CN209972783U - Space-saving type logistics unmanned aerial vehicle arm - Google Patents
Space-saving type logistics unmanned aerial vehicle arm Download PDFInfo
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- CN209972783U CN209972783U CN201821916028.XU CN201821916028U CN209972783U CN 209972783 U CN209972783 U CN 209972783U CN 201821916028 U CN201821916028 U CN 201821916028U CN 209972783 U CN209972783 U CN 209972783U
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Abstract
The utility model discloses a space saving type commodity circulation unmanned aerial vehicle horn, the horn include with commodity circulation unmanned aerial vehicle main part skeleton fixed connection's arm skeleton, and with arm skeleton fixed connection's arm apron the horn in be formed with the arm chamber with fixed automatically controlled board, with the arm apron that automatically controlled board corresponds on seted up the louvre. In order to cater to the flat design of the airplane, the electric controller is arranged on the horn on the premise that no space exists in the airplane body, so that each part of space of the airplane is fully utilized. Fix automatically controlled board 23 (electricity accent) to the horn above, opened the recess on the upper and lower face of horn, fully released organism inner space to the part is opened there is the vent around the electricity accent, guarantees that the heat that the electricity accent produced can be quick distributes away.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle, concretely relates to space saving type commodity circulation unmanned aerial vehicle horn.
Background
The unmanned aerial vehicle is a flying device in rapid development, has the advantages of flexibility, quick response, unmanned flight and low operation requirement, and can be widely applied to the fields of agriculture, exploration, photography, border patrol and the like. Because unmanned aerial vehicle mainly used field such as take photo by plane, unmanned investigation under the general condition, consequently require lowly to structural reliability and load, be difficult to be applied to fields that require highlyer to structural reliability such as transportation, express delivery.
Disclose an unmanned aerial vehicle as CN 205633055U, it includes the fuselage and at least one horn that links to each other with the fuselage, is provided with the frame in the fuselage, and the frame includes many connecting rods, and wherein at least one end and the horn of at least some connecting rods are connected.
Although the above patent connects the connecting rod with the horn, the stress of the connecting rod can be effectively dispersed to the horn, but the following disadvantages still exist;
the horn sets up the overlength, leads to whole bulky, and the horn function singleness moreover leads to the body part structure to be overstaffed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a space saving type commodity circulation unmanned aerial vehicle horn, it effectively reduces skeleton main part space, improves its integrated level.
The utility model discloses a realize through following technical scheme:
the utility model provides a space saving type commodity circulation unmanned aerial vehicle horn, the horn include with commodity circulation unmanned aerial vehicle main part skeleton fixed connection's arm skeleton, and with arm skeleton fixed connection's arm apron the horn in be formed with the arm chamber with fixed automatically controlled board, with the arm apron that automatically controlled board corresponds on seted up the louvre.
In the technical scheme, the front side and the rear side of the arm cover plate are triangles with forward convex centers, and the heat dissipation holes are formed in the slopes on the front side and the rear side of the machine arm to realize heat dissipation by utilizing airflow flowing during traveling.
In the technical scheme, the end part of the horn is vertically and fixedly provided with the supporting cylinder, the supporting cylinder is internally provided with the supporting plate at intervals from top to bottom, the supporting plate is respectively and fixedly provided with the propellers, and the propellers comprise motors and rotors which are correspondingly coaxially arranged from top to bottom.
In the technical scheme, the motor base of the upper mechanical paddle is fixedly connected with the upper support plate, the motor base of the lower mechanical paddle is fixedly connected with the transfer support plate, and the transfer support plate is fixedly connected with the lower support plate.
In the technical scheme, the horn is a herringbone structure with two inner ends fixedly connected with the main body framework of the logistics unmanned aerial vehicle.
In the technical scheme, the supporting cylinder is provided with an indicator light.
In the technical scheme, the support cylinder in be formed with and be used for two sets of a plurality of location bayonet sockets that are used for the location the support plate constitute by two upper and lower fixed stations, the support plate on be provided with correspondingly with location bayonet socket matching's card portion of holding, constitute between the card portion of holding and allow the clearance of passing from location bayonet socket department, the card portion of holding corresponds the card and goes into the location bayonet socket in then circumference is fixed and can accomplish the assembly fixed.
In the technical scheme, the propeller is correspondingly provided with a blade position detection mechanism, and the blade position detection mechanism is controllably connected with a motor of the propeller so that the blades of the rotor wing stop at a set position.
In the above technical solution, the blade position detecting mechanism includes a magnetic ring fixedly disposed corresponding to the rotating shaft of the rotor, a magnetic encoder disposed corresponding to the magnetic ring or two hall sensors disposed at 90 degrees, and the magnetic encoder or the hall sensors are fixed on the circuit board or the motor base.
In the technical scheme, the logistics unmanned aerial vehicle comprises three arms.
The utility model discloses an advantage and beneficial effect do:
in order to cater to the flat design of the airplane, the electric controller is arranged on the horn on the premise that no space exists in the airplane body, so that each part of space of the airplane is fully utilized. Fix automatically controlled board 23 (electricity accent) to the horn above, opened the recess on the upper and lower face of horn, fully released organism inner space to the part is opened there is the vent around the electricity accent, guarantees that the heat that the electricity accent produced can be quick distributes away.
Drawings
Fig. 1-4 are the structure schematic diagrams of each visual angle of the space-saving type logistic unmanned aerial vehicle horn of the present invention.
Fig. 5 is a schematic view of the main mechanism of the space-saving type logistic unmanned aerial vehicle arm of the present invention;
fig. 6 is a schematic diagram of a layout structure of the horn.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical field person understand the solution of the present invention better, the technical solution of the present invention is further described below with reference to the specific embodiments.
Example one
The utility model discloses a space saving type commodity circulation unmanned aerial vehicle horn 2 include with unmanned aerial vehicle main part skeleton fixed connection's arm skeleton 20, and with arm skeleton fixed connection's arm apron 21 the horn in be formed with arm chamber 22 with fixed automatically controlled board 23, with the arm apron that automatically controlled board corresponds on seted up louvre 24.
In order to cater to the flat design of the airplane, the electric controller is arranged on the horn on the premise that no space exists in the airplane body, so that each part of space of the airplane is fully utilized. Fix automatically controlled board 23 (electricity accent) to the horn above, opened the recess on the upper and lower face of horn, fully released organism inner space to the part is opened there is the vent around the electricity accent, guarantees that the heat that the electricity accent produced can be quick distributes away. Meanwhile, in order to improve the design strength, the machine arm is of a herringbone structure, wherein two points at the inner end of the herringbone structure are fixedly connected with the framework. Meanwhile, in order to reduce wind resistance, the front side and the rear side of the arm cover plate are both designed to be protruded forwards in the middle, and the heat dissipation holes are formed in the slope surfaces of the two sides corresponding to the arm cavities respectively.
Example two
The utility model discloses a machine oar adopts the overall arrangement form of coaxial double-oar, adopts reasonable upper and lower oar interval, realizes the power effect maximize of each paddle, specifically, the vertical fixed support section of thick bamboo 25 that is provided with of tip of horn support section of thick bamboo in be provided with support plate 26 with the interval from top to bottom the support plate on fixed the setting respectively have a machine oar, the machine oar include the motor to and correspond the rotor 27 of coaxial setting from top to bottom. The support cylinder in be formed with and be used for two sets of a plurality of being used for the location the support plate by two upper and lower fixed stations constitute the location bayonet socket, the support plate on correspondingly be provided with the card portion of holding that the location bayonet socket matches, constitute between the card portion and allow the clearance of keeping away that self-align bayonet socket department passed, the card portion of holding corresponds the card go into the location bayonet socket in then circumference is fixed and can be accomplished the assembly fixed, forms the heat dissipation passageway that link up from top to bottom in addition.
Specifically, the motor base of the upper mechanical paddle is fixedly connected with the upper support plate, the motor base of the lower mechanical paddle is fixedly connected with the transfer support plate, and the transfer support plate is fixedly connected with the support plate.
The upper part and the lower part are coaxial, and no hole is formed in the side surface of the motor base to allow a bolt tightening tool to enter, so that the upper motor and the lower motor can be fixed in place, the screwdriver can only stretch into the motor from the lower part in one direction, the upper motor and the lower motor are fixed, the assembly sequence is that the screwdriver stretches into the lower part to fix the upper motor, the lower motor is fixed on the switching carbon plate, the switching carbon plate is fixed on the lower carbon plate of the motor base, the middle hole of the switching carbon plate is used for fixing the motor, and holes on the periphery of the switching plate are used for being connected with the carbon plate on the motor base. And an indicator light 28 is arranged on the supporting cylinder. The design of the supporting cylinder is adopted, the simple layout of the circuit can be realized, and the indicating lamp can be conveniently arranged on the periphery of the largest machine body main body, so that the control and the warning are facilitated.
EXAMPLE III
Correspondingly, the rotor correspond and be provided with paddle position detection mechanism, paddle position detection mechanism with the controllable connection of motor of rotor so that the paddle berths at the setting position, motor position sensor including correspond with the fixed magnetic ring that sets up of the pivot of rotor, with the magnetic encoder or two hall sensor that are 90 overall arrangements that set up correspondingly of magnetic ring, magnetic encoder or hall sensor fix on the circuit board.
The set position refers to the length direction of the blade and the axial vertical direction or the approximate vertical direction of the horn of the blade, for example, the deviation between the central axis of the blade 1 and the axial direction of the horn is +/-5 degrees, preferably within +/-1-3 degrees.
Regular to the paddle through each rotor of unmanned aerial vehicle with its horn vertical direction on realize the positive position of paddle and park, avoided because the irregular condition that causes the area increase that the paddle parks to reduced the paddle diameter and to the condition that the volume that unmanned aerial vehicle airport caused enlarges, to short-term, park for a long time or park the continuation action of back unmanned aerial vehicle and bring the facility that the space occupied. And the parking of the furled blades avoids the interference or impact of external factors on the blades, and improves the use safety and the service life of the whole unmanned aerial vehicle.
For realizing the position detection of each blade after the unmanned aerial vehicle falls, the low-speed rotation or the stop of each rotor wing is controlled at first, and then the position detection of the blade is realized through the motor position measurement sensing mechanism so as to control the normal position. Wherein, it is required to explain that, this each rotor low-speed of control is rotatory can be for the low-speed of unmanned aerial vehicle descending in-process is rotatory, realizes descending and the synchronous of paddle going on, also can stop at unmanned aerial vehicle after the very low speed of redriving paddle rotates and berths at the settlement position with the detection and the drive of realization to the paddle position again, perhaps stops the paddle stop rotating completely after, drives according to the paddle current position information that detects and directly makes the paddle reach the settlement position.
In order to realize the detection of the position of the blade, the motor position sensor comprises a magnetic ring which is fixedly arranged corresponding to a rotating shaft of the rotor wing, and two Hall sensors (a first Hall sensor 5 and a second Hall sensor 6) which are arranged corresponding to the magnetic ring and are in 90-degree layout.
Specifically, a magnetic ring is arranged on a rotating shaft of a rotor, such as a motor shaft, the NS pole of the rotor is found out through a magnetometer, a Hall sensor is arranged at a position 35mm away from the magnetic ring, such as a circuit board or a motor base, the magnetic ring rotates along with a motor, but the circuit board is fixed, when the motor rotates, the field intensity of a magnetic field above the Hall sensor changes, and the field intensity above the Hall sensor also changes through detection of the change of the field intensity, so that the voltage change on the Hall sensor is caused. That is, the motor position (i.e., the actual position of the blade) can be measured by detecting the voltage change of the hall sensor. And inputting the voltage measured by the Hall element into a flight control system by utilizing AD conversion, and controlling the position of the motor, namely realizing the position correction.
The magnetic ring changes in a sine curve, but in each pi, one value corresponds to two angles, so that the angle cannot be determined, and another Hall sensor is needed to further determine which angle is determined, and the actual position of the blade and the position angle of the blade can be well judged by combining the sine and cosine relationship.
The specific analysis steps comprise: on a turntable with a marked angle, a motor is rotated, ADC data corresponding to two Hall sensors at corresponding positions are obtained through flight control, the ADC data are converted into voltage through a sampling circuit, the conversion result is recorded, normalization processing is carried out on the data through a matlab mathematical tool, the relation between the position of the motor and the ADC sampling data of the two Hall sensors is obtained, and the relation between the voltage corresponding to the two Hall sensors at different positions of a magnetic ring is sine-cosine relation from the analysis result of the sampled data. And the phase angle difference between the cosine curve and the sine curve is 90 degrees, and the phase difference is exactly consistent with the placing position difference. Therefore, the relative position of the motor can be obtained according to the position of the magnetic ring. And the motor is ensured not to interfere the magnetic ring, and an ideal sinusoidal curve can be fitted.
When the logistics unmanned aerial vehicle lands on an airport parking platform, all the blades need to be righted, the specific control method is as follows,
1) taking the clockwise direction as the positive direction and the anticlockwise direction as the negative direction, normalizing the measurement angles of the two Hall sensors at a specific moment to +/-pi, judging the positive and negative of the blade angle at the specific moment according to the normalized positive and negative, namely judging the phase of the blade at the specific moment, and performing quadrant judgment according to the positive and negative of the angle values detected by the two Hall sensors, as shown in the following table one,
2) comparing sine values of the measurement angles normalized by the two Hall sensors to obtain the magnitude of a tangent value corresponding to the blade angle at a specific moment;
3) determining the position angle of a specific moment according to the phase of the blade at the specific moment and the magnitude of the tangent value;
4) controlling the motor and enabling the position angle to reach a corresponding positive position angle when the blade is in the positive position; for example, the forward and reverse rotation control of the motor may be performed based on the difference between the position angle and the normal angle.
The specific moment is the moment when the blade stops after the unmanned aerial vehicle stops or the moment when the unmanned aerial vehicle rotates at a low speed to start the righting process. The sine and cosine functions have low resolution near the extreme value, the tangent function just makes up the two defects, the extreme value exists at the position of +/-pi/2, the tan (89 degrees) is calculated to be 57.29, the normal floating point number belongs to, and the requirement on the normal precision can be effectively met.
The sine value is used as the calculation, and of course, the corresponding cosine value may also be used, and when there is incomparable, that is, corresponding to ± pi/2, the corresponding tangent value may be directly assigned, for example, the tangent value is directly assigned to 57.29, or a larger reasonable value is assigned to improve the accuracy.
Meanwhile, in order to obtain the normal position angle corresponding to the normal position in the step 4 of the paddle, the paddle is firstly shifted to the normal position, and the angle corresponding to the normal position is obtained by adopting the steps 1-3, namely the normal position angle, and the normal position angle is an initial set value.
When a magnetic encoder is used, the specific control is similar to that described above, and detailed description is omitted.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described above by way of example, and it should be noted that any simple variants, modifications or other equivalent substitutions by a person skilled in the art without spending creative effort may fall within the scope of protection of the present invention without departing from the core of the present invention.
Claims (10)
1. The utility model provides a space saving type commodity circulation unmanned aerial vehicle horn which characterized in that: the horn include with commodity circulation unmanned aerial vehicle main part skeleton fixed connection's arm skeleton, and with arm skeleton fixed connection's arm apron the horn in be formed with the arm chamber with fixed automatically controlled board, with the arm apron that automatically controlled board corresponds on seted up the louvre.
2. The space-saving logistics unmanned aerial vehicle arm of claim 1, wherein: the front side and the rear side of the arm cover plate are triangles with the centers protruding forward, and the heat dissipation holes are formed in the slopes on the front side and the rear side of the machine arm so as to realize heat dissipation by utilizing airflow flowing during traveling.
3. The space-saving logistics unmanned aerial vehicle arm of claim 1, wherein: the vertical fixed support section of thick bamboo that is provided with of tip of horn the support section of thick bamboo in be provided with the support plate from top to bottom the support plate on the fixed oar that has of fixing respectively, the oar include the motor to and correspond the rotor of coaxial setting from top to bottom.
4. The space-saving logistics unmanned aerial vehicle arm of claim 3, wherein: the motor base of the upper engine propeller is fixedly connected with the upper support plate, the motor base of the lower engine propeller is fixedly connected with the transfer support plate, and the transfer support plate is fixedly connected with the lower support plate.
5. The space-saving logistics unmanned aerial vehicle arm of claim 3, wherein: the horn be the inner both ends with commodity circulation unmanned aerial vehicle main part skeleton fixed connection's chevron structure.
6. The space-saving logistics unmanned aerial vehicle arm of claim 3, wherein: and an indicator light is arranged on the supporting cylinder.
7. The space-saving logistics unmanned aerial vehicle arm of claim 3, wherein: the support cylinder in be formed with and be used for two sets of a plurality of being used for the location the support plate constitute by two upper and lower fixed stations the location bayonet socket, the support plate on correspondingly be provided with the location bayonet socket matching the card portion of holding, constitute between the card portion of holding and allow the clearance of passing from location bayonet socket department, the card portion of holding corresponds the card and goes into the location bayonet socket in then circumference is fixed and can accomplish the assembly and fix.
8. The space-saving logistics unmanned aerial vehicle arm of claim 3, wherein: the oar correspond and be provided with paddle position detection mechanism, paddle position detection mechanism with the controllable connection of motor of oar so that the paddle of rotor stops at the settlement position.
9. The space-saving logistic unmanned aerial vehicle arm as claimed in claim 8, wherein the blade position detection mechanism comprises a magnetic ring fixed corresponding to the rotation shaft of the rotor, a magnetic encoder or two hall sensors arranged corresponding to the magnetic ring at 90 ° angle, and the magnetic encoder or the hall sensors are fixed on the circuit board or the motor base.
10. The space-saving logistic unmanned aerial vehicle arm of claim 1, wherein the logistic unmanned aerial vehicle comprises three arms.
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| CN201821916028.XU CN209972783U (en) | 2018-11-20 | 2018-11-20 | Space-saving type logistics unmanned aerial vehicle arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353512A (en) * | 2018-11-20 | 2019-02-19 | 飞智控（天津）科技有限公司 | Space-saving type logistics unmanned plane horn |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353512A (en) * | 2018-11-20 | 2019-02-19 | 飞智控（天津）科技有限公司 | Space-saving type logistics unmanned plane horn |
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