CN220616245U - Four hold-in range drive formula unmanned aerial vehicle nest are put in order - Google Patents

Abstract

The utility model discloses a four-synchronous-belt-driven unmanned aerial vehicle nest centering device, which belongs to the technical field of unmanned aerial vehicles, wherein rotary shafts are arranged at four corners of the outer surface of a box body, synchronous wheels are arranged on the rotary shafts, synchronous belts are mounted between the synchronous wheels of two rotary shafts on the same side, and a total of four synchronous belts are combined to form a rectangular frame; the four walls of the box body are provided with linear slide rails; the output shaft of the worm gear reducer is provided with a driving wheel; the driving wheel is connected with one of the synchronous wheels through a driving belt; two ends of each centering rod are arranged on the sliding blocks of the corresponding linear sliding rail; one end of each centering rod is connected with the corresponding synchronous belt, so that the moving directions of the two parallel centering rods are opposite. The utility model adopts a single motor and four synchronous belts for driving, has accurate transmission, no sliding friction during working, constant transmission ratio, high transmission efficiency, obvious energy saving, high strength and high stability, simple structure and convenient subsequent maintenance.

Description

Four hold-in range drive formula unmanned aerial vehicle nest are put in order

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a four-synchronous-belt-driven unmanned aerial vehicle nest centering device.

Background

After the unmanned aerial vehicle falls on the aircraft nest shutdown platform, the aircraft nest needs to fix the unmanned aerial vehicle at the designated position of the parking apron so as to complete functions such as charging, data transmission, instruction issuing and the like of the unmanned aerial vehicle. Because unmanned aerial vehicle automatic landing algorithm has certain position deviation and wind speed to unmanned aerial vehicle's landing all have certain influence, so the machine nest needs to possess the function of returning to the middle position, prevent that unmanned aerial vehicle from taking place to deviate or fall after berthing. However, most of the centering used on the machine nest is performed by driving an X axis and a Y axis through double motors, and if one of the motors fails, the centering of the machine nest cannot be performed normally due to the driving of the double motors; the subsequent maintenance and servicing of the dual motor drive approach may also be more costly than the single motor approach.

Disclosure of Invention

Aiming at the problems, the utility model provides the four-synchronous-belt-driven unmanned aerial vehicle nest centering device which is driven by a single motor and four synchronous belts, is accurate in transmission, has no sliding friction during working, has a constant transmission ratio, is high in transmission efficiency, is energy-saving and obvious, has high strength and high stability, is simple in structure, and is convenient for subsequent maintenance.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a four synchronous belt driven unmanned aerial vehicle nest centering device, comprising:

the box body shell: the four corners of the inner wall are vertically provided with rotating shafts, the rotating shafts are provided with synchronizing wheels, a synchronous belt is mounted between the synchronizing wheels of two rotating shafts on the same side, and a total of four synchronous belts are combined to form a rectangular frame; linear sliding rails are arranged on four walls of the inner side surface of the box body shell;

and a driving assembly: the device comprises a motor and a worm and gear speed reducer connected with the motor, wherein a driving wheel is arranged on an output shaft of the worm and gear speed reducer; the driving wheel is connected with one of the synchronous wheels through a driving belt;

centering rod: the two rectangular frames are staggered and distributed in a cross shape to form a rectangular frame with adjustable size; two ends of each centering rod are arranged on the sliding blocks of the corresponding linear sliding rail; one end of each centering rod is connected with the corresponding synchronous belt, so that the moving directions of the two parallel centering rods are opposite.

Compared with the prior art, the utility model has the beneficial effects that:

1. the device uses a single motor for transmission, and four sets of synchronous belts are adopted to realize the movement of four centering rods, so that the working efficiency of the device is more stable, the working energy consumption is lower than that of a plurality of motors, only a single machine is required to be maintained in the follow-up process, and the device is more convenient to maintain relative to other devices; the transmission is accurate, no sliding friction is generated during working, the constant transmission ratio is realized, the transmission efficiency is high, and the energy conservation is obvious.

2. The worm gear component worm speed reducer has the advantages of compact mechanical structure, light volume and appearance, small size, high efficiency, good heat exchange performance, quick heat dissipation, self-locking worm gear components and the like;

3. the motor and the worm gear component worm reducer used in the device stop rotating after stopping working, the meshing angle of the worm and the worm gear component is greater than 90 degrees, so that when the input end stops rotating, the worm gear component can prevent the reverse direction movement of the worm, the effect of dynamic self-locking can be achieved, the unmanned aerial vehicle can not cause fluctuation of the centering rod due to external factors after centering is completed, and the overall safety and stability of the machine nest are greatly enhanced.

As a further improvement of the scheme, one end of the centering rod is connected with an outer side belt of the synchronous belt, and the other end of the centering rod is connected with an inner side belt of the synchronous belt; the same ends of two parallel centering rods are respectively connected with an outer belt and an inner belt of the synchronous belt.

The improved technical effects are as follows: the outer side belt and the inner side belt of the synchronous belt move in opposite directions, and the synchronous belt can drive two parallel centering rods to realize opening and closing movements without interference through the installation mode.

As a further improvement of the scheme, two ends of the rotating shaft are arranged on L-shaped bearings with seats, and the L-shaped bearings with seats are arranged on the casing of the box body.

The improved technical effects are as follows: the installation of the rotating shaft is facilitated.

As a further improvement of the scheme, the inner wall of the synchronous belt is provided with a tooth surface; the outer wall of the synchronous wheel is provided with a tooth surface; and the inner wall of the synchronous belt is meshed with the outer wall of the synchronous wheel.

The improved technical effects are as follows: the synchronous belt and the synchronous wheel are in toothed belt transmission, so that the transmission stability and accuracy can be improved, and the slip reduction error can be eliminated.

As a further improvement of the scheme, the inner wall of the driving belt is provided with tooth surfaces; the outer wall of the driving wheel is provided with a tooth surface; the inner wall of the driving belt is meshed with the outer wall of the driving wheel and the outer wall of the synchronous wheel.

The improved technical effects are as follows: the driving belt, the driving wheel and the synchronous wheel are in toothed belt transmission, so that the accuracy and stability of the motor-driven centering rod in movement can be improved, slipping is eliminated, and errors are reduced.

As a further improvement of the scheme, the worm gear speed reducer comprises a worm part and a worm wheel part, and the worm wheel part is connected with the output shaft.

As a further improvement of the scheme, two ends of the centering rod are provided with vertical mounting plates, and the mounting plates are connected with corresponding sliding blocks and synchronous belts.

The improved technical effects are as follows: the centering rod can be conveniently connected with the synchronous belt and the sliding block through the vertical mounting plate.

As a further improvement of the scheme, the centering rod comprises a straight rod part with a straight middle part, and both ends of the straight rod part are provided with first bending parts which are bent towards the same side; the first bending part end is provided with a second bending part which is bent towards the opposite side.

As a further improvement of the scheme, two centering rods of the same group are symmetrically arranged; and the first bending parts are all arranged inwards.

The improved technical effects are as follows: the effective stopping area of the unmanned aerial vehicle formed by the centering rod can be improved by arranging the bending pieces at the two ends of the centering rod, and the useless area is reduced.

Drawings

Fig. 1 is a perspective view of the internal structure of the device.

Fig. 2 is a top view of the internal structure of the device.

Fig. 3 is a schematic side view of the device.

FIG. 4 is a schematic view of the centering rod expansion movement.

Fig. 5 is a schematic view of the structure after the centering rod is fully opened.

Fig. 6 is a schematic diagram of a timing belt installation mode.

Fig. 7 is a schematic view of the housing of the case.

Fig. 8 is a schematic structural diagram of a motor and a worm gear reducer.

Fig. 9 is a schematic view of three synchronizing wheels on a rotating shaft.

Fig. 10 is a schematic view of two synchronizing wheels on a rotating shaft.

Fig. 11 is a schematic diagram of a worm gear reducer.

Fig. 12 is a schematic top view of a single centering rod.

Fig. 13 is a schematic view of a linear slide structure.

Fig. 14 is a schematic side view of a timing belt.

In the figure: 1. a centering rod; 2. a slide rail backing plate; 3. a linear slide rail; 4. a slide block; 5. l-shaped bearing with a seat; 6. a rotation shaft; 7. a synchronizing wheel; 8. a motor; 9. a worm gear reducer; 10. an output shaft; 11. a synchronous belt; 12. a drive belt; 13. a case housing; 14. a worm wheel member; 15. a worm member; 16. a bearing member; 17. a synchronous belt pressing plate; 18. a driving wheel; 101. a straight rod part; 102. a first bending part; 103. and a second bending part.

Detailed Description

In order that those skilled in the art will better understand the technical solutions, the following detailed description of the technical solutions is provided with examples and illustrations only, and should not be construed as limiting the scope of the present patent.

Referring to fig. 1 to 14, in a specific embodiment, a four-synchronous belt 11-driven unmanned aerial vehicle nest homing device includes:

case housing 13: the four corners of the inner wall are vertically provided with rotating shafts 6, the rotating shafts 6 are provided with synchronizing wheels 7, and a synchronous belt 11 is mounted between the synchronizing wheels 7 of the two rotating shafts 6 on the same side, and a total of four synchronous belts 11 are combined to form a rectangular frame; the linear slide rail 3 is arranged on four walls of the inner side surface of the box body shell 13;

and a driving assembly: the motor 8 and the worm and gear speed reducer 9 connected with the motor 8 are included, and a driving wheel 18 is arranged on an output shaft 10 of the worm and gear speed reducer 9; the driving wheel 18 is connected with one of the synchronizing wheels 7 by a driving belt 12;

centering rod 1: the two rectangular frames are staggered and distributed in a cross shape to form a rectangular frame with adjustable size; two ends of each centering rod 1 are arranged on a sliding block 4 of a corresponding linear sliding rail 3; one end of each centering rod 1 is connected with a corresponding synchronous belt 11, so that the moving directions of the two centering rods 1 which are parallel to each other are opposite.

Specifically, the product consists of a box body shell 13, a centering rod 1, a linear slide rail 3, a driving wheel 18, a motor 8, four synchronous belts 11 and a driving belt 12;

four centering rods 1 are provided, and the whole centering rod is in a shape of a Chinese character 'ji', as shown in figure 4. The shape of the single centering rod 1 is shown in fig. 12, the tail end of the centering rod 1 is bent downwards for 90 degrees to form a mounting plate, the mounting plate is fixed with the sliding block 4 on the linear sliding rail 3 through a screw, and the sliding block 4 can only move along the linear sliding rail 3 in a track way, so that the centering rod 1 can only move along the linear sliding rail 3 in a straight line. The tail end of the centering rod 1 is connected with the synchronous belt 11 through a synchronous belt pressing plate 17 and is fixed by a screw, so that the movement of the synchronous belt 11 can be used as the power of the centering rod 1 to drive the centering rod 1 to move;

the linear slide rail 3 and the slide block 4 are formed as shown in fig. 13, the slide rail base plate 2 is directly welded on the box body shell 13, the linear slide rail 3 is fixed on the slide rail base plate 2 through screws, the slide rail base plate 2 can play a role in adjusting the whole height of the slide rail and the slide block 4, and the slide block 4 can only do linear motion along the linear slide rail 3 and is not separated from the slide rail;

the four corners of the inner wall of the box shell 13 are vertically provided with rotating shafts 6, wherein one rotating shaft 6 is provided with three synchronizing wheels 7, and the other rotating shafts 6 are provided with two synchronizing wheels 7; a synchronous belt 11 is mounted between the synchronous wheels 7 of two adjacent rotating shafts 6, and a total of four synchronous belts 11 are arranged; the linear slide rail 3 is arranged on four walls of the inner side surface of the box body shell 13;

the whole set of centering system comprises four sets of synchronous wheel assemblies, one set of three synchronous wheel assemblies is shown in fig. 9, three sets of two synchronous wheel assemblies are shown in fig. 10, and the three sets of two synchronous wheel assemblies are distributed at four corners of the box body and are shown in fig. 7; four synchronous belts 11 are fixed on four sides of the box body, so that the square shape of the synchronous belts 11 can be always kept in the whole movement process, and the structure is kept stable.

The three synchronizing wheel assemblies consist of 2L-shaped bearings with seats 5, 1 rotating shaft 6 and 3 synchronizing wheels 7; the two synchronizing wheel assemblies consist of 2L-shaped bearings with seats 5, 1 rotating shaft 6 and 2 synchronizing wheels 7; the circular arc teeth in the middle of the synchronizing wheel 7 are matched with the circular arc teeth on the synchronous belt 11, the two sides are provided with flanges, the inside is provided with a D-shaped hole which is matched with the D-shaped hole on the driving shaft, the two holes are clamped through a key sheath, the driving shaft and the synchronizing wheel 7 are ensured to coaxially rotate, the inside of the L-shaped belt seat bearing 5 is provided with a ball bearing, and the position of the driving shaft is kept motionless in the whole movement process.

As shown in fig. 8, a motor shaft of the motor 8 is connected with a worm component 15 in the worm gear reducer 9, the worm component 15 drives the turbine component to rotate, a driving wheel 18 is arranged at the tail end of the output shaft 10, and the driving wheel 18 and a synchronizing wheel 7 at the lowest position of the three synchronizing wheel assemblies are at the same height, so that a driving belt 12 can be connected with the output shaft 10 and the three synchronizing wheel 7 assemblies and is at the same horizontal plane, and therefore the driving belt 12 can be driven to move simultaneously when the motor 8 works, the driving belt 12 drives the synchronizing wheels to rotate, and the synchronizing wheels drive all the synchronizing belts to rotate; after the centering is finished, the motor 8 stops working, and the lead angle of the worm part 15 in the worm gear and worm speed reducer 9 is smaller than the equivalent friction angle between the meshing teeth of the worm wheel, so that the mechanical self-locking effect is realized. The motor 8 is prevented from moving due to external force, the motor 8 is prevented from moving at an incorrect position, the engine is prevented from moving at an incorrect position, the mechanical loss is reduced, the system adjustment is reduced, and the structural stability of the machine nest is ensured.

As shown in fig. 7, the dimensions of the box housing 13 determine the installation position and size of the centering assembly, the linear rail 3, the driving wheel 18, the motor 8, the four timing belts 11, and one driving belt 12.

As shown in fig. 2 and 9-10, as a preferable mode of the above embodiment, both ends of the rotation shaft 6 are mounted on L-shaped seated bearings 5, and the L-shaped seated bearings 5 are mounted on the box housing 13.

Specifically, the three synchronizing wheel assembly consists of 2L-shaped bearings with seats 5, 1 rotating shaft 6 and 3 synchronizing wheels 7; the two synchronizing wheel assemblies consist of 2L-shaped bearings with seats 5, 1 rotating shaft 6 and 2 synchronizing wheels 7; the circular arc teeth in the middle of the synchronizing wheel 7 are matched with the circular arc teeth on the synchronous belt 11, the two sides are provided with flanges, the inside is provided with a D-shaped hole which is matched with the D-shaped hole on the driving shaft, the two holes are clamped through a key sheath, the driving shaft and the synchronizing wheel 7 are ensured to coaxially rotate, the inside of the L-shaped belt seat bearing 5 is provided with a ball bearing, and the position of the driving shaft is kept motionless in the whole movement process.

As a preferable mode of the above embodiment, the inner wall of the timing belt 11 is a belt tooth surface; the outer wall of the synchronizing wheel 7 is provided with a tooth surface; the inner wall of the synchronous belt 11 is meshed with the outer wall of the synchronous wheel 7.

Specifically, the synchronous belt 11 is provided with circular arc teeth while being smooth, and the circular arc tooth edge of the driving belt 12 is shown in fig. 14; two ends of the four synchronous belts 11 are respectively mounted on the corresponding synchronous wheels 7.

As a preferred form of the above embodiment, the inner wall of the drive belt 12 is a belt tooth surface; the outer wall of the driving wheel 18 is provided with a tooth surface; the inner wall of the driving belt 12 is meshed with the outer wall of the driving wheel 18 and the outer wall of the synchronizing wheel 7.

Specifically, the driving belt 12 is smooth and provided with circular arc teeth, and the circular arc teeth of the driving belt 12 are connected with the gear teeth on the driving wheel 18 as shown in fig. 14, and the winding mode of the driving belt 12 is determined by the positions of the driving wheel 18 on the synchronous wheel 7 assembly and the motor 8 assembly.

The motor 8 drives the worm gear reducer 9 when working, the driving wheel 18 of the output shaft 10 of the worm gear reducer 9 is connected with the synchronizing wheel 7 at the bottom of the three synchronizing wheel 7 assembly through the synchronizing belt 11, the other two synchronizing wheels 7 on the three synchronizing wheel 7 assembly are connected with the synchronizing wheels 7 on the two adjacent two synchronizing wheel 7 assemblies through the synchronizing belt 11, and the synchronizing wheels 7 on the two adjacent synchronizing wheel 7 assemblies are connected with the two synchronizing wheel 7 assemblies on opposite angles of the three synchronizing wheel 7 assemblies through the two synchronizing belts 11. The centering rod 1 is bent for 90 degrees to form a mounting plate, and the tail end of the mounting plate is fixed through a synchronous belt 11 pressing block, screws and four synchronous belts 11. Thereby ensuring that the centering rod 1 is in an open state when the motor 8 rotates forward; the movement direction is as the arrow direction of figure 5, and the centering rod 1 is in a closed state when the motor 8 reverses; the direction of movement is as indicated by the arrow in fig. 4.

As shown in fig. 11, as a preferable mode of the above embodiment, the worm gear reducer 9 includes a worm member 15 and a worm wheel member 14, and the worm wheel member 14 is connected to the output shaft 10.

Specifically, both ends of the worm member 15 and the turbine member are provided with bearing members 16; the worm member 15 rotates the worm gear member 14 to rotate the output shaft 10, thereby rotating the drive wheel 18 on the output shaft 10.

As shown in fig. 1, as a preferable mode of the above embodiment, the centering rod 1 is provided with vertical mounting plates at both ends, and the mounting plates are connected with the corresponding sliders 4 and timing belts 11.

As shown in fig. 12, as a preferable mode of the above embodiment, the centering rod 1 includes a straight rod portion 101 having a straight middle, and both ends of the straight rod portion 101 are provided with first bending portions 102 bent toward the same side; the first bending portion 102 is provided with a second bending portion 103 bent to the opposite side. The centering rod 1 is shaped like a Chinese character 'ji'.

As shown in fig. 2, as a preferable mode of the above embodiment, two centering bars 1 of the same group are symmetrically arranged; and the first bending portions 102 are each provided inward.

The utility model has the specific working principle that:

the novel unmanned aerial vehicle nest is complex in structure and inconvenient to maintain and is designed innovatively. The device for assisting the homing of the nest unmanned aerial vehicle in a single motor transmission mode by taking four synchronous belts as media is provided.

Description of movement principle: four sides of the box body shell 13 are welded with a slide rail backing plate 2, and a linear guide rail is arranged on the linear guide rail backing plate through screws; synchronous wheel assemblies are arranged at four corners; the tail end of the centering rod 1 is bent for 90 degrees, and the tail end of the centering rod 1 is respectively fixed on the sliding block 4 and the synchronous belt 11 on the linear sliding rail 3 through screws and the synchronous belt pressing plate 17. The synchronous belt 11 is smooth and takes the shape of arc teeth, one surface of the synchronous belt 11 with the arc teeth is connected with the teeth of the driving wheel 12 on the synchronous wheel 11 and the worm gear reducer, and the motor 8 forms meshing motion when working. The driving wheel 12 on the driving assembly is arranged on the output shaft 10, and the worm gear reducer 9 is driven to rotate by the motor 8 when in operation, so that the output shaft 10 rotates positively and negatively along with the motor 8 when the motor 8 rotates positively and negatively.

When the motor 8 rotates positively, the output shaft 10 is driven to rotate positively, and the driving wheel 18 at the tail end of the output shaft 10 is driven, so that the synchronous belt 11 is driven to move. The synchronous belt drives the synchronous wheel at the other end to rotate, the synchronous wheel at the other end drives the rotary shaft 6 to rotate, and the rotary shaft 6 drives other synchronous wheels coaxially arranged to rotate, so that all synchronous motions of the four synchronous belts are realized; and then drive four centering bars 1 to move to four sides of the box body housing 13, thereby realizing the centering and opening state. The return-to-middle opening movement track is shown in figures 4-5; similarly, when the motor 8 rotates reversely, the four centering rods 1 move towards the inside of the box body, so that the centering and closing state is realized.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Specific examples are used herein to illustrate the principles and embodiments of the present patent technical solution, and the above examples are only used to help understand the method of the present patent and its core ideas. The foregoing is merely a preferred embodiment of the present patent, and it should be noted that, due to the limited text expression, there is objectively an infinite number of specific structures, and it will be apparent to those skilled in the art that several modifications, adaptations or variations can be made and the above technical features can be combined in a suitable manner without departing from the principles of the present patent; such modifications, variations, or combinations, or the direct application of the concepts and aspects of the disclosed patent to other applications without modification, are intended to be within the scope of the present disclosure.

Claims (8)

1. Four hold-in range drive formula unmanned aerial vehicle nest device of returning to middle, its characterized in that includes:

box shell (13): the four corners of the inner wall are vertically provided with rotating shafts (6), the rotating shafts (6) are provided with synchronizing wheels (7), a synchronous belt (11) is mounted between the synchronizing wheels (7) of the two rotating shafts (6) on the same side, and a total of four synchronous belts (11) are combined to form a rectangular frame; the four walls of the inner side surface of the box body shell (13) are provided with linear slide rails (3);

and a driving assembly: comprises a motor (8) and a worm gear reducer (9) connected with the motor (8), wherein a driving wheel (18) is arranged on an output shaft (10) of the worm gear reducer (9); the driving wheel (18) is connected with one of the synchronous wheels (7) through a driving belt (12);

centering rod (1): the two rectangular frames are staggered and distributed in a cross shape to form a rectangular frame with adjustable size; two ends of each centering rod (1) are arranged on the sliding blocks (4) of the corresponding linear sliding rail (3); one end of each centering rod (1) is connected with a corresponding synchronous belt (11) so that the moving directions of the two parallel centering rods (1) are opposite.

2. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein one end of the centering rod (1) is connected with an outer side belt of the synchronous belt (11), and the other end is connected with an inner side belt of the synchronous belt (11); the same ends of the two parallel centering rods (1) are respectively connected with an outer belt and an inner belt of the synchronous belt (11).

3. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the two ends of the rotating shaft (6) are arranged on an L-shaped belt seat bearing (5), and the L-shaped belt seat bearing (5) is arranged on a box shell (13).

4. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the inner wall of the synchronous belt (11) is provided with tooth surfaces; the outer wall of the synchronous wheel (7) is provided with a tooth surface; the inner wall of the synchronous belt (11) is meshed with the outer wall of the synchronous wheel (7).

5. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the inner wall of the driving belt (12) is provided with a tooth surface; the outer wall of the driving wheel (18) is provided with a tooth surface; the inner wall of the driving belt (12) is meshed with the outer wall of the driving wheel (18) and the outer wall of the synchronous wheel (7).

6. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein vertical mounting plates are arranged at two ends of the centering rod (1), and the mounting plates are connected with corresponding sliding blocks (4) and synchronous belts (11).

7. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the centering rod (1) comprises a straight rod part (101) with a straight middle part, and first bending parts (102) bending towards the same side are arranged at two ends of the straight rod part (101); the end of the first bending part (102) is provided with a second bending part (103) bending towards the opposite side.

8. The four-synchronous belt driven unmanned aerial vehicle nest centering device according to claim 7, wherein two centering rods (1) of the same group are symmetrically arranged; and the first bending parts (102) are all arranged inwards.