Antenna angle adjusting mechanism of multi-rotor aircraft

Abstract

The invention relates to the technical field of antenna adjustment, and provides a multi-rotor aircraft antenna angle adjusting mechanism which comprises a mounting frame, a supporting frame, a pulling plate and a limiting rod. The supporting frame is fixedly connected with the mounting frame, and the supporting frame is provided with two side walls which are oppositely arranged at an interval; each side wall is provided with a steering engine, the output end of each steering engine is connected with a rocker arm, and the far end of each rocker arm is hinged to one end of a pull rod. Two ends of the pull plate are respectively hinged with the other ends of the two pull rods, and the pull plate is provided with a fixing part for fixing an antenna; one end of the limiting rod is fixedly connected with the mounting frame, the other end of the limiting rod is provided with a hinge part hinged to the pulling plate, and a limiting piece is arranged on the limiting rod and matched with the hinge part in a limiting mode. According to the invention, the connecting plate is driven by the two steering engines to carry out attitude adjustment, and through differential adjustment of the independent steering engines, complex three-dimensional free motion can be realized, and the problem of random lateral deviation of the attitude of the airborne antenna caused by the roll angle of the multi-rotor aircraft during flight can be solved.

Description

Technical Field

[0001] This invention relates to the field of antenna adjustment technology, and more particularly to an antenna angle adjustment mechanism for a multi-rotor aircraft. Background Technology

[0002] In certain special scenarios, multi-rotor aircraft need to be equipped with long transmitting whip antennas, and the antennas need to be aligned with the target object at a specific positive angle.

[0003] In related technologies, antennas on multi-rotor aircraft are mostly installed and connected using a rotating platform mount, meaning that the antenna angle is adjusted by rotating the platform. This method is difficult to meet the requirement of adjusting the antenna angle at different positions in three-dimensional space. Furthermore, conventional adjustment platforms are easily affected by the roll angle during aircraft flight, which affects the antenna angle adjustment. Summary of the Invention

[0004] This invention provides an antenna angle adjustment mechanism for a multi-rotor aircraft, which solves the shortcomings of existing adjustment devices that are difficult to adjust in three-dimensional space and difficult to solve the influence of the roll angle during aircraft flight.

[0005] This invention provides an antenna angle adjustment mechanism for a multi-rotor aircraft, comprising: a mounting frame, a support frame, a pull plate, and a limiting rod; the support frame is fixedly connected to the mounting frame, and the support frame has two side walls arranged at relative intervals; each side wall is equipped with a servo motor, the output end of which is connected to a rocker arm, the distal end of which is hinged to one end of a pull rod; both ends of the pull plate are respectively hinged to the other ends of the two pull rods, and the pull plate is provided with a fixing part for fixing the antenna; one end of the limiting rod is fixedly connected to the mounting frame, the other end of the limiting rod has a hinge part that is hinged to the pull plate, and the limiting rod has a limiting member that limits the engagement with the hinge part.

[0006] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, the limiting member has a strip-shaped limiting through hole; correspondingly, one end of the hinge part is provided with a limiting shaft, and a portion of the shaft of the limiting shaft is located in the limiting through hole, so as to limit the position by cooperating with the limiting through hole through the limiting shaft.

[0007] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, the fixing part is located in the middle of the pull plate along the length direction of the pull plate.

[0008] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, a support lug protrudes from the middle of the pull plate toward the side opposite to the fixed part, and the support lug is hinged to the limiting rod.

[0009] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, both ends of the pull plate are provided with hinged lugs, and the pull rod is hinged to the hinged lugs.

[0010] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, both of the two hinge lugs are provided with hinge holes, and the hinge holes are arranged concentrically.

[0011] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, along the vertical direction of the limiting rod, the height of the hinge center of the support lug is higher than the height of the hinge center of the hinge hole on the hinge lug.

[0012] The antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention further includes an auxiliary connecting sleeve for engaging with the antenna. The auxiliary connecting sleeve has connecting portions on both opposite sides, and a support spring is provided between the connecting portions and the mounting bracket.

[0013] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, the distance between the two support springs near one end of the auxiliary connecting sleeve is greater than the distance between the two support springs near one end of the mounting bracket.

[0014] According to the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention, the lever includes a rod body, and ball joints are provided at both ends of the rod body.

[0015] The antenna angle adjustment mechanism for multi-rotor aircraft provided by this invention adjusts the attitude by driving the connecting lever with two servo motors, and can achieve complex three-dimensional free motion through differential adjustment of the independent servo motors. It can also solve the problem of random lateral tilting of the airborne antenna attitude caused by the roll angle of the multi-rotor aircraft during flight. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a front view schematic diagram of the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention.

[0018] Figure 2 This is a top view schematic diagram of the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention.

[0019] Figure 3This is a three-dimensional structural diagram of the antenna angle adjustment mechanism of the multi-rotor aircraft provided by the present invention.

[0020] Figure 4 This is one of the structural schematic diagrams of the antenna angle adjustment mechanism for multi-rotor aircraft provided by the present invention for adjusting the pitch angle.

[0021] Figure 5 This is the second schematic diagram of the structure of the antenna angle adjustment mechanism for multi-rotor aircraft provided by the present invention for adjusting the pitch angle.

[0022] Figure 6 This is one of the structural schematic diagrams of the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention for adjusting the lateral tilt angle.

[0023] Figure 7 This is the second schematic diagram of the structure of the antenna angle adjustment mechanism for a multi-rotor aircraft provided by the present invention for adjusting the lateral tilt angle.

[0024] Figure label: 10. Mounting bracket; 20. Support bracket; 30. Servo motor; 31. Rocker arm; 32. Pull rod; 40. Pull plate; 41. Hinge lug; 42. Support lug; 43. Fixing part; 50. Limiting rod; 51. Limiting component; 511. Limiting through hole; 52. Limiting shaft; 60. Support spring; 70. Auxiliary connecting sleeve; 71. Connecting part. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of clarifying the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0028] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0030] In related technologies, the angle adjustment of airborne antennas is usually achieved by using a rotating platform to drive the antenna to rotate. However, in some scenarios, the main structure of the antenna is relatively long, and the corresponding rotating platform is large in size, making it difficult to achieve three-dimensional attitude changes.

[0031] Regarding the problems in related technologies, see the figure below. Figures 1-3The present invention describes an antenna angle adjustment mechanism for a multi-rotor aircraft, comprising a mounting frame 10, a support frame 20, a pull plate 40, and a limiting rod 50. The support frame 20 is fixedly connected to the mounting frame 10 and has two side walls arranged at relative intervals. Each side wall is equipped with a servo motor 30, the output end of which is connected to a rocker arm 31, the distal end of which is hinged to one end of a pull rod 32. Both ends of the pull plate 40 are respectively hinged to the other ends of the two pull rods 32, and the pull plate 40 is provided with a fixing part 43 for fixing the antenna. One end of the limiting rod 50 is fixedly connected to the mounting frame 10, and the other end of the limiting rod 50 has a hinge part that is hinged to the pull plate 40. The limiting rod 50 is provided with a limiting member 51, which engages with the hinge part for limiting. During flight, an aircraft needs to adjust its attitude, which affects the angle of its onboard antenna. In some scenarios, the antenna needs to be aligned with a target at a positive angle. This necessitates an adjustment structure capable of adjusting the antenna angle while avoiding interference from the aircraft's flight. In this embodiment, two separate servo motors 30, along with a rocker arm 31 and a lever 32 connected to the servo motors 30, enable three-dimensional angle adjustment of the antenna. This improves the flexibility of antenna angle adjustment, and the limiting lever 50 counteracts the roll angle caused by the aircraft's flight, enhancing the control accuracy of the antenna angle.

[0032] Specifically, the mounting bracket 10 is typically made of aluminum alloy or carbon fiber sheet and has multiple mounting holes for securing the entire mechanism to the fuselage or landing gear of a multirotor aircraft with screws.

[0033] like Figure 3 As shown, the support frame 20 is a roughly U-shaped frame structure, with its bottom fixedly connected to the mounting bracket 10 by screws or welding. The support frame 20 has two opposing and parallel spaced sidewalls. A servo motor 30 is fixedly mounted on the inner side of each sidewall via a servo motor 30 mounting bracket. The servo motor 30 is a digital servo motor 30, possessing high torque and precise angle control capabilities. The output of the servo motor 30 extends out of the through-holes in the sidewalls and outwards from both sidewalls. The rocker arm 31 is fixed to the output end of the servo motor 30 by bolts. The servo motor 30 can drive the rocker arm 31 to swing, thereby actuating the lever 32; thus achieving antenna angle adjustment.

[0034] like Figure 3 As shown, the main body of the pull plate 40 is a long strip block structure, and the pull plate 40 is located below the front end of the mounting bracket 10. The two ends of the pull plate 40 are hinged to the pull rod 32 located at one end of each end, so that the angle can be adjusted by the movement of the pull rod 32 at both ends.

[0035] The limiting rod 50 is a rod structure. The limiting rod 50 is provided with a hinge part that connects to the pull plate 40. A limiting member 51 is also fixedly connected to the rod body. Through the cooperation between the limiting member 51 and the hinge part, the pull plate 40 can be kept in a stable position by the limiting rod 50 after adjustment, which effectively prevents the influence of the roll angle during aircraft flight.

[0036] Understandably, compared to the traditional method of using a rotating platform, it is difficult to adjust the position in three-dimensional space, and it is difficult to counteract the influence of roll angle during aircraft flight. In this embodiment, a separate servo motor 30 drives the rocker arm 31 on each side to rotate, and the differential movement of the two servos 30 can realize the movement of the antenna at various angles in three-dimensional space, improving overall flexibility. Furthermore, the setting of the limit rod 50 can effectively improve the stability of the pull plate 40, thereby avoiding the influence of roll angle during aircraft flight.

[0037] The adjustment method is as follows: When the flight control system needs to adjust the antenna angle to optimize the communication link, it sends control signals to the two servos 30. If the two servos 30 rotate in the same direction at the same speed, the rocker arm 31 and the lever 32 drive the pull plate 40 to swing in a single direction around the hinge at the upper end of the limit rod 50. For example, if the two servos 30 rotate clockwise, the rocker arm swings downward and drives the pull plate 40 to rotate around the hinge point of the lever 32 and at the hinge position, thereby allowing the antenna to move upward. Of course, the servos 30 can also be driven to rotate counterclockwise to achieve antenna pitch angle adjustment, such as... Figure 4 , Figure 5 As shown. If the two servo motors 30 are differentially operated (one forward and one reverse), the pull plate 40 will produce a lateral tilt, as shown. Figure 6 , Figure 7 As shown, this allows for the adjustment of the antenna's roll angle. If the two servos 30 move in combination at different speeds and in different directions, a combined pitch and roll angle adjustment can be achieved.

[0038] In specific configuration, shock-absorbing pads are installed at the connection between the mounting bracket 10 and the aircraft fuselage. These pads are made of high-damping silicone material, which effectively isolates high-frequency vibrations transmitted from the fuselage, protecting the servo motor 30 and antenna, and improving the reliability and lifespan of the mechanism. Furthermore, the support bracket 20 adopts a hollow design, removing unnecessary materials to reduce weight while ensuring structural strength. The pull plate 40 and rocker arm 31 are made of aerospace-grade magnesium-aluminum alloy or titanium alloy, achieving lightweight while maintaining strength.

[0039] In some embodiments, such as Figure 3As shown, the limiting member 51 has a strip-shaped limiting through hole 511; correspondingly, one end of the hinge part is provided with a limiting shaft 52, and part of the shaft of the limiting shaft 52 is located inside the limiting through hole 511, so as to limit the antenna by cooperating with the limiting through hole 511. The antenna itself is relatively long, and its end is connected to the fixing part 43 on the pull plate 40. In this embodiment, the cooperation between the limiting shaft 52 and the limiting through hole 511 can effectively improve the stability of the antenna attitude and avoid the influence of the roll angle during aircraft flight.

[0040] Specifically, the limiting member 51 has an overall L-shaped solid structure. The limiting member 51 is fixedly connected to the limiting rod 50, with a portion of the limiting member 51 located outside the limiting rod 50. A limiting through hole 511 is formed on the outer portion of the solid rod, extending in the direction of the limiting rod 50. One end of the limiting shaft 52 is located within the limiting through hole 511, and the other end of the limiting shaft 52 is connected to the hinge, thereby achieving a limiting function and ensuring the stability of the antenna's attitude after adjustment, avoiding the influence of the aircraft's roll angle.

[0041] The limiting rod 50 can be made of a high-strength material, such as a high-strength alloy limiting rod 50, specifically, it can be made of aerospace-grade magnesium-aluminum alloy or titanium alloy.

[0042] It is understandable that the limiting shaft 52 can move vertically along the limiting through hole 511 through the strip-shaped limiting through hole 511, thereby providing position space when the antenna is adjusted in attitude, realizing attitude adjustment, and playing a limiting role to maintain the stability of the antenna attitude.

[0043] In conjunction with the above embodiments, such as Figure 3 As shown, along the length of the pull plate 40, the fixing part 43 is provided in the middle of the pull plate 40. The fixing part 43 is used to connect with the antenna. In this embodiment, by limiting the fixing part 43 to the middle of the pull plate 40, it is beneficial to improve the accuracy of antenna position adjustment and make the force more even.

[0044] Specifically, the fixing part 43 can be a flange hole directly opened on the pull plate 40, allowing the antenna to be directly connected through the flange hole. Alternatively, the pull plate 40 can have a mounting base for fixing the antenna, and the mounting base is connected to the pull plate 40.

[0045] Understandably, by placing the fixed part 43 in the middle position, the overall center of gravity is also located in the middle of the pull plate 40. When the mechanism moves, the load borne by the two servo motors 30 is symmetrical and balanced. This avoids the "seesaw" effect caused by the antenna offset installation, which results in one servo motor 30 having an excessive load and the other having an insufficient load. This allows the two servo motors 30 to move in a coordinated and smooth manner, reducing response delay and asynchronous errors.

[0046] Furthermore, by placing the fixing part 43 in the middle position, it can evenly transmit tension and pressure through the tie rods 32 at both ends, and the middle fixing point avoids the tie plate 40 from bearing excessive bending moment. This allows the tie plate 40 to remain straight and with small deformation even when bearing a heavy antenna, thereby ensuring the rigidity and pointing accuracy of the antenna base.

[0047] In some embodiments, such as Figure 3 As shown, a support lug 42 protrudes from the middle of the pull plate 40 towards the side opposite to the fixing part 43, and the support lug 42 is hinged to the limiting rod 50. The support lug 42 facilitates the hinge between the pull plate 40 and the pull rod 32, allowing the pull plate 40 to rotate around the hinge position, and improving the overall stability of the structure.

[0048] Specifically, the supporting lug 42 and the fixing part 43 are both located in the middle, which makes the hinge point of the supporting lug 42 and the center of gravity of the fixing part 43 coincide on the axis. This means that the core action points of the antenna, the hinge point of the pull plate 40, and the limiting rod 50 are almost concentrated at one point. This design makes the rotation center of the antenna, the constraint center of the mechanism, and the physical installation center of the antenna highly consistent, greatly simplifying the kinematic model, reducing undesirable translation or offset, realizing pure pitch and roll rotation, and making pointing control more precise and intuitive.

[0049] Understandably, this method allows the point of force application of the pull plate 40, the pivot point, and the connection point of the antenna to be located in the same position, which enables precise overall control and more balanced force distribution.

[0050] In conjunction with the above embodiments, both ends of the pull plate 40 are provided with hinged lugs 41, and the pull rod 32 is hinged to the hinged lugs 41. The provision of hinged lugs 41 facilitates the connection between the pull rod 32 and the pull plate 40, improving its assembly efficiency.

[0051] Specifically, the tie rod 32 is a ball-head tie rod 32, and the hinge lugs 41 protrude from both ends of the tie plate 40 so that the overall structure of the tie plate 40 is roughly U-shaped.

[0052] The hinge lug 41 is integrally formed with the pull plate 40, and can be manufactured through integral machining (such as CNC milling) or precision welding. During assembly, the end of the pull rod 32 is hinged to the hinge hole of the hinge lug 41. Of course, to ensure smooth rotation, a linear bearing or lubrication bushing can be installed between the end of the pull rod 32 and the hinge point.

[0053] Understandably, traditional single-ear hinges may experience slight bending or torsional deformation of the ear plate itself under stress. The dual-ear structure of this embodiment forms a stable "fork-shaped" support, evenly distributing the tension or pressure of the pull rod 32 across the two ear plates. This effectively constrains any degree of freedom of the pull rod 32 other than rotation around the pin (such as lateral sway), fundamentally eliminating harmful deflection and deformation at the hinge point. The dual-ear structure combined with the through-shaft structure has a bending section modulus far greater than that of a single-ear hinge, resulting in an order-of-magnitude increase in the stiffness of the entire hinge point. This ensures that every minute angular change output by the servo motor 30 can be transmitted to the attitude change of the pull plate 40 with almost no loss and no delay, thereby achieving extremely high motion repeatability and antenna pointing accuracy.

[0054] In conjunction with the above embodiments, both hinged lugs 41 are provided with hinged holes, which are concentrically arranged. The concentric arrangement of the hinged lugs 41 can effectively enable the pull plate 40 to rotate efficiently, and the concentric arrangement can make the rotation control more precise.

[0055] Understandably, the concentric arrangement ensures smooth rotation of the two hinge points, and that the hinge components at these points form uniform surface contact with the bore wall. The force transmitted from the tie rod 32 is evenly distributed along the pin axis to the two lugs. This makes the hinge point an ideal revolute joint, allowing only pure rotation about the axis without generating internal bending stress.

[0056] Furthermore, when controlling its rotation, the servo motor 30 rotates a small angle, and the force is immediately transmitted to the pull plate 40 without loss, which can improve the control precision.

[0057] In conjunction with the above embodiments, such as Figure 3 As shown, along the vertical direction of the limiting rod 50, the height of the hinge center of the support lug 42 is higher than the height of the hinge center of the hinge hole on the hinge lug 41. After antenna angle adjustment, a stable attitude is required to cope with the influence of the aircraft's roll angle during flight. In this embodiment, the positional design of the support lug 42 and the hinge lug 41 improves the rigidity and stability of the mechanism under load.

[0058] Specifically, the support lug 42 is located between the two hinge lugs 41 and at the center of the pull plate 40. In this embodiment, by raising the hinge center height of the support lug 42, a stable spatial triangle is formed with the drive lugs at both ends, thereby converting the antenna load into pressure on the plane of the pull plate 40, rather than a moment that causes it to bend, significantly improving the stiffness and stability of the mechanism under load.

[0059] Understandably, in this embodiment, by increasing the height of the supporting lug 42, the main body of the pull plate 40, the limiting rod 50, and the two pull rods 32 form a spatial truss structure. The overturning moment generated by the antenna load and external forces is decomposed into the axial tension / compression of the pull rod 32 and the axial compression of the limiting rod 50. This "truss effect" can very efficiently resist bending moments, resulting in minimal deformation of the entire pull plate 40 platform under load, thus maintaining the precise attitude of the antenna.

[0060] Furthermore, due to the formation of a stable triangle, the static load and dynamic impact applied to the antenna are more rationally distributed to the two servo motors 30 and the limiting rod 50. The servo motors 30, their rocker arms 31, and the pull rod 32 no longer bear enormous bending stress, but rather a purer axial force. This reduces the load on the servo motors 30, making their movement smoother and their response faster, while also extending the service life of the servo motors 30 and the entire transmission mechanism. Especially in the continuous vibration environment of multi-rotor aircraft, the high-stiffness triangular structure has a higher natural frequency and is less likely to resonate with the airframe vibration. Even if vibration occurs, its amplitude is very small due to its high stiffness. This provides an extremely stable working platform for high-precision antennas (such as phased array antennas).

[0061] In some embodiments, such as Figure 1 , Figure 2 As shown, it also includes an auxiliary connecting sleeve 70 for connecting with the antenna. The auxiliary connecting sleeve 70 has connecting portions 71 on both opposite sides, and a support spring 60 is provided between the connecting portion 71 and the mounting bracket 10. The transmitting whip antenna is relatively long, resulting in a large lever arm at one end of the antenna connection. This embodiment, through the provision of the auxiliary connecting sleeve 70 and the support spring 60, enables a higher connection strength for the antenna, achieving a stable connection.

[0062] Specifically, such as Figure 2 As shown, the auxiliary connecting sleeve 70 is fixedly sleeved on the antenna rod by bolts. One end of the support spring 60 is fixedly connected to the connecting part 71, and the other end of the support spring 60 is fixedly connected to the mounting bracket 10. When the servo motor 30 drives the antenna to adjust the angle, it requires a large amount of power to drive it (the antenna is long and its lever arm is large). In this embodiment, the support spring 60 can effectively compensate for the insufficient driving force of the servo motor 30 during differential operation and can maintain overall stability after the angle adjustment is completed.

[0063] Specifically, there are two support springs 60, located on both sides of the auxiliary connecting sleeve 70. One end of each support spring 60 is connected to the connecting part 71 on the auxiliary connecting sleeve 70, and the other end is connected to a fixed point (such as a spring hanger) on the mounting bracket 10. The support springs 60 have a certain pre-tension or pre-compression force in their natural state to ensure that they always provide an elastic force to the auxiliary connecting sleeve 70 to return to the center position.

[0064] Understandably, the auxiliary connecting sleeve and support spring 60 provide an elastic constraint in the middle of the antenna. This is equivalent to turning a long cantilever beam into two shorter beams, significantly increasing the overall natural frequency of the antenna and moving it away from the aircraft's main vibration frequency band, thus avoiding catastrophic resonance. Furthermore, the support spring 60 provides a certain restraint force, enabling it to provide strong lateral support to the antenna dynamically (in flight), keeping it stable and improving its overall stability.

[0065] In conjunction with the above embodiments, such as Figure 2 As shown, the distance between the two support springs 60 near the auxiliary connecting sleeve 70 is greater than the distance between the two support springs 60 near the mounting bracket 10. By limiting the position of the support springs 60, the antenna's stability under load is improved.

[0066] Specifically, the two support springs 60 are arranged in a figure-eight shape. This means that when the antenna is subjected to a lateral force (such as airflow from the side) attempting to push the auxiliary connecting sleeve 70 to the left or right, the figure-eight arrangement means that the extension or compression of the spring on either side will generate a restoring force component pointing towards the centerline on the connecting sleeve. This creates an elastic "track" that constrains the movement of the connecting sleeve to a path that is more inclined in the front-back direction, greatly enhancing the ability to suppress the lateral swing of the antenna. In conjunction with the aforementioned limiting rod 50, it effectively constrains the swing of the antenna in both the front-back and left-right directions, forming a more comprehensive "stable envelope".

[0067] Furthermore, the figure-eight arrangement distributes the impact load generated by the antenna swing more evenly across the two springs and their two fixed points on the mounting bracket 10, avoiding stress concentration. Simultaneously, it reduces the lateral bending moment at the antenna root (where it connects to the pull plate 40). The impact energy is absorbed and dissipated more efficiently by the figure-eight structure, thereby further improving the fatigue resistance of the antenna and its connecting structure.

[0068] In some embodiments, the pull rod 32 includes a rod body, with ball-head hinges at both ends. The ball-head hinges effectively enable hinge connection at both ends of the pull rod 32, making the connection more convenient and reducing assembly difficulty.

[0069] Specifically, since there are manufacturing tolerances and installation errors in the processing and installation of components, this embodiment can give it multi-degree-of-freedom motion compensation capability through the setting of the ball joint, thereby ensuring that the entire adjustment mechanism operates smoothly, with low wear and high efficiency.

[0070] Understandably, in complex spatial linkage mechanisms, an ideal hinge is pure rotation. However, in reality, the motion trajectories of the servo motor 30 rocker arm 31 and the hinge point of the pull plate 40 are not perfect two-dimensional planar motions. The ball joint allows the two ends of the pull rod 32 to wobble in any direction within a certain cone angle range. The ball joint perfectly compensates for the possible non-parallelism between the plane of the rocker arm 31 and the plane of the hinge lug 41 of the pull plate 40, as well as the spatial trajectory deviation generated during the movement of the mechanism, completely avoiding the stiffness and jamming phenomena that may be caused by rigid hinges (such as using only a single pin).

[0071] Through the above description of the embodiments, those skilled in the art can clearly understand that in each embodiment, attitude adjustment is achieved by driving the connecting lever with two servo motors 30, and complex three-dimensional free motion can be realized through differential adjustment of the independent servo motors 30, and the problem of random lateral tilting of the airborne antenna attitude caused by the roll angle of the multi-rotor aircraft during flight can be solved.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna angle adjustment mechanism for a multi-rotor aircraft, characterized in that, include: Mounting rack; A support frame is fixedly connected to the mounting frame, and the support frame has two side walls arranged at relatively intervals; each side wall is equipped with a servo motor, the output end of which is connected to a rocker arm, and the distal end of the rocker arm is hinged to one end of a pull rod. A pull plate, the two ends of which are respectively hinged to the other ends of the two pull rods, and the pull plate is provided with a fixing part for fixing the antenna; A limiting rod, one end of which is fixedly connected to the mounting bracket, and the other end of which has a hinge portion that is hinged to the pull plate, and a limiting member on the limiting rod, wherein the limiting member is in a limiting fit with the hinge portion.

2. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 1, characterized in that, The limiting member has a strip-shaped limiting through hole; correspondingly, one end of the hinge part is provided with a limiting shaft, and part of the shaft of the limiting shaft is located in the limiting through hole so as to limit the position by cooperating with the limiting through hole through the limiting shaft.

3. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 1, characterized in that, Along the length of the pull plate, the fixing part is located in the middle of the pull plate.

4. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 3, characterized in that, The middle part of the pull plate has a supporting lug protruding from the side opposite to the fixed part, and the supporting lug is hinged to the limiting rod.

5. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 4, characterized in that, Both ends of the pull plate are provided with hinged lugs, and the pull rod is hinged to the hinged lugs.

6. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 5, characterized in that, Both of the hinged lugs are provided with hinge holes, which are concentrically arranged.

7. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 5, characterized in that, Along the vertical direction of the limiting rod, the height of the hinge center of the support lug is higher than the height of the hinge center of the hinge hole on the hinge lug.

8. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 1, characterized in that, It also includes an auxiliary connecting sleeve for connecting with the antenna, with connecting portions on both opposite sides of the auxiliary connecting sleeve, and a support spring between the connecting portion and the mounting bracket.

9. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 8, characterized in that, The distance between the two support springs near one end of the auxiliary connecting sleeve is greater than the distance between the two support springs near one end of the mounting bracket.

10. The antenna angle adjustment mechanism for a multi-rotor aircraft according to claim 1, characterized in that, The pull rod includes a rod body, and the two ends of the rod body are provided with ball joints.

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