CN216734759U - Automatic many rotor unmanned aerial vehicle of gesture flight control - Google Patents
Automatic many rotor unmanned aerial vehicle of gesture flight control Download PDFInfo
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- CN216734759U CN216734759U CN202220459312.9U CN202220459312U CN216734759U CN 216734759 U CN216734759 U CN 216734759U CN 202220459312 U CN202220459312 U CN 202220459312U CN 216734759 U CN216734759 U CN 216734759U
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Abstract
The utility model relates to the technical field of multi-rotor unmanned aerial vehicles, and discloses an automatic attitude flight control multi-rotor unmanned aerial vehicle which comprises a body, wherein first connecting grooves are formed in two sides of the body, first connecting rods are connected in the two first connecting grooves in a sliding manner, second connecting grooves positioned below the first connecting grooves are formed in two sides of the body, second connecting rods are connected in the two second connecting grooves in a sliding manner, the ends, far away from each other, of the two first connecting rods and the two second connecting rods on the same horizontal axis extend to the outer side of the body, and are fixedly connected with rotor shafts, propellers are arranged on the rotor shafts, and a movement limiting mechanism is fixedly connected to the body. According to the utility model, the adjustment of the directions of the rotor shafts is completed by the horizontal mutual movement of the two groups of rotor shafts, the control of the air flight attitude of the unmanned aerial vehicle is realized, the technical requirements of aerial photography are met, the problem of inclination of the body is avoided, and the use requirements are met.
Description
Technical Field
The utility model relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to an automatic-attitude flight control multi-rotor unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle makes the screw produce lift and fly through the rotary power of engine, for example four rotor unmanned aerial vehicle, when the lift sum of its four screws equals the unmanned aerial vehicle total weight, unmanned aerial vehicle's lift is balanced with gravity, has just can be in the air smooth flight.
The unmanned aerial vehicle aerial photography uses an unmanned aerial vehicle as an aerial platform, obtains information by airborne video equipment or an observation instrument, and processes and makes the information into an image meeting the precision requirement through a computer. At present, the unmanned aerial vehicle aerial photography technology is used as an effective remote sensing technology service means, and has an important promotion effect on the development of economy in China.
However, current many rotor unmanned aerial vehicle is generally through changing engine output or changing screw pitch, make to have lift difference or poor realization flight attitude of moment of torsion between a plurality of engines to change, in order to guarantee unmanned aerial vehicle's smooth flight, when adjusting each flight attitude, need be by the accurate pitch of calculating engine output or screw of computer programming, because of the calculation process is loaded down with trivial details, be difficult to deal with complicated changeable flight environment in real time, and the condition of fuselage slope often can appear, be unfavorable for carrying on video recording equipment or observation instrument on unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems that in the prior art, in order to ensure the stable flight of an unmanned aerial vehicle, when each flight attitude is adjusted, a computer is required to program to accurately calculate the output power of an engine or the pitch of a propeller, the calculation process is complicated, the complicated and changeable flight environment is difficult to deal with in real time, the inclination of a machine body often occurs, and the unmanned aerial vehicle is not beneficial to carrying a video recording device or an observation instrument, so that the multi-rotor unmanned aerial vehicle is controlled by the automatic attitude flight.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the automatic attitude flight control multi-rotor unmanned aerial vehicle comprises a body, wherein first connecting grooves are formed in two sides of the body, first connecting rods are connected in the two first connecting grooves in a sliding manner, second connecting grooves located below the first connecting grooves are formed in two sides of the body, second connecting rods are connected in the two second connecting grooves in a sliding manner, the mutually far ends of the two first connecting rods and the two second connecting rods located on the same horizontal axis extend to the outer side of the body and are fixedly connected with rotor shafts, propellers are arranged on the rotor shafts, moving limiting mechanisms are fixedly connected to the body and are fixedly connected with the corresponding first connecting rods and second connecting rods respectively, two first positioning mechanisms are arranged on the body and are fixedly connected with the corresponding first connecting rods respectively, and first thread driving mechanisms are rotatably connected to the body, the first thread driving mechanism penetrates through the two first positioning mechanisms and is in threaded connection with the two first positioning mechanisms, the machine body is provided with two second positioning mechanisms, the two second positioning mechanisms are respectively in sliding connection with the corresponding second connecting rods, the machine body is rotatably connected with the second thread driving mechanism, the second thread driving mechanism penetrates through the two second positioning mechanisms and is in threaded connection with the two second positioning mechanisms, the first thread driving mechanism is fixedly sleeved with a transmission mechanism, and the first thread driving mechanism is in transmission connection with the second thread driving mechanism through the transmission mechanism.
Preferably, the movable limiting mechanism comprises two movable blocks and two limiting rods, two movable grooves are formed in the inner wall, away from each other, of one side of each of the first connecting groove and the second connecting groove, the movable blocks are connected with the movable grooves in a sliding mode, one ends, close to each other, of the two movable blocks in the same vertical direction extend into the corresponding first connecting groove and the corresponding second connecting groove respectively and are fixedly connected with the top of the corresponding first connecting rod and the bottom of the corresponding second connecting rod, limiting holes are formed in the two movable blocks, the two limiting rods are connected with the corresponding limiting holes in a sliding mode respectively, and two ends of each limiting rod are fixedly connected with the inner wall, located on one side of the corresponding movable groove, of the movable block.
Preferably, first positioning mechanism includes first locating piece, two first constant head tanks have all been seted up to the both sides of fuselage, and two first locating pieces respectively with corresponding first constant head tank sliding connection, the top of two first locating pieces extend respectively to corresponding first connecting grooves in and with the bottom fixed connection of corresponding head rod.
Preferably, first screw thread actuating mechanism includes first bidirectional screw and driving motor, two same rotation hole has been seted up on the one side inner wall that first constant head tank is close to each other, and first bidirectional screw rotates with rotation hole and two first constant head tanks to be connected, one side fixed connection of driving motor and fuselage, and the one end of first bidirectional screw runs through two first locating blocks and with two first locating block threaded connection, the other end of first bidirectional screw extend to the outside of fuselage and with driving motor's output shaft fixed connection.
Preferably, the second positioning mechanism comprises second positioning blocks, second positioning grooves located below the first positioning grooves are formed in the two sides of the machine body, the two second positioning blocks are connected with the corresponding second positioning grooves in a sliding mode respectively, and the bottom ends of the two second positioning blocks extend into the corresponding second connecting grooves respectively and are fixedly connected with the tops of the corresponding second connecting rods.
Preferably, the second thread driving mechanism comprises a second bidirectional screw rod, a circular hole is formed in the inner wall of one side, close to each other, of the two second positioning grooves, the second bidirectional screw rod is rotatably connected with the circular hole and the two second positioning grooves, and one end of the second bidirectional screw rod penetrates through the two second positioning blocks and is in threaded connection with the two positioning blocks.
Preferably, drive mechanism includes first sprocket, second sprocket and chain, the fixed cover of first sprocket is established in the outside of first bidirectional screw, and the fixed cover of second sprocket is established in the outside of second bidirectional screw, and the second sprocket passes through the chain and is connected with first sprocket transmission.
Compared with the prior art, the utility model provides an automatic attitude flight control multi-rotor unmanned aerial vehicle, which has the following beneficial effects:
1. the automatic attitude flight control multi-rotor unmanned aerial vehicle has the advantages that the horizontal mutual movement of the two groups of rotor shafts is completed through the arrangement of the body, the first connecting groove, the first connecting rod, the second connecting groove, the second connecting rod, the rotor shafts, the propellers, the moving groove, the moving block, the limiting hole, the limiting rod, the first positioning groove, the first positioning block, the rotating hole, the first bidirectional lead screw and the driving motor, so that the adjustment of the directions of the rotor shafts is completed, the control of the aerial flight attitude of the unmanned aerial vehicle is realized, the requirement of aerial photography is met, and the problem of body inclination is avoided;
2. according to the automatic attitude flight control multi-rotor unmanned aerial vehicle, the horizontal movement of two groups of rotor shafts is synchronously performed through the arrangement of a second positioning groove, a second positioning block, a circular hole, a second bidirectional screw rod, a first chain wheel, a second chain wheel and a chain;
the horizontal mutual movement of the two groups of rotor shafts completes the adjustment of the directions of the rotor shafts, realizes the control of the aerial flight attitude of the unmanned aerial vehicle, meets the technical requirements of aerial photography, avoids the problem of inclination of the body, and meets the use requirements.
Drawings
Fig. 1 is a schematic view of a front view structure of an automatic attitude flight control multi-rotor unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural view of part a of an automatic attitude flight control multi-rotor drone according to the present invention;
fig. 3 is a schematic structural diagram of part B of the automatic attitude flight control multi-rotor drone provided by the present invention.
In the figure: the novel propeller comprises a body 1, a first connecting groove 2, a first connecting rod 3, a second connecting groove 4, a second connecting rod 5, a rotor shaft 6, a propeller 7, a moving groove 8, a moving block 9, a limiting hole 10, a limiting rod 11, a first positioning groove 12, a first positioning block 13, a rotating hole 14, a first bidirectional screw rod 15, a driving motor 16, a second positioning groove 17, a second positioning block 18, a circular hole 19, a second bidirectional screw rod 20, a first chain wheel 21, a second chain wheel 22 and a chain 23.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the first embodiment, referring to fig. 1-3, an automatic attitude flight control multi-rotor unmanned aerial vehicle comprises a body 1, wherein first connecting grooves 2 are respectively formed in both sides of the body 1, first connecting rods 3 are respectively slidably connected in the two first connecting grooves 2, second connecting grooves 4 are respectively formed in both sides of the body 1 and are located below the first connecting grooves 2, second connecting rods 5 are respectively slidably connected in the two second connecting grooves 4, the ends, away from each other, of the two first connecting rods 3 and the two second connecting rods 4 located on the same horizontal axis extend to the outer side of the body 1 and are fixedly connected with a rotor shaft 6, propellers 7 are arranged on the rotor shaft 6, a movement limiting mechanism is fixedly connected to the body 1 and is respectively fixedly connected with the corresponding first connecting rods 3 and the corresponding second connecting rods 5, two first positioning mechanisms are arranged on the body 1 and are respectively fixedly connected with the corresponding first connecting rods 3, the machine body 1 is connected with a first thread driving mechanism in a rotating mode, the first thread driving mechanism penetrates through two first positioning mechanisms and is in threaded connection with the two first positioning mechanisms, the machine body 1 is provided with two second positioning mechanisms, the two second positioning mechanisms are respectively in sliding connection with the corresponding second connecting rods 5, the machine body 1 is connected with a second thread driving mechanism in a rotating mode, the second thread driving mechanism penetrates through the two second positioning mechanisms and is in threaded connection with the two second positioning mechanisms, a transmission mechanism is fixedly arranged on the first thread driving mechanism, and the first thread driving mechanism is in transmission connection with the second thread driving mechanism through the transmission mechanism.
In the second embodiment, referring to fig. 2, the moving limiting mechanism includes two moving blocks 9 and two limiting rods 11, two moving grooves 8 are respectively disposed on the inner walls of the sides of the first connecting groove 2 and the second connecting groove 4 away from each other, the moving blocks 9 are slidably connected with the moving grooves 8, the ends of the two moving blocks 9 located in the same vertical direction close to each other respectively extend into the corresponding first connecting groove 2 and the second connecting groove 4 and are fixedly connected with the top of the corresponding first connecting rod 3 and the bottom of the corresponding second connecting rod 5, two limiting holes 10 are respectively disposed on the two moving blocks 9, the two limiting rods 11 are respectively slidably connected with the corresponding limiting holes 10, both ends of the limiting rods 11 are respectively fixedly connected with the inner wall of one side of the moving grooves 8, both sides of the body 1 are respectively disposed with two first limiting grooves 12, and two first positioning blocks 13 are respectively slidably connected with the corresponding first limiting grooves 12, the top of two first locating piece 13 extends respectively to in corresponding first connecting groove 2 and with the bottom fixed connection of corresponding head rod 3, same rotation hole 14 has been seted up on the one side inner wall that two first locating groove 12 are close to each other, and first two-way lead screw 15 rotates with rotation hole 14 and two first locating groove 12 to be connected, one side fixed connection of driving motor 16 and fuselage 1, the one end of first two-way lead screw 15 run through two first locating piece 13 and with two first locating piece 13 threaded connection, the other end of first two-way lead screw 15 extend to the outside of fuselage 1 and with driving motor 16's output shaft fixed connection.
In the third embodiment, referring to fig. 3, the second positioning mechanism includes second positioning blocks 18, second positioning grooves 17 located below the first positioning grooves 12 are respectively formed in two sides of the machine body 1, the two second positioning blocks 18 are respectively connected with the corresponding second positioning grooves 17 in a sliding manner, bottom ends of the two second positioning blocks 18 respectively extend into the corresponding second connecting grooves 4 and are fixedly connected with tops of the corresponding second connecting rods 5, a same circular hole 19 is formed in an inner wall of one side, which is close to the two second positioning grooves 17, of the two second positioning grooves 17, the second bidirectional screw rod 20 is rotatably connected with the circular hole 19 and the two second positioning grooves 17, and one end of the second bidirectional screw rod 20 penetrates through the two second positioning blocks 18 and is connected with the two positioning blocks 18 through threads.
In the utility model, the transmission mechanism comprises a first chain wheel 21, a second chain wheel 22 and a chain 23, the first chain wheel 21 is fixedly sleeved on the outer side of the first bidirectional screw rod 15, the second chain wheel 22 is fixedly sleeved on the outer side of the second bidirectional screw rod 20, and the second chain wheel 22 is in transmission connection with the first chain wheel 21 through the chain 23.
In the utility model, when in use, the driving motor 16 is started, the driving motor 16 is powered by the storage battery, the driving motor 16 is controlled by the control switch, the output shaft of the driving motor 16 drives the first bidirectional screw rod 15 to rotate, the first bidirectional screw rod 15 drives the two first positioning blocks 13 to move towards the sides far away from each other, the two first positioning blocks 13 drive the two first connecting rods 3 to move towards the ends far away from each other, meanwhile, the first bidirectional screw rod 15 drives the first chain wheel 21 to rotate, the first chain wheel 21 drives the second chain wheel 22 to rotate through the chain 23, the second chain wheel 22 drives the second bidirectional screw rod 20 to rotate, the second bidirectional screw rod 20 drives the two second positioning blocks 18 to move towards the sides far away from each other, the two second positioning blocks 18 drive the two second connecting rods 5 to move towards the ends far away from each other, and at the same time, the four moving blocks 9 limit the two first connecting rods 3 and the two second connecting rods 5, the four limiting rods 11 limit the four moving blocks 9, meanwhile, the two first connecting rods 3 and the two second connecting rods 5 move synchronously, meanwhile, the two first connecting rods 3 and the two second connecting rods 5 drive the four rotor shafts 6 to move, the four rotor shafts 6 drive the four groups of propellers 7 to move horizontally, the adjustment of the directions of the rotor shafts 6 is completed by the horizontal mutual movement of the two groups of rotor shafts 6, the control of the flying posture of the unmanned aerial vehicle in the air is realized, thereby through the horizontal mutual displacement to two sets of rotor shafts 6 accomplished the adjustment to rotor shaft 6 direction, realize the control to the aerial flight gesture of unmanned aerial vehicle, reach and satisfy the photographic technical requirement of taking photo by plane, avoid appearing the problem of fuselage 1 slope and appear, satisfied the needs that use.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (7)
1. Automatic many rotor unmanned aerial vehicle of gesture flight control, including fuselage (1), its characterized in that, first spread groove (2) have all been seted up to the both sides of fuselage (1), all sliding connection has first connecting rod (3) in two first spread grooves (2), second spread groove (4) that are located first spread groove (2) below are all seted up to the both sides of fuselage (1), all sliding connection has second connecting rod (5) in two second spread groove (4), the one end that is located the mutual keeping away from of two first connecting rod (3) and two second connecting rod (5) on same horizontal axis all extends to the outside of fuselage (1) and fixedly connected with rotor shaft (6), be provided with screw (7) on rotor shaft (6), fixedly connected with removal stop gear on fuselage (1), and remove stop gear respectively with corresponding first connecting rod (3) and second connecting rod (5) fixed connection, the machine body (1) is provided with two first positioning mechanisms, the two first positioning mechanisms are fixedly connected with corresponding first connecting rods (3) respectively, the machine body (1) is connected with first thread driving mechanisms in a rotating mode, the first thread driving mechanisms penetrate through the two first positioning mechanisms and are in threaded connection with the two first positioning mechanisms, the machine body (1) is provided with two second positioning mechanisms, the two second positioning mechanisms are connected with corresponding second connecting rods (5) in a sliding mode respectively, the machine body (1) is connected with second thread driving mechanisms in a rotating mode, the second thread driving mechanisms penetrate through the two second positioning mechanisms and are in threaded connection with the two second positioning mechanisms, the first thread driving mechanisms are fixedly sleeved with transmission mechanisms, and the first thread driving mechanisms are in transmission connection with the second thread driving mechanisms through the transmission mechanisms.
2. The automatic attitude flight control multi-rotor drone of claim 1, the moving limiting mechanism comprises two moving blocks (9) and two limiting rods (11), two moving grooves (8) are respectively arranged on the inner walls of the sides of the first connecting groove (2) and the second connecting groove (4) which are far away from each other, the moving blocks (9) are connected with the moving grooves (8) in a sliding manner, one ends of the two moving blocks (9) which are positioned on the same vertical direction and close to each other respectively extend into the corresponding first connecting groove (2) and second connecting groove (4) and are fixedly connected with the top of the corresponding first connecting rod (3) and the bottom of the corresponding second connecting rod (5), the two moving blocks (9) are both provided with limiting holes (10), and the two limiting rods (11) are respectively connected with the corresponding limiting holes (10) in a sliding manner, and the two ends of the limiting rods (11) are fixedly connected with the inner wall of one side of the moving groove (8).
3. The automatic many rotor unmanned aerial vehicle of attitude flight control of claim 1, characterized in that, first positioning mechanism includes first locating piece (13), two first constant head tank (12) have all been seted up to the both sides of fuselage (1), and two first locating piece (13) respectively with corresponding first constant head tank (12) sliding connection, the top of two first locating piece (13) extend respectively to in the corresponding first connecting groove (2) and with the bottom fixed connection of corresponding head rod (3).
4. The automatic many rotor unmanned aerial vehicle of attitude flight control of claim 3, characterized in that, first screw thread actuating mechanism includes first bidirectional screw (15) and driving motor (16), two same rotation hole (14) has been seted up on the one side inner wall that first constant head tank (12) are close to each other, and first bidirectional screw (15) rotate with rotation hole (14) and two first constant head tanks (12) and be connected, one side fixed connection of driving motor (16) and fuselage (1), the one end of first bidirectional screw (15) runs through two first locating blocks (13) and with two first locating blocks (13) threaded connection, the other end of first bidirectional screw (15) extend to the outside of fuselage (1) and with the output shaft fixed connection of driving motor (16).
5. The automatic attitude flight control multi-rotor unmanned aerial vehicle according to claim 1, wherein the second positioning mechanism comprises second positioning blocks (18), second positioning grooves (17) located below the first positioning grooves (12) are formed in both sides of the main body (1), the two second positioning blocks (18) are slidably connected with the corresponding second positioning grooves (17), and bottom ends of the two second positioning blocks (18) extend into the corresponding second positioning grooves (4) and are fixedly connected with tops of the corresponding second connecting rods (5).
6. The automatic attitude flight control multi-rotor unmanned aerial vehicle of claim 5, wherein the second screw driving mechanism comprises a second bidirectional screw rod (20), the inner wall of one side of the two second positioning grooves (17) close to each other is provided with a circular hole (19), the second bidirectional screw rod (20) is rotatably connected with the circular hole (19) and the two second positioning grooves (17), and one end of the second bidirectional screw rod (20) penetrates through the two second positioning blocks (18) and is in threaded connection with the two positioning blocks (18).
7. The automatic attitude flight control multi-rotor unmanned aerial vehicle of claim 4, wherein the transmission mechanism comprises a first chain wheel (21), a second chain wheel (22) and a chain (23), the first chain wheel (21) is fixedly sleeved on the outer side of the first bidirectional screw (15), the second chain wheel (22) is fixedly sleeved on the outer side of the second bidirectional screw (20), and the second chain wheel (22) is in transmission connection with the first chain wheel (21) through the chain (23).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220459312.9U CN216734759U (en) | 2022-03-04 | 2022-03-04 | Automatic many rotor unmanned aerial vehicle of gesture flight control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220459312.9U CN216734759U (en) | 2022-03-04 | 2022-03-04 | Automatic many rotor unmanned aerial vehicle of gesture flight control |
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| CN216734759U true CN216734759U (en) | 2022-06-14 |
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| CN202220459312.9U Active CN216734759U (en) | 2022-03-04 | 2022-03-04 | Automatic many rotor unmanned aerial vehicle of gesture flight control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954913A (en) * | 2022-07-01 | 2022-08-30 | 吉林化工学院 | Precision balancing device for improving flight stability of unmanned aerial vehicle |
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2022
- 2022-03-04 CN CN202220459312.9U patent/CN216734759U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954913A (en) * | 2022-07-01 | 2022-08-30 | 吉林化工学院 | Precision balancing device for improving flight stability of unmanned aerial vehicle |
| CN114954913B (en) * | 2022-07-01 | 2022-11-01 | 吉林化工学院 | Precision balancing device for improving flight stability of unmanned aerial vehicle |
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