CN214138933U - A displacement device and unmanned aerial vehicle for unmanned aerial vehicle - Google Patents
A displacement device and unmanned aerial vehicle for unmanned aerial vehicle Download PDFInfo
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- CN214138933U CN214138933U CN202022785247.2U CN202022785247U CN214138933U CN 214138933 U CN214138933 U CN 214138933U CN 202022785247 U CN202022785247 U CN 202022785247U CN 214138933 U CN214138933 U CN 214138933U
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Abstract
The utility model discloses a variable pitch device for an unmanned aerial vehicle and the unmanned aerial vehicle, which comprises a driver, a fixed ring, a rotating ring and a variable pitch pull rod; the driver comprises a first steering engine and a second steering engine; the fixing ring is provided with a first connecting support, a second connecting support and a third connecting support; the first connecting support is connected with a rocker arm of the first steering engine through a first pull rod; the second connecting support is connected with a rocker arm of a second steering engine through a second pull rod; a sliding block is fixedly arranged on the third connecting support, a vertically arranged sliding groove is arranged on a frame of the unmanned aerial vehicle, and the sliding block is in sliding fit with the sliding groove; the rotating ring is sleeved on the fixed ring in a fixed-axis rotating mode; the quantity of displacement pull rod is two, and the symmetric arrangement in the outside of rotatory ring, and the one end of displacement pull rod is articulated along the outer of rotatory ring. The pitch-changing device can realize periodic pitch changing only by controlling the rocker arms of the two steering engines to rotate, simplifies the driving mode and the control logic, and improves the stability of the pitch changing.
Description
Technical Field
The utility model relates to an aviation technical field especially relates to a displacement device and unmanned aerial vehicle for unmanned aerial vehicle.
Background
The unmanned plane is an unmanned plane for short, and is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device. Unmanned aerial vehicles are in fact a general term for unmanned aerial vehicles, and can be defined from a technical perspective as follows: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc. Compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on the operational environment, strong battlefield viability and the like.
For a rotor craft, in order to realize flexible and changeable flight of the craft in the air, the change of the propeller pitch needs to be controlled, so that the lift force at each position in the rotating plane of the propeller is unequal, and corresponding control torque is generated. However, the driving mode and control logic of the pitch variation of the existing propeller pitch are complex, and the stability of the pitch variation is poor.
In summary, how to solve the problems that the driving method and the control logic of the propeller pitch changing are complex, and the stability of the changing pitch is poor has become a technical problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a displacement device and unmanned aerial vehicle for unmanned aerial vehicle to solve the drive mode and the control logic complicacy of screw pitch displacement, and the relatively poor problem of stability of displacement.
In order to achieve the above object, the utility model provides a pitch-changing device for unmanned aerial vehicle, including driver, solid fixed ring, rotatory ring and pitch-changing pull rod;
the driver comprises a first steering engine and a second steering engine which are arranged side by side;
the fixing ring is sleeved on the propeller rotating shaft and is in spherical hinge connection with the propeller rotating shaft; the fixing ring is provided with a first connecting support, a second connecting support and a third connecting support which are uniformly distributed along the circumferential edge of the fixing ring; the first connecting support is connected with a rocker arm of the first steering engine through a first pull rod, one end of the first pull rod is hinged with the rocker arm of the first steering engine, and the other end of the first pull rod is connected with the first connecting support through a spherical hinge; the second connecting support is connected with a rocker arm of the second steering engine through a second pull rod, one end of the second pull rod is hinged with the rocker arm of the second steering engine, and the other end of the second pull rod is connected with the second connecting support through a spherical hinge; a sliding block is fixedly arranged on the third connecting support, a vertically arranged sliding groove is arranged on a frame of the unmanned aerial vehicle, the sliding block is in sliding fit with the sliding groove, and the sliding block can rotate in the sliding groove;
the rotating ring is sleeved on the fixed ring in a fixed-axis rotating mode;
the variable-pitch pull rod comprises two variable-pitch pull rods, the two variable-pitch pull rods are symmetrically arranged on the outer side of the rotating ring, one end of each variable-pitch pull rod is hinged to the outer edge of the rotating ring, the other end of each variable-pitch pull rod is hinged to a propeller hub of the propeller, and the two variable-pitch pull rods are respectively located on two sides of the propeller hub.
Preferably, the slider is a ball slider.
Preferably, the hub comprises a hub main frame and a sleeve located inside the hub main frame; the propeller hub main frame is connected with the sleeve through a rotary joint, the rotary joint is arranged along the transverse axis of the propeller, so that the propeller hub main frame can rotate relative to the sleeve along the transverse axis of the propeller, and the pitch-variable pull rod is hinged to the propeller hub main frame.
Preferably, the rotary joint comprises shaft sleeves fixedly arranged on two sides of the sleeve and two pin columns arranged on the inner side of the main frame of the propeller hub, the shaft center of each shaft sleeve is arranged along the transverse axis of the propeller, and the pin columns are inserted into the shaft sleeves and can rotate around the shaft center of each shaft sleeve.
Preferably, the blades of the propeller are mounted at both ends of the hub in an articulated manner, respectively.
Preferably, the rack comprises a bottom layer base, a steering engine mounting bracket and a top layer base which are sequentially arranged from bottom to top, the bottom of the steering engine mounting bracket is fixedly connected with the bottom layer base, and the top of the steering engine mounting bracket is fixedly connected with the top layer base; the first steering engine and the second steering engine are respectively arranged in the two gantry brackets; the sliding groove is arranged on the top layer base, and an avoidance position for avoiding the first pull rod and the second pull rod is arranged on the top layer base.
Compared with the introduction content of the background technology, the pitch-changing device for the unmanned aerial vehicle comprises a driver, a fixed ring, a rotating ring and a pitch-changing pull rod; the driver comprises a first steering engine and a second steering engine which are arranged side by side; the fixing ring is sleeved on the propeller rotating shaft and is connected with the propeller rotating shaft through a spherical hinge; the fixing ring is provided with a first connecting support, a second connecting support and a third connecting support which are uniformly distributed along the circumferential edge of the fixing ring; the first connecting support is connected with a rocker arm of a first steering engine through a first pull rod, one end of the first pull rod is hinged with the rocker arm of the first steering engine, and the other end of the first pull rod is connected with the first connecting support through a spherical hinge; the second connecting support is connected with a rocker arm of a second steering engine through a second pull rod, one end of the second pull rod is hinged with the rocker arm of the second steering engine, and the other end of the second pull rod is connected with the second connecting support through a spherical hinge; a sliding block is fixedly arranged on the third connecting support, a vertically arranged sliding groove is arranged on a frame of the unmanned aerial vehicle, the sliding block is in sliding fit with the sliding groove, and the sliding block can rotate in the sliding groove; the rotating ring is sleeved on the fixed ring in a fixed-axis rotating mode; the quantity of displacement pull rod is two, and the symmetrical arrangement is in the outside of rotatory ring, and the one end of displacement pull rod is articulated along the outer of rotatory ring, and the other end of displacement pull rod is articulated with the propeller hub of screw, and two displacement pull rods are located the both sides of propeller hub respectively. In the practical application process, the first pull rod and the second pull rod are driven by the first steering engine to drive the second pull rod, the fixed ring can turn and incline around the direction vertical to the propeller rotating shaft under the driving of the first pull rod and the second pull rod due to the spherical hinge of the fixed ring and the propeller rotating shaft, the slide block can rotate in the chute under the sliding fit of the slide block and the chute on the frame, the fixed ring limits the rotation in the circumferential direction of the propeller rotating shaft, and the rotating ring is sleeved on the fixed ring in a fixed-shaft rotating mode, so that the rotating ring can rotate in a fixed shaft under the inclination angle and the inclination direction of the fixed ring when the propeller rotates, the variable-pitch pull rod connected between the rotating ring and the propeller hub of the propeller can periodically float up and down along with the periodic rotation of the propeller, and then the propeller blades of the propeller can generate periodic variable pitch, thereby realizing the flexible control of the aerial action of the unmanned aerial vehicle, this displacement device only needs the rocking arm of two steering wheel of control to rotate and can adjust solid fixed ring's inclination and incline direction, realizes periodic displacement then, and drive mode and control logic obtain simplification by a wide margin, and periodic displacement can reduce the influence of environment wind direction simultaneously, promotes the stability of displacement greatly.
Additionally, the utility model also provides an unmanned aerial vehicle, include the displacement device and be used for driving screw pivoted power unit, and this displacement device is the displacement device that is used for unmanned aerial vehicle that any scheme of the aforesaid described. Because this a displacement device for unmanned aerial vehicle has above-mentioned technological effect, consequently the unmanned aerial vehicle that has above-mentioned displacement device also should have corresponding technological effect, no longer gives unnecessary details here.
Preferably, the propeller comprises a variable pitch propeller and a fixed pitch propeller, and the variable pitch propeller and the fixed pitch propeller are coaxial contra-rotating propellers; the power mechanism comprises a first driving motor and a second driving motor, the first driving motor is used for driving the variable-pitch propeller to rotate around the axis of the propeller rotating shaft, the second driving motor is used for driving the fixed-pitch propeller to rotate around the axis of the propeller rotating shaft, and the variable-pitch pull rod is hinged to a propeller hub of the variable-pitch propeller.
Preferably, a fixed bracket fixedly connected with the rotating shaft of the propeller is arranged between the hub of the fixed-distance propeller and the hub of the variable-distance propeller, and the first driving motor and the second driving motor are arranged on the fixed bracket in parallel; the first driving motor is in transmission connection with the hub of the variable-pitch propeller through a first speed reducing mechanism, and the second driving motor is in transmission connection with the hub of the fixed-pitch propeller through a second speed reducing mechanism.
Preferably, the first driving motor is a hollow shaft motor, a driving shaft of the second driving motor coaxially penetrates through the hollow shaft motor, and the first driving motor and the second driving motor are fixedly connected with the rack through a fixed support; the propeller rotating shaft comprises a first rotating shaft used for driving the variable-pitch propeller to rotate and a second rotating shaft used for driving the fixed-pitch propeller to rotate, the first rotating shaft is a hollow shaft, and the second rotating shaft coaxially penetrates through the inner side of the first rotating shaft; the hollow shaft of the first driving motor is coaxially connected with the first rotating shaft or is the same shaft, and the fixing ring is sleeved on the first rotating shaft and is connected with the first rotating shaft in a spherical hinge mode; and a driving shaft of the second driving motor is coaxially connected with the second rotating shaft or is the same shaft.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a pitch changing apparatus according to an embodiment of the present invention (a top base is not shown);
FIG. 2 is a schematic longitudinal cross-sectional structural view of FIG. 1 (showing the top level base);
fig. 3 is a schematic structural view of a fixed ring of the pitch varying device according to the embodiment of the present invention when the fixed ring is inclined;
fig. 4 is a schematic view of an inclined plate when the pitch changing device according to the embodiment of the present invention performs direction control;
fig. 5 is a schematic view of a pitch angle of a pitch changing device according to an embodiment of the present invention during direction control;
fig. 6 is a schematic view of a geometric relationship between a steering engine rotation angle and a vertical displacement of the first/second pull rod provided in the embodiment of the present invention;
FIG. 7 is a schematic view of the geometry of FIG. 6 on a pitch device;
fig. 8 is a schematic structural view of an appearance of a hub of a propeller according to an embodiment of the present invention;
fig. 9 is a schematic cross-sectional view of a hub of a propeller according to an embodiment of the present invention;
fig. 10 is a schematic view illustrating a pitch variation principle when a transverse axis of a propeller is parallel to an X-axis according to an embodiment of the present invention;
fig. 11 is a schematic view of a pitch change principle when a transverse axis of a propeller is parallel to a Y-axis according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a top floor according to an embodiment of the present invention;
fig. 13 is a schematic three-dimensional structural diagram of a power mechanism provided in the embodiment of the present invention, in which a first/second driving motor is arranged side by side (a pitch varying device is not shown);
fig. 14 is a schematic cross-sectional structural diagram of a power mechanism provided in an embodiment of the present invention, in which a first/second driving motor is arranged side by side (a pitch varying device is not shown);
fig. 15 is a schematic three-dimensional structure diagram of the power mechanism according to the embodiment of the present invention, in which the first and second driving motors are coaxially arranged in series (the fixed support and the pitch varying device are not shown);
fig. 16 is a schematic cross-sectional structural view of a power mechanism according to an embodiment of the present invention, in which the first/second driving motors are coaxially arranged in series (a fixing support is shown but a pitch varying device is not shown).
In the above-described figures 1-16,
the propeller driving mechanism comprises a driver 1, a first steering engine 1a, a second steering engine 1b, a fixed ring 2, a first connecting support 2a, a second connecting support 2b, a third connecting support 2c, a ball head slide block 2d, a rotating ring 3, a variable-pitch pull rod 4, a propeller rotating shaft 5, a first pull rod 61, a second pull rod 62, a sliding chute 70, a bottom layer base 71, a steering engine mounting support 72, a gantry support 72a, a top layer base 73, a notch 73a, a propeller 8, a variable-pitch propeller 8a, a fixed-pitch propeller 8b, a propeller hub 80, a propeller hub main frame 80a, a sleeve 80b, a rotating joint 80c, a shaft sleeve 80c1, a pin column 80c2, a blade 84, a spherical bearing 9, a first driving motor 11, a second driving motor 12, a first speed reducing mechanism 13, a second speed reducing mechanism 14, a fixed support 15 and a fixed support 16.
Detailed Description
The core of the utility model is to provide a displacement device and unmanned aerial vehicle for unmanned aerial vehicle to solve the drive mode and the control logic complicacy of screw pitch displacement, and the relatively poor problem of stability of displacement.
In order to make those skilled in the art better understand the technical solutions provided by the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated as referring to the terms "upper", "lower", "front", "rear", "left" and "right" and the like are only for convenience of description and simplification of description, and do not indicate or imply that the position or element referred to must have a specific direction, be constituted in a specific direction and operate, and thus, should not be construed as limiting the present invention, if the directions or positional relationships indicated on the drawings are based on the directions or positional relationships shown in the drawings. Furthermore, the terms "first," "second," and the like, if referred to, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-12, an embodiment of the present invention provides a pitch varying device for an unmanned aerial vehicle, including a driver 1, a fixed ring 2, a rotating ring 3 and a pitch varying rod 4; the driver 1 comprises a first steering engine 1a and a second steering engine 1b which are arranged side by side; the fixed ring 2 is sleeved on the propeller rotating shaft 5 and is in spherical hinge connection with the propeller rotating shaft 5; the fixing ring 2 is provided with a first connecting support 2a, a second connecting support 2b and a third connecting support 2c which are uniformly distributed along the circumferential edge of the fixing ring 2; the first connecting support 2a is connected with a rocker arm of the first steering engine 1a through a first pull rod 61, one end of the first pull rod 61 is hinged with the rocker arm of the first steering engine 1a, and the other end of the first pull rod 61 is in spherical hinge connection with the first connecting support 2 a; the second connecting support 2b is connected with a rocker arm of a second steering engine 1b through a second pull rod 62, one end of the second pull rod 62 is hinged with the rocker arm of the second steering engine 1b, and the other end of the second pull rod 62 is in spherical hinge connection with the second connecting support 2 b; a sliding block 2d is fixedly arranged on the third connecting support 2c, a vertically arranged sliding groove 70 is arranged on a frame of the unmanned aerial vehicle, the sliding block 2d is in sliding fit with the sliding groove 70, and the sliding block can rotate in the sliding groove; the rotating ring 3 is sleeved on the fixed ring 2 in a fixed-axis rotating mode; the number of pitch link 4 is 2, and symmetric distribution is in the outside of rotatory ring 3, and the one end of pitch link 30 is articulated with the outer edge of rotatory ring 3, and the other end of pitch link 4 is articulated with the propeller hub 80 of screw 8, and two pitch link 4 are located the both sides of propeller hub 80 respectively.
In the practical application process, the first pull rod and the second pull rod are driven by the first steering engine to drive the second pull rod, the fixed ring is driven by the first pull rod and the second pull rod to overturn and incline around the direction vertical to the rotating shaft of the propeller due to the spherical hinge of the fixed ring and the rotating shaft of the propeller, and the slide block can rotate in the chute under the sliding fit of the slide block and the chute on the frame, so the fixed ring limits rotation in the circumferential direction of the rotating shaft of the propeller, the rotating ring is sleeved on the fixed ring in a fixed-shaft rotating mode, therefore, the rotating ring can rotate in the fixed-shaft rotating direction under the inclination angle and the inclination direction of the fixed ring when the propeller rotates, the variable-pitch pull rod connected between the rotating ring and the propeller hub of the propeller can periodically float up and down along with the periodic rotation of the propeller, and then the propeller blades of the propeller can generate periodic variable pitch, thereby realizing the flexible control of the aerial action of the unmanned aerial vehicle, this displacement device only needs the rocking arm of two steering wheel of control to rotate and can adjust solid fixed ring's inclination and incline direction, realizes periodic displacement then, and drive mode and control logic obtain simplification by a wide margin, and periodic displacement can reduce the influence of environment wind direction simultaneously, promotes the stability of displacement greatly.
It should be noted that, as will be understood by those skilled in the art, the transverse axis of the propeller is a straight line that is defined by a line connecting two ends of the hub with the mounting locations of the blades.
In a further embodiment, the slider can adopt a ball head slider structure, and the slider can rotate very smoothly in all directions relative to the sliding groove through the structure designed into the ball head slider, so that the problem of blocking caused by the elongation error of the first pull rod and the second pull rod can be effectively solved. It should be understood that the above-mentioned manner of using the ball-end slider is only a preferred example of the embodiment of the present invention, and in the practical application process, other rotatable slider structures may also be used, which is not limited herein.
For better understanding of the technical solution of the present invention, the following is briefly described with reference to a specific periodic pitch variation process:
referring to fig. 4 and 5, when the unmanned aerial vehicle is inclined towards the azimuth angle phi, the flight control system controls the steering engine to actuate, so that the fixed ring and the rotating ring reach the highest point when the fixed ring and the rotating ring move to the azimuth angle phi 90 degrees ahead, and reach the lowest point 90 degrees behind the azimuth angle phi; therefore, the propeller blade has the largest pitch angle and the largest lift force when in the position of the azimuth angle phi, and has the smallest pitch angle and the smallest lift force when 180 degrees after the position of the azimuth angle phi, so that the unmanned aerial vehicle can incline to the azimuth angle phi.
When the unmanned aerial vehicle is ready to change the flight attitude, the flight control system settles the target inclination angle and attitude angle required to be reached by the fixed ring 2, and calculates the plane equation ax + by + cz of the fixed ring 2 at the moment as 0 (taking the fixed ring and the propeller rotating shaft)The center of the hinged sphere is the origin of coordinates), a, b and c are corresponding coefficients, and the target attitude angle and the inclination angle can be determined. And with equation x2+y2＝R2And (3) simultaneous obtaining of the z coordinates of respective connection points P1 and P2 of the first connecting rod and the second connecting rod of the two steering engines (the first steering engine/the second steering engine) and the fixed ring 2, wherein R in the above formula is the radius of the fixed ring 2.
After the linear displacement required to be provided by each steering engine is calculated, the rotation stroke of each steering engine needs to be calculated. The relationship between the respective rotation angle of each steering engine and the vertical displacement of the side fixing ring meets the following relationship.
Beta in the graphs of fig. 6 and 7 is the rotating angle of the rocker arm of the first/second steering engine, l1And l2The lengths of the rocker arm and the first/second pull rod are respectively, and the straight line of the MN is the initial position of the rocker arm of the first/second steering engine, namely the position of the rocker arm of the steering engine when the fixing ring 2 is in the horizontal position. P is the connecting point of the pull rod and the fixing ring 2, C is the hinged spherical center of the fixing ring and the propeller rotating shaft, the plane MOP is a plumb bob plane passing through the C point, R is the connecting point of the rocker arm and the pull rod, and Q is the projection of R to the plane MOP.
In the process of steering engine rotation, QM ═ l1×sinβ，QR＝l1×cosβ＝l2X sin < RPQ, and then < RPQ < arcsin (l)1cosβ/l2)、＜PRQ＝arccos(l1cosβ/l2)、
QM+QP×sin∠QPO-CP×cos∠CPO＝CD
QP×Cos∠QPO+CP×sin∠CPO＝MD
in the above formula, QM, QP, CP, CD and MD are all known lengths, and the magnitudes of & lt CPO and & lt QPO are obtained by solving equations, and the & lt CPO is the rotation angle of the rotating disc.
By collating the above equations, the following system of equations can be obtained:
by solving for the above-mentioned relation to alpha1、α2A can be obtained2The functional relation with beta can realize the turning angle alpha by changing the steering engine deflection angle beta2And further adjusting the OP length.
OP＝CD+l3cosα2。
It can be understood of course that the above-mentioned mode that adopts the geometric relation to calculate the corresponding relation who derives every steering wheel corner and the solid fixed ring vertical direction displacement of this side is only the embodiment of the utility model provides a while, among the practical application process, can also adopt the map corresponding table of prestoring or prestore the mode that the map corresponds the curve, wherein, should prestore the map corresponding table and prestore the map and correspond the curve, can obtain through the simulation test, no longer describe here.
In some specific embodiments, the specific structure of the hub 80 of the propeller 8 may include a hub main frame 80a and a sleeve 80b located inside the hub main frame 80 a; the hub main frame 80a and the sleeve 80b are connected through a rotary joint 80c, the rotary joint 80c is arranged along the transverse axis of the propeller 8, so that the hub main frame 80a can rotate relative to the sleeve 80b along the transverse axis of the propeller 8, and the pitch change pull rod 4 is hinged on the hub main frame 80 a. The specific structure form of the rotating joint 80c may include a shaft sleeve 80c1 fixedly disposed on both sides of the sleeve 80b and two pins 80c2 disposed inside the hub main frame 80a, respectively, the shaft center of the shaft sleeve 80c1 is arranged along the transverse axis of the propeller 8, and the pins 80c2 are inserted in the shaft sleeve 80c1 and can rotate around the shaft center of the shaft sleeve 80c 1. Through the arrangement of the rotary joint, the pitch change of the propeller can be realized by the inclination adjustment of the propeller under the condition that the rotating shaft of the propeller is not inclined, and in the pitch change process, the rotating center of the inclined pitch change of the propeller can be always kept consistent with the transverse axis of the propeller. It can be understood, of course, that the above-mentioned manner of adopting the shaft sleeve and the pin is merely a preferred example of the embodiment of the present invention for the rotary joint, in the practical application process, it is also possible to design the space between the hub and the propeller shaft to be rotatable around the transverse axis direction perpendicular to the propeller, and the two other structural forms of limiting the rotation in the circumferential direction, for example, a ball head with a limiting notch is designed on the propeller shaft, a ball socket with a limiting notch is arranged on the hub, and the ball socket is adapted to the ball head with a limiting notch, and the limiting notch is located in the transverse axis direction of the propeller.
In a further embodiment, the blades 84 of the propeller 8 may be mounted to both ends of the hub 80 in an articulated manner, respectively. Through the structure form of the hinged connection, when the propeller rotates, the blades can be straightened to the direction of the transverse axis under the action of centrifugal force; when not flying, can realize the folding of screw through folding paddle to can reduce the holistic occupation space of aircraft, it is more convenient to accomodate.
In some more specific embodiments, the specific structure of the rack may include a bottom layer base 71, a steering engine mounting bracket 72 and a top layer base 73, which are sequentially arranged from bottom to top, the bottom of the steering engine mounting bracket 72 is fixedly connected with the bottom layer base 71, and the top of the steering engine mounting bracket 72 is fixedly connected with the top layer base 73; the steering engine mounting bracket 72 is provided with two gantry brackets 72a which are arranged side by side, and the first steering engine 1a and the second steering engine 1b are respectively mounted in the two gantry brackets 72 a; the sliding groove 70 is disposed on the top layer base 73, and the top layer base 73 is provided with a clearance position for avoiding the first pull rod 61 and the second pull rod 62. By designing the rack into the structural form, the gantry support can fix the steering engine more conveniently and quickly, has higher stability, contributes to reducing the weight of the whole machine, and contributes to heat dissipation of the steering engine; in addition, through the vertical spout of arranging that sets up on the top layer base, can press close to the third linking bridge more and arrange, make spout and slider cooperation convenient more and stable then.
In a further embodiment, the clearance designed on the top base is preferably designed as a notch 73a formed on the edge of the top base 73. Through designing into the structural style of breach with keeping away the empty position for the installation of displacement pull rod is more convenient, and processing is simple easily realizes the matching more.
It should be noted that the spherical hinge mode of the fixing ring 2 and the propeller rotating shaft 5 can be realized by a spherical bearing 9, or a ball structure can be directly formed on the propeller rotating shaft by processing, and the ball structure is arranged on the inner side of the fixing ring and matched with the ball structure. In the practical application process, the selection can be carried out according to the practical requirements.
In addition, the above-mentioned fixed-axis rotation between the rotating ring 3 and the fixed ring 2 can be realized by a bearing connection, specifically: the inner ring of the bearing is fixedly connected with the corresponding hollow convex shaft on the fixed ring, the outer ring of the bearing is fixedly connected with the inner side of the rotating ring, and the fixed connection mode can adopt interference fit or key fit and other modes. The friction resistance of the bearing and the bearing can be reduced through the connection mode of the bearing, so that the mutual rotation of the bearing and the bearing is not interfered with each other, and the bearing can be synchronously inclined.
Additionally, the utility model also provides an unmanned aerial vehicle, include the displacement device and be used for driving screw pivoted power unit, and this displacement device is the displacement device that is used for unmanned aerial vehicle that any scheme of the aforesaid described. Because this a displacement device for unmanned aerial vehicle has above-mentioned technological effect, consequently the unmanned aerial vehicle that has above-mentioned displacement device also should have corresponding technological effect, no longer gives unnecessary details here.
In a further embodiment, the specific structure of the propeller 8 may include a variable pitch propeller 8a and a fixed pitch propeller 8b, and the variable pitch propeller 8a and the fixed pitch propeller 8b are coaxial contra-rotating propellers; the power mechanism comprises a first driving motor 11 for driving the variable-pitch propeller 8a to rotate around the axis of the propeller rotating shaft 5 and a second driving motor 12 for driving the fixed-distance propeller 8b to rotate around the axis of the propeller rotating shaft 5, and the variable-pitch pull rod 4 is hinged to the hub of the variable-pitch propeller 8 a. Through designing into the screw the structure of coaxial reversal double screw for unmanned aerial vehicle's lift control is nimble changeable more.
The following working principle of the structural form that the unmanned aerial vehicle adopts coaxial contrarotating double propellers is combined for brief explanation:
when the unmanned aerial vehicle needs to control the vehicle body to rotate around a vertical axis (namely, the axis where the propeller rotating shaft is located), the control system respectively controls the rotating speeds of the first driving motor 11 and the second driving motor 12, so that the pneumatic moments of the first driving motor and the second driving motor are unequal, and the moment for controlling the vehicle body to rotate around the vertical axis is generated.
From the related experience and literature, it is known that the lift forces F1 and F2 and the drag moments T1 and T2 generated when the upper propeller (fixed pitch propeller 8b) and the lower propeller (variable pitch propeller 8a) rotate are:
F1＝k11N1 2；
F2＝k21N2 2；
T1＝k12N1 2；
T2＝k22N12 2。
in the above formula, N1、N2The rotational speeds, k, of the second drive motor 12 and the first drive motor 11, respectively11、 k12、k21、k22All are correlation coefficients, measured by experiments.
When the drone is ready to ascend or descend, the second drive motor 12 and the first drive motor 11 increase or decrease the rotation speed simultaneously, so that the total lift increases or decreases, while the moment generated by the upper propeller (the fixed-pitch propeller 8b) and the lower propeller (the variable-pitch propeller 8a) is equal.
When the drone is ready to turn about an axis, the flight control system calculates the following equation:
F1+F2＝F10+F20
T1-T2＝TA
in the above formula, F10、F20Respectively, the upper propeller (fixed pitch propeller) starts to rotate8b) Lift force with lower propeller (variable pitch propeller 8a), TAThe torque required to be generated for control is given by a flight control system.
In some more specific embodiments, the arrangement of the first driving motor and the second driving motor may be driven in a parallel arrangement as shown in fig. 13 and 14, in which the pitch-variable device is omitted, in this case, a fixed bracket 15 fixedly connected with the propeller rotating shaft 5 is arranged between the hub of the fixed pitch propeller 8b and the hub of the variable pitch propeller 8a, and the first driving motor 11 and the second driving motor 12 are arranged in parallel on the fixed bracket 15; the first driving motor 11 is in transmission connection with the hub of the variable pitch propeller 8a through a first speed reduction mechanism 13, and the second driving motor 12 is in transmission connection with the hub of the fixed pitch propeller 8b through a second speed reduction mechanism 14. The arrangement of the power mechanism is more compact and the occupied space is reduced through the arrangement form of the motors arranged in parallel, and meanwhile, the propeller rotating shaft can be designed into a fixed mode by respectively driving the hub of the fixed-pitch propeller 8b and the hub of the variable-pitch propeller 8a, and meanwhile, the coaxial rotation of the hub of the fixed-pitch propeller 8b and the hub of the variable-pitch propeller 8a is higher. It should be noted that, the first speed reducer and the second speed reducer are preferably in a gear structure form, which not only can reduce the occupied space, but also can help to improve the transmission precision and the response speed when the rotating speed is changed.
It should be understood that, in practical applications, the arrangement of the first driving motor and the second driving motor may also be designed into a coaxial tandem arrangement structure as shown in fig. 15 and 16, in which the pitch changing device and the corresponding arrangement space are omitted, in this case, the first driving motor 11 is a hollow shaft motor, the driving shaft of the second driving motor 12 coaxially penetrates through the hollow shaft motor, and the first driving motor 11 and the second driving motor 12 are fixedly connected to the rack through the fixing support 16; the propeller rotating shaft 5 comprises a first rotating shaft for driving the variable-pitch propeller 8a to rotate and a second rotating shaft for driving the fixed-pitch propeller 8b to rotate, the first rotating shaft is a hollow shaft, and the second rotating shaft coaxially penetrates through the inner side of the first rotating shaft; the hollow shaft of the first driving motor 11 is coaxially connected with the first rotating shaft or is the same shaft, and the fixing ring 2 is sleeved on the first rotating shaft and is in spherical hinge connection with the first rotating shaft; the driving shaft of the second driving motor 12 is coaxially connected to the second rotating shaft or is the same shaft. Through the motor form of coaxial arrangement, can make power unit whole arrange in the lower part of frame, make things convenient for power unit's arrangement more.
In the practical application process, the first driving motor and the second driving motor are specifically arranged in parallel or in coaxial series, and can be selected according to the practical arrangement requirement without being limited more specifically.
It is right above the utility model provides a displacement device and unmanned aerial vehicle for unmanned aerial vehicle have carried out detailed introduction. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It is also noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the core concepts of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. A pitch-changing device for an unmanned aerial vehicle is characterized by comprising a driver (1), a fixed ring (2), a rotating ring (3) and a pitch-changing pull rod (4);
the driver (1) comprises a first steering engine (1a) and a second steering engine (1b) which are arranged side by side;
the fixing ring (2) is sleeved on the propeller rotating shaft (5) and is in spherical hinge connection with the propeller rotating shaft (5); the fixing ring (2) is provided with a first connecting support (2a), a second connecting support (2b) and a third connecting support (2c) which are uniformly distributed along the circumferential edge of the fixing ring (2); the first connecting support (2a) is connected with a rocker arm of the first steering engine (1a) through a first pull rod (61), one end of the first pull rod (61) is hinged with the rocker arm of the first steering engine (1a), and the other end of the first pull rod (61) is in spherical hinge connection with the first connecting support (2 a); the second connecting support (2b) is connected with a rocker arm of the second steering engine (1b) through a second pull rod (62), one end of the second pull rod (62) is hinged with the rocker arm of the second steering engine (1b), and the other end of the second pull rod (62) is connected with the second connecting support (2b) in a spherical hinge mode; a sliding block (2d) is fixedly arranged on the third connecting support (2c), a sliding groove (70) which is vertically arranged is arranged on a rack of the unmanned aerial vehicle, the sliding block (2d) is in sliding fit with the sliding groove (70), and the sliding block (2d) can rotate in the sliding groove;
the rotating ring (3) is sleeved on the fixed ring (2) in a fixed-axis rotating manner;
the variable-pitch pull rods (4) are two in number and symmetrically arranged on the outer side of the rotating ring (3), one end of each variable-pitch pull rod (4) is hinged to the outer edge of the rotating ring (3), the other end of each variable-pitch pull rod (4) is hinged to a propeller hub (80) of the propeller (8), and the two variable-pitch pull rods (4) are located on two sides of the propeller hubs (80) respectively.
2. The pitch device for unmanned aerial vehicles of claim 1, wherein the slider is a ball-end slider.
3. The pitch device for drones according to claim 1, wherein said hub (80) comprises a hub main frame (80a) and a sleeve (80b) located inside said hub main frame (80 a); the hub main frame (80a) and the sleeve (80b) are connected through a rotating joint (80c), the rotating joint (80c) is arranged along the transverse axis of the propeller (8) so that the hub main frame (80a) can rotate relative to the sleeve (80b) along the transverse axis of the propeller (8), and the variable-pitch pull rod (4) is hinged on the hub main frame (80 a).
4. The pitch device for unmanned aerial vehicle according to claim 3, wherein the rotary joint (80c) comprises a bushing (80c1) fixedly arranged on both sides of the sleeve (80b) and two pins (80c2) arranged inside the hub main frame (80a), respectively, the axial center of the bushing (80c1) is arranged along the transverse axis of the propeller (8), and the pins (80c2) are inserted in the bushing (80c1) and can rotate around the axial center of the bushing (80c 1).
5. Pitch device for unmanned aerial vehicles according to claim 1, characterized in that the blades (84) of the propeller (8) are mounted in an articulated manner at the two ends of the hub (80), respectively.
6. The pitch changing device for the unmanned aerial vehicle as claimed in any one of claims 1 to 5, wherein the frame comprises a bottom layer base (71), a steering engine mounting bracket (72) and a top layer base (73), which are sequentially arranged from bottom to top, the bottom of the steering engine mounting bracket (72) is fixedly connected with the bottom layer base (71), and the top of the steering engine mounting bracket (72) is fixedly connected with the top layer base (73); the steering engine mounting bracket (72) is provided with two gantry brackets (72a) which are arranged side by side, and the first steering engine (1a) and the second steering engine (1b) are respectively mounted in the two gantry brackets (72 a); the sliding groove (70) is arranged on the top layer base (73), and a clearance position used for avoiding the first pull rod (61) and the second pull rod (62) is arranged on the top layer base (73).
7. An unmanned aerial vehicle comprising a pitch device and a power mechanism for driving a propeller to rotate, wherein the pitch device is as claimed in any one of claims 1 to 6.
8. The drone of claim 7, wherein the propeller (8) comprises a variable-pitch propeller (8a) and a fixed-pitch propeller (8b), and the variable-pitch propeller (8a) and the fixed-pitch propeller (8b) are coaxial contra-rotating propellers; the power mechanism comprises a first driving motor (11) for driving the variable-pitch propeller (8a) to rotate around the axis of the propeller rotating shaft (5) and a second driving motor (12) for driving the fixed-pitch propeller (8b) to rotate around the axis of the propeller rotating shaft (5), and the variable-pitch pull rod (4) is hinged to the hub of the variable-pitch propeller (8 a).
9. The unmanned aerial vehicle of claim 8, characterized in that a fixed bracket (15) fixedly connected with the propeller rotating shaft (5) is arranged between the hub of the fixed-distance propeller (8b) and the hub of the variable-distance propeller (8a), and the first driving motor (11) and the second driving motor (12) are arranged in parallel on the fixed bracket (15); the first driving motor (11) is in transmission connection with the hub of the variable-pitch propeller (8a) through a first speed reducing mechanism (13), and the second driving motor (12) is in transmission connection with the hub of the fixed-pitch propeller (8b) through a second speed reducing mechanism (14).
10. The unmanned aerial vehicle of claim 8, wherein the first drive motor (11) is a hollow shaft motor, a drive shaft of the second drive motor (12) coaxially passes through the hollow shaft motor, and the first drive motor (11) and the second drive motor (12) are fixedly connected with the frame through a fixed support (16); the propeller rotating shaft (5) comprises a first rotating shaft for driving the variable-pitch propeller (8a) to rotate and a second rotating shaft for driving the fixed-pitch propeller (8b) to rotate, the first rotating shaft is a hollow shaft, and the second rotating shaft coaxially penetrates through the inner side of the first rotating shaft; the hollow shaft of the first driving motor (11) is coaxially connected with the first rotating shaft or is the same shaft, and the fixing ring (2) is sleeved on the first rotating shaft and is in spherical hinge connection with the first rotating shaft; and a driving shaft of the second driving motor (12) is coaxially connected with the second rotating shaft or is the same shaft.
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| CN202022785247.2U CN214138933U (en) | 2020-11-26 | 2020-11-26 | A displacement device and unmanned aerial vehicle for unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928541A (en) * | 2021-11-19 | 2022-01-14 | 中国直升机设计研究所 | Helicopter control system motion control law design method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928541A (en) * | 2021-11-19 | 2022-01-14 | 中国直升机设计研究所 | Helicopter control system motion control law design method |
| CN113928541B (en) * | 2021-11-19 | 2023-04-25 | 中国直升机设计研究所 | Helicopter control system motion control law design method |
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