WO2018113519A1 - Panoramique et inclinaison pour véhicule aérien sans pilote, et véhicule aérien sans pilote - Google Patents

Panoramique et inclinaison pour véhicule aérien sans pilote, et véhicule aérien sans pilote Download PDF

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Publication number
WO2018113519A1
WO2018113519A1 PCT/CN2017/114812 CN2017114812W WO2018113519A1 WO 2018113519 A1 WO2018113519 A1 WO 2018113519A1 CN 2017114812 W CN2017114812 W CN 2017114812W WO 2018113519 A1 WO2018113519 A1 WO 2018113519A1
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WO
WIPO (PCT)
Prior art keywords
rotating shaft
sensor
control component
clip
unmanned aerial
Prior art date
Application number
PCT/CN2017/114812
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English (en)
Chinese (zh)
Inventor
陈翔斌
Original Assignee
陈翔斌
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 陈翔斌 filed Critical 陈翔斌
Publication of WO2018113519A1 publication Critical patent/WO2018113519A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval

Definitions

  • the invention relates to an aircraft, in particular to an unmanned aerial platform and a drone.
  • the load is generally hung on the bottom of the drone's fuselage, and the load is generally fixedly connected to the bottom of the drone's fuselage, which causes a problem.
  • the load is also It will tilt so that the load will have a resistance moment in the direction of the lift of the drone. To offset this resistance torque, the drone needs to consume more energy.
  • the technical problem to be solved by the present invention is to provide a drone head and a drone capable of keeping the load vertically downward.
  • the present invention provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with a UAV body, and a first connecting device rotatably mounted on the first fixing device, for a second fixing device for loading the load and a second connecting device rotatably mounted on the second fixing device, the second connecting device being mounted on the first connecting device, the axis of rotation of the first connecting device relative to the first fixing device
  • the second articulating means are perpendicular to each other with respect to the axis of rotation of the second securing means.
  • the first fixing device comprises two first bearing seats
  • the first connecting device comprises a first rotating shaft
  • the second connecting device comprises two second bearing seats
  • the second fixing device comprises a second rotating shaft
  • the unmanned aerial platform further includes a connecting rod cross-connected with the first rotating shaft
  • two first bearing seats are respectively disposed at two ends of the first rotating shaft
  • two second bearings The seat is mounted at two ends of the connecting rod
  • two second bearing seats are disposed at both ends of the second rotating shaft.
  • the first fixing device is a first rotating shaft
  • the first connecting device is a first bearing seat
  • the second connecting device is a second bearing seat
  • the second fixing device is a second rotating shaft
  • the first fixing device comprises two first bearing seats
  • the first connecting device comprises a first rotating shaft
  • the second connecting device comprises a second bearing seat
  • the second fixing device comprises a a second rotating shaft
  • two first bearing seats are respectively disposed at two ends of the first rotating shaft
  • the second bearing seat is disposed at a center of the first rotating shaft
  • the second rotating shaft is matched with the second bearing seat.
  • the second bearing seat is rotatably mounted at both ends of the connecting rod.
  • the rotation shaft rotation control device is mounted on the first rotation shaft and/or the second rotation shaft, the rotation shaft rotation control device includes a clamp ring for being sleeved on the rotation shaft,
  • the clamping ring has an opening, and at the opening, a first clip and a second clip for driving the clamping ring itself to be clamped or loosened are extended to the outside of the ring, and further includes a first clip and/or a second clip.
  • the drive control mechanism includes a first control component that is retractable and stretchable, a second control component, and a control component mount, the movable end of the first control component is in contact with the outer side of the first clip, and the second control The movable end of the component is in contact with the outside of the second clip, and the fixed ends of the first control component and the second control component are fixed on the control component mount, and the control component mount is fixed on the clamp ring.
  • the sensor mount is provided with a recess for the clip to oscillate, and the sensor is mounted on the inner wall of the recess.
  • the drive control mechanism further includes a control processor, the control processor receives data of the first sensor and the second sensor, and the control processor controls the first control component and the first Two control components.
  • the movable ends of the first control component and the second control component are provided with magnets, and the fixed ends of the first control component and the second control component are provided with electromagnets.
  • the unmanned aerial platform comprises a first fixing device for fixed installation with the unmanned aerial vehicle body, the first connecting device rotatably mounted on the first fixing device is used for the second fixing of the mounting load And a second connecting device rotatably mounted on the second fixing device, the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the rotating axis of the first fixing device
  • the rotation axes of the two fixtures are perpendicular to each other. This design allows the load to freely move around the drone within a certain angle. When the drone is tilted, the load will not tilt, which saves the energy of the drone. . Since the drone adopts the above-mentioned drone head, it can reduce energy consumption with respect to other drones under load.
  • Figure 1 is an exploded view of a rotary shaft rotation control device according to Embodiment 1 of the present invention.
  • Figure 2 is a perspective view of the unmanned aerial platform of the embodiment 1 of the present invention.
  • Figure 3 is a perspective view of a drone of Embodiment 1 of the present invention.
  • Unmanned aerial platform 10, first bearing seat, 11, first rotating shaft, 12, second bearing seat, 13, second rotating shaft, 14, connecting rod, 15, rotating shaft rotation control device, 110, first Clip, 120, second clip, 210, first control component, 211, active end of the first control component, 212, fixed end of the first control component, 220, second control component, 221, second control component
  • the embodiment provides an unmanned aerial platform and a drone, and the unmanned aerial platform includes a first fixing device for fixedly mounting with the unmanned aerial vehicle body, and is rotatably mounted on the first fixed device. a connecting device, a second fixing device for mounting a load, and a second connecting device rotatably mounted on the second fixing device, the second connecting device is mounted on the first connecting device, and the first connecting device is opposite to the first
  • the axis of rotation of the fixture is perpendicular to the axis of rotation of the second interface relative to the second fixture.
  • the first fixing device comprises two first bearing blocks 10, the first connecting device comprises a first rotating shaft 11, and the second connecting device comprises two second bearing seats 12, the second The fixing device includes a second rotating shaft 13 , and the unmanned aerial platform further includes a connecting rod 14 which is cross-connected with the first rotating shaft 11 , and two first bearing housings 10 are respectively disposed on the first rotating shaft 11 .
  • two second bearing blocks 12 are rotatably mounted at both ends of the connecting rod 14, and two second bearing blocks 12 are disposed at both ends of the second rotating shaft 13.
  • the unmanned aerial platform of the embodiment includes a first rotating shaft 11 and a second rotating shaft 13, and the two rotating shafts are perpendicular to each other, so that the load mounted on the second rotating shaft 13 can be wound around the two first bearing seats.
  • the center of 10 is freely movable within a range of angles, and two second bearing blocks 12 are rotatably mounted at both ends of the connecting rod 14, such that the angle of the load can be moved around the center of the two first bearing blocks 10 Increase.
  • the load connected to the second rotating shaft 13 can be kept in a vertical state, so that when the drone is tilted, the load does not tilt obliquely, but the load center of gravity and the fuselage rack are kept.
  • connection has been in a vertical state, avoiding the load being randomly tilted to generate a resistance moment at the center of the lift surface, reducing the energy consumption of the drone during flight.
  • the drone using the unmanned aerial platform of the present embodiment can fly a farther distance or carry a heavier load than the existing designed drone under the same capacity battery condition.
  • the unmanned aerial platform of the embodiment further includes a rotation axis rotation control device 15, and the rotation shaft rotation control device 15 includes a clamp ring for being sleeved on the rotation shaft, the clamp ring has an opening, and at the opening A first clip 110 and a second clip 120 for driving the clamping ring itself to be clamped or loosened are extended to the outside of the ring, and further includes a first clip 110 corresponding to the first clip 110 for detecting the swing of the first clip 110
  • the first sensor 300 and the second sensor 310 generating pressure, and the drive control mechanism that controls the clamping and releasing of the first clip 110 and the second clip 120 after receiving the signals of the first sensor 300 and the second sensor 310.
  • the rotating shaft rotation control device 15 further includes a sensor mounting base 320.
  • the sensor mounting base 320 is provided with a groove for swinging the first clip 110, and the first sensor 300 and the second sensor 310 are mounted on the inner wall of the groove.
  • the sensor mount 320 is mounted on a bearing housing corresponding
  • the drive control mechanism includes a first control component 210, a second control component 220, and a control component mount 230 that are collapsible and extendable.
  • the movable end 211 of the first control component is in contact with the outer side of the first clip 110.
  • the movable end 221 of the second control component is in contact with the outer side of the second clip 120.
  • the fixed ends of the first control component 210 and the second control component 220 are fixed on the control component mount 230.
  • the movable end of the second control component 220 is provided with a magnet
  • the fixed end 212 of the first control component and the fixed end 222 of the second control component are provided with an electromagnet.
  • the control component mount 230 is fixed on the clamp ring, the drive control mechanism further includes a control processor 240, and the control processor 240 receives data of the first sensor 300 and the second sensor 310.
  • the control processor 240 controls the first control component 210 and the second control component 220.
  • the first rotating shaft 11 and the second rotating shaft 13 are provided with the rotating shaft rotation control device 15, and the second rotating shaft 13 is sleeved with a clamping ring at the center thereof, and the corresponding sensor mounting seat 320 is installed at The center of the first shaft 11 is at the center.
  • First The end of a rotating shaft 11 is sleeved with a clamping ring, and the corresponding sensor mounting seat 320 is mounted on the first bearing housing 10 at the same end.
  • the first rotating shaft 11 and the second rotating shaft 13 are simultaneously disposed.
  • the rotation rotation control device 15 simultaneously controls the rotation of the first rotating shaft 11 and the second rotating shaft 13 to control the unmanned aerial platform.
  • the spindle rotation control device 15 can be provided on only one of the rotating shafts.
  • the sensor mount 320 is mounted on the bearing seat corresponding to the rotating shaft, when the clamping ring completely clamps the rotating shaft, the first sensor 300 and the second sensor 310 block the swing of the first clip 110, and the first clip 110 Only in the first The sensor 300 and the second sensor 310 swing, and the rotating shaft can only rotate within a certain range of angles.
  • the rotating shaft can be rotated arbitrarily, when the clamping ring is completely clamped and completely released. There is a certain friction between the clamp ring and the rotating shaft, and different braking effects can be exerted on the rotating shaft according to the tightness of the clamping ring.
  • the initial state of the clamping ring is the clamping rotating shaft, and the rotating shaft drives the clamping ring to also rotate.
  • the tail end of the first clip 110 may touch the first sensor 300 or the second sensor 310.
  • the sensor transmits the detected pressure to the control processor 240, and the control processor 240 can obtain the rotation state of the rotating shaft by calculating a simple physical formula, and the control processor 240 controls the control component according to the situation, specifically, the electromagnet is passed. By changing the current in the electromagnet, the force of the electromagnet on the magnet can be changed, and the clamping force of the control assembly on the clip group can be adjusted.
  • the unmanned aerial vehicle of the unmanned aerial platform of the embodiment can freely move around the drone within a certain angle range. If a strong wind is encountered during the flight, the load will swing. This situation is not expected.
  • the installation of the rotation control device 15 on the unmanned aerial platform can effectively control the rotation of the rotating shaft, thereby achieving stable flight of the drone and the load.
  • the embodiment further provides a drone, wherein the drone includes the unmanned aerial platform 1 , and the drone is equipped with the above-mentioned unmanned aerial platform 1
  • the machine is tilted and the load is always kept vertically downwards, which avoids the load from being tilted randomly and generates a resistance moment in the center of the lifting surface, which helps to reduce the energy consumption of the drone during flight, so that the drone can fly further. Distance or carry a heavier load.
  • the embodiment provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with the UAV body, and a first connecting device rotatably mounted on the first fixing device, for mounting the load a second fixing device and a second connecting device rotatably mounted on the second fixing device, wherein the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the axis of rotation of the first fixing device
  • the axes of rotation of the second fixture are perpendicular to each other.
  • the first fixing device is a first rotating shaft
  • the first connecting device is a first bearing seat
  • the second connecting device is a second bearing seat
  • the second fixing device is a second rotating shaft.
  • the first rotating shaft and the second rotating shaft are further mounted with the rotating shaft rotation control device described in Embodiment 1, and of course, in other embodiments, the first rotating shaft or only the second rotating shaft may not be installed.
  • the shaft rotation control device is installed.
  • the first rotating shaft connected to the unmanned aerial vehicle and the second rotating shaft connected to the load are perpendicular to each other, and are connected by two vertical bearing seats, so that the load can freely move around the drone within a certain angle range, when no one When the machine is tilted, the direction of the load always coincides with the direction of gravity, which avoids the load being randomly tilted to generate a resistance moment at the center of the lift surface, which reduces the energy consumption of the drone during flight.
  • Such a UAV pan/tilt has a simple structure and can realize that when the UAV body is tilted, the load does not tilt.
  • the embodiment provides a UAV pan/tilt head, comprising a first fixing device for fixedly mounting with the UAV body, and a first connecting device rotatably mounted on the first fixing device, for mounting the load a second fixing device and a second connecting device rotatably mounted on the second fixing device, wherein the second connecting device is mounted on the first connecting device, the first connecting device is opposite to the second connecting device with respect to the axis of rotation of the first fixing device
  • the axes of rotation of the second fixture are perpendicular to each other.
  • the first fixing device includes two first bearing seats, the first connecting device is a first rotating shaft, the second connecting device is a second bearing seat, and the second fixing device is a second rotating shaft.
  • first bearing seats are respectively disposed at two ends of the first rotating shaft, the second bearing seat is disposed at a center of the first rotating shaft, and the second rotating shaft is matched with the second bearing seat.
  • first rotating shaft and the second rotating shaft are further mounted with the rotating shaft rotation control device described in Embodiment 1, and of course, in other embodiments, the first rotating shaft or only the second rotating shaft may not be installed.
  • the shaft rotation control device is installed.
  • the first rotating shaft and the second rotating shaft connected to the load are perpendicular to each other, so that the load connected to the second rotating shaft can freely move around the drone connected to the first bearing seat within a certain angle range, when the drone is tilted,
  • the direction of the load always coincides with the direction of gravity, avoiding the load being randomly tilted to generate a resistance moment at the center of the lift surface, reducing the energy consumption of the drone during flight.
  • Such a UAV pan/tilt has a simple structure and can realize that when the UAV body is tilted, the load does not tilt.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
  • Automatic Assembly (AREA)
  • Machine Tool Units (AREA)

Abstract

L'invention concerne un panoramique et inclinaison (1) pour un véhicule aérien sans pilote, et un véhicule aérien sans pilote. Le panoramique et inclinaison (1) pour un véhicule aérien sans pilote comprend un premier dispositif fixe utilisé pour être monté fixe sur une carrosserie de véhicule aérien sans pilote, un premier dispositif de raccordement monté rotatif sur le premier dispositif fixe, un second dispositif fixe permettant de monter une charge et un second dispositif de raccordement monté rotatif sur le second dispositif fixe. Le second dispositif de raccordement est monté sur le premier dispositif de raccordement ; l'axe de rotation du premier dispositif de raccordement par rapport au premier dispositif fixe et l'axe de rotation du second dispositif de raccordement par rapport au second dispositif fixe sont perpendiculaires l'un à l'autre. Le panoramique et inclinaison (1) pour un véhicule aérien sans pilote permet à une charge de se déplacer librement autour d'un véhicule aérien sans pilote dans une plage d'angles ; lorsque le véhicule aérien sans pilote s'incline, la charge peut être maintenue verticalement vers le bas ; ainsi, l'apparition d'un couple de résistance généré au niveau du centre d'une surface de levage en raison de l'inclinaison de la charge conjointement avec la carrosserie de véhicule aérien sans pilote est évitée. Le véhicule aérien sans pilote comprend le panoramique et inclinaison (1) pour un véhicule aérien sans pilote ; dans le cas où le véhicule aérien sans pilote vole dans un état d'inclinaison lors du transport d'une charge, le couple de résistance est réduit et l'énergie peut être économisée.
PCT/CN2017/114812 2016-12-21 2017-12-06 Panoramique et inclinaison pour véhicule aérien sans pilote, et véhicule aérien sans pilote WO2018113519A1 (fr)

Applications Claiming Priority (2)

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CN201611025149.0A CN106428598B (zh) 2016-12-21 2016-12-21 一种无人机云台和无人机
CN201611025149.0 2016-12-21

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CN117284519A (zh) * 2022-09-20 2023-12-26 兰州山河上空智能科技有限公司 一种升降云台和无人机

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CN106428598B (zh) * 2016-12-21 2019-05-10 深圳市旗客智能技术有限公司 一种无人机云台和无人机
US11242147B2 (en) 2017-08-31 2022-02-08 Precision Drone Services Intellectual Property, Llc Aerial vehicle implement hitch assembly
WO2019046837A1 (fr) 2017-09-02 2019-03-07 Precision Drone Services Intellectual Property, Llc Ensemble de distribution de semences pour véhicule aérien
CN113866848A (zh) * 2021-09-30 2021-12-31 中国科学院大气物理研究所 一种大气辐射空间结构探测系统
CN117048865B (zh) * 2023-10-11 2023-12-19 成都庆龙航空科技有限公司 一种无人机挂载激光测距装置

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Publication number Priority date Publication date Assignee Title
CN117284519A (zh) * 2022-09-20 2023-12-26 兰州山河上空智能科技有限公司 一种升降云台和无人机

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