CN220662881U

CN220662881U - Tilting mechanism for coaxial double-oar unmanned aerial vehicle

Info

Publication number: CN220662881U
Application number: CN202322456221.7U
Authority: CN
Inventors: 陈柽; 亢暖
Original assignee: Beijing Yihong Technology Co ltd
Current assignee: Beijing Yihong Technology Co ltd
Priority date: 2023-09-11
Filing date: 2023-09-11
Publication date: 2024-03-26
Anticipated expiration: 2033-09-11

Abstract

The utility model aims to solve the technical problem of providing a tilting mechanism for a coaxial double-paddle unmanned aerial vehicle, which can enable the unmanned aerial vehicle to be miniaturized. This mechanism of overturning includes center mount pad, the inclined disc, the support column, the mounting panel, power base, be provided with the regulation bulb in the inclined disc, the lower extreme of regulation bulb is connected with the upper end of support column, be provided with three connecting block on the inclined disc, be provided with the gag lever post on one connecting block, all be provided with the pull rod through bulb connection structure on two remaining connecting blocks, still be provided with two servo steering engines, all be provided with the actuating arm on the output shaft of every servo steering engine, the one end of actuating arm passes through bulb connection structure and links to each other with the lower extreme of corresponding pull rod, this mechanism of overturning's simple structure is reliable, the displacement mechanism of having saved the complicacy, can make unmanned aerial vehicle overall layout compacter, realize miniaturized size, moreover the reliability is higher, the weight is lighter, be fit for popularizing and applying in unmanned aerial vehicle technical field.

Description

Tilting mechanism for coaxial double-oar unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a tilting mechanism for a coaxial double-oar unmanned aerial vehicle.

Background

With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle's flight performance and mission capability are receiving attention. The coaxial double-oar unmanned aerial vehicle is widely applied to the fields of aerial photography, logistics distribution, geological survey, rescue and the like due to the advantages of stability, accuracy and the like. The coaxial double-propeller helicopter has two main rotors sharing one rotating shaft, and counter-torque moment is offset by the counter-rotation of the two main rotors, but a complex variable-pitch mechanism is still needed for adjusting the propeller pitch and the propeller disc plane so as to adjust the flying attitude and the flying direction, and the conventional coaxial double-propeller helicopter has certain limitations and challenges when facing complex flying environments and task demands, for example, the maneuverability and the quick response capability in a narrow space need to be improved, and the flexibility and the accuracy of flying actions need to be further optimized.

Fixed wing unmanned aerial vehicles are limited by the area requirements of the wing, are generally large in geometric dimension, and after the dimension is reduced to a certain extent, the basic aerodynamic characteristics are radically changed due to various aspects such as low Reynolds number, so that miniaturization is generally difficult to achieve. The multiple rotor unmanned aerial vehicle is because a plurality of rotor cooperation is required to distance (wheelbase) between every rotor can not be too little, and the helicopter then need rely on complicated displacement mechanism to realize displacement control, also hardly keeps under the condition of certain load and duration, reduces structure weight and overall dimension, realizes the miniaturization. Therefore, the popularization and application of the conventional unmanned aerial vehicle under certain conditions with extremely strict requirements on external dimensions are limited.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a tilting mechanism for a coaxial double-paddle unmanned aerial vehicle, which can enable the unmanned aerial vehicle to be miniaturized.

The technical scheme adopted for solving the technical problems is as follows: the tilting mechanism for the coaxial double-oar unmanned aerial vehicle comprises a center mounting seat, a tilting disk, a supporting upright post, a mounting plate and a power base;

the power base is a cross-shaped bracket, one free end of the power base is bent upwards to form 90 degrees, and each free end of the power base is provided with a connecting rod;

the center mounting seat is arranged below the power base, the supporting column is arranged on the upper surface of the center mounting seat, the inclined disc is arranged on the lower surface of the power base, the inclined disc is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell with an opening at the lower end is arranged in the inclined disc, the lower surfaces of the hemispherical shell and the hemispherical shell are overlapped, an adjusting ball head matched with the hemispherical shell is arranged in the hemispherical shell, the lower end of the adjusting ball head leaks out below the inclined disc and is connected with the upper end of the supporting column, and the mounting plate is sleeved on the middle upper part of the supporting column;

the lateral wall lower extreme of tilting disk is provided with three connecting block along its circumference direction equipartition, and one of them is located the free end of upwards bending of power base and is provided with the gag lever post on this connecting block, one side of mounting panel is provided with the limiting plate through the connecting plate, the limiting plate is located the outside of the free end of upwards bending of power base, the limiting plate is provided with the spacing groove along its vertical direction, the free end of gag lever post is located the spacing inslot, all is provided with the pull rod through bulb connection structure on remaining two connecting blocks, be provided with two servo steering engines on the center mount pad and respectively corresponding with two pull rods, all be provided with the actuating arm on the output shaft of every servo steering engine, the one end cover of actuating arm is established on the output shaft of corresponding servo steering engine, the other end of actuating arm passes through bulb connection structure and links to each other with the lower extreme of corresponding pull rod.

Further, a first threading hole is formed in one side corner of the mounting plate, and a second threading hole is formed in one side corner of the center mounting seat and corresponds to the first threading hole vertically.

Further, two fixing plates are arranged at the edge of the mounting plate and respectively correspond to the two servo steering engines from top to bottom, and the upper end faces of the servo steering engines are connected with the corresponding fixing plates through detachable structures.

The utility model has the beneficial effects that:

1. the tilting mechanism is simple and reliable in structure, a complex pitch-changing mechanism is omitted, the overall layout is more compact, the miniature size which cannot be achieved by other unmanned aerial vehicles under the same load and dead time conditions can be achieved, the outer diameter size is limited by the outer diameter sizes of the positive propeller motor and the negative propeller motor, the minimum outer diameter size of the unmanned aerial vehicle can be 20mm, and the application requirements under certain conditions with extremely severe requirements on the outer shape size are met.

2. In this tilting mechanism, the upper and lower both ends of pull rod have all adopted the mode of bulb connection, drive the actuating arm motion through servo steering wheel, and actuating arm and then drive the pull rod motion for the tilting coils and adjusts the bulb and can all-round angle adjustment, makes the unmanned aerial vehicle's of this tilting mechanism of installation possess more flight modes, like every single move and roll etc..

Drawings

Fig. 1 is a schematic structural view of a tilting mechanism for a coaxial double-paddle unmanned aerial vehicle according to the present utility model;

FIG. 2 is a schematic view of a part of a tilting mechanism for a coaxial double-paddle unmanned aerial vehicle according to the present utility model;

the figure indicates: center mount 1101, tilting plate 1102, support post 1103, mounting plate 1104, power base 1105, connecting rod 1106, hemispherical shell 1107, adjustment ball 1108, connecting block 1109, stop lever 1110, connecting plate 1111, stop slot 1112, pull rod 1113, servo steering engine 1114, drive arm 1115, stop plate 1116, first through hole 1117, second through hole 1118.

Detailed Description

The following detailed description of the utility model, taken in conjunction with the accompanying drawings, will make it apparent that the embodiments described are merely some, but not all, examples of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that, in the embodiments of the present application, all directional indicators such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model, but merely serve to explain the relative positional relationships, movement situations, etc. between the components in a specific posture, and if the specific posture is changed, the directional indicators are correspondingly changed.

In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

As shown in fig. 1 and 2, the tilting mechanism for the coaxial double-oar unmanned aerial vehicle comprises a central mounting seat 1101, a tilting plate 1102, a supporting upright 1103, a mounting plate 1104 and a power base 1105;

the power base 1105 is a cross-shaped bracket, one of the free ends is bent upwards to form 90 degrees, the purpose of bending is to leave space for the subsequent limiting plate 1116, the upper end of the limiting plate 1116 is prevented from being influenced by the free end, the height of the limiting plate 1116 is not enough to limit the inclination angle of the inclined plate 1102, each of the free ends of the power base 1105 is provided with a connecting rod 1106, and it is required to say that the length of one connecting rod 1106 of the four connecting rods 1106 is different from the lengths of the other three connecting rods, and the bending is caused by the fact that one of the free ends of the power base 1105 is bent upwards;

the center mounting seat 1101 is arranged below the power base 1105, the supporting upright post 1103 is arranged on the upper surface of the center mounting seat 1101, the inclined plate 1102 is arranged on the lower surface of the power base 1105, the inclined plate 1102 can be detachably fixed under the power base 1105 by adopting screws and the like, the inclined plate 1102 is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell 1107 with an opening at the lower end is arranged in the inclined plate 1102, the lower surfaces of the hemispherical shell 1107 are overlapped, an adjusting ball head 1108 matched with the hemispherical shell 1107 is arranged in the hemispherical shell 1107, the lower end of the adjusting ball head 1108 leaks out below the inclined plate 1102 and is connected with the upper end of the supporting upright post 1103, the diameter of the opening at the lower end of the hemispherical shell 1107 is smaller than that of the adjusting ball head 1108, the inclined plate 1102 is arranged below the power base, and therefore, the adjusting ball head 1108 can be ensured to be positioned in the hemispherical shell 1107 and cannot be separated from the hemispherical shell 1107, and the mounting plate 1104 is sleeved on the middle upper part of the supporting upright post 1103;

the lateral wall lower extreme of tilting disk 1102 is provided with three connecting block 1109 along its circumference direction equipartition, and one of them is located the free end of upwards bending of power base 1105 and is provided with gag lever post 1110 on this connecting block 1109, one side of mounting panel 1104 is provided with limiting plate 1116 through connecting plate 1111, limiting plate 1116 is located the outside of the free end of upwards bending of power base 1105, limiting plate 1116 is provided with spacing groove 1112 along its vertical direction, and the upper side wall of spacing groove 1112 coincides with the up end of limiting plate 1116, the free end of gag lever post 1110 is located spacing groove 1112, and the cooperation through spacing rod 1110 and spacing groove 1112 uses can restrict the lateral rotation of tilting disk 1102, all is provided with pull rod 1113 on two other connecting blocks 1109 through bulb connection structure, and the upper end of pull rod 1113 links to each other through bulb connection structure, be provided with two servo steering gears 1114 on the center mount pad 1101 and respectively with two servo steering gears 1113, the corresponding actuating arm 1115 of each actuating arm is provided with the actuating arm 1115 on the other end of corresponding actuating arm 1115 through the corresponding servo sleeve 1113.

The working process of the tilting mechanism for the coaxial double-oar unmanned aerial vehicle is as follows: as shown in fig. 1 and 2, each servo steering engine 1114 drives a driving arm 1115 connected with the servo steering engine to rotate, and then drives a corresponding pull rod 1113 to move up and down, two pull rods 1113 simultaneously or in the process of moving a single pull rod 1113 up and down can drive a tilting disk 1102 to rotate along the spherical center of an adjusting ball head 1108, meanwhile, the free end of a limiting rod 1110 is positioned in a limiting groove 1112, so that the transverse rotation of the tilting disk 1102 can be limited, the tilting disk 1102 can be controlled through the orthogonality of the pull rods 1113, a power motor can be vector-controlled through the cooperation of the limiting rod 1110, an unmanned aerial vehicle flies in a set gesture according to a specific direction, the tilting mechanism 11 is simple and reliable in structure, a complex distance changing mechanism is omitted, the overall layout is more compact, the outer diameter of the tilting mechanism 11 is limited by the outer diameter of a positive propeller motor and a negative propeller motor, the minimum outer diameter of the unmanned aerial vehicle can be 20mm, the tilting mechanism 11 can meet the severe requirements of certain outer diameter, the tilting mechanism can be applied in the same conditions, the application is simpler, the tilting mechanism is more light in weight, and the flight condition is more reliable, and the flight performance is improved.

In this embodiment, in order to facilitate the routing of the inside of the tilting mechanism 11, a first threading hole 1117 is provided at a corner on one side of the mounting plate 1104, a second threading hole 1118 is provided at a corner on one side of the center mounting seat 1101 and corresponds to the first threading hole 1117 up and down, and routing is facilitated through the first threading hole 1117 and the second threading hole 1118, and the routing is restrained.

In this embodiment, in order to make the servo steering engine 1114 more stable, two fixing plates 1119 are disposed at the edge of the mounting plate 1104 and respectively correspond to the two servo steering engines 1114 up and down, the upper end surface of each servo steering engine 1114 is connected with the corresponding fixing plate 1119 through a detachable structure, and the detachable structure is generally connected by using screws.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.

Claims

1. A tilting mechanism for coaxial double-oar unmanned aerial vehicle, its characterized in that: comprises a center mounting seat (1101), a tilting disk (1102), a supporting upright post (1103), a mounting plate (1104) and a power base (1105);

the power base (1105) is a cross-shaped bracket, one free end of the power base is bent upwards to form 90 degrees, and each free end of the power base (1105) is provided with a connecting rod (1106);

the center mounting seat (1101) is arranged below the power base (1105), the supporting column (1103) is arranged on the upper surface of the center mounting seat (1101), the inclined plate (1102) is arranged on the lower surface of the power base (1105), the inclined plate (1102) is a cylindrical shell with openings at the upper end and the lower end, a hemispherical shell (1107) with openings at the lower end is arranged in the inclined plate (1102) and the lower surfaces of the hemispherical shell and the inclined plate are overlapped, an adjusting ball head (1108) matched with the hemispherical shell is arranged in the hemispherical shell (1107), the lower end of the adjusting ball head (1108) leaks out below the inclined plate (1102) and is connected with the upper end of the supporting column (1103), and the mounting plate (1104) is sleeved on the middle upper part of the supporting column (1103);

the utility model discloses a steering wheel, including driving arm (1115), connecting seat (1101), connecting plate (1111), limiting plate (1116) are located the outside of the free end of upwards bending of driving seat (1105), limiting plate (1116) are provided with spacing groove (1112) along its vertical direction, the free end of spacing rod (1110) is located spacing groove (1112), all be provided with pull rod (1113) through bulb connection structure on remaining two connecting blocks (1109), be provided with two servo steering engines (1114) on center mount pad (1101) and correspond with two pull rod (1113) respectively, all be provided with driving arm (1115) on the output shaft of every servo steering engine (1114), the output shaft cover of driving arm (1115) is provided with spacing groove (1112) along its vertical direction, the free end of spacing rod (1110) is provided with pull rod (1113) through bulb connection structure on corresponding pull rod (1113).

2. The tilting mechanism for a coaxial double-paddle unmanned aerial vehicle of claim 1, wherein: a first threading hole (1117) is formed in one side corner of the mounting plate (1104), and a second threading hole (1118) is formed in one side corner of the center mounting seat (1101) and corresponds to the first threading hole (1117) up and down.

3. The tilting mechanism for a coaxial double-paddle unmanned aerial vehicle of claim 1, wherein: the edge of mounting panel (1104) is provided with two fixed plates (1119) and corresponds from top to bottom with two servo steering engines (1114) respectively, and the up end of every servo steering engine (1114) is connected with corresponding fixed plate (1119) through detachable construction.