A dual vector steering device

Abstract

The present invention provides a dual-vector steering device, including a pitch mechanism and a yaw mechanism. By controlling the pitch servo motor and the yaw servo motor, the pitch mechanism and the yaw mechanism are rotated in the horizontal plane and the vertical plane respectively, the propeller thrust direction is adjusted, and the flight attitude of the high-altitude balloon is adjusted. The dual-vector steering device provided by the present invention is connected to the tail of the high-altitude balloon through a mounting flange, the controller is started, and the pitch and yaw angles are input into the controller to control the pitch servo motor and the yaw servo motor to achieve the attitude adjustment of the high-altitude balloon. The use of servo motors and reasonable mechanism design makes the dual-vector steering mechanism of the high-altitude balloon respond quickly during operation, and has the characteristics of light weight, high reliability, and strong environmental adaptability.

Description

Technical Field

[0001] The invention belongs to the technical field of 20km high-altitude aerostat equipment, and in particular relates to a dual-vector steering device. Background Art

[0002] A 20km high-altitude aerostat is a general term for a class of aerostats capable of sustained flight at an altitude of 20km, utilizing the unique resources and characteristics of this altitude to carry out specific missions. These aerostats possess strong penetration capabilities, high survivability, and a wide range of applications. High-altitude balloons, one of the primary forms of 20km high-altitude aerostats, typically use differential control of the propellers on either side of the balloon to achieve steering at 20km. However, differential control is difficult to achieve for such lightweight aerostats, often resulting in an excessively large turning radius and slow response speed. Vector steering mechanisms, which alter the direction of a balloon's steering by changing the propeller thrust, require lightweight, fast response, high reliability, and strong environmental adaptability. Summary of the Invention

[0003] In response to this situation, the present invention will develop a dual-vector steering mechanism that can simultaneously realize yaw and pitch steering of high-altitude balloons, and the dual-vector steering mechanism has the characteristics of fast response speed, light weight, high reliability and strong environmental adaptability.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] Specifically, the present invention provides a dual-vector steering device, including a pitch mechanism and a yaw mechanism;

[0006] The pitch mechanism includes a support mechanism, a pitch servo motor, a pitch worm, a pitch worm gear, and a pitch platform; the pitch servo motor is connected to the pitch worm via a first transmission mechanism, and the pitch worm and the pitch worm gear are meshed to form a worm gear reducer; the pitch servo motor, the first transmission mechanism, and the pitch worm are connected to the support mechanism via a bearing seat, the pitch worm gear is fixedly connected to the pitch platform, and the pitch platform is rotatably mounted on the support mechanism. The pitch servo motor is controlled to achieve rotation of the pitch platform in a horizontal plane to complete the pitching action;

[0007] The yaw mechanism includes a yaw frame, a yaw servo motor, a yaw worm and a yaw worm wheel; the yaw servo motor is connected to the yaw worm through a second transmission mechanism, and the yaw worm is engaged with the yaw worm wheel; the yaw servo motor, the second transmission mechanism and the yaw worm are connected to the pitch platform through a bearing seat, the yaw worm wheel is fixedly connected to the yaw frame, and the yaw frame is rotatably mounted on the pitch platform; a propulsion motor is installed on the yaw frame, and a propeller is installed on the propulsion motor; the yaw frame is rotated in the vertical plane by controlling the yaw servo motor, so that the thrust direction of the propeller changes, thereby realizing the yaw function.

[0008] As a further explanation of the present invention, the support mechanism includes a mounting frame and a support frame connected to each other, and the support frames are located at both side ends of the mounting frame.

[0009] As a further illustration of the present invention, the first transmission mechanism includes a pitch reducer, the pitch servo motor is connected to the pitch reducer via a first flange, and the output end of the pitch reducer is connected to the pitch worm.

[0010] As a further illustration of the present invention, the pitch servo motor, the pitch reducer and the pitch worm are connected via a key.

[0011] As a further explanation of the present invention, a first bearing seat and a second bearing seat are fixedly mounted on the support mechanism; the pitch reducer is connected to the first bearing seat, and the two ends of the pitch worm are respectively connected to the first bearing seat and the second bearing seat through deep groove ball bearings; the pitch platform is rotationally connected to the support mechanism through an angular contact ball bearing.

[0012] As a further illustration of the present invention, the worm gear reducer formed by the engagement of the pitch worm and the pitch worm wheel adopts an open installation manner.

[0013] As a further illustration of the present invention, the pitch worm gear is connected to the pitch platform in a spline form; the pitch worm gear is configured as a fan-shaped structure and adopts a web-type and hole-type combined design.

[0014] As a further illustration of the present invention, the second transmission mechanism includes a yaw reducer, the yaw servo motor is connected to the yaw reducer via a second flange, and the output end of the yaw reducer is connected to the yaw worm.

[0015] As a further explanation of the present invention, a third bearing seat and a fourth bearing seat are fixedly installed on the pitch platform; the yaw reducer is connected to the third bearing seat, and the two ends of the yaw worm are respectively connected to the third bearing seat and the fourth bearing seat through deep groove ball bearings.

[0016] As a further illustration of the present invention, a plurality of sliders are installed on the yaw frame, an annular guide rail is installed on the pitch platform, and the sliders are slidably connected to the annular guide rail to achieve guidance.

[0017] As a further illustration of the present invention, the yaw worm gear and the pitch platform are both configured as hollow structures, and the yaw worm gear is placed in the hollow structure in the pitch platform, so that the yaw worm gear can be connected to the yaw frame located above the pitch platform to form an integral structure.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] The dual-vector steering mechanism provided by the present invention can ensure that the flight attitude of the high-altitude balloon can be controlled by adjusting the pitch mechanism and the yaw mechanism through the servo motor during the flight of the high-altitude balloon, and will not get stuck during the operation.

[0020] The dual-vector steering device provided by this invention is connected to the tail of a high-altitude balloon via a mounting flange. The controller is activated, and pitch and yaw angles are input to the controller to control the pitch and yaw servo motors to adjust the balloon's attitude. The use of servo motors and a rational mechanical design ensures that the dual-vector steering mechanism of the high-altitude balloon has a fast response speed during operation, and is lightweight, highly reliable, and highly adaptable to environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a side view of the dual-vector steering device provided by the present invention.

[0022] Figure 2 It is an isometric diagram of the dual-vector steering device provided by the present invention.

[0023] Figure 3 It is a left and right isometric drawing of the dual-vector steering device provided by the present invention.

[0024] Figure 4 It is a bottom view of the dual-vector steering device provided by the present invention.

[0025] Figure 5 This is a diagram of the annular guide rail support structure of the dual-vector steering device provided by the present invention.

[0026] Figure 6 This is a connection diagram of the reducer and worm of the dual-vector steering device provided by the present invention.

[0027] Figure 7 This is a connection diagram of the pitch worm reducer of the dual-vector steering device provided by the present invention.

[0028] Reference numerals:

[0029] Pitch mechanism 1: support frame 11, mounting frame 12, pitch servo motor 13, first flange 14, pitch reducer 15, first bearing seat 16, pitch worm 17, second bearing seat 18, pitch worm gear 19, pitch platform 110;

[0030] Yaw mechanism 2: yaw frame 21, propulsion motor 22, propeller 23, slider 24, annular guide rail 25, yaw servo motor 26, second flange 27, yaw reducer 28, third bearing seat 29, yaw worm 210, yaw worm gear 211, fourth bearing seat 212. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0034] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0036] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0037] The technical solution of the present invention will be explained below with reference to specific embodiments.

[0038] like Figure 1-6 As shown, the present invention provides a dual-vector steering device, comprising a pitch mechanism 1 and a yaw mechanism 2;

[0039] The pitch mechanism 1 includes a support mechanism, a pitch servo motor 13, a pitch worm 17, a pitch worm gear 19, and a pitch platform 110. The pitch servo motor 13 is connected to the pitch worm 17 via a first transmission mechanism, and the pitch worm 17 and the pitch worm gear 19 mesh together to form a worm gear reducer. The pitch servo motor 13, the first transmission mechanism, and the pitch worm 17 are connected to the support mechanism via a bearing seat, and the pitch worm gear 19 is fixedly connected to the pitch platform 110. The pitch platform 110 is rotatably mounted on the support mechanism. The pitch servo motor 13 is controlled to rotate the pitch platform 110 in the horizontal plane to complete the pitching action.

[0040] The yaw mechanism 2 includes a yaw frame 21, a yaw servo motor 26, a yaw worm 210, and a yaw worm gear 211. The yaw servo motor 26 is connected to the yaw worm 210 via a second transmission mechanism, and the yaw worm 210 is meshed with the yaw worm gear 211. The yaw servo motor 26, the second transmission mechanism, and the yaw worm 210 are connected to the pitch platform 110 via a bearing seat. The yaw worm gear 211 is fixedly connected to the yaw frame 21, and the yaw frame 21 is rotatably mounted on the pitch platform 110. A propulsion motor 22 is mounted on the yaw frame 21, and a propeller 23 is mounted on the propulsion motor 22. The yaw frame 21 is rotated in the vertical plane by controlling the yaw servo motor 26, thereby changing the thrust direction of the propeller 23 and realizing the yaw function.

[0041] The dual-vector steering device is connected to the tail of the high-altitude balloon via a mounting flange. The controller is activated, and pitch and yaw angles are input to the controller, which in turn controls the pitch and yaw servo motors to adjust the balloon's attitude. The use of servo motors and a rational mechanical design ensures the dual-vector steering mechanism's fast response during operation, along with its lightweight, high reliability, and strong environmental adaptability.

[0042] In one feasible manner, the support mechanism includes a mounting frame 12 and a support frame 11 that are connected to each other. The support frame 11 is located at both side ends of the mounting frame 12. Since the propeller generates a large torque during rotation, the support mechanism is designed in a two-end support manner. Furthermore, the mounting frame 12 and the support frame 11 are designed with ribs, which can withstand a large torque and ensure the reliability of the dual-vector device during operation.

[0043] In one achievable embodiment, the first transmission mechanism includes a pitch reducer 15. The pitch servo motor 13 is connected to the pitch reducer 15 via a first flange 14. The output end of the pitch reducer 15 is connected to the pitch worm 17. Furthermore, the pitch servo motor 13, the pitch reducer 15, and the pitch worm 17 are directly connected via a key. Compared to the coupling connection used in conventional transmission connection structures, the direct key connection in the present invention effectively reduces weight while fully meeting the required connection force for transmission. Furthermore, the worm gear reducer formed by the meshing of the pitch worm 17 and the pitch worm wheel 19 is installed in an open manner, rather than a closed worm gear reducer. The pitch worm wheel 19 is splined to the pitch platform 110, which increases the contact surface and transmits greater torque. The pitch worm wheel 19 is designed as a fan-shaped structure, and adopts a combination of web and hole design methods to achieve the purpose of reducing the overall mass of the vector mechanism device.

[0044] In one practicable embodiment, a first bearing seat 16 and a second bearing seat 18 are fixedly mounted on the support mechanism; the pitch reducer 15 is connected to the first bearing seat 16, and the ends of the pitch worm 17 are connected to the first bearing seat 16 and the second bearing seat 18 respectively via deep groove ball bearings. Furthermore, the pitch platform 110 is rotationally connected to the support mechanism via angular contact ball bearings. Specifically, angular contact ball bearings can be used to rotationally connect the ends of the pitch platform 110 to the support frame 11 and mounting frame 12 on the corresponding sides. Because the propeller generates significant torque during rotation, the pitch platform 110 is mounted using two-end support to ensure the reliability of the dual-vector device during operation.

[0045] In one implementation, the second transmission mechanism includes a yaw reducer 28. The yaw servo motor 26 is connected to the yaw reducer 28 via a second flange 27. The output end of the yaw reducer 28 is connected to the yaw worm 210. A third bearing seat 29 and a fourth bearing seat 212 are fixedly mounted on the pitch platform 110. The yaw reducer 28 is connected to the third bearing seat 29, and the ends of the yaw worm 210 are connected to the third bearing seat 29 and the fourth bearing seat 212, respectively, via deep groove ball bearings.

[0046] Furthermore, multiple sliders 24 are mounted on the yaw frame 21, and an annular guide rail 25 is mounted on the pitch platform 110. The sliders 24 are slidably connected to the annular guide rail 25 for guidance. Compared to traditional bearing connections, the present invention utilizes an annular guide rail and slider connection, providing both guidance and support for the yaw frame 21 while reducing the overall mass of the device.

[0047] Furthermore, the yaw worm gear 211 and the pitch platform 110 are both configured as hollow structures, and the yaw worm gear 211 is placed in the hollow structure within the pitch platform 110, so that the yaw worm gear 211 can be directly connected to the yaw frame 21 located above the pitch platform 110 to form an integral structure, thereby avoiding the need for an additional transmission device between the reducer formed by the yaw worm gear and the yaw frame 21, and enabling the dual-vector steering device to achieve further weight reduction.

[0048] The dual-vector steering device can ensure that the flight attitude of the high-altitude balloon can be controlled by adjusting the pitch mechanism and yaw mechanism through the servo motor during the flight, and will not get stuck during the operation.

[0049] The working principle of the above dual vector steering device is:

[0050] Before launching the high-altitude balloon, a dual-vector steering device is installed at the tail of the high-altitude balloon. During the launch of the high-altitude balloon, if the pitch angle of the high-altitude balloon needs to be adjusted, a command is sent to the pitch servo motor 13 driver through the controller carried by the high-altitude balloon. The pitch servo motor driver drives the pitch servo motor 13, and the pitch servo motor 13 drives the pitch worm 17 through the pitch reducer 15. The pitch worm 17 engages with the pitch worm gear 19, and the rotation of the pitch worm gear 19 causes the pitch platform 110 to rotate in the horizontal plane, so that the thrust direction of the propeller 23 changes, thereby completing the pitch angle adjustment of the high-altitude balloon. Adjustment: After the high-altitude balloon rises to the specified height, it flies smoothly. If the flight direction of the high-altitude balloon needs to be adjusted, a command will be sent to the yaw servo motor 26 driver through the controller carried by the high-altitude balloon. The yaw servo motor 26 driver drives the yaw servo motor 26, and the yaw servo motor 26 drives the yaw worm 210 through the yaw reducer 28. The yaw worm 210 engages with the yaw worm gear 211, and the yaw worm gear 211 rotates to cause the yaw frame 21 to rotate in the vertical plane along the guide rail 25, so that the thrust direction of the propeller 23 changes, and the flight direction of the high-altitude balloon is adjusted.

[0051] The dual-vector steering device using a high-altitude balloon has a fast response speed during operation and is characterized by light weight, high reliability and strong environmental adaptability.

[0052] The above embodiments are preferred examples for implementing the present invention, and the present invention is not limited to the above embodiments. Any non-essential additions or replacements made by those skilled in the art based on the technical features of the present invention fall within the scope of protection of the present invention.

Claims

1. A dual vector steering device, characterized in that: It includes a pitch mechanism (1) and a yaw mechanism (2); The pitch mechanism (1) includes a support mechanism, a pitch servo motor (13), a pitch worm (17), a pitch worm wheel (19) and a pitch platform (110); the pitch servo motor (13) is connected to the pitch worm (17) through a first transmission mechanism, and the pitch worm (17) and the pitch worm wheel (19) are meshed to form a worm reducer; the pitch servo motor (13), the first transmission mechanism and the pitch worm (17) are connected to the support mechanism through a bearing seat, the pitch worm wheel (19) is fixedly connected to the pitch platform (110), and the pitch platform (110) is rotatably mounted on the support mechanism. By controlling the pitch servo motor (13), the pitch platform (110) is rotated in a horizontal plane to complete the pitching action; The yaw mechanism (2) comprises a yaw frame (21), a yaw servo motor (26), a yaw worm (210) and a yaw worm wheel (211); the yaw servo motor (26) is connected to the yaw worm (210) via a second transmission mechanism, and the yaw worm (210) is meshed with the yaw worm wheel (211); the yaw servo motor (26), the second transmission mechanism and the yaw worm (210) are connected to the pitch platform (1) via a bearing seat. 10), the yaw worm gear (211) is fixedly connected to the yaw frame (21), and the yaw frame (21) is rotatably mounted on the pitch platform (110); a propulsion motor (22) is mounted on the yaw frame (21), and a propeller (23) is mounted on the propulsion motor (22); the yaw frame (21) is rotated in a vertical plane by controlling the yaw servo motor (26), so that the thrust direction of the propeller (23) is changed, thereby realizing a yaw function; A plurality of sliders (24) are installed on the yaw frame (21), an annular guide rail (25) is installed on the pitch platform (110), and the sliders (24) are slidably connected to the annular guide rail (25) to achieve guidance; The yaw worm gear (211) and the pitch platform (110) are both configured as hollow structures, and the yaw worm gear (211) is placed in the hollow structure in the pitch platform (110), so that the yaw worm gear (211) can be connected to the yaw frame (21) located above the pitch platform (110) to form an integral structure.

2. The dual vector steering device according to claim 1, characterized in that: The support mechanism comprises a mounting frame (12) and a support frame (11) connected to each other, wherein the support frame (11) is located at both side ends of the mounting frame (12).

3. The dual vector steering device according to claim 1, characterized in that: The first transmission mechanism includes a pitch reducer (15), the pitch servo motor (13) is connected to the pitch reducer (15) via a first flange (14), and the output end of the pitch reducer (15) is connected to the pitch worm (17).

4. The dual vector steering device according to claim 3, characterized in that: The pitch servo motor (13), the pitch reducer (15) and the pitch worm (17) are connected via a key.

5. The dual vector steering device according to claim 3, characterized in that: A first bearing seat (16) and a second bearing seat (18) are fixedly mounted on the support mechanism; the pitch reducer (15) is connected to the first bearing seat (16), and both ends of the pitch worm (17) are respectively connected to the first bearing seat (16) and the second bearing seat (18) through deep groove ball bearings; the pitch platform (110) is rotationally connected to the support mechanism through an angular contact ball bearing.

6. The dual vector steering device according to claim 1, characterized in that: The worm gear reducer formed by the meshing of the pitch worm (17) and the pitch worm wheel (19) adopts an open installation method.

7. The dual vector steering device according to claim 1, characterized in that: The pitch worm gear (19) is connected to the pitch platform (110) in a spline form; the pitch worm gear (19) is configured as a fan-shaped structure and adopts a web-type and hole-type combined design.

8. The dual vector steering device according to claim 1, characterized in that: The second transmission mechanism includes a yaw reducer (28), the yaw servo motor (26) is connected to the yaw reducer (28) via a second flange (27), and the output end of the yaw reducer (28) is connected to the yaw worm (210); a third bearing seat (29) and a fourth bearing seat (212) are fixedly mounted on the pitch platform (110); the yaw reducer (28) is connected to the third bearing seat (29), and both ends of the yaw worm (210) are respectively connected to the third bearing seat (29) and the fourth bearing seat (212) via deep groove ball bearings.

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