Steering mechanism and unmanned aerial vehicle

Abstract

The steering mechanism comprises an unmanned aerial vehicle body and a steering assembly installed on the unmanned aerial vehicle body, the steering assembly comprises a steering driving piece, an outer ring table, an inner ring table and rolling balls, the outer ring table is provided with a rotating hole, the inner ring table is arranged in the rotating hole of the outer ring table, and the rolling balls are arranged in the rotating hole of the inner ring table. The outer side wall face of the inner ring table is matched with the inner side wall of the rotating hole of the outer ring table, the inner side wall of the rotating hole of the outer ring table and the outer side wall face of the inner ring table are provided with at least one annular sliding way evenly distributed in the axial direction of the rotating hole, and a plurality of rolling balls are arranged in the sliding way so that the inner ring table can be rotationally connected with the outer ring table. The steering driving part is in transmission connection with the outer ring table or the inner ring table so that the outer ring table or the inner ring table can be driven by the steering driving part to rotate on the circumferential face. The inner ring table and the outer ring table are in rolling connection through the rolling balls, the outer ring table or the inner ring table can rotate on the circumferential face under driving of the steering driving piece, a large-diameter rotating connection structure is formed, the attachment face is enlarged, the axis bearing pressure is reduced, and stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a steering mechanism and an unmanned aerial vehicle equipped with the steering mechanism. Background Art

[0002] With the development of drone technology, its application scope is becoming more and more extensive; for example, for building inspection and maintenance, it is necessary to configure a probe arm on the rotor drone, and even configure a suction cup structure at the front end of the probe arm to extend and fix it on the surface of the building and perform inspection operations.

[0003] The general drone body on the market includes a body, frame, tripod, arm and rotor, etc., and is equipped with a control system and power supply. The drone can be remotely controlled by a remote control or mobile phone to take off, then cruise and operate, and land when the operation is completed or the power supply needs to be replaced.

[0004] In order to reasonably adjust the horizontal steering, a steering mechanism is configured between the working platform and the drone body. For example, the Chinese utility model patent "UAV and its variable direction reach mechanism" (Announcement No. CN218559213U) includes a drone body and a reach arm arranged on the drone body, and also includes a steering assembly, the reach arm is arranged on the steering assembly, the steering assembly is rotatably arranged on the drone body, and the steering assembly can drive the reach arm to rotate on the horizontal plane; the steering platform is rotatably arranged on the drone body through the steering shaft, and the steering shaft is connected to the rotating drive member, so that under the drive of the steering drive member, the steering platform can rotate on the horizontal plane, drive the reach arm to rotate on the horizontal plane, and realize the variable direction adjustment of the horizontal plane.

[0005] However, the rotating mechanism of the workbench in the prior application is concentrated on the small axis in the middle, with a large gap, less attachment surface and high pressure. Therefore, in order to minimize the gap and meet the pressure conditions, high material requirements and high processing accuracy are required. Utility Model Content

[0006] The purpose of the invention of the utility model is to provide a UAV with a large-diameter semi-annular structure, so as to expand the attachment surface and reduce the axial pressure in view of the above-mentioned problems.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is:

[0008] A drone comprises a drone body and a steering assembly mounted on the drone body, wherein the steering assembly comprises a steering drive member capable of outputting a driving force, an outer ring platform, an inner ring platform and a rolling ball, wherein the outer ring platform is provided with a rotating hole, the inner ring platform is arranged in the rotating hole of the outer ring platform, the outer wall surface of the inner ring platform is matched with the inner wall surface of the rotating hole of the outer ring platform, and at least one annular slideway uniformly distributed in the axial direction of the rotating hole is provided on the inner wall surface of the rotating hole of the outer ring platform and the outer wall surface of the inner ring platform, wherein a plurality of rolling balls are arranged in the slideway to rotationally connect the inner ring platform with the outer ring platform, and the steering drive member is transmission-connected with the outer ring platform or the inner ring platform so that the steering drive member can rotate on the circumferential surface under the driving of the steering drive member.

[0009] Among them, one of the outer ring platform and the inner ring platform is used as a rotating platform and the other is used as a fixed platform. Specifically, the inner ring platform is used as a rotating platform and the outer ring platform is used as a fixed platform, or the outer ring platform is used as a rotating platform and the inner ring platform is used as a fixed platform. The steering drive is fixedly installed on the drone body or the fixed platform, the fixed platform is fixedly installed on the drone body, the rotating platform can be fixedly installed with operating equipment, and the rotating platform is provided with a moving gear part, which is connected to the transmission gear of the steering drive.

[0010] The side wall of the rotating hole of the outer ring platform is provided with at least one slide groove I extending along the circumferential direction of the rotating hole, and the outer wall surface of the inner ring platform is provided with at least one slide groove II extending along the circumferential direction, and at least one slide groove I cooperates with at least one slide groove II to form at least one annular slideway; and the bottom wall of the slide groove I or the slide groove II is provided with a ball hole that passes through to the outside, serving as a rolling ball assembly channel.

[0011] As mentioned above, at least one annular slideway evenly distributed in the axial direction of the rotating hole is arranged on the inner side wall of the rotating hole of the outer ring platform and the outer side wall of the inner ring platform, and a plurality of rolling balls are arranged in the slideway, so that the inner ring platform and the outer ring platform are connected by rolling balls, and the outer ring platform or the inner ring platform can rotate on the circumferential surface under the drive of the steering drive, forming a large-diameter rotating connection structure, expanding the attachment surface, reducing the axial pressure, and improving stability. At the same time, the use of rolling balls to limit the slideway in the axial direction and perform rolling connection is conducive to reducing the vertical height and ensuring better rotation performance.

[0012] Based on the above-mentioned scheme, in a further improved scheme, the steering assembly also includes a receiving platform, on which the working equipment can be fixedly installed, and the receiving platform is arranged on the rotating platform so that the receiving platform can rotate on the circumferential surface under the drive of the steering drive member. In this way, a special receiving platform is configured as an installation platform, which is convenient for adjusting the installation position and adapting to the disassembly and assembly of the working equipment.

[0013] Based on the above scheme, in a further improved scheme, the rotating assembly also includes a bogie, and the steering drive component is fixedly installed on the fixed platform or the drone body through the bogie. In this way, the steering drive component is installed through the bogie, which is convenient for adjusting the installation position and disassembly and assembly.

[0014] Based on the above scheme, in a further improved scheme, the cross-section of the inner wall of the slide is circular, the width of the inner wall of the slide is adapted to the rolling balls, and several rolling balls are arranged in sequence on the circumferential surface to improve the rolling connection stability.

[0015] Based on the above solution, in a further improved solution, the width of the ball hole is greater than the diameter of the ball and less than or equal to 1.5 times the diameter of the ball, so as to assemble the balls one by one.

[0016] Based on the above scheme, in a further improved scheme, the ball hole is arranged on the bottom wall of the outer ring platform groove I, and the ball hole extends radially outward and through-arranged; or, the ball hole is arranged on the bottom wall of the inner ring platform groove II, and the ball hole extends radially inward and through-arranged, so as to facilitate adjustment of the adaptive blocking structure to block the rolling ball after the rolling ball is assembled.

[0017] Based on the above scheme, in a further improved scheme, a plug is provided in the threaded connection of the ball hole, the insertion length of the plug is adapted to the depth of the ball hole, and the assembly can be quickly completed by tightening or loosening the threaded connection.

[0018] Based on the above scheme, in a further improved scheme, a chamfer is provided at the entrance of the ball hole, and a triangular chamfer or a rectangular chamfer is adopted to form a countersunk structure so that the head of the plug can be hidden when it is tightened.

[0019] Based on the above scheme, in a further improved scheme, both the outer ring platform and the inner ring platform are of circular columnar structure to ensure lightweight and improve load-bearing performance.

[0020] Due to the adoption of the above technical solution, the utility model has the following beneficial effects:

[0021] 1. The drone of the utility model is provided with at least one annular slideway evenly distributed in the axial direction of the rotating hole on the inner side wall of the rotating hole of the outer ring platform and the outer side wall of the inner ring platform, and a plurality of rolling balls are arranged in the slideway, so that the inner ring platform and the outer ring platform are connected by rolling balls, and the outer ring platform or the inner ring platform can rotate on the circumferential surface under the drive of the steering drive, forming a large-diameter rotating connection structure, expanding the attachment surface, reducing the axial pressure, and improving stability. At the same time, the use of rolling balls to limit the slideway in the axial direction and perform rolling connection is conducive to reducing the vertical height and ensuring better rotation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a side view structural schematic diagram of the UAV example 1 of the utility model.

[0023] Figure 2 yes Figure 1 Schematic diagram of the drone body structure.

[0024] Figure 3 yes Figure 1 A partial enlarged view of .

[0025] Figure 4 yes Figure 1 Another enlarged partial view.

[0026] Figure 5 yes Figure 1 Schematic diagram of the partial overhead structure of the inner ring platform.

[0027] Figure 6 yes Figure 1 Schematic diagram of the decomposed structure of the inner ring platform and the outer ring platform.

[0028] Figure 7 yes Figure 6 Another perspective structural diagram of .

[0029] Figure 8 yes Figure 7 sectional view of .

[0030] Fig. 9 It is a partial side view structural schematic diagram of UAV Example 2 of the utility model.

[0031] Fig.10 It is a partial side view structural schematic diagram of UAV Example 3 of the utility model.

[0032] Fig.11 yes Fig.10 Schematic diagram of the drone body structure.

[0033] Fig.12 yes Fig.10 Schematic diagram of the partial overhead structure of the outer ring platform.

[0034] In the accompanying drawings, 1 is a machine body, 12 is a tripod assembly, 2 is a steering assembly, 3 is a swing assembly, and 4 is an extension arm. DETAILED DESCRIPTION

[0035] Example 1

[0036] See also Figure 1 , it is defined that z is the vertical direction and x is the horizontal direction on the drone body.

[0037] See also Figure 1-Figure 8The drone of the present embodiment 1 comprises a drone body and a steering assembly 2 installed on the drone body, the steering assembly 2 comprises a steering drive 24 capable of outputting a driving force, an outer ring platform 21, an inner ring platform 22 and a rolling ball 23, the outer ring platform 21 is provided with a rotating hole, the inner ring platform 22 is arranged in the rotating hole of the outer ring platform 21, the outer wall surface of the inner ring platform 22 is adapted to the inner wall of the rotating hole of the outer ring platform 21, and at least one annular slideway uniformly distributed in the axial direction of the rotating hole (i.e., vertical z) is provided on the inner wall of the rotating hole of the outer ring platform 21 and the outer wall surface of the inner ring platform 22, a plurality of rolling balls 23 are arranged in the slideway to rotatably connect the inner ring platform with the outer ring platform, the steering drive 24 is transmission-connected with the outer ring platform 21 or the inner ring platform 22 so that it can rotate on a circumferential surface (circumferential direction of the rotating hole, i.e., horizontal x) under the drive of the steering drive.

[0038] Among them, the drone body includes a body 1, a frame 11, a landing gear, a support arm 13 and a rotor 14, etc. The body 1 is equipped with a lithium battery pack and a circuit board of a controller, etc., which are connected and controlled by a standard cable to start and stop the rotor 14. The drone body and its control are existing technologies and will not be repeated here. For example, the DJI drone on the market. For another example, the Chinese patent document "A crack detection drone, announcement number CN216509120U" takes the crack detection scheme of a building using a four-rotor drone as an example to illustrate that a probe arm and a crack detection mechanism are arranged on the drone body. The crack detection mechanism includes a mechanical working arm and a crack detector, etc., which can slide back and forth and extend outward along the probe arm, and then realize crack detection through the crack detector. It is equipped with a landing gear for landing; the probe arm and the crack detection mechanism can be used as an example of the operating equipment of this application. For another example, the Chinese patent "UAV and its variable direction reach mechanism" (Announcement No. CN218559213U) includes an UAV body and a reach arm arranged on the UAV body, a steering platform is rotatably arranged on the UAV body through a steering shaft, and the steering platform can rotate on the horizontal plane, driving the reach arm to rotate on the horizontal plane, thereby realizing variable direction adjustment of the horizontal plane; see Figure 1-Figure 8 In this application, the turning platform and the swing assembly and the reach arm thereon can be used as an example of the working equipment of this application (of course, only the reach arm can also be used as another example).

[0039] As mentioned above, the operating equipment of the present application includes a swing assembly 3 and a probe arm 4. The probe arm 4 is arranged on the swing assembly 3. The swing assembly 3 is arranged on the turning platform 26. The swing assembly 3 can drive the probe arm 4 to rotate on the vertical plane. The probe arm 4 rotates with the swing assembly 3 to adjust the elevation angle of the probe arm 4. The swing assembly 3 includes a support frame 32, a swing frame and a swing drive. The support frame 32 is arranged on the turning platform 26, and the support frame 32 can protrude outward relative to the turning platform to form an outer convex section. The swing frame can be rotatably arranged on the outer convex section of the support frame 32. The swing drive is connected to the swing frame in a transmission manner. The swing drive can be fixedly arranged relative to the turning platform 26. The probe arm 4 is fixedly arranged on the swing frame, so that the probe arm 4 can rotate on the vertical plane under the drive of the swing drive. The swing frame includes a support 31 and a rack seat 33. The rack seat 33 is a semicircular ring structure, and the inner wall surface of the rack seat 33 is provided with a tooth portion. The support 31 is connected to the open end of the rack seat 33. The probe arm 4 is fixedly arranged on the support 31. The middle part of the support 31 is rotatably arranged on the outer convex section of the support frame through a swing shaft. The swing drive member is arranged on the turning platform, and the swing drive member is connected to the tooth portion of the rack seat by gear transmission. The end seats 41 and the center seat are arranged at both ends and the middle position of the support 31 respectively, and the fixed end of the probe arm is fixed to the end seat and the center seat. The swing drive member uses a swing motor, preferably a swing stepper motor 34. The drive shaft of the swing stepper motor 34 is provided with a swing gear meshing with the tooth portion of the rack seat 33 to realize the gear transmission connection.

[0040] The present application is to improve the steering structure arranged on the drone body. Moreover, the operating equipment is generally installed on the top or bottom of the drone. The present application is explained by taking the steering assembly and the operating equipment arranged on the top of the drone body as an example.

[0041] One of the outer ring table 21 and the inner ring table 22 is used as a rotating table and the other is used as a fixed table. Specifically, in the first embodiment, the inner ring table 22 is used as a rotating table and the outer ring table 21 is used as a fixed table.

[0042] The outer ring 21 may be a plate-shaped structure (for example, Figure 1 and Figure 3 The outer ring platform shown is integrally formed with the top plate 111 of the drone body to form a rectangular plate structure), and the rotating holes opened thereon can be through holes or blind holes. The outer ring platform can also adopt a circular columnar structure; similarly, the inner ring platform can adopt a plate structure or a circular columnar structure. This embodiment 1 is described preferentially, and both the outer ring platform and the inner ring platform are circular columnar structures to ensure strength and lightness and improve load-bearing performance.

[0043] The steering drive part adopts a steering stepper motor, which is driven by a driver. The connection and control technology between the stepper motor and the drone body controller are existing technologies. The factory is equipped with mounting bolts and standard data cables. Through holes or threaded holes are opened according to the corresponding fixing holes on the stepper motor, and then the bolts are tightened to fix it on the drone body or the outer ring. This embodiment 1 is further described preferentially, and the rotating assembly also includes a bogie, such as Figure 2 As shown, the bogie adopts a segmented type including a plate frame 243 and an L-shaped frame 242. One end of the plate frame is welded to the outer ring platform and tightened and fixed with bolts. In this way, the steering drive component (steering stepper motor) is fixedly installed on the outer ring platform or the UAV body through the bogie; of course, the bogie can also adopt a Z-shaped frame structure, and its two ends are respectively tightened and fixed with bolts; in this way, the steering drive component is installed through the bogie, which is convenient for adjusting the installation position and easy for disassembly and assembly.

[0044] The outer ring 21 is fixedly mounted on the inner wall of the assembly hole 112 of the drone body top plate 111 by welding, bonding or bolting. The inner ring 22 can be configured with a mounting hole structure so that operating equipment can be fixedly mounted thereon.

[0045] The inner ring 22 is provided with a movable tooth portion 221, which is in transmission connection with the transmission gear 241 of the steering drive member 24. Based on the existing gear transmission method, the movable tooth portion can be arranged on the bottom end surface or the inner wall surface of the annular inner ring, as shown in the figure, and in this embodiment 1, the movable tooth portion is cut on the inner wall surface of the inner ring for explanation.

[0046] The side wall of the rotating hole of the outer ring platform 21 is provided with at least one slide groove I 210 extending in the circumferential direction of the rotating hole, and the outer side wall of the inner ring platform 22 is provided with at least one slide groove II 220 extending in the circumferential direction, and at least one slide groove I and at least one slide groove II cooperate to form at least one annular slideway. The slideways can be arranged in one row, two rows, three rows, etc., and are evenly distributed in the axial direction. As shown in the figure, this embodiment 1 is described by taking the formation of one row of slideways as an example.

[0047] In order to facilitate loading and unloading of the ball, a ball hole that penetrates to the outside is provided on the bottom wall of the chute I or chute II. As shown in the figure, in this embodiment 1, a ball hole 2101 is provided on the bottom wall of the chute I 210 of the outer ring platform 21 as a ball assembly channel. This embodiment 1 is preferably described. As shown in the figure, the ball hole is radially extended outward to penetrate the outer side wall of the outer ring platform, which is convenient for adjusting the adapted blocking structure to block the ball after the ball is assembled; and in other examples, it can also be a circular arc or elliptical arc extending through the bottom end surface of the outer ring platform, etc.

[0048] As mentioned above, considering factors such as strength, rigidity, wear resistance and load-bearing capacity, the outer ring, inner ring and moving gear can be made of conventional materials such as stainless steel and aluminum alloy, the rolling balls can be made of steel balls or aluminum alloy balls, and other bogies can be made of carbon fiber plates, etc., which will not be elaborated here.

[0049] During installation, first place the inner ring stage in the rotating hole of the outer ring stage and align them, then assemble the ball into the slideway to complete the assembly of the steering assembly. Then install the outer ring stage of the steering assembly on the drone body, and then install the steering drive. Finally, install the operating equipment on the inner ring stage. The operating equipment can be installed by bolt connection. An inner hole 222 is opened axially on the inner ring stage, and then the operating equipment is installed in combination with bolts and nuts. A large nut can be used as a gasket to raise the operating equipment to prevent the operating equipment from scraping the outer ring stage and the top plate of the drone body.

[0050] As mentioned above, at least one annular slideway evenly distributed in the axial direction of the rotating hole is arranged on the inner side wall of the rotating hole of the outer ring platform and the outer side wall of the inner ring platform, and a number of rolling balls are arranged in the slideway, so that the inner ring platform and the outer ring platform are connected by rolling balls, and the outer ring platform or the inner ring platform can rotate on the circumferential surface under the drive of the steering drive member. The outer ring platform and the inner ring platform form a large-diameter annular rotating connection structure. Compared with the central axis rotating structure, the gap becomes smaller, the attachment surface is expanded, the axial pressure is reduced, and the stability is improved. At the same time, the use of rolling balls to limit the slideway in the axial direction and perform rolling connection is conducive to reducing the vertical height and ensuring better rotation performance.

[0051] Example 2

[0052] The difference between this embodiment 2 and the aforementioned embodiment 1 lies in the outer ring platform installation structure. For other matters not fully explained, please refer to the aforementioned embodiment 1.

[0053] See also Fig. 9 In the drone of the second embodiment, the outer ring platform 21 is installed on the top surface of the top plate 111. At this time, only the motor drive shaft penetration hole (with a relatively small aperture) can be set according to the situation without setting the assembly hole 112 (with a large aperture). However, in order to simplify the description, the other structures of this application are based on the first embodiment.

[0054] Example 3

[0055] The difference between the present embodiment 3 and the aforementioned embodiment 2 lies in the structures of the rotating table and the fixed table. For other matters not fully described, please refer to the aforementioned embodiments 1-2.

[0056] See also Figure 10-12In the drone of the third embodiment, the outer ring platform 21 is used as a rotating platform and the inner ring platform 22 is used as a fixed platform. At this time, the movable gear portion '211 is set on the outer side wall of the outer ring platform 21 with reference to the above, and the stepping motor is changed to the installation position, and the machine shaft hole 113 needs to be set accordingly. The width of the machine shaft hole 113 can be set to match its aperture with the transmission shaft or a large hole (large aperture). At this time, the assembly hole 112 does not need to be set, but the present application adopts the structure of the first embodiment for the sake of simplicity.

[0057] In order to prevent the top plate of the drone from being scratched, a simple solution is to use a pad platform 27 to raise it. The raised platform is a cylindrical closed structure, which can be a cylindrical or square cylinder, a triangular cylinder, etc.; or, the raised platform is a spaced raised block, the raised block is a round table, a rectangular table or a fan ring table, and more than three raised blocks are arranged in a triangular or rectangular shape. In order to adapt to the ring-in-ring structure, the raised platform of this application adopts a cylindrical structure description, the height is 2-10mm, and bolts can be used for connection. The pad platform and its connection can refer to the receiving platform and its connection structure described later.

[0058] Accordingly, in order to minimize the extension length of the transmission shaft, the length of the plate frame '243' needs to be adaptively reduced. When the steering assembly is installed on the top (welded or bolted), the outer ring table is used as the rotating table and the cylindrical pad plate is used to isolate water or isolate the oil spilled from the lubricating oil added to the slideway and the ball. Conversely, when the steering assembly is hoisted on the bottom of the drone (welded or bolted), the inner ring table is used as the rotating table and the cylindrical receiving table is used, which has a better effect of isolating water.

[0059] Example 4

[0060] The difference between this embodiment 4 and the aforementioned embodiments 1-3 lies in the structure of the position of the ball hole. For other matters not fully described, please refer to the aforementioned embodiments 1-3.

[0061] In this embodiment 4, the ball hole is set on the bottom wall of the inner ring platform slide groove II, and the ball hole adopts a structure that extends radially inward and penetrates the inner wall of the annular inner ring platform, which is convenient for adjusting the adaptive blocking structure to block the ball after the ball is assembled.

[0062] Example 5

[0063] This embodiment 5 is a further improvement on the basis of embodiments 1-4. For other details not fully described, please refer to the aforementioned embodiments 1-4.

[0064] See also Figure 1-Figure 8, the steering assembly of the drone in the fifth embodiment also includes a receiving platform 25, which is arranged on the rotating platform so that the receiving platform can rotate on the circumferential surface under the driving of the steering drive. The receiving platform is a cylindrical closed structure, which can be a cylindrical or square cylinder, a triangular cylinder, etc.; or, the receiving platform is a receiving block arranged at intervals, the receiving block is a round table, a rectangular table or a fan ring table, and more than three receiving blocks are arranged in a triangular or rectangular shape. In order to adapt to the structure of the outer ring platform of the annulus, the present application adopts the cylinder description. The receiving platform is a cylindrical structure with a height of 2-10mm, which surrounds the inner hole of the inner ring platform and plays a role of padding and isolation.

[0065] Specifically, an inner hole 222 is axially opened on the inner ring platform, a bottom hole 251 is opened on the bottom end of the receiving platform 25, and a top hole 252 is opened on the top end of the receiving platform 25, and then bolts are passed through the inner ring platform and the turning platform and tightened to the receiving platform, wherein the bottom hole and the top hole both adopt a countersunk structure to hide the bolt head such as the plug and the ball hole described later; similarly, an outer hole 212 is axially opened on the outer ring platform, and then bolts are used to connect and fix.

[0066] In this way, a special receiving platform is configured as an installation platform, which is convenient for adjusting the installation position and adapting to the disassembly and assembly equipment.

[0067] In order to optimize the installation structure, in an improved solution, the turning platform 26 is installed on the receiving platform 25, and the operating equipment is fixedly installed on the turning platform, so that the installation position on the turning platform (plate) can be adjusted as needed. In a further improved solution, a shielding plate 261 can be arranged on the periphery of the turning platform to play a shielding and isolating role.

[0068] Example 6

[0069] This embodiment 6 is a further improvement on the basis of embodiments 1-5. For other details not fully described, please refer to the aforementioned embodiments 1-5.

[0070] See also Figure 1-Figure 8 In the drone steering assembly of embodiment 6, the cross-section of the inner wall of the slide is circular, and the width of the inner wall of the slide is adapted to the ball. For example, the slide is 1-5 mm larger than the diameter of the ball. Several balls are arranged in sequence on the circumferential surface. Compared with the loose square and large-width balls, the rolling connection stability can be effectively improved.

[0071] Based on the above example, in a further improved solution, the width of the ball hole is greater than the diameter of the ball and less than or equal to 1.5 times the diameter of the ball, specifically 1.1R-1.5R, for example 1.25R, where R is the diameter of the ball, so that the balls can be assembled and disassembled one by one.

[0072] Example 7

[0073] This embodiment 7 is a further improvement on the basis of embodiments 1-6. For other matters not fully described, please refer to the aforementioned embodiments 1-4.

[0074] See also Figure 1-Figure 8 In the drone of this embodiment 7, the ball hole can be sealed by inserting a rolling ball or welding as mentioned above. In order to facilitate disassembly and assembly, a thread is set on the inner wall of the ball hole 2101, and a plug 231 is connected to the inner thread. The insertion length of the plug 231 is adapted to the depth of the ball hole. The assembly can be quickly completed by tightening or loosening the threaded connection.

[0075] Based on the above example, in a further improved solution, a chamfer is provided at the entrance of the ball hole 2101, and a triangular chamfer or a rectangular chamfer is adopted to form a countersunk structure so that the plug head can be hidden when the plug is tightened.

[0076] It should be noted that the steering mechanism of the drone in the above embodiment is mainly used in drones, and is also applicable to other devices in the same / equivalent scenarios. The examples of the above embodiment can be preferably combined with one or more of them according to actual needs, and multiple examples use a set of drawings of combined technical features, which will not be described one by one here.

[0077] It should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation.

[0078] The above description is a detailed description and illustration of the preferred feasible embodiments of the utility model, but these descriptions are not intended to limit the scope of protection required by the utility model. All equivalent changes or modified changes completed under the technical teachings suggested by the utility model should fall within the scope of patent protection covered by the utility model.

Claims

1. A steering mechanism, comprising a steering drive member capable of outputting a driving force, Features: It also includes an outer ring platform, an inner ring platform and rolling balls. The outer ring platform is provided with a rotating hole, and the inner ring platform is arranged in the rotating hole of the outer ring platform. The outer wall surface of the inner ring platform is matched with the inner wall surface of the rotating hole of the outer ring platform, and the inner wall surface of the rotating hole of the outer ring platform and the outer wall surface of the inner ring platform are provided with at least one annular slideway evenly distributed in the axial direction of the rotating hole, and a plurality of rolling balls are arranged in the slideway to rotatably connect the inner ring platform with the outer ring platform, and the steering drive component is transmission-connected with the outer ring platform or the inner ring platform so that it can rotate on the circumferential surface under the drive of the steering drive component.

2. A steering mechanism according to claim 1, Features: One of the outer ring platform and the inner ring platform serves as a rotating platform and the other serves as a fixed platform. The steering drive component can be fixedly installed on the drone body or the fixed platform. The fixed platform can be fixedly installed on the drone body. The rotating platform can be fixedly installed with operating equipment, and a moving tooth portion is provided on the rotating platform, which is connected to the transmission gear of the steering drive component.

3. A steering mechanism according to claim 2, Features: It also includes a receiving platform, on which the working equipment can be fixedly installed, and the receiving platform is arranged on the rotating platform so that the receiving platform can rotate on the circumferential surface under the drive of the steering drive member; and the rotating assembly also includes a bogie, and the steering drive member can be fixedly installed on the fixed platform or the UAV body through the bogie.

4. A steering mechanism according to claim 1, Features: The side wall of the rotating hole of the outer ring platform is provided with at least one slide groove I extending along the circumferential direction of the rotating hole, and the outer wall surface of the inner ring platform is provided with at least one slide groove II extending along the circumferential direction, and at least one slide groove I cooperates with at least one slide groove II to wrap at least one annular slideway; and the bottom wall of the slide groove I or the slide groove II is provided with a radially through ball hole, and the width of the ball hole is adapted to the rolling ball; and the cross-section of the inner wall of the slideway is circular, and the width of the inner wall of the slideway is adapted to the rolling ball, and several rolling balls are arranged in sequence on the circumferential surface; and the outer ring platform and the inner ring platform are both circular columnar structures.

5. An unmanned aerial vehicle, comprising an unmanned aerial vehicle body and a steering assembly mounted on the unmanned aerial vehicle body, wherein the steering assembly comprises a steering drive member capable of outputting a driving force, Features: The steering assembly also includes an outer ring platform, an inner ring platform and rolling balls. The outer ring platform is provided with a rotating hole, and the inner ring platform is arranged in the rotating hole of the outer ring platform. The outer wall surface of the inner ring platform is adapted to the inner wall surface of the rotating hole of the outer ring platform, and at least one annular slideway evenly distributed in the axial direction of the rotating hole is provided on the inner wall surface of the rotating hole of the outer ring platform and the outer wall surface of the inner ring platform. A plurality of rolling balls are arranged in the slideway to rotationally connect the inner ring platform with the outer ring platform, and the steering drive is transmission-connected to the outer ring platform or the inner ring platform so that it can rotate on the circumferential surface under the drive of the steering drive.

6. The drone according to claim 5, Features: The inner ring platform serves as a rotating platform and the outer ring platform serves as a fixed platform. The steering drive component is fixedly installed on the drone body or the fixed platform. The fixed platform is fixedly installed on the drone body. The rotating platform can be fixedly installed with operating equipment, and a moving tooth portion is provided on the rotating platform. The moving tooth portion is connected to the transmission gear of the steering drive component.

7. The drone according to claim 5, Features: The outer ring platform serves as a rotating platform and the inner ring platform serves as a fixed platform. The steering drive component is fixedly installed on the drone body or the fixed platform. The fixed platform is fixedly installed on the drone body. The rotating platform can be fixedly installed with operating equipment, and a moving tooth portion is provided on the rotating platform. The moving tooth portion is connected to the transmission gear of the steering drive component.

8. The drone according to claim 6 or 7, Features: The steering assembly also includes a receiving platform, on which the working equipment can be fixedly installed, and the receiving platform is arranged on the rotating platform so that the receiving platform can rotate on the circumferential surface under the drive of the steering drive member; and the rotating assembly also includes a bogie, and the steering drive member is fixedly installed on the fixed platform or the UAV body through the bogie.

9. The drone according to claim 5, Features: The side wall of the rotating hole of the outer ring platform is provided with at least one slide groove I extending along the circumferential direction of the rotating hole, and the outer wall surface of the inner ring platform is provided with at least one slide groove II extending along the circumferential direction, and at least one slide groove I cooperates with at least one slide groove II to wrap at least one annular slideway; and the bottom wall of the slide groove I or the slide groove II is provided with a ball hole penetrating to the outside, and the width of the ball hole is adapted to the rolling ball; and the cross-section of the inner wall of the slideway is circular, and the width of the inner wall of the slideway is adapted to the rolling ball, and several rolling balls are arranged in sequence on the circumferential surface; and the outer ring platform and the inner ring platform are both circular columnar structures.

10. The drone according to claim 9, Features: The ball hole is arranged on the outer ring platform or the inner ring platform, the ball hole is radially extended, a plug is connected to the inner thread of the ball hole, the extension length of the plug is adapted to the depth of the ball hole, and a chamfer is arranged at the entrance of the ball hole.

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