Aircraft Gimbal with Offset Center of Gravity for Inspection
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Solution Overview
Problem
Aircrafts with a center of gravity coinciding with the rotation axis of the outer frame experience attitude disturbances due to torque when the outer frame contacts external objects during flight, leading to image blur and unsuitable inspection results.
Innovation Solution
The aircraft is designed with a gimbal mechanism and a multicopter configuration where the center of gravity of the motors and propellers is positioned lower than the rotation axis, allowing for independent rotation about three axes and minimizing attitude changes when the outer frame encounters external forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the center of gravity of the aircraft coincides with the center of the rotation axis of the outer frame, then the moment of inertia is small and the aircraft is more maneuverable, but the attitude of the aircraft is frequently disturbed by torque when the outer frame contacts external objects
Solution Approach 1:
The patent positions the center of gravity of the multicopter body lower than the rotation axis of the outer frame, creating a counterbalancing effect. When the outer frame rotates due to external forces, the offset center of gravity generates a restoring torque that opposes the rotation, thereby reducing attitude disturbance while maintaining maneuverability.
2Adaptability or versatility
If the outer frame is designed to contact external objects for inspection in confined areas, then the aircraft can inspect less accessible structures, but the attitude of the aircraft is disturbed causing image blur
Solution Approach 1:
By positioning the center of gravity lower than the rotation axis, the patent creates a stabilizing effect that reduces attitude disturbance during external frame contact, thereby maintaining image quality while enabling inspection in confined areas.
Solution Approach 2:
The patent converts the potentially harmful effect of external forces on the outer frame into a beneficial stabilizing torque through the offset center of gravity configuration. The same external forces that could cause attitude disturbance now generate a restoring moment that maintains attitude stability, allowing clear imaging during contact operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration maintains the aircraft's attitude stability even when the outer frame contacts external objects, ensuring clear and suitable images for inspection by reducing the angular acceleration and moment of inertia.
Implementation Method 1
the propulsion system being able to generate a lift force
Implementation Method 2
a gimbal system and an outer frame, the inner frame comprising a propulsion system and a control system
Implementation Method 3
a decoupling mechanism having either a linear or non-linear beam having provisions for providing at least two rotation degrees of freedom of the inner frame with respect to the outer frame
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
An aircraft (100) includes a body (10) and an outer frame (1) rotatably coupled to the body (10). The body (10) includes a plurality of rotary blades (15a-15d) and a driver (14a-14d) configured to rotate the plurality of rotary blades (15a-15d). The outer frame (1) includes a rotary frame (la-lc) rotatable about a rotation axis intersecting the direction of gravity, and a center of gravity of the plurality of rotary blades (15a-15d) and the driver (14a-14d) is located lower than the rotation axis in the direction of gravity.