WO2022052644A1 - Drone - Google Patents

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Publication number
WO2022052644A1
WO2022052644A1 PCT/CN2021/107714 CN2021107714W WO2022052644A1 WO 2022052644 A1 WO2022052644 A1 WO 2022052644A1 CN 2021107714 W CN2021107714 W CN 2021107714W WO 2022052644 A1 WO2022052644 A1 WO 2022052644A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
power
rotating member
moving screw
drone
Prior art date
Application number
PCT/CN2021/107714
Other languages
English (en)
Chinese (zh)
Inventor
何建兵
肖锭锋
吴旭民
Original Assignee
广州极飞科技股份有限公司
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 广州极飞科技股份有限公司 filed Critical 广州极飞科技股份有限公司
Publication of WO2022052644A1 publication Critical patent/WO2022052644A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/24—Transmitting means
    • B64C13/26—Transmitting means without power amplification or where power amplification is irrelevant
    • B64C13/28—Transmitting means without power amplification or where power amplification is irrelevant mechanical
    • B64C13/34—Transmitting means without power amplification or where power amplification is irrelevant mechanical using toothed gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B64D27/40—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.
  • Unmanned aerial vehicles in the related art are mostly in the form of four, six or eight even-numbered rotors, because the flight control algorithm and motion form of the unmanned aerial system with even-numbered rotors are usually simpler.
  • the rotation speed of the unmanned aerial vehicle can realize the change of the lift of the unmanned aerial vehicle, thereby controlling the attitude and position of the unmanned aerial vehicle. Therefore, the cost of the UAV is relatively high in the related art. Due to its relatively small size and low production cost, dual-rotor UAVs have developed rapidly. However, due to the small number of rotors in related technologies, the flight stability of dual-rotor UAVs needs to be improved.
  • the present application aims to solve at least one of the technical problems existing in the prior art.
  • the present invention proposes an unmanned aerial vehicle, which has dual rotors and can improve flight stability.
  • An unmanned aerial vehicle includes: a fuselage assembly; an aircraft arm device, wherein the number of the aircraft arm devices is two and respectively located on opposite sides of the fuselage assembly, each of the aircraft arm devices The two ends of the length are the inner end and the outer end respectively, the inner end of the arm device is mounted on the fuselage assembly, the arm device is inclined upward from the inner end to the outer end, each of the The angle between the arm device and the horizontal plane is 9-35 degrees; the power device, one of the power devices is installed at the outer end of each of the arm devices, and each of the power devices includes a power unit , the power unit includes a power motor and a propeller mounted on the power motor.
  • the dual-rotor unmanned aerial vehicle has a simple structure, a small volume and a low production cost.
  • the power device provides power, and assists the UAV to complete the change of the flight state by changing the working state of the drive unit respectively.
  • the angle between the two arm devices and the horizontal plane to be 9-35 degrees, the center of gravity of the drone is lower than the power device, so as to ensure the balance of the drone, improve the flight stability of the drone, and the flight The consumption is small, and the impact on the flight range is small.
  • the angle between each of the arm assemblies and the horizontal plane is 19 degrees.
  • the fuselage assembly has a fore-aft direction reference line
  • the two arm devices are located on opposite sides of the fore-aft direction reference line
  • the fuselage assembly includes a reference line along the fore-aft direction
  • the control device, the storage device and the power supply device are arranged in sequence.
  • the central axes of the two power motors are coplanar on a preset plane, and the preset plane is parallel to the front and rear.
  • the intersection of the directional reference lines is located within the storage device.
  • the inner end of the arm device is connected to the position of the control device of the fuselage assembly, and the arm device extends from the control device to the control device from the inside to the outside.
  • the direction of the power supply device extends obliquely to the front-rear direction reference line toward the direction away from the fuselage assembly, or the arm device is disposed along a direction perpendicular to the front-rear direction reference line.
  • the unmanned aerial vehicle of the embodiments of the present invention further comprises: a driving device, the driving device is mounted on the outer end of the arm device, the driving device is connected with the power unit, and drives The power unit rotates about a predetermined axis on the arm assembly.
  • the driving device includes: a driving mechanism, the driving mechanism is mounted on the outer end of the arm device; a moving screw, the moving screw is connected with the driving mechanism, the The axis of the moving screw is coincident with the preset axis, and the driving mechanism drives the moving screw to move along the preset axis;
  • the rotating member is threadedly matched with the moving screw, the rotating member is constrained to rotate around the preset axis when the moving screw moves, and the power device is mounted on the rotating member .
  • the driving mechanism includes: a steering gear, the steering gear has a rotating shaft; a gear set, one gear in the gear set is connected to the crankshaft, and the other gear in the gear set is connected to the crankshaft The moving screw rods are connected.
  • the driving device includes: a limit component connected with the moving screw rod, configured to limit the rotation of the moving screw rod relative to the machine arm device.
  • the outer circumference of the rotating member is formed as a spline
  • the power device includes a connecting seat
  • the power unit is connected with the connecting seat
  • the connecting seat has a key groove matched with the spline
  • the driving mechanism includes: a mounting seat, the mounting seat includes a socket portion, a fixing seat and a mounting portion, the socket portion is externally connected to the arm device, and the driving mechanism is mounted On the fixing seat, there are two mounting parts which are oppositely arranged on the fixing seat, two mounting parts are provided with coaxially arranged mounting holes, and the moving screw rod passes through the two mounting parts.
  • the mounting hole two bearings, the two bearings are fitted in the two mounting holes respectively, the rotating member is fitted on the two bearings, and the two bearings are clamped on the two sides of the rotating member. side to limit the axial movement of the rotating member.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • Figure 2 is a front view of the drone shown in Figure 1;
  • Fig. 3 is the top view of the unmanned aerial vehicle shown in Fig. 1;
  • Fig. 4 is the right side view of the UAV shown in Fig. 1;
  • FIG. 5 is a front view of the first mounting frame, the second mounting frame and the isolation plate shown in FIG. 1;
  • Fig. 6 is the structure diagram of the storage device in Fig. 1;
  • FIG. 7 is a schematic structural diagram of a machine arm device in an embodiment
  • Figure 8 is a perspective view of the first connector shown in Figure 7;
  • Figure 9 is a perspective view of the second connector shown in Figure 7;
  • Figure 10 is a cross-sectional view of an embodiment of the arm assembly, drive assembly and part of the power assembly;
  • Fig. 11 is a partial enlarged view of the K portion shown in Fig. 10;
  • Figure 12 is a perspective view of a moving screw of one embodiment
  • Figure 13 is a perspective view of a rotating member of an embodiment
  • Figure 14 is a perspective view of a gear that cooperates with a moving screw according to one embodiment
  • Figure 15 is a perspective view of a connector of an embodiment
  • Figure 16 is a perspective view of the mount of one embodiment
  • 17 is a schematic structural diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 18 is a relative change diagram of the position of the center of gravity when the arm device is parallel to the horizontal plane and has an inclination angle in the embodiment of the present invention.
  • Storage device 11 Power supply device 12; Control device 13; Landing gear 14; Front and rear direction reference line L8;
  • Arm body 210 first arm 211; second arm 212;
  • power unit 31 power motor 311; propeller 312; connecting seat 313; keyway 3131;
  • Drive mechanism 41 steering gear 411; crankshaft 4111; gear set 412; gear 4121; mounting seat 413; socket part 4131; fixing seat 4132; mounting part 4133;
  • an unmanned aerial vehicle 100 may include: a fuselage assembly 1 , an arm device 2 and a power device 3 .
  • the length ends of each arm device 2 are an inner end 21 and an outer end 22 respectively.
  • the inner end 21 of the arm device 2 is installed on the In the fuselage assembly 1, a power unit 3 is installed on the outer end 22 of each arm unit 2, respectively.
  • Each power device 3 may include a power unit 31 , and the power unit 31 may include a power motor 311 and a propeller 312 installed on the power motor 311 , so that when the power device 3 works, the power motor 311 can drive the propeller 312 to rotate, thereby Powers the flight of the drone 100.
  • the power units 31 located at the outer ends 22 of the two arm devices 2 can be respectively driven to rotate at the same or different inclination angles, or the power units 31 at the outer ends 22 of the arm devices 2 can be adjusted. Speed, so that the UAV 100 can complete forward, backward, turning and other actions, and the operation is relatively simple.
  • the included angle ⁇ between each arm device 2 and the horizontal plane is 9-35 degrees, thus, the vertical distance between the center of gravity G of the UAV 100 and the point of action of the lift force is enlarged, Based on the point of action of lift, this is equivalent to lowering the position of the center of gravity G.
  • the center of gravity of the whole machine is equivalent to dropping from G1 to G2, and the vertical distance between the center of gravity and the lift action point Straight distance increased from m1 to m2.
  • the UAV 100 encounters unstable airflow or external impact or inconsistent lift force between the left and right, it may cause the whole aircraft to tilt, etc., and once the UAV is tilted, it will affect the direction of the resultant force F.
  • the flight status of the UAV deteriorates rapidly, and some even make the UAV quickly flip and somersault in the air, which is easy to cause damage to the aircraft and others.
  • the arm device 2 is set to be inclined upward from the inner end 21 to the outer end 22, so that the center of gravity of the whole machine can play the role of a balancer, so that the drone can be operated normally.
  • the center of gravity of the whole machine will produce a force couple opposite to the tilting direction, and the arm of the force couple becomes longer after the center of gravity is lowered, so the center of gravity of the whole machine can quickly pull the whole body back to the original attitude, thus ensuring the UAV. smooth flight.
  • Another way of understanding is that after the center of gravity of the UAV 100 is lowered, according to the pendulum principle, the UAV 100 will automatically return to positive when it is tilted for some reason, thereby improving the balance of the UAV 100 and improving the work of the UAV 100 stability.
  • the UAV 100 when the UAV 100 is designing the angle between the arm device 2 and the horizontal plane, it is based on the UAV 100 being in the hovering state in the air, that is, the arm device 2 in the suspense state.
  • the angle ⁇ with the horizontal plane is 9-35 degrees. It is further added that when the angle ⁇ between the arm device 2 and the horizontal plane is too small, the center of gravity of the UAV is not significantly lowered, the balancer of the center of gravity is weak, and the design advantages are not reflected.
  • the angle ⁇ between the arm device 2 and the horizontal plane is too large, it will not only cause the overall size of the aircraft to be too high, but also cause excessive energy consumption due to the influence of gravity when the UAV turns and flies normally. Flight mileage of man and machine. Therefore, after comprehensive consideration, in the present application, the angle ⁇ between the extraction arm device 2 and the horizontal plane is 9-35 degrees.
  • the inventor's research and development team found the optimal value of the inclination angle setting of the arm device 2 after various simulation model analysis and practical adjustment, that is, the distance between the arm device 2 and the horizontal plane.
  • the included angle ⁇ between them is 19 degrees.
  • the optimal value of the angle ⁇ between the arm device 2 and the horizontal plane may also be other angle values, which are not limited here.
  • the fuselage assembly 1 has a reference line L8 in the front-rear direction
  • the two arm devices 2 are located on opposite sides of the reference line L8 in the front-rear direction
  • the fuselage assembly 1 includes The control device 13, the storage device 11 and the power supply device 12 are arranged in sequence along the reference line L8 in the front-rear direction.
  • the central axes L9 of the two power motors 311 are coplanar on the preset plane S3, and the preset It is assumed that the intersection of the plane S3 and the reference line L8 in the front-rear direction is located in the storage device 11 .
  • the front-rear direction reference line L8 can be regarded as the fuselage symmetry line of the UAV 100, and the left-right direction fuselage of the UAV 100 is symmetrical with respect to the front-rear direction reference frame L8, and the UAV 100 is doing
  • the front-rear direction reference line L8 is usually coplanar with the center of gravity of the UAV 100 during design.
  • control device 13 and the power supply device 12 are located on both sides of the storage device 11, respectively.
  • the power supply devices 12 are arranged in sequence, and are compactly arranged in a line, which effectively saves space and reduces the volume of the UAV 100 .
  • the weight of the storage device 11 changes gradually, so the storage device 11 is arranged on the control device 13 and the power supply.
  • the center of gravity of the UAV 100 is not easily shifted along the extension direction of the reference line L8 in the front-rear direction, that is, it is not easy for the UAV 100 to be in an out-of-control state such as tilting, so that the UAV 100 is always in a relatively balanced state , to ensure the balance of the UAV 100, and improve the working stability of the UAV 100.
  • the storage device 11 can be used to store liquids, such as water, pesticides, etc.
  • the drone 100 When the drone 100 is set for agriculture, etc., the drone 100 can be used to spray pesticides within a range, and the storage device 11 is used to store pesticides, and the control device 13 includes an ESC module, a flight control and a data link module, etc., which are set to control the working state of the UAV 100 , such as controlling the take-off and steering of the UAV 100 and controlling the UAV 100
  • the power supply device 12 can provide electrical energy for the drone 100 .
  • the material storage device 11 can also be used to store seeds, chemical fertilizers, etc.
  • the drone 100 When the drone 100 is set for agriculture, etc., the drone 100 can also be used for sowing and fertilization within a range.
  • the above embodiments are merely examples of the applicable scope of several storage devices 11 , so as to facilitate understanding of the use process, and do not specifically limit the practical scope of the storage device 11 .
  • the state of the drone 100 is stable, and the preset plane S3 is a plane extending in a vertical direction.
  • the central axes L9 of the two power motors 311 are coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, and the storage device 11 is located between the control device 13 and the power supply device 12.
  • the drone 100 plays a storage function.
  • the storage device 11 is the heaviest part of the drone 100 as a whole, so arranging it in the center is helpful for the drone 100 to maintain a balanced state, and the power
  • the central axis L9 of the motor 311 is coplanar with the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, and the line connecting the center of gravity of the power motor 311 is basically at the center of gravity of the drone 100 as a whole.
  • the inner end 21 of the arm device 2 is connected to the position where the control device 13 of the fuselage assembly 1 is located, and the arm device 2 runs from the inside to the outside along the direction from the inside to the outside.
  • the direction from the control device 13 to the power supply device 12 extends obliquely to the front-rear direction reference line L8 toward the direction away from the fuselage assembly 1 , so that the central axis L9 of the two power motors 311 located at the outer end 22 of the arm device 2 can be made Coplanar on the preset plane S3, and the intersection of the preset plane S3 and the front-rear direction reference line L8 is located in the storage device 11, so as to ensure the balance of the UAV 100 and improve the flight controllability of the UAV 100.
  • the arm device 2 can also be arranged along the direction perpendicular to the reference line L8 of the front-rear direction, the inner end 21 of the arm device 2 and the middle part of the fuselage assembly 1 Connected, different from connecting the machine arm device 2 with the location of the control device 13, the inner end 21 of the machine arm device 2 is connected with the location of the material storage device 11, the machine arm device 2 is perpendicular to the front-rear direction reference line L8 direction is arranged, and the machine The angle ⁇ between the arm device 2 and the horizontal plane is 9-35 degrees.
  • This arrangement can also make the central axes L9 of the two power motors 311 located at the outer end 22 of the arm device 2 coplanar on the preset plane S3, and the preset The intersection of the plane S3 and the reference line L8 in the front-rear direction is located in the storage device 11 , so that the balance of the UAV 100 can be ensured and the flight controllability of the UAV 100 can be improved.
  • the two arm devices 2 are arranged axially symmetrically with respect to the reference line L8 of the front-rear direction of the fuselage assembly 1 . Thereby, the balance and flight controllability of the drone 100 can be improved.
  • the UAV 100 may further include: a landing gear 14 , and the landing gear 14 is fixed under the fuselage assembly 1 to ensure that the UAV 100 takes off and landed stability.
  • the fuselage assembly 1 may further include an overall body 15 , a first mounting frame 16 , a second mounting frame 17 and an isolation plate 18 , and as shown in FIG. 1 , the overall body 15 may include The top plate 151 and the bottom plate 152 are arranged to carry the control device 13 .
  • the structure of the fuselage assembly 1 is made compact.
  • the overall body 15 , the first installation frame 16 and the second installation frame 17 are connected in sequence, wherein the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 , so that the structure of the fuselage assembly 1 is compact, and the storage device 11 and the power supply device 12 are respectively arranged in the first installation frame 16 and the second installation frame 17 to facilitate disassembly and assembly.
  • the storage device 11 it is convenient for users to place the storage device 11 It can be removed for operations such as adding liquid, and it is convenient for the user to remove the power supply device 12 for charging and other operations, and the installation is convenient.
  • the first mounting frame 16 may include a fixing plate 161 fixedly connected to the main body 15 and two first connecting plates 162 connected to both ends of the fixing plate.
  • the two first connecting plates 162 refer to the front-rear direction.
  • the line L8 is symmetrically arranged
  • the second mounting frame 17 may include two second connection plates 171 and two third connection plates 172, the two second connection plates 171 are arranged symmetrically with respect to the reference line L8 in the front-rear direction, and the two third connection plates 172 is symmetrically arranged with respect to the reference line L8 in the front-rear direction, one end of the two second connecting plates 171 is respectively connected with one end of the two first connecting plates 162 away from the fixing plate 161, and the two third connecting plates 172 are respectively connected to the two first connecting plates 172.
  • the isolation plate 18 is located between the first mounting frame 16 and the second mounting frame 17, and the isolation plate 18 is connected to the side of the two second connecting plates 171 close to the first connecting plate 161, So that the first installation frame 16 and the second installation frame 17 respectively define the first installation space 160 and the second installation space 170, the storage device 11 can be installed in the first installation space 160, and the power supply device 12 can be installed in the second installation space Space 170. Therefore, the structures of the first installation frame 16 and the second installation frame 17 are simple and easy to process, thereby further reducing the production cost of the UAV 100 .
  • each arm device 2 includes a first arm 211 and a second arm 212 which can be pivotally connected, so that the arm device 2 is not It can be folded when in use to reduce the storage size.
  • each arm device 2 further includes a pivot connection mechanism 23 , and the pivot connection mechanism 23 includes a first connection member 231 provided on the first arm 211 and a second connection member 232 provided on the second arm 212 , when the first arm 211 and the second arm 212 are rotatably connected, they can be snap-connected.
  • the first connector 231 includes a first connection substrate 2311 , a first socket portion 2312 and a matching groove 2313 , and the first socket portion 2312 is along the first connection substrate 2311
  • One end face of the arm 211 extends to form a circular structure
  • a first assembly groove is formed in the first socket portion 2312, and one end of the first arm 211 away from the fuselage assembly 1 is suitable for being fixed in the first assembly groove.
  • the matching groove 2313 is disposed on the other end surface of the first connecting substrate 2311, and the inner wall of the matching groove 2313 is formed as an arc surface.
  • a connecting lug 2315 and a first connecting portion 2316 also extend outside the first connecting substrate 2311 .
  • the second connecting member 232 includes a second connecting substrate 2321, a second socket portion 2322 and a mating protrusion 2323.
  • the second socket portion 2322 extends along one end surface of the second connecting substrate 2321 to form a ring structure, and the second socket portion 2322 A second assembling groove is formed inside, and one end of the second arm 212 close to the fuselage assembly 1 is suitable for being fixed in the second assembling groove.
  • the mating protrusion 2323 is disposed on the other end surface of the second connecting substrate 2321, and the peripheral wall of the mating protrusion 2323 is formed as a circular arc surface.
  • a pivot portion 2325 and a second connecting portion 2326 are also extended outside the second connection substrate 2321.
  • the end of the first arm 211 away from the body assembly 1 is fixed in the first assembly groove, and the end of the second arm 212 close to the body assembly 1 is fixed in the second assembly groove.
  • the end of the first arm 211 away from the fuselage assembly 1 and the end of the second arm 212 close to the fuselage assembly 1 can be fixed in the first assembly groove and the second assembly groove by gluing.
  • limit protrusions can be provided on the inner walls of the first assembly groove and the second assembly groove, and the end of the first arm 211 away from the fuselage assembly 1 and the end of the second arm 212 close to the fuselage assembly 1.
  • the first and second assembly grooves can be further avoided.
  • the arm 211 and the second arm 212 and the first connecting member 231 and the second connecting member 232 rotate relative to each other.
  • the connecting lugs 2315 of the first connecting member 231 are connected to the pivot portion 2325 of the second connecting member 232 .
  • the first arm 211 and the second arm 212 are rotatably connected by the pivoting connection mechanism 23. When the second arm 212 is unfolded, the first connecting portion 2146 and the second connecting portion 2326 are connected.
  • the UAV 100 further includes: a driving device 4 , the driving device 4 is installed on the outer end 22 of the arm device 2 , and the setting position of the driving device 4 is different Restricted.
  • the driving device 4 is connected with the driving unit 31, and the driving power unit 31 rotates around the preset axis L on the arm device 2, so that the flying direction or the flying speed of the UAV 100 can be changed. Therefore, when the UAV 100 is flying, the two driving devices 4 can be controlled to drive the power units 31 located at the outer ends 22 of the two arm devices 2 to rotate at the same or different inclination angles, and the rotational speed of the power units 31 can be adjusted. , so that the UAV 100 can complete actions such as forward, backward, and turn, etc., and the operation is relatively simple.
  • the driving device 4 includes a driving mechanism 41 , a moving screw 42 and a rotating member 43 .
  • the driving mechanism 41 is installed on the outer end 22 of the arm device 2, the moving screw 42 is connected with the driving mechanism 41, the axis L10 of the moving screw 42 coincides with the preset axis L, and the driving mechanism 41 drives the moving screw 42 along the preset axis L moves, the rotating member 43 is sheathed on the moving screw 42, the rotating member 43 is threadedly matched with the moving screw 42, and the rotating member 43 is restricted to rotate around the preset axis L when the moving screw 42 moves,
  • the power unit 3 is mounted on the rotating member 43 .
  • the driving mechanism 41 transmits the power to the moving screw 42, and the moving screw 42 transmits the force to the rotating member 43 when moving, so that the rotating member 43 drives the power device 3 to adjust the angle.
  • the rotating member 43 is sheathed on the moving screw rod 42, the rotating member 43 and the moving screw rod 42 are threadedly matched, the contact area between the two is large, and the transmission stability is high, and the rotating member is driven by the movement of the moving screw rod 42. 43 rotation, strong controllability.
  • the driving mechanism 41 may include: a steering gear 411 and a gear set 412 .
  • the steering gear 411 has a crankshaft 4111 , one gear 4121 in the gear group 412 is connected with the crankshaft 4111 , and the other gear 4121 in the gear group 412 is connected with the moving screw 42 .
  • Using the steering gear 411 not only has a small size, but also has a long service life and a high load capacity.
  • a gear set 412 is provided between the steering gear 411 and the moving screw rod 42 , which can not only maintain the compactness of the fit, but also adjust the transmission ratio through the gear set 412 to achieve the effect of deceleration and torque increase.
  • the gear 4121 connected with the moving screw 42 has an internal thread hole, and the gear 4121 is sleeved on the moving screw 42 and is threadedly matched, and drives the moving screw 42 to move when the gear 4121 rotates.
  • This arrangement can reduce the number of parts and make the structure more compact.
  • the moving screw 42 is provided with two spaced external threads, one of which is matched with the rotating member 43, the other is matched with the gear 4121, and the two external threads are matched with the gear 4121. Spaced apart to achieve the limit of the rotating member 43 and the gear 4121 .
  • the driving mechanism 41 includes a limit component 44 , the limit component 44 is connected with the moving screw 42 , and the limit component 44 is configured to limit the moving screw 42 relative to the arm device 2 Turn. Therefore, the limiting component 44 can only move the moving screw 42 in the direction of the preset axis L, so as to stabilize the transmission process.
  • the limiting component 44 is a guide seat (not shown) connected to the mounting seat 413 , the guide seat is provided with a guide groove extending along the preset axis L, and the moving screw 42 is matched with the guide seat.
  • the moving screw 42 can only move along the direction of the preset axis L under the constraint of the guide groove.
  • the guide groove can limit the rotation of the moving screw 42 .
  • the limit assembly 44 includes a limit rod, a fisheye bearing is connected to the mounting seat 413 , and the bottom end of the limit rod is telescopically fit inside the fisheye bearing On the ring, the fisheye bearing restricts the limit rod to swing only along the plane where the preset axis L is located.
  • the end of the moving screw rod 42 is rotatably connected to the upper end of the limit rod, so that the moving screw rod 42 can only move but cannot rotate.
  • the outer circumference of the rotating member 43 is formed as a spline 431
  • the power device 3 includes a connecting seat 313
  • the power unit 31 is connected with the connecting seat 313 .
  • the seat 313 has a keyway 3131 that cooperates with the spline 431 .
  • the keyway 3131 on the connection seat 313 that is matched with the spline 431 has a central angle of 180 degrees, which facilitates the connection between the connection seat 313 and the spline 431 to be sleeved and matched.
  • the power device 3 also includes a locking member (not shown) configured to lock the power unit 31 on the drive device 4 to ensure reliable connection between the power device 3 and the drive device 4 during rotation.
  • the driving mechanism 41 includes: a mounting seat 413 and a bearing 414 .
  • the mounting seat 413 includes a socket portion 4131, a fixed seat 4132 and a mounting portion 4133.
  • the socket portion 4131 is externally connected to the arm device 2, the driving mechanism 41 is mounted on the fixed seat 4132, and the two mounting portions 4133 are arranged opposite to each other.
  • the two mounting parts 4133 are provided with coaxially arranged mounting holes 41331, the moving screw 42 is penetrated in the two mounting holes 41331, and the two bearings 414 are respectively fitted in the two mounting holes 41331, and rotate
  • the member 43 is fitted on two bearings 414 , and the two bearings 414 are clamped on both sides of the rotating member 43 to limit the axial movement of the rotating member 43 .
  • the mounting seat 413 of this structure can connect the mounting seat 413 to the machine arm device 2 , and other components can be mounted on the mounting seat 413 in a compact manner.
  • the bearing 414 is installed by arranging two mounting seats 4133, and the bearing 414 is used to support the rotating member 43. On the one hand, it ensures that the rotating member 43 is not easily deformed under the support, and on the other hand, the rotating friction force of the rotating member 43 is smaller, and the rotation is more stable. smooth.
  • the two bearings 414 can also limit the rotating member 43, so that the rotating member 43 can only rotate around the preset bearing L, which can improve the control precision.
  • the following describes the movement process of the driving device 4 in a specific embodiment of the present invention according to FIG. 11 .
  • the steering gear 411 located on the fixed seat 4132 of the mounting seat 413 starts to operate, and the steering gear 411 drives the gear set.
  • a gear 4121 connected to the steering gear 411 in the 412 rotates, and the gear group 412 is meshed with the gear 4121 to transmit the rotational motion to the moving screw 42 arranged above the mounting seat 413.
  • the moving screw 42 is restricted by the limit component 44 It can only move in the direction of the preset axis L, and the rotating member 43 and the moving screw rod 42 are threaded in the same way.
  • the rotating part 43 is also restricted by the mounting part 4133 and the bearing 414 on the mounting part 4133, and can only rotate around the preset axis L.
  • the rotating part 43 is provided with a spline 431, which cooperates with the connecting seat 313 of the power unit 3, and the rotating part 43 rotates in the direction of the preset axis L to drive the power device 3 to rotate, that is, to drive the propeller 312 of the power device 3 to change the direction of rotation, so that the flying state of the UAV 100 can be changed.
  • the drone 100 includes: a fuselage assembly 1, a machine Arm device 2 and power device 3. There are two arm devices 2 and they are located on opposite sides of the fuselage assembly 1. The length ends of each arm device 2 are an inner end 21 and an outer end 22 respectively. The inner end 21 of the device 2 is installed on the fuselage assembly 1 , and a power device 3 is respectively installed at the outer end 22 of each arm device 2 .
  • the center of gravity of the unmanned aerial vehicle provided by the embodiment of the present application is lower than the lift action point, which can improve the flight stability of the unmanned aerial vehicle, and the unmanned aerial vehicle has a simple structure, a small volume, and a low production cost.

Abstract

Drone (100), comprenant un ensemble corps de drone (1), des dispositifs de bras de drone (2) et des dispositifs électriques (3). Deux dispositifs de bras de drone (2) sont respectivement situés au niveau de deux côtés opposés de l'ensemble corps de drone (1). Les deux extrémités longitudinales de chaque dispositif de bras de drone (2) constituent respectivement une extrémité interne (21) et une extrémité externe (22). L'extrémité interne (21) du dispositif de bras de drone (2) est montée sur l'ensemble corps de drone (1). Le dispositif de bras de drone (2) est disposé obliquement vers le haut en partant de l'extrémité interne (21) et jusqu'à l'extrémité externe (22). Un angle d'ouverture entre chaque dispositif de bras de drone (2) et un plan horizontal est compris entre 9 et 35 degrés. Un dispositif électrique (3) est respectivement monté au niveau de l'extrémité externe (22) de chaque dispositif de bras de drone (2). Chacun des dispositifs électriques (3) comprend une unité électrique (31), l'unité électrique (31) comprenant un moteur électrique (311) et une hélice (312).
PCT/CN2021/107714 2020-09-11 2021-07-21 Drone WO2022052644A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010955607.0 2020-09-11
CN202010955607.0A CN112340002A (zh) 2020-09-11 2020-09-11 无人机

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WO2022052644A1 true WO2022052644A1 (fr) 2022-03-17

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CN112340002A (zh) * 2020-09-11 2021-02-09 广州极飞科技有限公司 无人机
CN114043831A (zh) * 2021-11-01 2022-02-15 广东汇天航空航天科技有限公司 飞行汽车
CN116812184A (zh) * 2023-07-04 2023-09-29 深圳技术大学 用于雷达测绘的六轴无人机

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