CN114954913B - Precision balancing device for improving flight stability of unmanned aerial vehicle - Google Patents
Precision balancing device for improving flight stability of unmanned aerial vehicle Download PDFInfo
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- CN114954913B CN114954913B CN202210765547.5A CN202210765547A CN114954913B CN 114954913 B CN114954913 B CN 114954913B CN 202210765547 A CN202210765547 A CN 202210765547A CN 114954913 B CN114954913 B CN 114954913B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a precision balancing device for improving flight stability of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein the bottom of the unmanned aerial vehicle body is connected with a first driving assembly through a support assembly, a linkage mechanism is arranged between the first driving assemblies, the bottom of the support assembly is fixedly connected with a support seat assembly, the bottom of the inner side of the support seat assembly is provided with a steering mechanism, the steering mechanism and the vertical center of the unmanned aerial vehicle body are arranged in a collinear manner, the top of the unmanned aerial vehicle body is electrically connected with a wind direction sensor, and the unmanned aerial vehicle body, the linkage mechanism, the steering mechanism and the wind direction sensor are in signal connection with a control part; the linkage mechanism is used for controlling the stability of the unmanned aerial vehicle body; steering mechanism is used for adjusting the moving direction of unmanned aerial vehicle body and keeps balanced. The unmanned aerial vehicle body steering device can resist severe weather influences such as strong wind and the like, and can smoothly steer on the premise of not influencing the flight speed of the unmanned aerial vehicle body, so that the overall operation stability of the unmanned aerial vehicle body is effectively improved.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a precision balancing device for improving flight stability of an unmanned aerial vehicle.
Background
The stability factor of the unmanned aerial vehicle has great relation with the size, the weight, the balance performance, the software algorithm and the external environment. In severe weather such as strong wind, the unmanned aerial vehicle is easy to incline and the like, so that the shooting quality is influenced; the direction or inclination of the existing unmanned aerial vehicle is mostly adjusted by increasing or reducing the rotating speed of a propeller, so that on one hand, the inclination of the unmanned aerial vehicle causes the unstable problem, on the other hand, the moving speed of the unmanned aerial vehicle is influenced while the rotating speed is changed, and the stability of the flight state of the unmanned aerial vehicle is extremely easily influenced on the whole; therefore, a precision balancing device capable of effectively improving the flight stability of the unmanned aerial vehicle is urgently needed.
Disclosure of Invention
The invention aims to provide a precision balancing device for improving the flight stability of an unmanned aerial vehicle, which is used for solving the problems and achieving the purpose of improving the stability of the unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following scheme: a precision balancing device for improving flight stability of an unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the bottom of the unmanned aerial vehicle body is connected with first driving assemblies through a support assembly, a linkage mechanism is arranged between the first driving assemblies, the bottom of the support assembly is fixedly connected with a support seat assembly, the bottom of the inner side of the support seat assembly is provided with a steering mechanism, the steering mechanism and the vertical center of the unmanned aerial vehicle body are arranged in a collinear manner, the top of the unmanned aerial vehicle body is electrically connected with a wind direction sensor, and the unmanned aerial vehicle body, the linkage mechanism, the steering mechanism and the wind direction sensor are in signal connection with a control part;
the linkage mechanism is used for controlling the stability of the unmanned aerial vehicle body;
steering mechanism is used for adjusting the moving direction of unmanned aerial vehicle body keeps balanced.
Preferably, the bracket assembly comprises two groups of fixing brackets which are perpendicular to each other and are fixedly connected, and the unmanned aerial vehicle body is fixedly connected to the tops of the two groups of fixing brackets;
the first driving assembly comprises four groups of first servo motors, first propellers are fixedly connected to first rotating shafts of the first servo motors respectively, the first propellers are oppositely arranged and are identical in structure, the first propellers are adjacent, the rotating directions of the first propellers are opposite, the side walls of the first servo motors are hinged to two ends of the fixing support respectively, the linkage mechanism is arranged between the first servo motors, and the first servo motors are connected with the control part through signals.
Preferably, the linkage mechanism comprises two groups of linkage units, wherein one group of linkage units is correspondingly arranged between the two groups of first servo motors;
the linkage unit comprises a second connecting rod and a fourth connecting rod, wherein the second connecting rod is connected with the inner side of one end of the fixed support in a sliding mode, the fourth connecting rod is connected with the inner side of the other end of the fixed support in a rotating mode, the first gear and the fixed connection are connected with the inner side of the fixed support, the second connecting rod is close to the first rack at one end of the first gear, the fourth connecting rod is close to the second rack at one end of the first gear, the second connecting rod, the first rack and the fourth connecting rod are arranged in parallel, the first gear is meshed with the first rack and the second rack, the second connecting rod and the top of the first servo motor are arranged between the fourth connecting rod and the other servo motor respectively, an auxiliary portion is arranged between the bottom of the fixed support and the bottom of the first servo motor, and the auxiliary portion is connected with a control portion signal.
Preferably, the regulation portion includes fixed connection and is in the second connecting rod is close to the third connecting rod of first servo motor one end, sets up the fixed bolster is close to the third spout at first servo motor one end top, the third connecting rod is close to the one end of second connecting rod is followed fixed bolster direction sliding connection is in the third spout, the third connecting rod is kept away from the one end of second connecting rod is connected with the ball pivot subassembly, first rotation axis passes the ball pivot subassembly.
Preferably, the spherical hinge assembly comprises a fixed sleeve fixedly connected to one end of the third connecting rod, a sphere is arranged in the fixed sleeve in a spherical hinge mode, and the first rotating shaft penetrates through the center of the sphere.
Preferably, the assistance portion is including seting up the fixed bolster is close to first spout, the fixed connection of first servo motor one end are kept away from in the first spout the electromagnetic block of first servo motor one end, set up the fixed bolster is close to second spout, the sliding connection of first servo motor one end bottom are in traveller, vertical fixed connection in the first spout the slip telescopic link, the fixed connection of traveller middle-end are in the first connecting rod of slip telescopic link bottom, first connecting rod is kept away from the one end of slip telescopic link articulates first servo motor bottom, the top of slip telescopic link is followed fixed bolster sliding connection is in the second spout, the electromagnetic block with unmanned aerial vehicle body electric connection.
Preferably, the support seat assembly comprises fixed supports fixedly connected to the bottoms of the two groups of fixed supports, and support legs fixedly connected to the bottoms of the two sides of the fixed supports;
steering mechanism includes fixed connection and is in fourth servo motor in the fixed bolster bottom surface, rotate to be connected runing rest, connection on the fixed bolster bottom surface are in the upset unit of runing rest bottom, setting are in second drive assembly on the upset unit, second drive assembly with the vertical central line coincidence of unmanned aerial vehicle body sets up, upset unit, second drive assembly, fourth servo motor with control portion signal connection.
Preferably, the upset unit is including rotating the connection and being in upset support, symmetry fixed connection between the runing rest bottom second servo motor and the balancing piece of runing rest outside bottom, second servo motor's second rotation axis passes runing rest bottom lateral wall with upset support coaxial center fixed connection, second servo motor with the quality looks adaptation of balancing piece, second drive assembly sets up on the upset support.
Preferably, the second driving assembly comprises a third servo motor fixedly connected to the overturning support, and a third rotating shaft of the third servo motor penetrates through the overturning support and is fixedly connected with a second propeller.
The invention has the following technical effects: the first driving assembly is mainly used for driving the unmanned aerial vehicle body to do lifting action, and the linkage mechanism is mainly used for controlling the flight stability of the unmanned aerial vehicle body in severe weather; the steering mechanism is mainly used for adjusting the flight direction of the unmanned aerial vehicle body, replaces the existing technology of adjusting the direction by changing the rotating speed of the motor, and performs steering on the premise that the unmanned aerial vehicle body keeps the states of flight speed and the like; on the whole, the unmanned aerial vehicle can resist severe weather influences such as certain strong wind and the like, and smoothly turns on the premise of not influencing the flying speed of the unmanned aerial vehicle body, so that the overall operation stability of the unmanned aerial vehicle body is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the structure of the unmanned aerial vehicle of the present invention;
fig. 2 is a schematic cross-sectional view of the drone of the present invention;
FIG. 3 is an enlarged view of a portion A of FIG. 2;
FIG. 4 is a schematic top view of the linkage mechanism of the present invention;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1; 2. a fixed bracket; 3. a first propeller; 4. a first rotating shaft; 5. a first servo motor; 6. a fixed support; 7. a support leg; 8. a second servo motor; 9. turning over the support; 10. a second propeller; 11. a counterbalance; 12. a third servo motor; 13. rotating the bracket; 14. a wind direction sensor; 15. fixing a sleeve; 16. a sphere; 17. a first link; 18. sliding the telescopic rod; 19. a first chute; 20. a second chute; 21. a traveler; 22. an electromagnetic block; 23. a second link; 24. a third chute; 25. a third link; 26. a first rack; 27. a first spring; 28. a first fixed block; 29. a fourth link; 30. a second rack; 31. a second spring; 32. a second fixed block; 33. a first gear; 34. and a fourth servo motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Referring to fig. 1-4, the invention provides a precision balancing device for improving flight stability of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, wherein the bottom of the unmanned aerial vehicle body 1 is connected with a first driving assembly through a support assembly, a linkage mechanism is arranged between the first driving assemblies, the bottom of the support assembly is fixedly connected with a support assembly, the bottom of the inner side of the support assembly is provided with a steering mechanism, the steering mechanism and the vertical center of the unmanned aerial vehicle body 1 are arranged in a collinear manner, the top of the unmanned aerial vehicle body 1 is electrically connected with a wind direction sensor 14, and the unmanned aerial vehicle body 1, the linkage mechanism, the steering mechanism and the wind direction sensor 14 are in signal connection with a control part;
the linkage mechanism is used for controlling the stability of the unmanned aerial vehicle body 1;
steering mechanism is used for adjusting the moving direction of unmanned aerial vehicle body 1 and keeps balanced.
The main function of the first driving assembly is to drive the unmanned aerial vehicle body 1 to do lifting action, and the main function of the linkage mechanism is to control the flight stability of the unmanned aerial vehicle body 1 in severe weather; the steering mechanism is mainly used for adjusting the flight direction of the unmanned aerial vehicle body 1, the existing technology of adjusting the direction by changing the rotating speed of the motor is replaced, steering is carried out on the premise that the unmanned aerial vehicle body 1 keeps the states of the flight speed and the like, and as the steering mechanism and the vertical center of the unmanned aerial vehicle body 1 are arranged in a collinear manner, the gravity center and the balance state of the unmanned aerial vehicle body 1 are not influenced when the steering mechanism operates, namely the flight stability of the unmanned aerial vehicle body 1 is not influenced; on the whole, the unmanned aerial vehicle can resist severe weather influences such as certain strong wind and the like, and smoothly turns on the premise of not influencing the flying speed of the unmanned aerial vehicle body 1, so that the overall operation stability of the unmanned aerial vehicle body 1 is effectively improved.
According to the further optimization scheme, the support assembly comprises two groups of fixing supports 2 which are perpendicular to each other and are fixedly connected, and the unmanned aerial vehicle body 1 is fixedly connected to the tops of the two groups of fixing supports 2;
the first driving assembly comprises four groups of first servo motors 5, first propellers 3 are fixedly connected to first rotating shafts 4 of the four groups of first servo motors 5 respectively, the two groups of first propellers 3 which are oppositely arranged are identical in structure, the rotating directions of the adjacent first propellers 3 are opposite, side walls of the four groups of first servo motors 5 are hinged to two ends of the two groups of fixing supports 2 respectively, a linkage mechanism is arranged between the first servo motors 5 which are oppositely arranged, and the four groups of first servo motors 5 are in signal connection with a control part.
Send start signal to four groups of first servo motor 5 through the control part, first servo motor 5 drives first screw 3 rotatory to drive unmanned aerial vehicle body 1 and rise.
In a further optimization scheme, the linkage mechanism comprises two groups of linkage units, wherein one group of linkage units is correspondingly arranged between the two groups of first servo motors 5;
the linkage unit comprises a second connecting rod 23 connected to the inner side of one end of the fixed support 2 in a sliding mode, a fourth connecting rod 29 connected to the inner side of the other end of the fixed support 2 in a sliding mode, a first gear 33 connected to the inner side of the fixed support 2 in a rotating mode, a first rack 26 fixedly connected to one end, close to the first gear 33, of the second connecting rod 23, a second rack 30 fixedly connected to one end, close to the first gear 33, of the fourth connecting rod 29, the second connecting rod 23, the first rack 26, the fourth connecting rod 29 and the second rack 30 are arranged in parallel, the first gear 33 is meshed between the first rack 26 and the second rack 30, a regulating portion is arranged between the second connecting rod 23 and the top of the first servo motor 5, regulating portions are respectively arranged between the fourth connecting rod 29 and the top of the other group of first servo motors 5, an auxiliary portion is arranged between the bottom of the fixed support 2 and the bottom of the first servo motor 5, and the auxiliary portion is in signal connection with the control portion.
When severe weather such as strong wind exists, if airflow acts on one group of linkage units, the two groups of linkage units which are arranged oppositely can be started immediately, and the stability of the unmanned aerial vehicle body 1 is adjusted through the two groups of linkage units which are opposite to each other; if the airflow acts on the two adjacent groups of linkage units, the other two groups of linkage units are started immediately, and the stability of the unmanned aerial vehicle body 1 is adjusted through the four groups of linkage units together; when a wind direction sensor 14 acquires a strong wind signal, the signal is transmitted to a control part, and then a starting signal is sent to an auxiliary part, so that when strong wind acts on a first propeller 3, the first propeller 3 is firstly pushed to change horizontal rotation into oblique rotation, one group of first servo motors 5 is driven to incline towards the direction of a fixed support 2, one group of second connecting rods 23 is pushed to move towards the center direction of the fixed support 2 through one group of adjusting parts, a first rack 26 is driven to move, and simultaneously, the first rack 33 is engaged with the first gear 33, the second rack 30 is driven to move (opposite to the moving direction of the first rack 26) while the first gear 33 rotates, so that a fourth connecting rod 29 is driven to move, another first servo motor 5 is passively pulled to incline towards the direction of the fixed support 2 through another group of adjusting parts, at the moment, the rotating speed of the passive first servo motor 5 is properly increased according to the wind speed, and the flight stability of the unmanned aerial vehicle body 1 is ensured; if the air flow drives the four groups of first propellers 3 to incline at the same time, the second gear of the other group of linkage units is driven to rotate, and the operation process is the same as that of the prior art.
Further optimize the scheme, the regulation part includes that fixed connection is at the third connecting rod 25 that second connecting rod 23 is close to first servo motor 5 one end, set up at the third spout 24 that fixed bolster 2 is close to first servo motor 5 one end top, the one end that third connecting rod 25 is close to second connecting rod 23 is along fixed bolster 2 direction sliding connection in third spout 24, the one end that second connecting rod 23 was kept away from to third connecting rod 25 is connected with the ball pivot subassembly, first rotation axis 4 passes the ball pivot subassembly.
In a further optimized scheme, the spherical hinge assembly comprises a fixed sleeve 15 fixedly connected to one end of the third connecting rod 25, a sphere 16 is spherically hinged in the fixed sleeve 15, and the first rotating shaft 4 penetrates through the center of the sphere 16.
After the auxiliary part is started, under the action of air flow, the second connecting rod 23 moves towards the center of the fixed support 2, namely, towards the first gear 33, so as to sequentially drive the third connecting rod 25, the fixed sleeve 15 and the first rotating shaft 4 to move, because the third connecting rod 25 and the fixed sleeve 15 move along the fixed support 2, the first servo motor 5 can be pulled to rotate for a certain angle while the fixed sleeve 15 is driven to move, the first rotating shaft 4 rotates for a certain angle in the fixed sleeve 15 through the sphere 16, and the first rotating shaft 4 and the sphere 16 slide relatively in the axial direction.
Further optimize the scheme, the assistance portion is including seting up at the first spout 19 that fixed bolster 2 is close to first servo motor 5 one end, fixed connection keeps away from the electromagnetic block 22 of first servo motor 5 one end in first spout 19, set up at the second spout 20 that fixed bolster 2 is close to first servo motor 5 one end bottom, sliding connection is in the traveller 21 of first spout 19, vertical fixed connection is at the slip telescopic link 18 of traveller 21 middle-end, fixed connection is at the first connecting rod 17 of 18 bottoms of slip telescopic link, the one end that slip telescopic link 18 was kept away from to first connecting rod 17 articulates in first servo motor 5 bottom, 2 sliding connection of fixed bolster 2 are followed on the top of slip telescopic link 18 in second spout 20, electromagnetic block 22 and the 1 electric connection of unmanned aerial vehicle body.
In an initial state, the electromagnetic block 22 is attracted with one end of the sliding column 21 by magnetic force, the first servo motor 5 and the first rotating shaft 4 are vertically arranged, the first propeller 3 rotates in a horizontal plane, and the unmanned aerial vehicle body 1 can move up and down; when meeting windy weather, through control portion with electromagnetism piece 22 outage, first servo motor 5 can drive first connecting rod 17, slip telescopic link 18 and remove along with first servo motor 5 to the 2 slopes of fixed bolster, and slip telescopic link 18 can freely stretch out and draw back when sliding in second spout 20, the smooth angle of adjustment of first servo motor 5 of being convenient for.
In a further optimized scheme, the supporting seat assembly comprises fixed supporting seats 6 fixedly connected to the bottoms of the two groups of fixed supports 2 and supporting legs 7 fixedly connected to the bottoms of the two sides of the fixed supporting seats 6;
steering mechanism includes fourth servo motor 34 of fixed connection in 6 bottoms of fixing support, rotate the runing rest 13 of connection on 6 bottoms of fixing support, connect the upset unit in runing rest 13 bottoms, the second drive assembly of setting on the upset unit, the vertical central line coincidence setting of second drive assembly and unmanned aerial vehicle body 1, upset unit, second drive assembly, fourth servo motor 34 and control part signal connection.
Further optimize the scheme, the upset unit is including rotating upset support 9, symmetry fixed connection the second servo motor 8 and the balancing piece 11 in 13 outside bottoms of runing rest 13 of connection between runing rest 13 bottoms, and the second pivot of second servo motor 8 passes runing rest 13 bottom lateral wall and the coaxial fixed connection of upset support 9, and second servo motor 8 and the quality looks adaptation of balancing piece 11, the second drive assembly setting is on upset support 9.
In a further optimized scheme, the second driving assembly comprises a third servo motor 12 fixedly connected to the overturning support 9, and a third rotating shaft of the third servo motor 12 penetrates through the overturning support 9 and is fixedly connected with a second propeller 10.
When needing to turn to, at first start fourth servo motor 34 through the control part, drive runing rest 13 and rotate certain angle, make second drive assembly corresponding with the rotation direction, start second servo motor 8 after that, drive upset support 9 and overturn certain angle between landing leg 7 bottom is inboard, then start third servo motor 12, drive second screw 10 and rotate to promote the removal of unmanned aerial vehicle body 1.
According to the further optimization scheme, the control part is an existing unmanned aerial vehicle remote controller, a rechargeable storage battery and a flight control system are arranged in the unmanned aerial vehicle body 1, and the wind direction sensor 14, all the first servo motor 5, the second servo motor 8, the third servo motor 12 and the fourth servo motor 34 are electrically connected with the rechargeable storage battery and the flight control system; the flight control system is an existing control system and is not described in detail herein.
And sending signals to the flight control system through the unmanned aerial vehicle remote controller, and starting or closing all the first servo motor 5, the second servo motor 8, the third servo motor 12 and the fourth servo motor 34 by the flight control system.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (5)
1. The utility model provides an improve unmanned aerial vehicle flight stability's precision balancing unit, includes unmanned aerial vehicle body (1), its characterized in that: the bottom of the unmanned aerial vehicle body (1) is connected with a first driving assembly through a support assembly, a linkage mechanism is arranged between the first driving assemblies, the bottom of the support assembly is fixedly connected with a support seat assembly, the bottom of the inner side of the support seat assembly is provided with a steering mechanism, the steering mechanism and the vertical center of the unmanned aerial vehicle body (1) are arranged in a collinear mode, the top of the unmanned aerial vehicle body (1) is electrically connected with a wind direction sensor (14), and the unmanned aerial vehicle body (1), the linkage mechanism, the steering mechanism and the wind direction sensor (14) are in signal connection with a control portion;
the linkage mechanism is used for controlling the stability of the unmanned aerial vehicle body (1);
the steering mechanism is used for adjusting the moving direction of the unmanned aerial vehicle body (1) and keeping balance;
the support assembly comprises two groups of fixing supports (2) which are perpendicular to each other and fixedly connected, and the unmanned aerial vehicle body (1) is fixedly connected to the tops of the two groups of fixing supports (2);
the first driving assembly comprises four groups of first servo motors (5), first propellers (3) are fixedly connected to first rotating shafts (4) of the four groups of first servo motors (5) respectively, two groups of oppositely arranged first propellers (3) are identical in structure, the rotating directions of the adjacent first propellers (3) are opposite, side walls of the four groups of first servo motors (5) are hinged to two ends of two groups of fixed supports (2) respectively, the linkage mechanism is arranged between the oppositely arranged first servo motors (5), and the four groups of first servo motors (5) are in signal connection with the control part;
the linkage mechanism comprises two groups of linkage units, wherein one group of linkage units is correspondingly arranged between the two groups of first servo motors (5);
the linkage unit comprises a second connecting rod (23) connected to the inner side of one end of the fixed support (2) in a sliding manner, a fourth connecting rod (29) connected to the inner side of the other end of the fixed support (2) in a sliding manner, a first gear (33) connected to the inner side of the fixed support (2) in a rotating manner, a first rack (26) fixedly connected to one end, close to the first gear (33), of the second connecting rod (23), and a second rack (30) fixedly connected to one end, close to the first gear (33), of the fourth connecting rod (29), wherein the second connecting rod (23), the first rack (26), the fourth connecting rod (29) and the second rack (30) are arranged in parallel, the first gear (33) is meshed between the first rack (26) and the second rack (30), adjusting parts are respectively arranged between the top of the second connecting rod (23) and the first servo motor (5), between the top of the fourth connecting rod (29) and the other group of the first servo motor (5), and auxiliary signal control parts are respectively arranged between the bottom of the fixed support (2) and the first servo motor (5);
the adjusting part comprises a third connecting rod (25) fixedly connected to one end, close to the first servo motor (5), of the second connecting rod (23) and a third sliding groove (24) formed in the top of one end, close to the first servo motor (5), of the fixing support (2), one end, close to the second connecting rod (23), of the third connecting rod (25) is connected into the third sliding groove (24) in a sliding mode along the direction of the fixing support (2), one end, far away from the second connecting rod (23), of the third connecting rod (25) is connected with a spherical hinge assembly, and the first rotating shaft (4) penetrates through the spherical hinge assembly;
supplementary portion is including seting up fixed bolster (2) are close to first spout (19), the fixed connection of first servo motor (5) one end are kept away from in first spout (19) electromagnetic block (22), the seting up of first servo motor (5) one end fixed bolster (2) are close to second spout (20), the sliding connection of first servo motor (5) one end bottom is in traveller (21), vertical fixed connection in first spout (19) are in slip telescopic link (18), the fixed connection of traveller (21) middle-end be in the first connecting rod (17) of slip telescopic link (18) bottom, keep away from first connecting rod (17) the one end of slip telescopic link (18) articulates first servo motor (5) bottom, the top of slip telescopic link (18) is followed fixed bolster (2) sliding connection be in second spout (20), electromagnetic block (22) with unmanned aerial vehicle body (1) electric connection.
2. The precision balancing device of claim 1, wherein the precision balancing device is configured to: the spherical hinge assembly comprises a fixing sleeve (15) fixedly connected to one end of the third connecting rod (25), a sphere (16) is hinged in the fixing sleeve (15), and the first rotating shaft (4) penetrates through the center of the sphere (16).
3. The precision balancing device of claim 1, wherein the precision balancing device is configured to: the supporting seat assembly comprises fixed supporting seats (6) fixedly connected to the bottoms of the two groups of fixed supports (2) and supporting legs (7) fixedly connected to the bottoms of the two sides of the fixed supporting seats (6);
steering mechanism includes fixed connection and is in fourth servo motor (34), rotation in fixing support (6) bottom surface are connected runing rest (13), connection on fixing support (6) bottom surface are in the upset unit, the setting of runing rest (13) bottom are in second drive assembly on the upset unit, second drive assembly with the vertical central line coincidence of unmanned aerial vehicle body (1) sets up, upset unit, second drive assembly, fourth servo motor (34) with control part signal connection.
4. The precision balancing device of claim 3, wherein the precision balancing device comprises: upset unit is connected including rotating upset support (9), the symmetry fixed connection between runing rest (13) bottom second servo motor (8) and balancing piece (11) of runing rest (13) outside bottom, the second rotation axis of second servo motor (8) passes runing rest (13) bottom lateral wall with upset support (9) is with axle center fixed connection, second servo motor (8) with the quality looks adaptation of balancing piece (11), second drive assembly sets up on upset support (9).
5. The precision balancing device of claim 4, wherein the precision balancing device comprises: the second driving assembly comprises a third servo motor (12) fixedly connected to the overturning support (9), and a third rotating shaft of the third servo motor (12) penetrates through the overturning support (9) and is fixedly connected with a second propeller (10).
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| CN216734759U (en) * | 2022-03-04 | 2022-06-14 | 海南天曦科技有限公司 | Automatic many rotor unmanned aerial vehicle of gesture flight control |
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| KR101554487B1 (en) * | 2013-12-23 | 2015-09-21 | 이상현 | Multi rotor aerial vehicle |
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| CN114180042A (en) * | 2021-12-24 | 2022-03-15 | 惠州城市职业学院(惠州商贸旅游高级职业技术学校) | Rotor unmanned aerial vehicle verts |
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| CN114954913A (en) | 2022-08-30 |
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