A redundant limited low-torque full-degree-of-freedom UAV

Abstract

The present invention discloses a redundant limited low-torque full-degree-of-freedom UAV, belonging to the technical field of UAVs, including a lift assembly for providing spiral lift, including a main machine board as a structural support, an annular recessed portion with four recesses on the main machine board for accommodating the lift assembly; a concentric first annular ring is pivoted in each annular recessed portion, a concentric second annular ring is pivoted in the first annular ring, the first annular ring and the second annular ring are coaxially arranged to form a coaxial nested structure, and the lift assembly is mounted in the second annular ring; a gyroscope distribution structure is realized. The mechanism is simple, the structure is novel, and it has outstanding innovation.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicle (UAV) mobile platform mechanisms, and in particular to a redundant limited low-torsion full-degree-of-freedom UAV. Background Art

[0002] my country is paying more and more attention to the exploration of the drone industry. Drones are generally controlled in the air through electronic control, electric adjustment, central control power supply and GPS. The existing drones rotate from the initial state to the action state. The control action of the Euler angle of the drone coordinate point is mainly generated by the motor rotation difference. The existing technical exploration often stays at the movement mode of the rotation difference moving mechanism, but with the current algorithm and structure, four-dimensional vector flight actions such as figure eight, rotation, flipping, and discounting can be realized. It is impossible to achieve full-dimensional vector technical actions with special requirements such as rapid emergency stop, rapid oblique flight, fishing oblique flight, etc., and the existing flying equipment cannot achieve positive resistance to the wind direction for fresh wind, strong wind, uphill wind, and mixed wind at high altitude. The existing improvement method is, for the above wind shape, according to the operator's corresponding approximate azimuth forward momentum, one component resists wind energy, and the other component realizes action, which is prone to dangerous actions such as equipment instability and gourd-shaped movement, and there are potential risks for actors and operators. Summary of the invention

[0003] In order to solve the above-mentioned problems, the present invention proposes a redundant limited low-torque full-degree-of-freedom UAV, which realizes the efficiency of four-axis gyroscope omnidirectional combined braking.

[0004] A redundant limited low-torque full-degree-of-freedom UAV, including a lift assembly for providing a propeller lift, including a mainframe frame as a structural support, wherein a flight guide area is formed at the arm angle of the mainframe frame;

[0005] A concentric first annular ring is pivotally connected at each flight guide area, a concentric second annular ring is pivotally connected inside the first annular ring, the first annular ring and the second annular ring are coaxially arranged to form a coaxial nested structure, the lift assembly is fixedly connected to the center of the second annular ring, and the bottom end of the lift assembly is located below the plane where the second annular ring is located;

[0006] A driving pivot seat and a swivel pivot seat for driving the pivot to swivel are fixed on the support arms orthogonal to the main frame corresponding to each first annular ring, respectively. The outer edge of the first annular ring has two first pivots arranged opposite to each other, and the two first pivots are respectively and one by one fitted to the driving pivot seat and the swivel pivot seat fixed on the support arms;

[0007] A driving pivot seat and a rotating pivot seat for driving the pivot to rotate are fixed on the first annular ring corresponding to each second annular ring, and the outer edge of the second annular ring has two second pivots arranged opposite to each other, and the two second pivots are respectively and one by one fitted to the driving pivot seat and the rotating pivot seat respectively fixed on the first annular ring;

[0008] The connecting line of the two first pivots is orthogonal to the connecting line of the two second pivots;

[0009] The driving pivot seat comprises a pivot seat cover plate and a pivot seat base plate. A plurality of air cushion columns are fixed at the side wings extending on both sides of the pivot seat base plate. A driving motor is fixed under the pivot seat base plate. The driving motor is floating. The pivot seat cover plate is fixed on the pivot seat base plate and is fixedly connected to the driving motor. The output end of the driving motor is connected to a worm gear reducer. The output end of the worm gear reducer is used to be fixedly connected to the pivot.

[0010] The lift assembly comprises a brushless motor and a propeller. The brushless motor is fixed at the center of the second annular ring through a cross, and the propeller is mounted on the top of a propeller rod mounted at the output end of the brushless motor.

[0011] Furthermore, the swivel pivot seat is a free swivel pivot seat, which includes a shaft seat body, in which a swivel bearing for cooperating with the pivot is arranged.

[0012] Furthermore, the swivel pivot seat is a limited swivel pivot seat for limiting the rotation of the pivot, and the swivel pivot seat includes a swivel pivot seat shell, the swivel pivot seat shell has an axis path for cooperating with the pivot, the corresponding first pivot or second pivot is mounted in the axis hole, the end of the corresponding first pivot or second pivot has a groove, and a limit hook corresponding to the groove is arranged above the groove and hinged in the limit shaft seat shell, a disc spring group is arranged between the limit hook and the top wall of the limit shaft seat shell, the end of the limit hook has a block for being embedded in the groove, and an electromagnet is arranged above the limit hook.

[0013] Furthermore, a permanent magnet is provided on the back of the limiting hook corresponding to the electromagnet.

[0014] Furthermore, a plurality of air cushion columns are arranged below the swivel pivot seat shell.

[0015] Furthermore, a thrust bearing is provided at the entrance of the shaft channel.

[0016] Furthermore, the host frame includes a communication frame plate and a support arm. The communication frame plate is provided with four support arms. The end of each support arm is equipped with a fan-shaped plate, and a support leg is provided under the fan-shaped plate.

[0017] The advantages of this aspect are:

[0018] The efficiency of worm gear reduction is adopted to effectively protect the servo and increase its service life. Multiple bayonet holes are arranged around the limit pivot to achieve constant speed and constant quantity rotation.

[0019] For UAVs, the traditional braking forward method of rotational difference is improved by adopting the four-axis joint gyroscope concept with full-degree-of-freedom braking effect, which can achieve different resistance performances in different environments.

[0020] The gyro brake mechanism in the annular recess adopts the three-dimensional platform concept and adds the characteristic of axis angle swing on the basis of three-dimensional movement. The idealized Euler angle change can be realized through the axis angle, and the self-locking characteristic can realize quantitative and angular movement. The plate structure is abandoned to achieve lower wind resistance.

[0021] The UAV mechanism has a wide swing range and can realize full-dimensional vector technology actions for special requirements such as rapid emergency stop, rapid oblique flight, and fishing oblique flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the overall structure diagram of this organization.

[0023] Figure 2 This is the structural diagram of the driving pivot seat of this mechanism.

[0024] Figure 3 This is a front view of the driving pivot seat.

[0025] Figure 4 This is a structural diagram of the drive pivot seat and the drive servo assembly.

[0026] Figure 5 Structural diagram of the annular recess and lift assembly.

[0027] Figure 6 This is a structural diagram of the swivel pivot seat.

[0028] Figure 7 This is a schematic diagram of the flight status of the mechanism.

[0029] Description of labels:

[0030] Mainframe frame 1, fan-shaped plate portion 2, lift assembly 3, first annular ring 4, second annular ring 5.

[0031] Flight guidance area a;

[0032] Rotating pivot seat a1, driving pivot seat a2;

[0033] Limit shaft seat housing a11, electromagnet a12, limit hook a13, spring assembly a14;

[0034] Fixed shaft seat a21, driving steering gear a22, worm gear reducer a24;

[0035] Sliding screw 3a, limiting polished rod 3b, brushless motor 3c, steering gear 3d; DETAILED DESCRIPTION

[0036] The following is based on the attached Figure 1-7 The utility model is further described as follows:

[0037] A redundant limited low-torsion full-degree-of-freedom UAV, comprising a lift component 3 for providing a spiral lift, a mainframe frame 1 as a structural support, and a flight guide area a formed at the arm angle of the mainframe frame;

[0038] A concentric first annular ring 4 is pivotally connected at each flight guide area, and a concentric second annular ring 5 is pivotally connected inside the first annular ring. The first annular ring and the second annular ring are coaxially arranged to form a coaxial nested structure. The lift assembly is fixedly connected to the center of the second annular ring, and the bottom end of the lift assembly is located below the plane where the second annular ring is located.

[0039] A driving pivot seat and a swivel pivot seat for driving the pivot to swivel are fixed on the support arms orthogonal to the main frame corresponding to each first annular ring, respectively. The outer edge of the first annular ring has two first pivots arranged opposite to each other, and the two first pivots are respectively and one by one fitted to the driving pivot seat and the swivel pivot seat fixed on the support arms;

[0040] A driving pivot seat and a rotating pivot seat for driving the pivot to rotate are fixed on the first annular ring corresponding to each second annular ring, and the outer edge of the second annular ring has two second pivots arranged opposite to each other, and the two second pivots are respectively and one by one fitted to the driving pivot seat and the rotating pivot seat respectively fixed on the first annular ring;

[0041] The connecting line of the two first pivots is orthogonal to the connecting line of the two second pivots.

[0042] The driving pivot seat comprises a pivot seat cover plate and a pivot seat base plate. A plurality of air cushion columns are fixed at the side wings extending on both sides of the pivot seat base plate. A driving motor is fixed under the pivot seat base plate. The driving motor is floating. The pivot seat cover plate is fixed on the pivot seat base plate and is fixedly connected to the driving motor. The output end of the driving motor is connected to a worm gear reducer a24. The output end of the worm gear reducer is used to be fixedly connected to the pivot.

[0043] The swivel pivot seat is a free swivel pivot seat, which includes an axle seat body, a swivel bearing arranged in the axle seat body for cooperating with the pivot, and a plurality of air cushion columns are arranged below the swivel pivot seat shell.

[0044] The swivel pivot seat is a limited swivel pivot seat used for limiting the rotation of the pivot. The swivel pivot seat includes a swivel pivot seat shell, a shaft channel for cooperating with the pivot located in the swivel pivot seat shell, a thrust bearing is installed at the entrance of the shaft channel, the corresponding first pivot or the second pivot is installed in the shaft hole, a plurality of grooves are opened along the circumferential direction at the end of the corresponding first pivot or the second pivot, and the interval angle of the grooves is 5°. A limiting hook hinged in the limiting shaft seat shell is arranged directly above the pivot, a disc spring group is arranged between the limiting hook and the top wall of the limiting shaft seat shell, a block for being embedded in the groove is arranged at the end of the limiting hook, an electromagnet is arranged above the limiting hook, a plurality of air cushion columns are installed below the swivel pivot seat shell, and a permanent magnet is arranged at the back of the limiting hook corresponding to the electromagnet.

[0045] The mainframe frame comprises a communication frame plate and a support arm. The communication frame plate is provided with four support arms. The end of each support arm is equipped with a fan-shaped plate, and a support leg is provided under the fan-shaped plate.

[0046] The lift assembly comprises a brushless motor and a propeller. The brushless motor is fixed at the center of the second annular ring through a cross, and the propeller is mounted on the top of a propeller rod mounted at the output end of the brushless motor.

[0047] The connecting line of the two first pivots is orthogonal to the connecting line of the two second pivots.

[0048] The electromagnet model is H3006030 suction cup electromagnet, powered by 36V, a conventional weak current device, and the servo adopts mg995 servo.

[0049] The operating principle of the present invention is:

[0050] Under normal conditions, the lift is driven by a brushless motor, and the flight attitude of the module can be preset in different situations according to the instructions.

[0051] When an emergency stop is required, the electromagnet is energized to release the limit hook on the pivot, driving the servo to drive the worm gear reducer and then the pivot to drive the first annular ring to rotate in the opposite direction. The flipping angle is constant. After the flipping is completed, the electromagnet is powered off to maintain the limit hook on the pivot. At this time, the brushless motor provides lift that can be used for braking. Different braking effects can be achieved by adjusting the rotation angle of the first annular ring according to needs.

[0052] When the whole machine needs to be parked in the air stably, the driving servo drives the first annular ring. At the same time, another set of driving servos drives the second annular ring, which can drive the brushless motor to move on the spherical surface to achieve full vector movement.

Claims

1. A redundant limited low-torque full-degree-of-freedom UAV, comprising a lift component for providing a propeller lift, Features: It includes a mainframe frame as a structural support, and a flight guide area is formed at the angle of the support arms of the mainframe frame; A concentric first annular ring is pivotally connected at each flight guide area, a concentric second annular ring is pivotally connected inside the first annular ring, the first annular ring and the second annular ring are coaxially arranged to form a coaxial nested structure, the lift assembly is fixedly connected to the center of the second annular ring, and the bottom end of the lift assembly is located below the plane where the second annular ring is located; A driving pivot seat and a swivel pivot seat for driving the pivot to swivel are fixed on the support arms orthogonal to the main frame corresponding to each first annular ring, respectively. The outer edge of the first annular ring has two first pivots arranged opposite to each other, and the two first pivots are respectively and one by one fitted to the driving pivot seat and the swivel pivot seat fixed on the support arms; A driving pivot seat and a rotating pivot seat for driving the pivot to rotate are fixed on the first annular ring corresponding to each second annular ring, and the outer edge of the second annular ring has two second pivots arranged opposite to each other, and the two second pivots are respectively and one by one fitted to the driving pivot seat and the rotating pivot seat respectively fixed on the first annular ring; The connecting line of the two first pivots is orthogonal to the connecting line of the two second pivots; The driving pivot seat comprises a pivot seat cover plate and a pivot seat bottom plate. A plurality of air cushion columns are fixed to the side wings extending from both sides of the pivot seat bottom plate. A driving motor is fixed below the pivot seat bottom plate. The driving motor is floating. The pivot seat cover plate is fixed to the pivot seat bottom plate and is fixedly connected to the driving motor. The output end of the driving motor is connected to a worm gear reducer. The output end of the worm gear reducer is used to be fixedly connected to the pivot. The lift assembly comprises a brushless motor and a propeller. The brushless motor is fixed at the center of the second annular ring through a cross, and the propeller is mounted on the top of a propeller rod mounted at the output end of the brushless motor.

2. A redundant limited low-torque full-degree-of-freedom UAV according to claim 1, Features: The swivel pivot seat is a free swivel pivot seat, which comprises a shaft seat body, in which a swivel bearing for cooperating with the pivot is arranged.

3. A redundant limited low-torque full-degree-of-freedom UAV according to claim 1, Features: The swivel pivot seat is a limited swivel pivot seat used for limiting the rotation of the pivot. The swivel pivot seat includes a swivel pivot seat shell, the swivel pivot seat shell has an axis for cooperating with the pivot, the corresponding first pivot or second pivot is mounted in the axis hole, the end of the corresponding first pivot or second pivot has a groove, and a limit hook corresponding to the groove is arranged above the groove and hinged in the limit shaft seat shell, a disc spring group is arranged between the limit hook and the top wall of the limit shaft seat shell, the end of the limit hook has a block for being embedded in the groove, and an electromagnet is arranged above the limit hook.

4. A redundant limited low-torque full-degree-of-freedom UAV according to claim 3, Features: A permanent magnet is arranged at the back of the limit hook corresponding to the electromagnet.

5. A redundant limited low-torque full-degree-of-freedom UAV according to claim 3, Features: A plurality of air cushion columns are arranged below the swivel pivot seat shell.

6. The redundant limited low-torque full-degree-of-freedom UAV according to claim 1, Features: A thrust bearing is installed at the entrance of the shaft.

7. The redundant limited low-torque full-degree-of-freedom UAV according to claim 1, Features: The mainframe frame comprises a communication frame plate and a support arm. The communication frame plate is provided with four support arms. The end of each support arm is equipped with a fan-shaped plate, and a support leg is provided under the fan-shaped plate.

Images