CN205311892U - Controllable formula unmanned aerial vehicle of focus - Google Patents
Controllable formula unmanned aerial vehicle of focus Download PDFInfo
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- CN205311892U CN205311892U CN201521126035.6U CN201521126035U CN205311892U CN 205311892 U CN205311892 U CN 205311892U CN 201521126035 U CN201521126035 U CN 201521126035U CN 205311892 U CN205311892 U CN 205311892U
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Abstract
The utility model provides a controllable formula unmanned aerial vehicle of focus relates to unmanned aerial vehicle aviation technical field, controllable formula unmanned aerial vehicle of focus, can make behind the unmanned aerial vehicle loading can the smooth flight, unmanned aerial vehicle includes altogether: the organism that has the rotor subassembly, bottom of the body is equipped with focus adjusting device, focus adjusting device includes, focus detection module, and focus adjustment module, focus detection module is used for detecting the skew state of focus and rotor subassembly center pin after the organism loading takes off, focus adjustment module is used for the horizontal displacement who adjusts the load to make the focus be in the center pin of rotor subassembly, the utility model discloses an it will be equipped with the focus of the fuselage of load and adjust to on the center pin of rotor subassembly to detect data management focus adjustment module adjustment load position to guarantee that unmanned aerial vehicle can automatic balance after the load, need not set up additional in addition balance mechanism or balancing weight, realize that unmanned aerial vehicle steadily takes off and land, flies, improve unmanned aerial vehicle's security.
Description
Technical field
This utility model relates to unmanned plane technical field of aerospace, particularly relates to a kind of center of gravity controllable type unmanned plane.
Background technology
In recent years, unmanned air vehicle technique has had the development advanced by leaps and bounds. Due to its cost is low, mobility is good, survival ability is strong, no one was injured advantages such as risk, unmanned plane occupies extremely important status in modern military war, also has boundless prospect at civil area. Have in military surveillance, environment measuring, forest fire protection etc. and be more widely applied.
Ensure that center of gravity is significant to the flight stability of unmanned plane in equilbrium position. When unmanned plane increases load, center of gravity often changes, and is in equilbrium position in order to ensure unmanned plane center of gravity, and way more common at present is that fuselage front or behind loads balancing weight, constantly adjusts the position of assembly or balancing weight until meeting requirement. This method is loaded down with trivial details and can not adjust center of gravity quantitatively, and adding balancing weight also can increase unmanned plane weight, affects the flying quality of unmanned plane.
Utility model content
The purpose of this utility model is in that to provide a kind of center of gravity controllable type unmanned plane, it is possible to control the position of centre of gravity of unmanned plane, it is ensured that the smooth flight of unmanned plane.
For realizing above-mentioned utility model purpose, of the present utility model provide a kind of center of gravity controllable type unmanned plane, making after unmanned plane loading can smooth flight, described unmanned plane includes: with the body of rotor assemblies, described organism bottom is provided with gravity center adjuster, described gravity center adjuster includes, center of gravity detection module, centre of gravity adjustment module, described center of gravity detection module is for detecting the deviation state of the center of gravity after body loading is taken off and rotor assemblies central shaft, described centre of gravity adjustment module makes, for the horizontal displacement adjusting load, the central shaft that center of gravity is in rotor assemblies.
Wherein, described center of gravity detection module includes acquiring unit, judging unit and control unit, described acquiring unit is used for obtaining center of gravity position, described judging unit is for judging the difference of displacement of center of gravity and predetermined threshold value, and described control unit adjusts the horizontal displacement of load for controlling centre of gravity adjustment module.
Wherein, described centre of gravity adjustment module includes 4 centre of gravity adjustment unit, and described centre of gravity adjustment unit is controlled by described control unit, and wherein each centre of gravity adjustment unit includes load link.
Wherein, described centre of gravity adjustment unit includes: fix the bracing frame being connected with body, be slidably mounted on bracing frame respectively and decussation arrange the first directive slide track and the second directive slide track, drive the first driving mechanism of the first directive slide track translation, drive the second driving mechanism of the second directive slide track translation, support frame as described above is connected with unmanned plane body, described load link is located at the decussation place of described first directive slide track and the second directive slide track, and described first driving mechanism and the second driving mechanism electrically connect with described control unit.
Wherein, described first driving mechanism, the second driving mechanism kind of drive include gear, tooth bar, lead screw transmission.
Compared with prior art, the beneficial effects of the utility model are: adjust load situation by detecting the centre of gravity adjustment unit of Data Control centre of gravity adjustment module, will be equipped with the centre of gravity adjustment of the fuselage of load to the central shaft of rotor assemblies, thus ensureing that rotary wind type unmanned plane of the present utility model can autobalance after load, additionally additional balanced controls or balancing weight need not be set, realize the steady landing of unmanned plane, flight, improve the safety of unmanned plane.
Accompanying drawing explanation
Fig. 1 is the structural representation of center of gravity controllable type unmanned plane of the present utility model;
Fig. 2 is the structured flowchart of this utility model gravity center adjuster;
Fig. 3 is the structured flowchart of center of gravity detection module in Fig. 2;
Fig. 4 is the structural representation of centre of gravity adjustment unit in Fig. 1.
Detailed description of the invention
Below in conjunction with each embodiment shown in the drawings, this utility model is described in detail; but it should what illustrate is; these embodiments are not limitation of the utility model; those of ordinary skill in the art, according to the equivalent transformation in these embodiment institute work energy, method or structure or replacement, belong within protection domain of the present utility model.
As shown in figures 1-4, a kind of center of gravity controllable type unmanned plane described in the utility model, can make after unmanned plane loading can smooth flight, described unmanned plane includes: with the body of rotor assemblies, described organism bottom is provided with gravity center adjuster 2, described gravity center adjuster 2 includes, center of gravity detection module 21, centre of gravity adjustment module 22, described center of gravity detection module 21 is for detecting the deviation state of the center of gravity after body loading is taken off and rotor assemblies central shaft, described centre of gravity adjustment module 2 makes, for the horizontal displacement adjusting load, the central shaft that center of gravity is in rotor assemblies. adjust load situation will be equipped with the centre of gravity adjustment of fuselage of load on the central shaft of rotor assemblies by detecting Data Control centre of gravity adjustment module 20, thus ensureing that rotary wind type unmanned plane of the present utility model can autobalance after load, additionally additional balanced controls or balancing weight need not be set, realize the steady landing of unmanned plane, flight, improve the safety of unmanned plane.
Wherein, described center of gravity detection module 21 includes acquiring unit 210, judging unit 211 and control unit 212, described acquiring unit 210 is used for obtaining center of gravity position, described judging unit 211 is for judging the difference of displacement of center of gravity and predetermined threshold value, and described control unit 212 adjusts the horizontal displacement of load for controlling centre of gravity adjustment module 2.
In order to strengthen the stability of load, centre of gravity adjustment module 2 includes 4 centre of gravity adjustment unit 20, and described centre of gravity adjustment unit 20 is controlled by described control unit 212, and wherein each centre of gravity adjustment unit 20 includes load link 205.
Wherein, described centre of gravity adjustment unit 20 includes: fix the bracing frame 203 being connected with body, be slidably mounted on bracing frame 203 respectively and decussation arrange the first directive slide track 201 and the second directive slide track 202, drive the first driving mechanism 206 of the first directive slide track 201 translation, drive the second driving mechanism 204 of the second directive slide track 202 translation, support frame as described above 203 is connected with unmanned plane body, described load link 205 is located at the decussation place of described first directive slide track 201 and the second directive slide track 202, described first driving mechanism 206 and the second driving mechanism 204 electrically connect with described control unit 212, thus realize load can described adjustment unit 20 the planar movement of planar optional position.
Wherein, described first driving mechanism the 206, second driving mechanism 204 kind of drive includes gear, tooth bar, lead screw transmission.
This utility model adjusts load situation will be equipped with the centre of gravity adjustment of fuselage of load to the central shaft of rotor assemblies by detecting Data Control centre of gravity adjustment module 20, thus ensureing that rotary wind type unmanned plane of the present utility model can autobalance after load, additionally additional balanced controls or balancing weight need not be set, realize the steady landing of unmanned plane, flight, improve the safety of unmanned plane. It is particularly well-suited to it is frequently necessary to loading the unmanned plane that all kinds of distinct devices need again to install load additional to adapt to different operating content simultaneously to different parts, described equipment includes some tests, the device such as shoot with video-corder, load is then require over the goods that unmanned plane transports, such as the medicine-chest of agricultural plant protection unmanned plane.
It is obvious to a person skilled in the art that this utility model is not limited to the details of above-mentioned one exemplary embodiment, and when without departing substantially from spirit of the present utility model or basic feature, it is possible to realize this utility model in other specific forms. Therefore, no matter from which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present utility model is limited by claims rather than described above, it is intended that all changes in the implication of the equivalency dropping on claim and scope included in this utility model. Any accompanying drawing labelling in claim should be considered as the claim that restriction is involved.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should be made as a whole by those skilled in the art, and the technical scheme in each embodiment through appropriately combined, can also form other embodiments that it will be appreciated by those skilled in the art that.
Claims (5)
1. a center of gravity controllable type unmanned plane, making after unmanned plane loading can smooth flight, described unmanned plane includes: with the body of rotor assemblies, described organism bottom is provided with gravity center adjuster, described gravity center adjuster includes, center of gravity detection module, centre of gravity adjustment module, described center of gravity detection module is for detecting the deviation state of the center of gravity after body loading is taken off and rotor assemblies central shaft, and described centre of gravity adjustment module makes, for the horizontal displacement adjusting load, the central shaft that center of gravity is in rotor assemblies.
2. center of gravity controllable type unmanned plane according to claim 1, it is characterized in that, described center of gravity detection module includes acquiring unit, judging unit and control unit, described acquiring unit is used for obtaining center of gravity position, described judging unit is for judging the difference of displacement of center of gravity and predetermined threshold value, and described control unit adjusts the horizontal displacement of load for controlling centre of gravity adjustment module.
3. center of gravity controllable type unmanned plane according to claim 2, it is characterised in that described centre of gravity adjustment module includes 4 centre of gravity adjustment unit, and described centre of gravity adjustment unit is controlled by described control unit, and wherein each centre of gravity adjustment unit includes load link.
4. center of gravity controllable type unmanned plane according to claim 3, it is characterized in that, described centre of gravity adjustment unit includes: fix the bracing frame being connected with body, be slidably mounted on bracing frame respectively and decussation arrange the first directive slide track and the second directive slide track, drive the first driving mechanism of the first directive slide track translation, drive the second driving mechanism of the second directive slide track translation, support frame as described above is connected with unmanned plane body, described load link is located at the decussation place of described first directive slide track and the second directive slide track, described first driving mechanism and the second driving mechanism electrically connect with described control unit.
5. center of gravity controllable type unmanned plane according to claim 4, it is characterised in that described first driving mechanism, the second driving mechanism kind of drive include gear, tooth bar, lead screw transmission.
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| CN201521126035.6U CN205311892U (en) | 2015-12-30 | 2015-12-30 | Controllable formula unmanned aerial vehicle of focus |
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| CN105966610A (en) * | 2016-06-29 | 2016-09-28 | 南京信息工程大学 | Centre-of-gravity shift and yaw single-rotor helicopter |
| CN106081086A (en) * | 2016-08-03 | 2016-11-09 | 安阳全丰航空植保科技股份有限公司 | The dynamic many rotors agricultural plant protection unmanned helicopter flight attitude regulation device of oil |
| CN106218877A (en) * | 2016-08-03 | 2016-12-14 | 安阳全丰航空植保科技股份有限公司 | The dynamic many rotors plant protection unmanned plane during flying pose adjustment changeable device of oil |
| CN106828886A (en) * | 2017-01-16 | 2017-06-13 | 北京猎鹰无人机科技有限公司 | A kind of aircraft center of gravity dynamically balancing device |
| CN107054638A (en) * | 2017-03-15 | 2017-08-18 | 北京理工大学 | A kind of underneath type coaxial double-rotary wing unmanned plane |
| CN107253525A (en) * | 2017-06-30 | 2017-10-17 | 联想(北京)有限公司 | A kind of movable fixture and its control method |
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| CN107640329A (en) * | 2017-08-30 | 2018-01-30 | 严杰豪 | A kind of high stable starting unmanned plane |
| WO2018032415A1 (en) * | 2016-08-17 | 2018-02-22 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicles |
| CN108313302A (en) * | 2018-01-22 | 2018-07-24 | 上海电力学院 | It is loaded into the babinet fast disassembly type cargo hold of unmanned plane |
| CN108445913A (en) * | 2018-06-04 | 2018-08-24 | 成都天麒科技有限公司 | A kind of flight balance regulating device and unmanned plane |
| CN108482660A (en) * | 2018-04-16 | 2018-09-04 | 钱文娟 | A kind of community security defence unmanned plane |
| CN108557094A (en) * | 2018-04-08 | 2018-09-21 | 中博宇图信息科技有限公司 | A kind of multi-functional unmanned plane |
| CN108749825A (en) * | 2018-05-30 | 2018-11-06 | 王海涛 | Suspension type rail compartment gravity adjusting device |
| CN108829129A (en) * | 2018-06-04 | 2018-11-16 | 成都天麒科技有限公司 | A kind of quadrotor plant protection drone flight balance adjusting method |
| CN109478001A (en) * | 2016-07-12 | 2019-03-15 | 深圳市大疆创新科技有限公司 | System for balancing zoom lens center of gravity |
| CN109878578A (en) * | 2019-03-20 | 2019-06-14 | 北京理工大学珠海学院 | Center of gravity intelligent regulating system and its adjusting method |
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| CN110001933A (en) * | 2019-04-06 | 2019-07-12 | 胡永星 | A kind of unmanned plane keeping stable state by changing center of gravity |
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| CN113830435A (en) * | 2021-10-19 | 2021-12-24 | 山东交通学院 | Transport container suitable for unmanned aerial vehicle and use method thereof |
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