A driving device for a mission door of a fixed-wing unmanned aerial vehicle

Abstract

The invention discloses a driving device for a fixed-wing unmanned aerial vehicle mission cabin door, which is composed of a pulley transmission mechanism, a controller, a motor assembly and a sensor module; the pulley transmission mechanism is connected to the unmanned aerial vehicle fuselage through an external mechanical interface, the motor assembly is connected to the pulley transmission mechanism, the controller and the motor assembly are installed through a fixed frame, the controller controls the operation of the motor and drives the gears in the pulley transmission mechanism to rotate, so that the toothed belt drives the cabin door to move along the slide rail. The sensor module transmits a signal that the cabin door reaches the limit position and feeds it back to the controller, and the controller controls the forward or reverse rotation of the motor to realize the opening or closing of the cabin door, and the control and operation are simple. The control adopts the CAN bus transmission mode, the data transmission volume is large, the transmission is stable, the power supply socket and the signal socket are independent of each other, and the anti-interference ability is strong; the control mode has a self-detection function, which can effectively grasp the operating status and fault location of the device, and the degree of intelligence is high.

Description

Technical Field

[0001] The present invention relates to a cabin door driving mechanism for an unmanned aerial vehicle, in particular to a cabin door driving device for a fixed-wing unmanned aerial vehicle mission, and belongs to the technical field of cabin door driving for fixed-wing unmanned aerial vehicles. Background Art

[0002] The mission equipment of fixed-wing UAVs is installed in the fuselage. The door drive device drives the door transmission mechanism to open and close the door, so that the mission equipment can be lifted and lowered through the lifting mechanism to perform the flight mission. The door drive device works before and after the mission equipment performs the mission. It is the basis for the mission equipment to perform the mission operation and is a key component in the entire UAV mission work system. The door drive device is an onboard component of the UAV, so there are restrictions on the space size of the door drive device. The door drive device is composed of three parts: a controller, a motor drive component, and a door transmission device. Each part is interrelated and independent of each other. If one of the components fails, the entire door drive device will not work. Therefore, the door drive device of the UAV is required to be small in size, easy to disassemble and assemble, highly adaptable, and have a fault detection function.

[0003] In the invention patent 201710906626.2, a "cabin door control device for drones" is proposed. The driving motor of the cabin door control device is installed on the cabin of the drone, which is inconvenient to disassemble and assemble, and it is necessary to install a guide rail on the inner wall of the cabin, which occupies the internal space of the drone cabin and has poor applicability. In the "a drone cabin door opening device" disclosed in patent 201621117094.1, the drone cabin door opening device uses two sets of electric cylinders to drive the left and right connecting rods to swing, and then drives the cabin door to rotate around the hinge. Since the cabin door opening device uses an electric cylinder as a driving component, the device is heavy, and the swing of the connecting rod and the rotation of the hinge are poor in accuracy and reliability. Summary of the invention

[0004] In order to avoid the deficiencies in the prior art, the present invention proposes a driving device for a mission door of a fixed-wing unmanned aerial vehicle.

[0005] The technical solution adopted by the present invention to solve its technical problem is: including a pulley transmission mechanism, a controller, a motor assembly, a fixing frame, a toothed belt, a sensor module, a slide rail, a cabin door and a UAV fuselage, characterized in that the pulley transmission mechanism and the UAV fuselage are connected through an external mechanical interface, the motor assembly is connected with the pulley transmission mechanism, the controller is located on the upper part of the fixing frame near the side end of the gear, the controller is connected with the motor assembly, the controller controls the motor to run and drives the gear in the pulley transmission mechanism to rotate, so that the toothed belt drives the cabin door to move along the slide rail, and after the sensor module senses the movement of the cabin door, it feeds back a signal that the cabin door reaches the limit position to the controller;

[0006] The fixing frame is a U-shaped groove structure, the inner diameter of the U-shaped groove is the same as the outer diameter of the reducer and the motor in the motor assembly, the outer plane of the fixing frame is fitted and connected to the bottom of the controller box body, and the motor assembly is fixed between the fixing frame and the controller box body;

[0007] The motor assembly comprises a motor, a reducer, a motor seat and a bushing. The motor is connected to a control board in a controller box body through a power supply line led out from the tail of the motor. The speed and direction of the motor are adjusted and controlled by the control board. The motor is connected to the input end of the reducer. A step plane is provided on the circular shaft at the output end of the reducer. A pin hole perpendicular to the plane is provided on the step plane. A plurality of screw holes are evenly distributed on the output end of the reducer. The motor seat is disc-shaped, a through hole is provided on the motor seat, and a plurality of through holes are evenly distributed on the end surface of the outer disc of the motor seat. The output end of the reducer cooperates with the motor seat, and the motor seat and the pulley transmission mechanism are connected by bolts. The bushing is a hollow cuboid, and the bushing is nested on the output shaft of the reducer. A through hole is provided on the bushing that corresponds to the pin hole on the output shaft of the reducer. The bushing is fixedly connected to the reducer by a pin, and the bushing is embedded in the square shaft hole on the pulley transmission mechanism.

[0008] The input end of the pulley transmission mechanism is connected to the motor assembly, and the gear at the output end of the pulley transmission mechanism is meshed with the toothed belt. The rotational torque output by the motor assembly is converted into the linear motion of the toothed belt through the pulley transmission mechanism. The motor in the motor assembly drives the gear in the pulley transmission mechanism to rotate forward or reverse, driving the toothed belt to move forward and backward, thereby realizing the opening or closing of the hatch;

[0009] The controller comprises a controller box, a connector and a control board installed in the controller box. A screw hole is opened at the bottom of the controller box. The controller box is connected to the fixing frame by screws. The connectors in the controller box are respectively a power supply socket and a CAN signal socket. The connector is connected to the control board by a lead wire. The lead wire on the control board passes through a small hole at the bottom of the controller box and is connected to the motor.

[0010] The sensor module includes a limit switch and contacts. The limit switch is located on the fuselage of the drone near the cabin door. Two limit switches are installed at the front and rear positions of the cabin door respectively. The contacts are located at the four corners of the cabin door. As the cabin door moves, the contacts approach the limit switch. The sensor module transmits a signal that the cabin door has reached or reached the limit position and feeds back to the controller, thereby realizing the opening or closing limit of the cabin door.

[0011] The toothed belt is located on the inner side of the UAV fuselage door and is installed parallel to the slide rail. The installation direction of the toothed belt is consistent with the running direction of the UAV door. The toothed belt is made of polyurethane, with glass fiber built in the interlayer. The width of the toothed belt is the same as the gear width of the pulley transmission mechanism.

[0012] The shaft sleeve is made of stainless steel, and the surface of the shaft sleeve is anodized.

[0013] The motor is a brushed DC motor; the reducer is a planetary reducer.

[0014] Beneficial Effects

[0015] The present invention proposes a driving device for a fixed-wing UAV mission cabin door, which is composed of a pulley transmission mechanism, a controller, a motor assembly and a sensor module; the pulley transmission mechanism is connected to the UAV fuselage through an external mechanical interface, the motor assembly is connected to the pulley transmission mechanism, the controller and the motor assembly are connected through a fixed frame, the controller controls the operation of the motor and drives the gears in the pulley transmission mechanism to rotate, so that the toothed belt drives the cabin door to move along the slide rail, and the sensor module transmits the signal of the cabin door reaching or reaching the limit position and feeds back to the control; the cabin door is opened or closed by the forward or reverse rotation of the gear, and the control operation is simple. The cabin door drive control adopts the CAN bus transmission mode, with a large data transmission volume and stable transmission. The power supply socket and the signal socket are independent of each other, with strong anti-interference ability, and the control mode has a self-detection function, which can effectively grasp the operating status and fault location of the device, and has a high degree of intelligence.

[0016] The components of the fixed-wing UAV mission door driving device of the present invention are independent of each other, and the components are simply connected, with good maintainability and interchangeability. The entire device is small in size, easy to disassemble and assemble, and has strong adaptability.

[0017] The drive device uses gear and toothed belt meshing transmission to transmit the motor output torque to the cabin door. The transmission is smooth and reliable, and the gear and toothed belt have a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a further detailed description of a fixed-wing UAV mission door driving device of the present invention in conjunction with the accompanying drawings and implementation modes.

[0019] Figure 1 The present invention is a schematic structural diagram of a fixed-wing UAV mission door drive device.

[0020] Figure 2 The present invention is a schematic diagram of a motor assembly for a fixed-wing UAV mission door drive device.

[0021] Figure 3 This is a schematic diagram of the installation position of the mission door drive device of the present invention on the UAV fuselage.

[0022] In the figure

[0023] 1. Pulley drive mechanism 2. Controller 3. Motor assembly 4. Fixing frame 5. Toothed belt 6. Sensor module 7. Motor 8. Reducer 9. Motor seat 10. Bushing 11. UAV fuselage 12. Limit switch 13. Contact 14. Slide rail 15. Door DETAILED DESCRIPTION

[0024] This embodiment is a driving device for a mission door of a fixed-wing unmanned aerial vehicle.

[0025] See also Figure 1 , Figure 2 , Figure 3 This embodiment is used for a fixed-wing UAV mission cabin door drive device, which is composed of a pulley transmission mechanism 1, a controller 2, a motor assembly 3, a fixing frame 4, a toothed belt 5, a sensor module 6, a slide rail 14, a cabin door 15 and a UAV fuselage 11; wherein, the pulley transmission mechanism 1 and the UAV fuselage 11 are connected through an external mechanical interface; the motor assembly 3 is connected with the pulley transmission mechanism 1. The controller 2 is located on the upper part of the fixing frame 4 near the side end of the gear, and the controller 2 is connected with the motor assembly 3. The controller 2 controls the motor 7 to rotate, and drives the gear in the pulley transmission mechanism 1 to rotate, so that the toothed belt 5 drives the cabin door 15 to move along the slide rail 14; after sensing the movement of the cabin door 15, the sensor module 6 feeds back the signal that the cabin door 15 reaches the limit position to the controller 2.

[0026] In this embodiment, the fixing frame 4 is made of aluminum alloy and adopts a conductive oxidation surface treatment process. The fixing frame 4 is a U-shaped groove structure. The inner diameter of the U-shaped groove is the same as the diameter of the reducer 8 and the motor 7 in the motor assembly 3. The outer plane of the U-shaped groove is in contact with the bottom of the controller 2 box body and is connected by screws. The motor assembly 3 is fixed between the U-shaped groove of the fixing frame 4 and the controller 2 box body.

[0027] The motor assembly 3 includes a motor 7, a reducer 8, a motor seat 9 and a sleeve 10. The motor 7 is a brushed DC motor. The power supply line of the motor is led out from the tail of the motor 7 and penetrates into the box of the controller 2 to be connected to the control board. The speed and direction of the motor 7 are controlled by the control board inside the controller box. The head of the output shaft of the motor 7 is square, and the motor 7 is connected to the input end of the reducer. The reducer 8 adopts a planetary reducer. There is a step plane on the circular shaft at the output end of the reducer, and a pin shaft hole is opened on the step plane. The output end of the reducer 8 is evenly distributed with six screw holes, and the reducer 8 is connected to the motor seat 9. The motor seat 9 is made of aluminum alloy and is treated with conductive oxidation surface. The motor seat 9 is disc-shaped. Six through holes are opened on the inner disc plane of the motor seat 9. The screws pass through the through holes and match with the six screw holes on the output end of the reducer 8. The output end face of the reducer 8 fits with the inner disc plane of the motor seat 9. The reducer 8 and the motor seat 9 are connected by screws. Three through holes are opened on the outer disc end face of the motor seat 9. The screws pass through the three through holes to connect the motor seat 9 and the pulley transmission mechanism 1. The shaft sleeve 10 is made of stainless steel, and the surface of the shaft sleeve 10 is anodized. The shaft sleeve 10 is a hollow rectangular parallelepiped. The shaft sleeve 10 is nested on the output shaft of the reducer 8. The shaft sleeve 10 has a through hole corresponding to the pin hole on the output shaft of the reducer. The shaft sleeve 10 is fixedly connected to the reducer 8 through the pin. The shaft sleeve 10 is embedded in the square shaft hole on the pulley transmission mechanism 1. The shaft sleeve 10 penetrates the square shaft hole on the pulley transmission mechanism 1 to transmit the rotation torque output by the motor assembly 3 to the pulley transmission mechanism 1.

[0028] The input end of the pulley transmission mechanism 1 is connected to the motor assembly 3, the shaft sleeve 10 at the output end of the motor assembly 3 is connected to the square shaft hole at the input end of the pulley transmission mechanism 1, and the gear at the output end of the pulley transmission mechanism 1 is meshed with the toothed belt 5. The rotational torque output by the motor assembly 3 is converted into the linear motion of the toothed belt 5 through the pulley transmission mechanism 1, and the forward or reverse rotation of the motor in the motor assembly 3 drives the forward or reverse rotation of the gear in the pulley transmission mechanism 1, and drives the toothed belt to move forward or backward, so as to realize the opening or closing of the hatch.

[0029] The controller 2 includes a controller box, a connector and a control board installed inside the controller box. The bottom of the controller box is provided with screw holes, and the controller box and the fixing frame 4 are connected by screws. There are two connectors in the controller box, one is a power supply socket and the other is a CAN signal socket; a control board is installed inside the controller box, and the connector is connected to the control board through a lead wire, and the lead wire on the control board passes through the small hole at the bottom of the controller box and is connected to the motor. After receiving the control instruction, the controller 2 decodes the instruction to calculate the driving amount of the motor, drives the motor assembly to work through the driver chip, thereby driving the pulley transmission mechanism and the hatch movement. The control adopts the CAN bus transmission method, with a large data transmission volume and stable transmission. The power supply socket and the signal socket are independent of each other and have strong anti-interference ability; the control method has a self-detection function, which can effectively grasp the operating status and fault location of the device, and has a high degree of intelligence.

[0030] The sensor module 6 includes a limit switch 12 and a contact 13. The limit switch 12 is installed on the UAV fuselage 11 near the cabin door 15, and two limit switches 12 are installed at the front and rear positions of the cabin door 15; the contact 13 is installed on the four corners of the cabin door 15, and the contact 13 moves with the movement of the cabin door 15 and approaches the limit switch 12; the sensor module transmits the signal that the cabin door reaches or reaches the limit position and feeds it back to the controller; the cabin door 15 is opened or closed by the forward or reverse rotation of the gear.

Claims

1. A door driving device for a fixed-wing UAV mission, comprising a pulley transmission mechanism, a controller, a motor assembly, a fixing frame, a toothed belt, a sensor module, a slide rail, a door and a UAV fuselage, characterized in that : The pulley transmission mechanism and the UAV fuselage are connected through an external mechanical interface, the motor assembly is connected to the pulley transmission mechanism, the controller is located on the upper part of the fixed frame near the side end of the gear, the controller is connected to the motor assembly, the controller controls the motor to run and drives the gear in the pulley transmission mechanism to rotate, so that the toothed belt drives the cabin door to move along the slide rail, and after the sensor module senses the movement of the cabin door, it feeds back the signal that the cabin door reaches the limit position to the controller; The fixing frame is a U-shaped groove structure, the inner diameter of the U-shaped groove is the same as the outer diameter of the reducer and the motor in the motor assembly, the outer plane of the fixing frame is fitted and connected to the bottom of the controller box body, and the motor assembly is fixed between the fixing frame and the controller box body; The motor assembly comprises a motor, a reducer, a motor seat and a bushing. The motor is connected to a control board in a controller box body through a power supply line led out from the tail of the motor. The speed and direction of the motor are adjusted and controlled by the control board. The motor is connected to the input end of the reducer. A step plane is provided on the circular shaft at the output end of the reducer. A pin hole perpendicular to the plane is provided on the step plane. A plurality of screw holes are evenly distributed on the output end of the reducer. The motor seat is disc-shaped, a through hole is provided on the motor seat, and a plurality of through holes are evenly distributed on the end surface of the outer disc of the motor seat. The output end of the reducer cooperates with the motor seat, and the motor seat and the pulley transmission mechanism are connected by bolts. The bushing is a hollow cuboid, and the bushing is nested on the output shaft of the reducer. A through hole is provided on the bushing that corresponds to the pin hole on the output shaft of the reducer. The bushing is fixedly connected to the reducer by a pin, and the bushing is embedded in the square shaft hole on the pulley transmission mechanism. The input end of the pulley transmission mechanism is connected to the motor assembly, and the gear at the output end of the pulley transmission mechanism is meshed with the toothed belt. The rotational torque output by the motor assembly is converted into the linear motion of the toothed belt through the pulley transmission mechanism. The motor in the motor assembly drives the gear in the pulley transmission mechanism to rotate forward or reverse, driving the toothed belt to move forward and backward, thereby realizing the opening or closing of the hatch; The controller comprises a controller box, a connector and a control board installed in the controller box. A screw hole is opened at the bottom of the controller box. The controller box is connected to the fixing frame by screws. The connectors in the controller box are respectively a power supply socket and a CAN signal socket. The connector is connected to the control board by a lead wire. The lead wire on the control board passes through a small hole at the bottom of the controller box and is connected to the motor. The sensor module includes a limit switch and contacts. The limit switch is located on the fuselage of the drone near the cabin door. Two limit switches are installed at the front and rear positions of the cabin door respectively. The contacts are located at the four corners of the cabin door. As the cabin door moves, the contacts approach the limit switch. The sensor module transmits a signal that the cabin door has reached or reached the limit position and feeds back to the controller, thereby realizing the opening or closing limit of the cabin door.

2. The fixed-wing UAV mission door drive device according to claim 1 is characterized in that :The toothed belt is located on the inner side of the UAV fuselage door and is installed parallel to the slide rail. The installation direction of the toothed belt is consistent with the running direction of the UAV door. The toothed belt is made of polyurethane, with glass fiber built in the interlayer. The width of the toothed belt is the same as the gear width of the pulley transmission mechanism.

3. The fixed-wing UAV mission door drive device according to claim 1 is characterized in that The shaft sleeve is made of stainless steel and its surface is anodized.

4. The fixed-wing UAV mission door drive device according to claim 1 is characterized in that : The motor is a brushed DC motor; the reducer is a planetary reducer.

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