described first
Between first motor and second supporting table, first leading screw is installed in rotation on described supporting table
In first supporting table and second supporting table is extended to, end of first leading screw away from first motor can turn
It is arranged on dynamicly in second supporting table, first mounting seat is connected by connector with the housing；Described second
Adjustment mechanism includes the drive seat on first leading screw, the second mounting seat in the drive seat, is arranged on
The second motor in the drive seat and the second leading screw being connected with the output end of second motor, the drive
Dynamic seat has positioned at first supporting table and second supporting table between, in second mounting seat for supporting described the
3rd supporting table of two leading screws and the 4th supporting table, the 3rd supporting table are located at second motor and described 4th
Between supportting platform, second leading screw is installed in rotation in the 3rd supporting table and extends to the 4th supporting table, institute
State end of second leading screw away from second motor to be rotatably arranged in the 4th supporting table, the balancing weight
On offer the screwed hole being engaged with second leading screw, the balancing weight is arranged on described second by the screwed hole
On thick stick, the balancing weight is between the 3rd supporting table and the 4th supporting table；Control device includes gyroscope and place
Device is managed, the gyroscope, first motor and second motor are connected with the processor, the control
Device processed is arranged on the quadrotor body.
More preferably, the first mounting hole for being connected with the quadrotor body is offered on the housing,
The housing is connected by first mounting hole with the quadrotor body.
More preferably, first motor is servomotor.
More preferably, second motor is servomotor.
The utility model offer is a kind of to detect center of gravity information by gyroscope with the quadrotor of center-of-gravity regulating,
And the first motor and the second motor is controlled to drive balancing weight to adjust center of gravity by processor, it is possible to achieve flight is thought highly of
The stabilization of the heart, it is easy to aircraft also to keep stably flying in severe operating environment.
Brief description of the drawings
Fig. 1 for it is provided by the utility model it is a kind of can be with the structural representation of the quadrotor of center-of-gravity regulating；
Fig. 2 is the structural representation of gravity adjusting device in Fig. 1.
Description of reference numerals：
10- quadrotor bodies, 20- housings, the mounting holes of 21- first, the supporting tables of 30- first, 31- second are supported
Platform, the motors of 32- first, the leading screws of 33- first, the mounting holes of 34- second, the supporting tables of 40- the 3rd, the supporting tables of 41- the 4th, 42-
Second motor, the leading screws of 43- second, 50- balancing weights.
Embodiment
Below in conjunction with the accompanying drawings, an embodiment of the present utility model is described in detail, it is to be understood that this
The protection domain of utility model is not limited by embodiment.
As shown in figure 1, a kind of of the utility model embodiment offer can be with the quadrotor of center-of-gravity regulating, including four
Rotor craft body 10, gravity adjusting device and control device (not shown)；As shown in Fig. 2 gravity adjusting device include with
Housing 20, balancing weight 50, the first adjustment mechanism being arranged in housing 20 and the setting that quadrotor body 10 is connected
The second adjustment mechanism in housing 20；The first peace for being connected with quadrotor body 10 is offered on housing 20
Hole 21 is filled, housing 20 is connected by the first mounting hole 21 with quadrotor body 10；First adjustment mechanism includes first
Mounting seat, the first motor 32 on the housing 20 and first be connected with the output end of the first motor 32 are installed
Thick stick 33, there is the first supporting table 30 and the second supporting table 31 for being used for supporting the first leading screw 33, the first support in the first mounting seat
Platform 30 offers bearing hole between the first motor 32 and the second supporting table 31 in first supporting table 30, in bearing hole
Bearing is provided with, the first leading screw 33 is arranged in bearing hole through the bearing, and the other end of the first leading screw 33 extends to second
Platform 31 is supportted, bearing hole is also offered in the second supporting table 31, bearing is also equipped with bearing hole, the first leading screw 33 drives away from first
The end set of dynamic motor 32 offers in the bearing hole of the second supporting table 31 in first supporting table 30 and the second supporting table 31
Second mounting hole 34, the position of corresponding second mounting hole 34 offers the 3rd mounting hole on housing 20, by the second mounting hole 34
With the 3rd mounting hole, the first adjustment mechanism is connected with housing 20 by bolt；Second adjustment mechanism include the second mounting seat,
Drive seat on the first leading screw 33, the second motor 42 in drive seat and defeated with the second motor 42
Go out the second leading screw 43 that end is connected, drive seat is between the first supporting table 30 and the second supporting table 31, the second adjustment mechanism
By drive seat whole second adjustment mechanism can be driven to move under the rotation of the first leading screw 33, have in the second mounting seat and use
In the 3rd supporting table 40 and the 4th supporting table 41 that support the second leading screw 43, the 3rd supporting table 40 positioned at the second motor 42 with
Between 4th supporting table 41, bearing hole is offered in the 3rd supporting table 40, bearing is provided with bearing hole, the second leading screw 43 passes through
Bearing is arranged in the bearing hole of the 3rd supporting table 40, and bearing hole is offered in the 4th supporting table 41, axle is provided with bearing hole
Hold, end of second leading screw 43 away from the second motor 42 extends to the 4th supporting table 41 and be arranged on the 4th by bearing
In the bearing hole for supportting platform 41, end of second leading screw 43 away from the second motor 42 is rotatably arranged in the 4th supporting table 41
On, the screwed hole being engaged with the second leading screw 43 is offered on balancing weight 50, balancing weight 50 is arranged on second by screwed hole
On thick stick 43, for balancing weight 50 between the 3rd supporting table 40 and the 4th supporting table 41, balancing weight 50 can be in the second leading screw 43
Moved under drive between the 3rd supporting table 40 and the 4th supporting table 41；Control device includes gyroscope and processor, top
Spiral shell instrument, the first motor 32 and the second motor 42 with being connected with processor, gyroscope can detect acceleration and
Corner information simultaneously transfers information to processor, and processor is by fuzzy-adaptation PID control, by the first motor 32 and second
Motor 42 is controlled and then adjusts the position of balancing weight 50, to adjust the center of gravity of quadrotor.
The above-mentioned motor 42 of first motor 32 and second is servomotor, and above-mentioned processor is ARM
The AM3359 of cortexA8 frameworks, above-mentioned gyroscope are GY-91MPU9250.
The utility model offer is a kind of to detect center of gravity information by gyroscope with the quadrotor of center-of-gravity regulating,
And the first motor and the second motor is controlled to drive balancing weight to adjust center of gravity by processor, it is possible to achieve flight is thought highly of
The stabilization of the heart, it is easy to aircraft also to keep stably flying in severe operating environment.
Disclosed above is only several specific embodiments of the present utility model, and still, the utility model embodiment is not office
It is limited to this, the changes that any person skilled in the art can think of should all fall into the scope of protection of the utility model.
Claims (4)
1. a kind of can be with the quadrotor of center-of-gravity regulating, including quadrotor body, it is characterised in that also includes：
Gravity adjusting device, its housing for including being connected with the quadrotor body, balancing weight, it is arranged on the shell
The first internal adjustment mechanism and the second adjustment mechanism being arranged in the housing；First adjustment mechanism includes the first peace
Dress seat, the first motor on the housing and first be connected with the output end of first motor are installed
Thick stick, has the first supporting table and the second supporting table for being used for supporting first leading screw in first mounting seat, and described first
Between first motor and second supporting table, first leading screw is installed in rotation on described supporting table
In first supporting table and second supporting table is extended to, end of first leading screw away from first motor can turn
It is arranged on dynamicly in second supporting table, first mounting seat is connected by connector with the housing；Described second
Adjustment mechanism includes the drive seat on first leading screw, the second mounting seat in the drive seat, is arranged on
The second motor in the drive seat and the second leading screw being connected with the output end of second motor, the drive
Dynamic seat has positioned at first supporting table and second supporting table between, in second mounting seat for supporting described the
3rd supporting table of two leading screws and the 4th supporting table, the 3rd supporting table are located at second motor and described 4th
Between supportting platform, second leading screw is installed in rotation in the 3rd supporting table and extends to the 4th supporting table, institute
State end of second leading screw away from second motor to be rotatably arranged in the 4th supporting table, the balancing weight
On offer the screwed hole being engaged with second leading screw, the balancing weight is arranged on described second by the screwed hole
On thick stick, the balancing weight is between the 3rd supporting table and the 4th supporting table；
Control device, it includes gyroscope and processor, the gyroscope, first motor and the second driving electricity
Machine is connected with the processor, and the control device is arranged on the quadrotor body.
2. a kind of as claimed in claim 1 can be with the quadrotor of center-of-gravity regulating, it is characterised in that is opened on the housing
Provided with the first mounting hole for being connected with the quadrotor body, the housing by first mounting hole with
The quadrotor body is connected.
3. a kind of as claimed in claim 1 can be with the quadrotor of center-of-gravity regulating, it is characterised in that first driving
Motor is servomotor.
4. a kind of as claimed in claim 1 can be with the quadrotor of center-of-gravity regulating, it is characterised in that second driving
Motor is servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720477479.7U CN206856983U (en) | 2017-05-02 | 2017-05-02 | It is a kind of can be with the quadrotor of center-of-gravity regulating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720477479.7U CN206856983U (en) | 2017-05-02 | 2017-05-02 | It is a kind of can be with the quadrotor of center-of-gravity regulating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856983U true CN206856983U (en) | 2018-01-09 |
Family
ID=60823275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720477479.7U Expired - Fee Related CN206856983U (en) | 2017-05-02 | 2017-05-02 | It is a kind of can be with the quadrotor of center-of-gravity regulating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856983U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341046A (en) * | 2018-01-18 | 2018-07-31 | 倪惠芳 | A kind of unmanned plane air position regulating device |
| TWI651241B (en) * | 2017-11-30 | 2019-02-21 | 中光電智能機器人股份有限公司 | Drone and its propeller |
| WO2020012996A1 (en) * | 2018-07-12 | 2020-01-16 | ソニー株式会社 | Unmanned aerial vehicle, driving method, and program |
| CN110832418A (en) * | 2018-11-29 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device and unmanned aerial vehicle |
| CN111781820A (en) * | 2020-07-24 | 2020-10-16 | 滨州学院 | Model airplane PID algorithm control method based on gravity center dynamics |
| CN111942577A (en) * | 2020-08-13 | 2020-11-17 | 北京京东乾石科技有限公司 | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle |
| EP3756996A4 (en) * | 2018-02-23 | 2021-04-21 | Honda Motor Co., Ltd. | Flying object |
| CN113791567A (en) * | 2021-10-14 | 2021-12-14 | 杭州电子科技大学 | Aircraft self-stabilizing device based on gyroscope technology and control system |
| CN115246453A (en) * | 2021-04-27 | 2022-10-28 | 中国农业机械化科学研究院 | Mobile robot, crawler-type chassis thereof, gravity center self-balancing device and method |
-
2017
- 2017-05-02 CN CN201720477479.7U patent/CN206856983U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI651241B (en) * | 2017-11-30 | 2019-02-21 | 中光電智能機器人股份有限公司 | Drone and its propeller |
| CN108341046A (en) * | 2018-01-18 | 2018-07-31 | 倪惠芳 | A kind of unmanned plane air position regulating device |
| EP3756996A4 (en) * | 2018-02-23 | 2021-04-21 | Honda Motor Co., Ltd. | Flying object |
| JP7306389B2 (en) | 2018-07-12 | 2023-07-11 | ソニーグループ株式会社 | Unmanned aerial vehicle, driving method, and program |
| WO2020012996A1 (en) * | 2018-07-12 | 2020-01-16 | ソニー株式会社 | Unmanned aerial vehicle, driving method, and program |
| JPWO2020012996A1 (en) * | 2018-07-12 | 2021-07-08 | ソニーグループ株式会社 | Unmanned aerial vehicles and driving methods, as well as programs |
| US11814157B2 (en) | 2018-07-12 | 2023-11-14 | Sony Corporation | Unmanned aerial vehicle and drive method |
| CN110832418A (en) * | 2018-11-29 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device and unmanned aerial vehicle |
| US11920999B2 (en) | 2018-11-29 | 2024-03-05 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle control method and device, and unmanned aerial vehicle |
| CN111781820A (en) * | 2020-07-24 | 2020-10-16 | 滨州学院 | Model airplane PID algorithm control method based on gravity center dynamics |
| CN111781820B (en) * | 2020-07-24 | 2023-06-02 | 滨州学院 | Model airplane PID algorithm control method based on gravity center dynamics |
| CN111942577B (en) * | 2020-08-13 | 2022-01-07 | 北京京东乾石科技有限公司 | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle |
| CN111942577A (en) * | 2020-08-13 | 2020-11-17 | 北京京东乾石科技有限公司 | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle |
| CN115246453A (en) * | 2021-04-27 | 2022-10-28 | 中国农业机械化科学研究院 | Mobile robot, crawler-type chassis thereof, gravity center self-balancing device and method |
| CN115246453B (en) * | 2021-04-27 | 2023-10-03 | 中国农业机械化科学研究院 | Mobile robot, crawler chassis thereof, gravity center self-balancing device and gravity center self-balancing method |
| CN113791567A (en) * | 2021-10-14 | 2021-12-14 | 杭州电子科技大学 | Aircraft self-stabilizing device based on gyroscope technology and control system |
| CN113791567B (en) * | 2021-10-14 | 2024-04-12 | 杭州电子科技大学 | Aircraft self-stabilizing device and control system based on gyroscope technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180109 Termination date: 20180502 |