Multi-degree-of-freedom self-adaptive adjustment steering engine frame for unmanned aerial vehicle

Abstract

The utility model discloses a multi-degree-of-freedom self-adaptive adjusting steering engine frame for an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises a mounting plate, a plurality of magnetorheological fluid dampers are mounted on the mounting plate, the other ends of the magnetorheological fluid dampers are connected with a bottom plate, a servo motor is mounted on the bottom plate, and the servo motor is connected with the mounting plate. The output end of the servo motor is connected with a rotating plate through a rotating rod, one end of the rotating plate is rotationally connected with a supporting plate, and the rotating plate is connected with the supporting plate through an adjusting assembly. A clamping assembly used for clamping a steering engine is arranged on the supporting plate, and a heat dissipation assembly is installed on the supporting plate; the bottom plate, the rotating plate and the supporting plate are respectively provided with a micro piezoelectric acceleration sensor, a three-axis tilt angle sensor and a double-axis tilt angle sensor; according to the utility model, multi-degree-of-freedom automatic adjustment and accurate angle feedback of the steering engine are realized, and the problems of poor adjustment flexibility and angle feedback lagging of the existing steering engine frame are effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely is a kind of multi-degree of freedom self-adapting adjustment steering gear frame for unmanned plane. BACKGROUND

[0002] As a kind of equipment with autonomous flight and task execution ability, unmanned plane has been widely used in agriculture, electric power, surveying and mapping, rescue and other fields. Steering gear, as the core component of unmanned plane attitude control, actuating mechanism (such as spray rod, detection holder, grabbing mechanical gripper) drive, its installation stability, attitude adjustment flexibility and working reliability directly determine the flight safety and task completion quality of unmanned plane.

[0003] Most existing steering gear frames only support single-dimensional adjustment (such as only horizontal rotation or only vertical pitch), and the angle needs to be adjusted manually through bolt in another dimension, which cannot respond to flight control instructions in real time. Some double-degree-of-freedom steering gear frames adopt "gear transmission + manual knob" structure, which has narrow adjustment range and transmission gap. Existing steering gear frames rely on the potentiometer feedback angle information provided by steering gear, and the error accumulation caused by carbon film wear of potentiometer after long-term use, which easily leads to delayed attitude adjustment due to angle feedback lag during unmanned plane maneuvering flight (such as turning and climbing).

[0004] Inadequate heat dissipation design, low steering gear reliability: the heat dissipation mode of existing steering gear frame is mainly "natural heat dissipation" or "small fan direct blowing": natural heat dissipation has insufficient heat dissipation efficiency when steering gear is under high load; small fan direct blowing has no directional air duct design, and airflow is easily blocked by support structure, resulting in low heat dissipation efficiency, which causes steering gear to frequently trigger overheat protection, and even causes steering gear coil to burn out. Therefore, the technical personnel in the art provides a kind of multi-degree of freedom self-adapting adjustment steering gear frame for unmanned plane to solve the problems raised in the above background technology. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of multi-degree of freedom self-adapting adjustment steering gear frame for unmanned plane to solve the problems raised in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] A kind of multi-degree of freedom self-adapting adjustment steering gear frame for unmanned plane, comprising:

[0008] A mounting plate is provided with mounting threaded holes, and a plurality of magneto-rheological fluid dampers are installed on the mounting plate, and the other end of the plurality of magneto-rheological fluid dampers is connected with a bottom plate, a servo motor is installed on the bottom plate, a rotating plate is connected to the output end of the servo motor through a rotating rod, a support plate is rotatably connected to one end of the rotating plate, and the rotating plate and the support plate are connected through an adjusting assembly.

[0009] The support plate is provided with a clamping assembly for clamping the rudder, and a heat dissipation assembly is mounted on the support plate.

[0010] The bottom plate, the rotating plate and the support plate are respectively provided with a micro piezoelectric acceleration sensor, a three-axis tilt sensor and a two-axis tilt sensor.

[0011] Preferably, the adjusting assembly comprises an electric push rod, a first rotating block, a second rotating block and a sliding block, the rotating plate is provided with a mounting groove, the first rotating block is connected with the cylinder body of the electric push rod, the second rotating block is connected with the output end of the electric push rod, the first rotating block is rotatably connected in the mounting groove, the second rotating block is rotatably connected with the sliding block, and the support plate is provided with a sliding groove for sliding connection of the sliding block.

[0012] Preferably, the rotating plate is provided with a rotating ring, the bottom plate is provided with a rotating groove, the rotating ring is slidingly connected in the rotating groove, and a plurality of rotating beads are rotatably connected on the rotating ring and slidingly connected in the rotating groove.

[0013] Preferably, the rotating plate is provided with two connecting plates, and one end of the support plate is rotatably connected between the connecting plates.

[0014] Preferably, the clamping assembly comprises a first side plate, a second side plate, a clamping plate, a threaded rod and a handle, the first side plate and the second side plate are fixedly connected on the support plate, the threaded rod is threadedly connected with the second side plate, one end of the threaded rod is rotatably connected with the clamping plate, the other end of the threaded rod is fixedly connected with the handle, and the support plate, the first side plate and the clamping plate are all provided with a rubber layer.

[0015] Preferably, the heat dissipation assembly comprises a refrigeration plate, a plurality of heat dissipation fins and a capacitive temperature sensor, the capacitive temperature sensor is mounted on the support plate, the refrigeration plate is mounted on the support plate, and the plurality of heat dissipation fins are arranged on the refrigeration plate.

[0016] Preferably, a PLC controller is mounted on the bottom plate, and the PLC controller is electrically connected with the magnetorheological fluid damper, the servo motor, the micro piezoelectric acceleration sensor, the three-axis tilt sensor, the two-axis tilt sensor, the electric push rod, the refrigeration plate and the capacitive temperature sensor.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1. The utility model discloses realized the automatic adjustment of rudder multiple degrees of freedom and accurate angle feedback, effectively solve the existing rudder frame adjustment flexibility is poor, angle feedback lag problem. The utility model discloses through servo motor drive rotating plate realizes horizontal direction rotation, cooperation adjustment component drive support plate realizes vertical direction angle adjustment, need not manual operation can respond in real time flight control instruction, satisfy the dynamic adjustment demand of rudder attitude under different operation scene, simultaneously, the three -axis inclination sensor on the rotating plate and the double -axis inclination sensor on the support plate have replaced the angle feedback mode of existing dependence rudder self -contained potentiometer, avoided the error accumulation of potentiometer because of long -term use abrasion, can in time, accurate angle information of rudder frame is delivered to flight control system, ensures that unmanned aerial vehicle when maneuvering flight can adjust the rudder attitude quickly, improves flight stability and task execution precision.

[0019] 2. The utility model discloses have efficient damping performance and heat dissipation effect, significantly enhance the work reliability of rudder, improve the defect that existing rudder frame shock absorption is insufficient, heat dissipation is inefficient. The utility model discloses set up magneto rheological liquid damper between the mounting panel and bottom plate, can effectively buffer the vibration produced in the process of unmanned aerial vehicle flight, reduce the impact of vibration to rudder, protect the internal component of rudder, prolong the service life of rudder, aiming at the problem that the heat dissipation design of existing rudder frame is not perfect, the utility model discloses specially set up heat dissipation component on the support plate, can be specifically to rudder heat dissipation, avoid the rudder because of high load operation produces a large amount of heat but cannot effectively dissipate and frequently trigger overheat protection, even appear coil burnout situation, guarantee the continuous and stable work of rudder, satisfy the long -time operation demand of unmanned aerial vehicle. ACCURACY

[0020] Figure 1 It is a structure schematic view of a multi-degree-of-freedom self-adaptive adjusting rudder frame for an unmanned aerial vehicle in an embodiment of the present application.

[0021] Figure 2 It is a sectional structure schematic view of a multi-degree-of-freedom self-adaptive adjusting rudder frame for an unmanned aerial vehicle in an embodiment of the present application.

[0022] Figure 3 It is Figure 2 the enlarged view of A in the middle.

[0023] In the figure: 1, mounting plate; 2, mounting threaded hole; 3, magneto-rheological fluid damper; 4, bottom plate; 5, servo motor; 6, rotating plate; 7, support plate; 8, three-axis tilt sensor; 9, two-axis tilt sensor; 10, electric push rod; 11, first rotating block; 12, second rotating block; 13, sliding block; 14, mounting groove; 15, sliding groove; 16, rotating ring; 17, rotating groove; 18, rotating bead; 19, connecting plate; 20, first side plate; 21, second side plate; 22, clamping plate; 23, threaded rod; 24, rotating handle; 25, rubber layer; 26, refrigeration plate; 27, heat dissipation fin; 28, capacitive temperature sensor; 29, PLC controller; 30, micro piezoelectric acceleration sensor. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0025] Please refer to Figures 1-3 The utility model provides a technical scheme:

[0026] A multi-freedom degree self-adaptive adjusting rudder frame for unmanned aerial vehicle, comprising:

[0027] The mounting plate 1 is provided with mounting threaded holes 2, and a plurality of magneto-rheological fluid dampers 3 are mounted on the mounting plate 1, and the other ends of the magneto-rheological fluid dampers 3 are connected with a bottom plate 4, the bottom plate 4 is provided with a servo motor 5, the output end of the servo motor 5 is connected with a rotating plate 6 through a rotating rod, one end of the rotating plate 6 is rotatably connected with a support plate 7, and the rotating plate 6 and the support plate 7 are connected through an adjusting assembly, the adjusting assembly comprises an electric push rod 10, a first rotating block 11, a second rotating block 12 and a sliding block 13, the rotating plate 6 is provided with a mounting groove 14, the first rotating block 11 is connected with the cylinder body of the electric push rod 10, the second rotating block 12 is connected with the output end of the electric push rod 10, the first rotating block 11 is rotatably connected in the mounting groove 14, the second rotating block 12 is rotatably connected with the sliding block 13, the support plate 7 is provided with a sliding groove 15 for slidingly connecting the sliding block 13, the rotating plate 6 is provided with a rotating ring 16, the bottom plate 4 is provided with a rotating groove 17, the rotating ring 16 is slidingly connected in the rotating groove 17, a plurality of rotating beads 18 are rotatably connected on the rotating ring 16 and slidingly connected in the rotating groove 17, the rotating plate 6 is provided with two connecting plates 19, and one end of the support plate 7 is rotatably connected between the connecting plates 19.

[0028] The micro piezoelectric acceleration sensor 30, the three-axis tilt sensor 8 and the two-axis tilt sensor 9 are respectively installed on the bottom plate 4, the rotating plate 6 and the support plate 7.

[0029] The vibration generated by the flight of the unmanned aerial vehicle is transmitted to the magnetorheological fluid damper 3 through the mounting plate 1, and the PLC controller 29 adjusts the damping coefficient of the magnetorheological fluid damper 3 in real time according to the vibration data collected by the micro piezoelectric acceleration sensor 30, quickly absorbs the vibration energy to reduce the impact on the rudder.

[0030] The multi-degree-of-freedom adjustment function of the device is realized through the cooperative operation of the horizontal and vertical directions. In the horizontal direction, the PLC controller 29 receives the real-time angle of the rotating plate 6 detected by the three-axis tilt sensor 8, controls the servo motor 5 to drive the rotating plate 6 to rotate through the rotating rod, and the rotating ring 16 slides in the rotating groove 17 of the bottom plate 4 during the rotating process, and the rotating ball 18 effectively reduces the friction to ensure the rotating stability, thereby realizing the adjustment of the horizontal direction posture of the rudder. In the vertical direction, the two-axis tilt sensor 9 feeds back the angle information of the support plate 7 to the PLC controller 29, and the PLC controller 29 drives the electric push rod 10 to extend and retract, so as to drive the first rotating block 11 to rotate in the mounting groove 14, the second rotating block 12 drives the sliding block 13 to slide along the sliding groove 15 of the support plate 7, and finally drives the support plate 7 to rotate around the connecting shaft between the connecting plates 19, thereby completing the angle adjustment of the vertical direction of the rudder.

[0031] The support plate 7 is provided with a clamping assembly for clamping the rudder, and the clamping assembly comprises a first side plate 20, a second side plate 21, a clamping plate 22, a threaded rod 23 and a handle 24. The first side plate 20 and the second side plate 21 are fixedly connected to the support plate 7, the threaded rod 23 is threadedly connected to the second side plate 21, one end of the threaded rod 23 is rotatably connected to the clamping plate 22, and the other end of the threaded rod 23 is fixedly connected to the handle 24. Rubber layers 25 are arranged on the support plate 7, the first side plate 20 and the clamping plate 22.

[0032] When the multi-degree-of-freedom self-adaptive adjustment rudder frame for unmanned aerial vehicle is used, first, the installation and fixing operation is performed, and the entire device is stably connected to the unmanned aerial vehicle body through the mounting threaded holes 2 on the mounting plate 1. Then, the handle 24 of the clamping assembly is rotated to drive the clamping plate 22 to move along the support plate 7 stably by the threaded rod 23, and the clamping and fixing of rudders of different specifications are realized by the cooperation with the first side plate 20. The rubber layers 25 arranged on the support plate 7, the first side plate 20 and the clamping plate 22 can effectively avoid scratching and damaging the surface of the rudder during the clamping process.

[0033] A heat dissipation assembly is installed on the support plate 7, and the heat dissipation assembly comprises a refrigeration plate 26, a plurality of heat dissipation fins 27 and a capacitive temperature sensor 28. The capacitive temperature sensor 28 is installed on the support plate 7, the refrigeration plate 26 is installed on the support plate 7, and the plurality of heat dissipation fins 27 are arranged on the refrigeration plate 26.

[0034] The intelligent heat dissipation function relies on the capacitor type temperature sensor 28 to detect the temperature of the steering gear and transmit to the PLC controller 29, when the temperature exceeds the preset threshold, the PLC controller 29 starts the refrigeration plate 26, and the heat is quickly dissipated through the heat dissipation fin 27 to reduce the temperature of the steering gear, and when the temperature drops to the safe range, the refrigeration plate 26 stops working automatically, realizing energy-saving and efficient heat dissipation.

[0035] In the above embodiment, the PLC controller 29 is installed on the bottom plate 4, and the PLC controller 29 is electrically connected with the magnetorheological fluid damper 3, the servo motor 5, the micro piezoelectric acceleration sensor 30, the three-axis tilt sensor 8, the two-axis tilt sensor 9, the electric push rod 10, the refrigeration plate 26 and the capacitor type temperature sensor 28 respectively.

[0036] It should be noted that the specific model and specification of the PLC controller 29, the magnetorheological fluid damper 3, the servo motor 5, the micro piezoelectric acceleration sensor 30, the three-axis tilt sensor 8, the two-axis tilt sensor 9, the electric push rod 10, the refrigeration plate 26 and the capacitor type temperature sensor 28 need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in the art, so it will not be described in detail.

[0037] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom self-adaptive adjusting rudder frame for a drone, characterized in that, The utility model provides a kind of servo steering gear, including: Mounting plate (1), mounting threaded hole (2) is opened on the mounting plate (1), several magnetorheological fluid dampers (3) are installed on the mounting plate (1), and the other end of several magnetorheological fluid dampers (3) is connected with bottom plate (4), servo motor (5) is installed on the bottom plate (4), rotating plate (6) is connected with the output end of servo motor (5) by rotating rod, rotating plate (6) one end is rotatably connected with support plate (7), and rotating plate (6) is connected with support plate (7) by adjusting assembly between the support plate (7); The support plate (7) is provided with a clamping assembly for clamping the rudder, and the support plate (7) is provided with a heat dissipation assembly; The bottom plate (4), the rotating plate (6) and the support plate (7) are respectively provided with a micro piezoelectric acceleration sensor (30), a three-axis tilt sensor (8) and a two-axis tilt sensor (9). 2.The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 1, wherein: The adjusting assembly comprises an electric push rod (10), a first rotating block (11), a second rotating block (12) and a sliding block (13), the rotating plate (6) is provided with a mounting groove (14), the first rotating block (11) is connected with the cylinder of the electric push rod (10), the second rotating block (12) is connected with the output end of the electric push rod (10), the first rotating block (11) is rotatably connected in the mounting groove (14), the second rotating block (12) is rotatably connected with the sliding block (13), and the support plate (7) is provided with a sliding groove (15) for sliding connection of the sliding block (13). 3.The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 1, wherein: The rotating plate (6) is provided with a rotating ring (16), the bottom plate (4) is provided with a rotating groove (17), the rotating ring (16) is slidingly connected in the rotating groove (17), the rotating ring (16) is rotatably connected with a plurality of rotating beads (18), and the plurality of rotating beads (18) are slidingly connected in the rotating groove (17).

4. The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 1, characterized in that: The rotating plate (6) is provided with two connecting plates (19), and one end of the support plate (7) is rotatably connected between the connecting plates (19).

5. The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 1, characterized in that: The clamping assembly comprises a first side plate (20), a second side plate (21), a clamping plate (22), a threaded rod (23) and a handle (24), the first side plate (20) and the second side plate (21) are fixedly connected on the support plate (7), the threaded rod (23) is threadedly connected with the second side plate (21), one end of the threaded rod (23) is rotatably connected with the clamping plate (22), the other end of the threaded rod (23) is fixedly connected with the handle (24), and the support plate (7), the first side plate (20) and the clamping plate (22) are all provided with a rubber layer (25).

6. The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 2, characterized in that: The heat dissipation assembly comprises a refrigeration plate (26), a plurality of heat dissipation fins (27) and a capacitive temperature sensor (28), the capacitive temperature sensor (28) is installed on the support plate (7), the refrigeration plate (26) is installed on the support plate (7), and the plurality of heat dissipation fins (27) are arranged on the refrigeration plate (26).

7. The multi-degree-of-freedom self-adaptive adjusting rudder frame for a UAV according to claim 6, characterized in that: The bottom plate (4) is provided with a PLC controller (29), which is electrically connected with the magnetorheological fluid damper (3), the servo motor (5), the three-axis tilt sensor (8), the two-axis tilt sensor (9), the electric push rod (10), the refrigeration plate (26) and the capacitive temperature sensor (28) respectively.

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