Dynamic balance device for unmanned aerial vehicle
By combining a three-axis accelerometer and a gyroscope sensor on the drone for real-time monitoring, the mass block is automatically adjusted to restore the dynamic balance of the motor shaft, solving the flight instability problem caused by propeller damage and improving the drone's autonomous flight capability and safety.
Patent Information
- Application Number
- CN202520210585.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2035-02-10
AI Technical Summary
Existing drones struggle to achieve automatic dynamic balance correction after propeller damage, leading to flight instability or even loss of control. Current technologies largely rely on manual adjustments or external intervention, and the versatility and ease of integration of dynamic balancing devices are insufficient.
The system uses a triaxial accelerometer and a gyroscope to monitor the dynamic balance of the motor shaft in real time. The control system automatically adjusts the mass block in the mass adjustment assembly to compensate for the imbalance of the motor shaft and restore flight stability.
It enables real-time automatic balance adjustment of drones when the propeller is damaged, improving flight stability and safety, reducing reliance on external intervention, and is applicable to a variety of drone platforms. It has a simple structure and low cost.
Smart Images
Figure CN223686867U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to multi-rotor unmanned plane technical field especially, it is a kind of dynamic balancing device for unmanned plane. BACKGROUND
[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used in various fields, including photography, logistics, agriculture, etc. Most of the unmanned aerial vehicles on the market use outer rotor brushless DC motor drive, and the motor drives the propeller to rotate through the bearing and motor shaft. However, the propeller as a plastic consumable part, its vulnerability is often a hidden danger in the flight of the unmanned aerial vehicle. Especially during flight, once the propeller is damaged (such as fracture, crack, etc.), it will cause the dynamic imbalance of the motor shaft, thereby causing unstable flight, and in severe cases, it may cause the unmanned aerial vehicle to lose control and crash.
[0003] Most of the existing technologies focus on controlling the flight attitude (such as adjusting the attitude of the aircraft by means of wind sensor, rudder, balance rotor, etc.), and few of them involve the problem of flight stability caused by the imbalance of the motor shaft. Most unmanned aerial vehicle designs do not consider how to quickly compensate or correct the dynamic balance after the propeller is damaged. Therefore, in the case of propeller damage, the flight control system of the unmanned aerial vehicle may not be able to perceive and make corresponding adjustments in real time, thereby causing flight abnormalities and safety risks. Even if some advanced flight control systems can correct flight abnormalities, they still cannot effectively correct the dynamic balance physically and cannot ensure safe flight in the case of damage.
[0004] Secondly, most of the existing technologies control flight stability through wind direction sensors or attitude detection systems, but these technologies do not dynamically adjust the motor shaft itself. The current system may cause the aircraft to lose balance after the propeller is damaged, which cannot maintain stable flight, thereby affecting the completion of the flight mission.
[0005] Furthermore, in the existing technology, many solutions rely on manual adjustment or external intervention to restore flight stability. For example, traditional systems may try to correct by adjusting the flight attitude or speed, but cannot respond automatically and correct in real time. Many existing dynamic balancing systems may increase the weight of the unmanned aerial vehicle, or use complex mechanical devices, resulting in increased cost and size of the equipment, affecting flight time and performance.
[0006] In addition, most of the dynamic balancing devices on the market, especially those applied to unmanned aerial vehicles, are often limited to certain high-end models or specific environments, and do not consider the problem of universality and easy integration. UTILITY MODEL CONTENT
[0007] To solve the above unmanned aerial vehicle in the blade dynamic balance damage caused by the unmanned aerial vehicle out of control technical problem, the utility model aims at putting forward a kind of dynamic balancing device for unmanned aerial vehicle.Its working principle is as follows: when the blade of propeller breaks or is damaged, the rotation of motor shaft will become asymmetric, causing eccentric rotation.Dynamic balancing assembly monitors the dynamic balance state of motor shaft in real time through sensor, and once it finds that dynamic balance is abnormal, control system will start working component in time, automatically adjusts the mass distribution of mass block in mass adjustment assembly, makes it compensate the mass of damaged side, thereby restores the dynamic balance of motor shaft, ensures flight stability.Extreme conditions are as follows: when one blade breaks, sensor detects that the dynamic balance of motor shaft is destroyed, and working component will adjust the mass in time, and distribute its mass on the side of broken propeller, maintains the dynamic balance of motor shaft under the condition of broken propeller.
[0008] The utility model discloses a kind of dynamic balancing devices for unmanned aerial vehicle, which is achieved by the following technical solutions:
[0009] A kind of dynamic balancing device for unmanned aerial vehicle is provided, including propeller, motor shaft and dynamic balancing assembly, the propeller and dynamic balancing assembly are connected at the opposite ends of motor shaft, and the dynamic balancing assembly includes sensor and working component connected with each other, and sensor and working component are connected with motor shaft.
[0010] When the propeller is damaged or damaged, the sensor detects the change of the dynamic balance of the motor shaft and feeds back the information to the working component. The working component adjusts the circumferential mass according to the feedback signal to rebalance the motor shaft and ensure that the unmanned aerial vehicle can still maintain stable flight in the damaged state.
[0011] Further, the sensor includes a three-axis acceleration sensor and a gyroscope sensor, and the three-axis acceleration sensor and the gyroscope sensor are electrically connected with the motor shaft.
[0012] The three-axis acceleration sensor and the gyroscope sensor can realize dynamic monitoring of the motor shaft.
[0013] The three-axis acceleration sensor is used to detect the acceleration change of the motor shaft, especially when the propeller is damaged, the motor shaft will have an asymmetric acceleration change, which is manifested as abnormal acceleration fluctuation in a specific direction. The sensor can feedback the vibration condition of the motor shaft in real time, and when the vibration in a certain direction exceeds the preset range, it is immediately judged that the propeller may have been damaged.
[0014] The gyroscope sensor is used to detect the rotation change of the motor shaft. The gyroscope can accurately monitor the rotation speed and angle deviation of the motor shaft. Once the propeller is damaged, the rotation trajectory of the motor shaft will be asymmetric or eccentric. The gyroscope can timely detect the abnormality and feed back the data to the control system.
[0015] Further, the dynamic balancing assembly further comprises a control system, and the sensor is electrically connected with the working component through the control system.
[0016] Preferably, the triaxial acceleration sensor and the gyroscope sensor are both electrically connected with the control system.
[0017] Further, the working component comprises an adjusting driving device and a mass adjusting assembly, the control system is connected with the mass adjusting assembly through the adjusting driving device, and the mass adjusting assembly is connected with the motor shaft.
[0018] Further, the mass adjusting assembly comprises a shell and a mass block, the shell is sleeved outside the motor shaft, the mass block is arranged between the shell and the motor shaft, the adjusting driving device is connected with the mass block, and the adjusting driving device can drive the mass block to move along the circumferential direction of the motor shaft.
[0019] Further, the adjusting driving device is a motor servo system or a stepping motor.
[0020] Further, the propeller comprises a hub and a blade, the hub is fixedly connected with the motor shaft, and the blade is arranged on the hub.
[0021] Further, the propeller comprises a hub and a blade, the hub is fixedly connected with the motor shaft, and the blade is arranged on the hub.
[0022] Further, the propeller comprises a hub and a blade, the hub is fixedly connected with the motor shaft, and the blade is arranged on the hub.
[0023] Further, the propeller comprises a hub and a blade, the hub is fixedly connected with the motor shaft, and the blade is arranged on the hub.
[0024] The utility model provides a kind of dynamic balancing device for unmanned plane, for the motor shaft dynamic balance imbalance caused by propeller breakage is made up, and the beneficial effects compared with prior art are as follows:
[0025] 1, real-time automatic adjustment dynamic balance: prior art is difficult to realize the automatic adjustment of dynamic balance when propeller is damaged, and the utility model provides an intelligent solution, the dynamic balancing assembly (sensor and working component cooperation) automatically adjusts the dynamic balance of motor shaft, so that unmanned plane can correct dynamic balance in flight, ensure flight stability, effectively solve the imbalance problem caused by propeller damage. This method directly solves the dynamic balance problem caused by propeller breakage, instead of relying on adjusting attitude or external factors.
[0026] 2. Improved flight stability: The dynamic balancing device for unmanned aerial vehicles can monitor and adjust the dynamic balance of the motor shaft in real time during flight, ensuring that even if the propeller is damaged, the flight stability will not be affected. Among them, the three-axis acceleration sensor and gyroscope sensor combination is innovatively adopted to monitor the dynamic balance state of the motor shaft in real time. After the sensor detects unbalance, the control system will start the mass block adjustment mechanism to compensate for the unbalance by adjusting the circumferential mass distribution of the motor shaft to restore flight stability. This dynamic feedback-based mass adjustment method is a unique innovation in the prior art.
[0027] 3. Intelligent feedback mechanism: Real-time feedback of damage state through sensors, automatic response adjustment of working components, reduces the need for manual intervention, and improves the autonomous flight capability of the unmanned aerial vehicle.
[0028] 4. Improved safety: effectively avoids the risk of loss of control due to propeller damage, improves the safety and emergency handling capability of the unmanned aerial vehicle in extreme situations.
[0029] 5. No need for manual repair: in traditional technology, the propeller needs to be replaced manually after being damaged, while the utility model adjusts dynamically to reduce the dependence on external intervention, allowing the unmanned aerial vehicle to continue flying, thereby reducing the risk of flight interruption. This self-correcting capability enables the unmanned aerial vehicle to maintain stability in complex flight environments (such as extreme weather conditions, long flight times, etc.).
[0030] 6. Simple structure, low cost: the dynamic balancing assembly is composed of simple sensors and working components, installed at one end of the motor shaft, without the need for complex mechanical devices or excessive external control systems, easy to integrate and will not significantly increase the cost and weight, suitable for most unmanned aerial vehicle platforms. The entire device is lightweight and simplified, providing better flight stability and emergency handling capability without significantly increasing the weight and cost of the unmanned aerial vehicle. This makes the technology have strong market adaptability and universality, especially suitable for existing consumer-level unmanned aerial vehicles or commercial-level unmanned aerial vehicle systems.
[0031] 7. Wide range of applications: the device is a universal dynamic balancing device that can be applied to various types of unmanned aerial vehicles without the need for complex modifications or additional hardware support. Through simple sensors and dynamic balancing assemblies, it can be quickly integrated into existing unmanned aerial vehicle platforms for a variety of flight tasks. The device is not only suitable for high-end unmanned aerial vehicles, but also can be applied to commercial, agricultural, and film shooting fields, expanding the breadth of market applications. BRIEF DESCRIPTION OF DRAWINGS
[0032] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the premise of the drawings.
[0033] Figure 1 The structural schematic diagram of the dynamic balancing device for the unmanned aerial vehicle in the embodiment of the present application is shown in the figure.
[0034] Figure 2 The structural schematic diagram of the dynamic balancing device for the unmanned aerial vehicle when the propeller is damaged in the embodiment of the present application is shown in the figure.
[0035] Figure 3 The structural schematic diagram of the mass adjusting assembly in the embodiment of the present application is shown in the figure.
[0036] Figure 4 The side view schematic diagram of the mass adjusting assembly in the embodiment of the present application is shown in the figure.
[0037] Figure 5 The structural schematic diagram of the external rotor motor in the embodiment of the present application is shown in the figure.
[0038] Explanation of the figure:
[0039] 1-propeller; 2-motor shaft; 3-dynamic balancing assembly; 4-outer shell; 5-mass block; 6-blade; 7-external rotor motor; 8-stator; 9-bearing. DETAILED DESCRIPTION
[0040] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.
[0041] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.
[0042] It should also be understood that the terms used herein in this utility specification are for the purpose of describing particular embodiments and are not intended to limit the utility. As used in this utility specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
[0043] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, indicate an orientation or positional relationship based on the positions shown in the drawings or the positions in which the application is usually placed during use, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.
[0044] The terms "parallel", "vertical", and the like do not mean that the components must be absolutely parallel or vertical, but can be slightly inclined. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly inclined.
[0045] In the description of the application, it should be noted that unless otherwise specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.
[0046] Embodiments
[0047] Please refer to Figures 1 to 5 The dynamic balancing device for the unmanned aerial vehicle shown comprises a propeller 1, a motor shaft 2 and a dynamic balancing assembly 3, the propeller 1 and the dynamic balancing assembly 3 are connected to opposite ends of the motor shaft 2, and the dynamic balancing assembly 3 comprises a sensor and a working part connected to each other, and the sensor and the working part are connected to the motor shaft 2. Among them, when the propeller 1 is damaged or damaged, the sensor will detect the change of the motor shaft dynamic balance, and feedback the information to the working part. The working part adjusts the circumferential mass according to the feedback signal, rebalances the motor shaft 2, and ensures that the unmanned aerial vehicle can still maintain stable flight in the damaged state.
[0048] The sensor comprises a three-axis acceleration sensor and a gyroscope sensor, and the three-axis acceleration sensor and the gyroscope sensor are electrically connected to the motor shaft 2. Among them, the three-axis acceleration sensor and the gyroscope sensor can realize dynamic monitoring of the motor shaft 2.
[0049] The dynamic balancing assembly further comprises a control system, and the sensor is electrically connected to the working component through the control system. In the embodiment, the three-axis acceleration sensor and the gyroscope sensor are both electrically connected to the control system. The working mode of the sensor is as follows: when the propeller is damaged (for example, one blade is broken), the motor shaft 2 will rotate eccentrically due to the asymmetric thrust, resulting in a sharp change in acceleration and angular velocity. At this time, the sensor will detect these changes and send signals to the control system. The control system will determine whether the propeller 1 is damaged according to the information provided by the sensor, and start the working component to correct the dynamic balance.
[0050] The working component comprises an adjusting driving device and a mass adjusting assembly, the control system is connected to the mass adjusting assembly through the adjusting driving device, and the mass adjusting assembly is connected to the motor shaft 2. The working component is used to restore the dynamic balance of the motor shaft 2 through a physical mechanism. The mass adjusting assembly comprises a shell 4 and a mass block 5, the shell 4 is sleeved on the motor shaft 2, the mass block 5 is arranged between the shell 4 and the motor shaft 2, the adjusting driving device is connected to the mass block 5, and the adjusting driving device can drive the mass block 5 to move along the circumferential direction of the motor shaft 2. The adjusting driving device is a motor servo system or a stepping motor. In the embodiment, the adjusting driving device is a stepping motor.
[0051] The propeller 1 comprises a hub and a plurality of blades 6, the hub is fixedly connected to the motor shaft 2, and the blades 6 are arranged on the hub. The blades 6 are arranged in a circumferential array on the hub. An outer rotor motor 7 is further arranged between the dynamic balancing assembly 3 and the propeller 1. The outer rotor motor 7 comprises a stator 8 and a bearing 9, the bearing 9 is rotationally connected to the motor shaft 2, and the stator 8 is sleeved on the bearing 9.
[0052] The working process of the dynamic balancing device for the unmanned aerial vehicle is as follows: when the sensor detects that the propeller 1 is damaged, the control system starts the working component, and the mass adjusting assembly compensates for the imbalance of the mass caused by the damage by adjusting the position of the mass block 5.
[0053] The specific adjustment steps are as follows:
[0054] 1. Signal processing: the sensor (three-axis acceleration sensor and gyroscope sensor) feeds back the detected abnormal signal to the control system, and the control system analyzes the signal to determine the direction and degree of imbalance.
[0055] 2. Control system starts: when the control system determines that the propeller 1 is damaged to cause the imbalance of the motor shaft 2, the control system sends a signal to the adjusting driving device to start the adjustment of the mass block 5 in the mass adjusting assembly.
[0056] 3、Adjusting driving device: the adjusting driving device is used for controlling the displacement of the mass block 5 in the mass adjusting assembly. The adjusting driving device adjusts the dynamic balance of the motor shaft 2 by precisely controlling the displacement of the mass block 5.
[0057] 4、Mass adjusting assembly: the mass adjusting assembly is composed of the shell 4 and a plurality of adjustable mass blocks 5, and the mass blocks 5 can be moved along the circumferential direction of the motor shaft 2, so as to automatically adjust the circumferential mass. The position of the mass block 5 can be dynamically adjusted according to the signal fed back by the sensor.
[0058] 5、Continuous monitoring and fine adjustment: once the dynamic balance state of the motor shaft 2 is adjusted, the sensor continues to monitor the dynamic balance state of the motor shaft 2, so as to ensure that the unmanned aerial vehicle is stable during flight. If a new unbalanced state occurs, the control system can be adjusted in real time, so as to ensure the continuous balance during flight.
[0059] The above merely describes the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A dynamic balancing device for a drone, characterized by, The propeller, the motor shaft and the dynamic balance assembly are connected at opposite ends of the motor shaft, the dynamic balance assembly comprises a sensor and a working part connected with each other, and the sensor and the working part are connected with the motor shaft.
2. The dynamic balancing device for a drone of claim 1, wherein, The sensor comprises a three-axis acceleration sensor and a gyroscope sensor, and the three-axis acceleration sensor and the gyroscope sensor are electrically connected with the motor shaft. 3.The dynamic balancing device for the UAV of claim 1, wherein, The dynamic balance assembly further comprises a control system, and the sensor is electrically connected with the working part through the control system.
4. The dynamic balancing device for a drone of claim 3, wherein, The working part comprises an adjusting driving device and a mass adjusting assembly, the control system is connected with the mass adjusting assembly through the adjusting driving device, and the mass adjusting assembly is connected with the motor shaft.
5. The dynamic balancing device for a drone of claim 4, wherein, The mass adjusting assembly comprises a shell and a mass block, the shell is sleeved outside the motor shaft, the mass block is arranged between the shell and the motor shaft, the adjusting driving device is connected with the mass block, and the adjusting driving device can drive the mass block to move along the circumferential direction of the motor shaft.
6. The dynamic balancing device for a drone of claim 5, wherein, The adjusting driving device is a motor servo system or a stepping motor. 7.The dynamic balancing device for the UAV of claim 1, wherein, The propeller comprises a hub and a blade, the hub is fixedly connected with the motor shaft, and the blade is arranged on the hub. 8.The dynamic balancing device for the UAV of claim 7, wherein, The blade is a plurality of blades, and the plurality of blades are arranged in a circumferential array on the hub. 9.The dynamic balancing device for the UAV of claim 1, wherein, An outer rotor motor is further arranged between the dynamic balance assembly and the propeller. 10.The dynamic balancing device for the UAV of claim 9, wherein, The outer rotor motor comprises a stator and a bearing, the bearing is rotationally connected with the motor shaft, and the stator is sleeved outside the bearing.