CN208007285U - Unmanned vehicle with laser range finder - Google Patents
Unmanned vehicle with laser range finder Download PDFInfo
- Publication number
- CN208007285U CN208007285U CN201820304761.XU CN201820304761U CN208007285U CN 208007285 U CN208007285 U CN 208007285U CN 201820304761 U CN201820304761 U CN 201820304761U CN 208007285 U CN208007285 U CN 208007285U
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- China
- Prior art keywords
- annular ring
- center
- range finder
- laser range
- lower section
- 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.)
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Abstract
The utility model is related to the unmanned vehicles with laser range finder, it includes top cross, the top link being connect with top cross outer end, it is distributed in the side stand of top link surrounding, supporting leg in side stand lower end is set, setting is in top link, the control motor being upside down at the cross center of top, the shaft coupling that the upper end is sequentially connected with control motor lower end, the upper positive rotating-blade propeller that its center set upper side is sequentially connected with shaft coupling lower end, the upside annular ring being connect below the cross of top and with side stand middle part, the downside annular ring being connect below the annular ring of upside and with side stand middle part, the circular orbit being arranged between upside annular ring and downside annular ring, the planetary gear mechanism that the upper end is sequentially connected with upper dextrorotation propeller center set lower end；It is the utility model is designed reasonably, compact-sized and easy to use.
Description
Technical field
The utility model is related to the unmanned vehicles with laser range finder.
Background technology
It has been proposed that a kind of aircraft including flying platform, user stands on the platform, and spiral shell is equipped with below platform
Paddle is revolved to generate lift to promote the platform from ground.The platform includes the peripheral handrail that user grasps, user
It adjusts its weight and is tilted to control, the direction of always control platform movement.The U.S. of this aircraft in Arthur's Robertson et al.
It is proposed in state's patent 2953321.Also at twentieth century four or five, the age proposed charles's Annemarie Zimmermann.
Although the flying platform imagined with this early stage basic theory it has been established that commercial practices and more easy to control
Version be also always not implemented.
Although CN200920050087.8, the propeller vertically taking off and landing flyer with fairing provide one kind nobody flies
Row device, but its balanced capacity is poor, flight is unstable.
Utility model content
For the above, technical problem to be solved in the utility model be generally speaking to provide a kind of reasonable design,
It is of low cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, compact-sized and band easy to use
There is the unmanned vehicle of laser range finder；The technical issues of solving in detail and acquirement advantageous effect are in aftermentioned content and combination
Content specifically describes in specific implementation mode.
To solve the above problems, technical solution adopted in the utility model is：
Unmanned vehicle with laser range finder, including top cross, with push up top link that cross outer end connect,
It is distributed in the side stand of top link surrounding, is arranged and is being pushed up link in the supporting leg of side stand lower end, setting, is being upside down in top cross
Shaft coupling, its center set upper side and the shaft coupling that control motor, the upper end at frame center are sequentially connected with control motor lower end
The upper positive rotating-blade propeller of lower end drive connection, the upside annular ring being connect below the cross of top and with side stand middle part, position
Below the annular ring of upside and with downside annular ring connect in the middle part of side stand, be arranged upside annular ring and downside annular ring it
Between circular orbit, the planetary gear mechanism that is sequentially connected of the upper end and upper dextrorotation propeller center set lower end, its root be arranged
On planetary gear mechanism lateral wall and its end is located at horizontal lifting rudder, central shaft upper end and planet in circular orbit
Lower section rotating-blade propeller that gear mechanism lower end is sequentially connected, below the annular ring of downside and the bottom that is connect with side stand lower part
Cross and the bottom for being arranged at the cross center of bottom and being connect by bearing with the central shaft lower end of lower section rotating-blade propeller
Portion's bearing block.
When using the utility model, using supporting leg as floor-type support, side stand, top link, top cross, upper side ring
Shape circle, downside annular ring, bottom crux are at cylindrical frame-type structural framing, to reduce resistance when flight, weight
Amount is light, reduces output power, and the control motor as main power source improves electric energy by power supply, by cross structure, keeps
Air-flow is unobstructed, realizes flight vertical lift by upper positive rotating-blade propeller and lower section rotating-blade propeller, gas is adjusted by horizontal lifting rudder
Flow away to, to avoid the air-flow of upper positive rotating-blade propeller and lower section rotating-blade propeller in lifting from interfering, adjustment air-flow trend, from
And the flight for making aircraft more stable, support blade is played the role of by circular orbit, improves the rigidity of blade, is avoided
The deformation that cantilever design generates, is played a supporting role by bottom bearings.
Planetary gear mechanism includes the input center Green Bell gear for being located at upper dextrorotation propeller center set lower end, outside it
Revolving planet frame that side wall is connect with horizontal lifting rudder root, the planet axis being radially distributed in revolving planet frame, suit are expert at
The planet Green Bell gear that is engaged on star axis and with input center Green's Bell's gear, be located at below revolving planet frame and with row
Output center Green's Bell's gear of star Green's Bell's gear engagement；Output center Green Bell's gear is located at lower section rotating-blade propeller
Central shaft upper end.
In order to adjust the proportioning of blade rotary speed and propeller rotary speed, design Green Bell system speed reducer structure,
Its noise is small, stable drive, and delivery efficiency is high, and the rotation of input center Green's Bell's gear drives planet Green's Bell's gear to turn
It is dynamic, to drive revolving planet frame to rotate, to realize that blade constant speed rotates, and meanwhile it is defeated by the drive of planet Green's Bell's gear
Go out center Green's Bell's gear rotation, to realize the rotation of lower section rotating-blade propeller, to realize that a motor rotates output more
Function simplifies structure, reduces the quantity of assembling parts, improves output power.
It is evenly equipped with fixing bracket on the annular ring lateral wall of downside, oscillating motor is provided on fixing bracket, swings electricity
The output shaft of machine connects cranked one end, the connecting rod being vertically arranged is connected in the other end of crank, in connecting rod lower end
It is connected with horizontally disposed connecting shaft；
The rotary shaft being radially distributed between bottom bearings lateral wall and side stand below the cross of bottom,
Suit is there are two support plate disposed in parallel in rotary shaft, is arranged in parallel that there are three vertical deflectings between two support plates
Rudder；
Two support plates deflecting rudder vertical with this three forms day font structure, connecting shaft and one of support plate one
Side connects.
The utility model passes through low power oscillating motor-crank-connecting rod-connecting shaft-vertical deflecting of support plate-three
Rudder is swung around rotary shaft, to realize the control to air-flow, by controlling the vertical deflecting rudder amplitude of fluctuation in each position, to real
The now functions such as forward, retrogressing, indexing install the propeller scheme that moves ahead so that Flight Vehicle Structure is greatly compared to existing needs
Simplify, while the reversed of 360 ° of any directions may be implemented, there is no turn around to execute step so that structure greatly optimizes, special
It is not forward and reverse flight in long and narrow aerial channels.
In addition, further including having laser range finder, the laser range finder is fixedly installed on the cross of bottom.
By laser range finder so that this unmanned vehicle can replace manually to earth's surface carry out height exploration work, using swash
Optar carries out preliminary detection to the height of certain ground surface environment, has and utilizes from now on to the development in the soil, has low
The advantages of cost high efficiency.
The beneficial effects of the utility model description without being limited thereto, in order to preferably be easy to understand, in specific implementation mode portion
Divide and has carried out more preferably detailed description.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the utility model part.
Fig. 3 is the structural schematic diagram at one visual angle of the utility model part.
Wherein：1, supporting leg；2, side stand；3, link is pushed up；4, cross is pushed up；5, motor is controlled；6, shaft coupling；7, it is upper just
Rotating-blade propeller；8, upside annular ring；9, downside annular ring；10, circular orbit；11, horizontal lifting rudder；12, input center Green
Bell's gear；13, planet Green Bell gear；14, output center Green Bell gear；15, revolving planet frame；16, lower section is revolved
Propeller；17, bottom bearings；18, bottom cross；19, oscillating motor；20, crank；21, connecting rod；22, connecting shaft；
23, fixing bracket；24, rotary shaft；25, vertical deflecting rudder；26, support plate.
Specific implementation mode
As shown in Figs. 1-3, the unmanned vehicle with laser range finder of the present embodiment, including top cross 4 and top ten
The top link 3 of 4 outer end of cabinet frame connection is distributed in and pushes up the side stand 2 of 3 surrounding of link, the supporting leg in 2 lower end of side stand is arranged
1, it is arranged and is driven in top link 3, the control motor 5 being upside down at 4 center of cross of top, the upper end and 5 lower end of control motor
Upper positive rotating-blade propeller 7 that the shaft coupling 6 of connection, its center set upper side and 6 lower end of shaft coupling are sequentially connected is located at top cross 4
Lower section and connect with the middle part of side stand 2 upside annular ring 8, positioned at 8 lower section of upside annular ring and with connect in the middle part of side stand 2
Downside annular ring 9, the circular orbit 10 being arranged between upside annular ring 8 and downside annular ring 9, the upper end and upper dextrorotation spiral
The planetary gear mechanism of 7 center lower end of paddle drive connection, its root is arranged on planetary gear mechanism lateral wall and its end
The lower section being sequentially connected with planetary gear mechanism lower end positioned at the horizontal lifting rudder 11 in circular orbit 10, central shaft upper end
Rotating-blade propeller 16, positioned at the lower section of downside annular ring 9 and the bottom cross 18 connect with 2 lower part of side stand and setting are the bottom of at
The bottom bearings 17 being connect by bearing at 18 center of portion's cross and with the central shaft lower end of lower section rotating-blade propeller 16.
When using the utility model, using supporting leg 1 be used as floor-type support, side stand 2, top link 3, top cross 4, on
Side annular ring 8, downside annular ring 9, bottom cross 18 form cylindrical frame-type structural framing, when to reduce flight
Resistance, it is light-weight, output power is reduced, the control motor 5 as main power source improves electric energy by power supply, passes through cross knot
Structure keeps air-flow unobstructed, realizes flight vertical lift by upper positive rotating-blade propeller 7 and lower section rotating-blade propeller 16, is risen by level
It drops rudder 11 and adjusts air-flow trend, to avoid upper positive rotating-blade propeller 7 from interfering with air-flow of the lower section rotating-blade propeller 16 in lifting,
Air-flow trend is adjusted, so that the flight that aircraft is more stable, plays the role of support blade by circular orbit 10, carry
The rigidity of high blade, the deformation for avoiding cantilever design from generating, is played a supporting role by bottom bearings 17.
Planetary gear mechanism include positioned at 7 center lower end of upper positive rotating-blade propeller input center Green Bell gear 12,
Revolving planet frame 15 that its lateral wall is connect with 11 root of horizontal lifting rudder, the planet being radially distributed in revolving planet frame 15
Axis, is located at rotation at the planet Green Bell gear 13 for being sleeved in planet axis and being engaged with input center Green Bell gear 12
The output center Green Bell gear 14 planet carrier 15 lower section and engaged with planet Green Bell gear 13；Output center Green shellfish
Your gear 14 is located at the upper end of the central shaft of lower section rotating-blade propeller 16.
In order to adjust the proportioning of blade rotary speed and propeller rotary speed, design Green Bell system speed reducer structure,
Its noise is small, stable drive, and delivery efficiency is high, and the rotation of input center Green Bell gear 12 drives planet Green Bell gear 13
Rotation to realize that blade constant speed rotates, while passing through planet Green Bell gear 13 to drive revolving planet frame 15 to rotate
Output center Green Bell gear 14 is driven to rotate, to realize the rotation of lower section rotating-blade propeller 16, to realize a motor
More rotation output functions, simplify structure, reduce the quantity of assembling parts, improve output power.
It is evenly equipped with fixing bracket 23 on 9 lateral wall of downside annular ring, oscillating motor 19 is provided on fixing bracket 23,
The output shaft of oscillating motor 19 is connected with one end of crank 20, and the connecting rod being vertically arranged is connected in the other end of crank 20
21, it is connected with horizontally disposed connecting shaft 22 in 21 lower end of connecting rod；
The rotation being radially distributed between 17 lateral wall of bottom bearings and side stand 2 below bottom cross 18
Axis 24, there are two support plates 26 disposed in parallel for suit in rotary shaft 24, are arranged in parallel between two support plates 26
Three vertical deflecting rudders 25；
Two support plates 26 deflecting rudder 25 vertical with this three forms day font structure, connecting shaft 22 and one of branch
26 one side of fagging connects.
The utility model passes through low power oscillating motor 19- cranks 20- connecting rods 21- connecting shaft 22- support plates 26- tri-
A vertical deflecting rudder 25 is swung around rotary shaft 24, to realize the control to air-flow, by controlling the vertical deflecting rudder in each position
25 amplitudes of fluctuation install the propeller scheme that moves ahead to realize the functions such as forward, retrogressing, indexing compared to existing needs so that
Flight Vehicle Structure greatly simplifies, while the reversed of 360 ° of any directions may be implemented, and there is no turn around to execute step so that knot
Structure greatly optimizes, forward and reverse flight especially in long and narrow aerial channels.
The ball being provided on horizontal lifting rudder 11 in circular orbit 10.To play support and reduce friction
Effect.
Lower section rotating-blade propeller 16 is identical as the rotation direction of upper positive rotating-blade propeller 7 or rather, it is preferred to is reversed, so that flight
It is more steady, it is provided with electricity between the upper end of the central shaft of lower section rotating-blade propeller 16 and output center Green Bell gear 14
Magnet clutch.Electromagnetic clutch so as to realize lower section rotating-blade propeller 16 and output center Green Bell gear 14 clutch,
Realize the rotation or stopping of lower section rotating-blade propeller 16, when needing high-speed flight, needs are worked as in the rotation of lower section rotating-blade propeller 16
When stopping in the air or fly at low speed, lower section rotating-blade propeller 16 stops, and to save electric energy, reduces power consumption.
The utility model is designed reasonably, of low cost, durable, safe and reliable, easy to operate, time saving and energy saving, saving
It is fund, compact-sized and easy to use.
In addition, further including having laser range finder (not marked in figure) and processor (not marked in figure), the laser ranging
Instrument is fixedly installed on bottom cross 18 with processor and is electrically connected between the two, and the processor is connected with data storage
Device, the laser range finder calculate height for detecting vertical height of this unmanned aerial vehicle device apart from ground by processor
After angle value data, which is stored in memory.
The laser range finder uses phase laser distance measurement instrument, and model DISTO_D110, operation principle is：If light with
Speed c is propagated in air, is t the time required to A, B point-to-point transmission round trip, then A, B distance between two points D can be represented by the formula
D=ct/2；（Formula 1）
In formula, distances of the D between test point A, B；C is the speed that light is propagated in an atmosphere；T is the primary institute of light round-trip A, B
The time needed.From the above equation, we can see that measure A, B distance, the time t of light propagation is actually measured, the present embodiment uses phase
Formula laser range finder measures.
Phase laser distance measurement instrument is the frequency with radio wave band, is modulated into line amplitude to laser beam and measures modulation light
Round-trip survey line once caused by phase delay, further according to the wavelength of modulation light, the distance to convert representated by this phase delay, i.e.,
The time needed for the round-trip survey line of light extraction is measured with indirect method.If modulation light angular frequency is ω, round-trip one on distance D to be measured
The phase delay of secondary generation is φ, then corresponds to time t and be represented by
t=φ/ω；（Formula 2）
This relationship is substituted into（Formula 1）In, distance D is represented by
D=1/2 ct=1/2 c·φ/ω=c/(4πf) (Nπ+Δφ)
=c/4f (N+ΔN)=U(N+ΔN)；（Formula 3）
In formula, φ is total phase delay that the round-trip survey line of signal once generates；ω is the angular frequency of modulated signal, i.e. ω
=2πf；U is unit length, and numerical value is equal to 1/4 modulation wavelength；N includes modulation half-wavelength number by survey line；Δ φ is that signal is past
It returns survey line and once generates part of the delay less than π；Δ N is included the fractional part of modulating wave deficiency half-wavelength by survey line, and Δ N=
φ/ω。
Under given modulation and standard atmosphere condition, frequency c/ (4 π f) is a constant, and the measurement of distance at this time becomes
N or φ, the laser ranging are surveyed in the measurement of the fractional part of the measurement of the included half-wavelength number of survey line and insufficient half-wavelength
Instrument can reach very high precision to the measurement of N and φ.
It is to be disclosed in order to more clear, and just do not illustrating one by one for the prior art that the utility model, which fully describes,.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify to the technical solution recorded in previous embodiment, or be equal to which part technical characteristic
It replaces；It is obvious to be combined to multiple technical solutions of the utility model as those skilled in the art.And these
Modification or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (5)
1. a kind of unmanned vehicle with laser range finder, it is characterised in that：Including top cross (4) and top cross (4)
The top link (3) of outer end connection, is arranged in side stand (2) lower end the side stand (2) for being distributed in top link (3) surrounding
Supporting leg (1), setting are in top link (3), the control motor (5) being upside down at cross (4) center of top, the upper end and control electricity
The upper dextrorotation spiral of shaft coupling (6), its center set upper side and the drive connection of shaft coupling (6) lower end that machine (5) lower end is sequentially connected
Paddle (7), is located at upside annular ring at the upside annular ring (8) for being located at below top cross (4) and being connect with side stand (2) middle part
(8) lower section and with side stand (2) in the middle part of connect downside annular ring (9), setting in upside annular ring (8) and downside annular ring
(9) the planetary gear machine that circular orbit (10), the upper end between are sequentially connected with upper positive rotating-blade propeller (7) center lower end
Structure, its root are arranged on planetary gear mechanism lateral wall and its end is located at the horizontal lifting rudder in circular orbit (10)
(11), central shaft upper end and planetary gear mechanism lower end are sequentially connected lower section rotating-blade propeller (16) is located at downside annular ring
(9) lower section and the bottom cross (18) that connect with side stand (2) lower part and setting at bottom cross (18) center and
The bottom bearings (17) being connect by bearing with the central shaft lower end of lower section rotating-blade propeller (16)；
Further include having laser range finder, the laser range finder is fixedly installed on bottom cross（18）On.
2. the unmanned vehicle according to claim 1 with laser range finder, it is characterised in that:Planetary gear mechanism
Including being located at the input center Green Bell gear (12) of upper positive rotating-blade propeller (7) center lower end, its lateral wall rises with horizontal
The revolving planet frame (15) of drop rudder (11) root connection, the planet axis being radially distributed in revolving planet frame (15), suit are expert at
The planet Green Bell gear (13) that is engaged on star axis and with input center Green Bell gear (12) is located at revolving planet frame
(15) lower section and the output center Green Bell gear (14) engaged with planet Green Bell gear (13)；Output center Green shellfish
Your gear (14) is located at the upper end of the central shaft of lower section rotating-blade propeller (16).
3. the unmanned vehicle according to claim 2 with laser range finder, it is characterised in that:In horizontal lifting rudder
(11) ball being provided in circular orbit (10).
4. the unmanned vehicle according to claim 2 with laser range finder, it is characterised in that:In downside annular ring
(9) it is evenly equipped with fixing bracket (23) on lateral wall, oscillating motor (19), oscillating motor (19) are provided on fixing bracket (23)
Output shaft be connected with one end of crank (20), the connecting rod (21) being vertically arranged is connected in the other end of crank (20),
Connecting rod (21) lower end is connected with horizontally disposed connecting shaft (22),
The rotation being radially distributed between bottom bearings (17) lateral wall and side stand (2) below bottom cross (18)
Shaft (24), there are two support plates disposed in parallel (26) for suit in rotary shaft (24), between two support plates (26)
Vertical deflecting rudder (25) there are three being arranged in parallel；
Two support plates (26) deflecting rudder (25) vertical with this three forms day font structure,
Connecting shaft (22) is connect with one of support plate (26) one side.
5. the unmanned vehicle according to claim 2 with laser range finder, it is characterised in that:Lower section rotating-blade propeller
(16) identical as the upper positive rotation direction of rotating-blade propeller (7) or on the contrary, lower section rotating-blade propeller (16) central shaft upper end with it is defeated
Go out between center Green Bell gear (14) and is provided with electromagnetic clutch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820304761.XU CN208007285U (en) | 2018-03-06 | 2018-03-06 | Unmanned vehicle with laser range finder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820304761.XU CN208007285U (en) | 2018-03-06 | 2018-03-06 | Unmanned vehicle with laser range finder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208007285U true CN208007285U (en) | 2018-10-26 |
Family
ID=63887167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820304761.XU Expired - Fee Related CN208007285U (en) | 2018-03-06 | 2018-03-06 | Unmanned vehicle with laser range finder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208007285U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110611168A (en) * | 2019-09-21 | 2019-12-24 | 孙凤山 | Multi-antenna calibration device for 5G communication |
-
2018
- 2018-03-06 CN CN201820304761.XU patent/CN208007285U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110611168A (en) * | 2019-09-21 | 2019-12-24 | 孙凤山 | Multi-antenna calibration device for 5G communication |
| CN110611168B (en) * | 2019-09-21 | 2020-11-20 | 深圳市锦凌电子有限公司 | Multi-antenna calibration device for 5G communication |
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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: 20181026 Termination date: 20210306 |