CN109353512B - Space saving type logistics unmanned aerial vehicle arm - Google Patents
Space saving type logistics unmanned aerial vehicle arm Download PDFInfo
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- CN109353512B CN109353512B CN201811385944.XA CN201811385944A CN109353512B CN 109353512 B CN109353512 B CN 109353512B CN 201811385944 A CN201811385944 A CN 201811385944A CN 109353512 B CN109353512 B CN 109353512B
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- 230000017525 heat dissipation Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000005855 radiation Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 5
- 238000009423 ventilation Methods 0.000 abstract description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 5
- 229910052799 carbon Inorganic materials 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a space-saving logistics unmanned aerial vehicle arm, which comprises an arm framework fixedly connected with a logistics unmanned aerial vehicle main body framework and an arm cover plate fixedly connected with the arm framework, wherein an arm cavity is formed in the arm to fix an electric control plate, and a heat dissipation hole is formed in the arm cover plate corresponding to the electric control plate. In order to cater for the flattened design of the aircraft, the electric regulator is arranged on the arm on the premise that no space exists in the aircraft body, so that each part of space of the aircraft is fully utilized. The electric control board 23 (electric regulator) is fixed on the horn, grooves are formed in the upper surface and the lower surface of the horn, the internal space of the machine body is fully released, ventilation openings are formed in the front part and the rear part of the electric regulator, and the heat generated by the electric regulator can be rapidly emitted.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a space-saving logistics unmanned aerial vehicle arm.
Background
The unmanned plane is a flying device in rapid development, has the advantages of flexible maneuvering, quick response, unmanned flying 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 is mainly used in fields such as taking photo by plane, unmanned investigation under the general circumstances, consequently require lower to structural reliability and load, be difficult to be applied to fields such as transportation, express delivery and send and require higher to structural reliability.
The CN 205633055U discloses an unmanned aerial vehicle, which comprises a fuselage and at least one horn connected with the fuselage, wherein a frame is arranged in the fuselage, the frame comprises a plurality of connecting rods, and at least one end of at least part of the connecting rods is connected with the horn.
Although the connecting rod is connected with the horn in the above patent, the stress of the connecting rod can be effectively dispersed to the horn, the following disadvantages still exist;
the horn sets up overlength, leads to whole volume big, and the horn function is single moreover, leads to the main part structure to be bloated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a space-saving logistics unmanned aerial vehicle arm which effectively reduces the space of a skeleton main body and improves the integration level.
The invention is realized by the following technical scheme:
Space saving 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 in order to fix the automatically controlled board, with the arm apron that the 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 in a triangle with the front convex center, and the radiating holes are arranged on sloping surfaces of the front side and the rear side of the horn so as to realize heat radiation by utilizing airflow flowing during travelling.
In the technical scheme, the end part of the horn is vertically and fixedly provided with a supporting cylinder, the supporting cylinder is internally provided with a carrier plate at intervals up and down, the carrier plate is respectively and fixedly provided with an organic paddle, and the organic paddle comprises a motor and a rotor wing which is coaxially arranged in an up-down corresponding mode.
In the technical scheme, the motor seat of the upper propeller is fixedly connected with the upper carrier plate, the motor seat of the lower propeller is fixedly connected with the switching carrier plate, and the switching carrier plate is fixedly connected with the lower carrier plate.
In the technical scheme, the horn is of a herringbone structure with two points at the inner end fixedly connected with the main body framework of the logistics unmanned aerial vehicle.
In the technical scheme, the support cylinder is provided with the indicator lamp.
In the above technical scheme, a positioning bayonet which is used for positioning the carrier plate and consists of an upper fixing table and a lower fixing table is formed in the supporting cylinder, clamping parts matched with the positioning bayonet are correspondingly arranged on the carrier plate, a clearance allowing the self-positioning bayonet to pass through is formed between the clamping parts, and the clamping parts are correspondingly clamped into the positioning bayonet and then fixed in the circumferential direction to finish assembly and fixation.
In the technical scheme, the propeller is correspondingly provided with the blade position detection mechanism, and the blade position detection mechanism is controllably connected with the motor of the propeller so as to enable the blades of the rotor to stop at the set positions.
In the above technical scheme, the blade position detection mechanism comprises a magnetic ring which is fixedly arranged corresponding to the rotating shaft of the rotor wing, a magnetic encoder or two hall sensors which are arranged corresponding to the magnetic ring and are distributed at 90 degrees, and the magnetic encoder or the hall sensors are fixed on the circuit board or the motor base.
In the above technical scheme, the logistics unmanned aerial vehicle comprises three horn.
The invention has the advantages and beneficial effects that:
In order to cater for the flattened design of the aircraft, the electric regulator is arranged on the arm on the premise that no space exists in the aircraft body, so that each part of space of the aircraft is fully utilized. The electric control board 23 (electric regulator) is fixed on the horn, grooves are formed in the upper surface and the lower surface of the horn, the internal space of the machine body is fully released, ventilation openings are formed in the front part and the rear part of the electric regulator, and the heat generated by the electric regulator can be rapidly emitted.
Drawings
Fig. 1-4 are schematic views of the structure of the space-saving logistics unmanned aerial vehicle arm according to the present invention.
FIG. 5 is a schematic diagram of the main body mechanism of the space saving type logistics unmanned aerial vehicle arm;
FIG. 6 is a schematic diagram of a layout structure of a horn.
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
Example 1
The space-saving type logistics unmanned aerial vehicle horn 2 comprises an arm framework 20 fixedly connected with a main body framework of the unmanned aerial vehicle and an arm cover plate 21 fixedly connected with the arm framework, wherein an arm cavity 22 is formed in the horn to fix an electric control plate 23, and a heat dissipation hole 24 is formed in the arm cover plate corresponding to the electric control plate.
In order to cater for the flattened design of the aircraft, the electric regulator is arranged on the arm on the premise that no space exists in the aircraft body, so that each part of space of the aircraft is fully utilized. The electric control board 23 (electric regulator) is fixed on the horn, grooves are formed in the upper surface and the lower surface of the horn, the internal space of the machine body is fully released, ventilation openings are formed in the front part and the rear part of the electric regulator, and the heat generated by the electric regulator can be rapidly emitted. Meanwhile, in order to improve the design strength, the horn is of a herringbone structure with two points at the inner end 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 designed to be convex forwards in the middle, and the heat dissipation holes are formed in the slopes on the two sides corresponding to the arm cavities respectively.
Example two
The propeller adopts a coaxial double-propeller layout form, and adopts a reasonable pitch between upper and lower propellers to realize the maximization of the force effect of each propeller blade, specifically, the end part of the propeller arm is vertically and fixedly provided with a supporting cylinder 25, the supporting cylinder is internally provided with a carrier plate 26 at intervals up and down, the carrier plates are respectively and fixedly provided with the organic propellers, and the propeller comprises a motor and a rotor wing 27 which is correspondingly and coaxially arranged up and down. The support cylinder is internally provided with two groups of positioning bayonets which are used for positioning the carrier plate and are formed by an upper fixing table and a lower fixing table, the carrier plate is correspondingly provided with clamping parts matched with the positioning bayonets, a clearance allowing the self-positioning bayonets to pass through is formed between the clamping parts, the clamping parts are correspondingly clamped into the positioning bayonets and then are circumferentially fixed, assembly and fixation can be completed, and a heat dissipation channel which penetrates up and down is formed.
Specifically, the motor cabinet of upper portion oar and upper portion's carrier plate fixed connection, the motor cabinet of lower part oar and switching carrier plate fixed connection, switching carrier plate with carrier plate fixed connection.
The upper motor and the lower motor are fixed by inserting the screw driver from the lower side, then the lower motor is fixed on the switching carbon plate, then 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 the holes around the switching plate are used for connecting with the carbon plate on the motor base. And an indicator light 28 is arranged on the supporting cylinder. The design of the support barrel is adopted, so that the simple circuit layout can be realized, and the indicator lamp can be conveniently arranged on the periphery of the main body of the maximum machine body, so that the control and the warning are convenient.
Example III
Correspondingly, the rotor wing is correspondingly provided with a blade position detection mechanism, the blade position detection mechanism is controllably connected with a motor of the rotor wing so that the blade is stopped at a set position, the motor position sensor comprises a magnetic ring which is correspondingly and fixedly arranged on a rotating shaft of the rotor wing, a magnetic encoder or two Hall sensors which are arranged correspondingly to the magnetic ring and are distributed at 90 degrees, and the magnetic encoder or the Hall sensors are fixed on a circuit board.
The set position refers to the vertical direction or the approximate vertical direction of the length direction of the blade and the axial direction of the arm, for example, the deviation between the central axis of the blade 1 and the axial direction of the arm is +/-5 degrees, preferably +/-1-3 degrees.
Through regular to the normal position of having realized the paddle with the paddle of each rotor of unmanned aerial vehicle in rather than horn vertical direction and berth, avoided because the irregular condition that causes area to increase that the paddle parks to reduce the paddle diameter and to the condition that the volume that unmanned aerial vehicle airport caused grow, to short-time, long-term parking or parking back unmanned aerial vehicle's continuous action bring the convenience in space occupation. Moreover, the folding type paddles are parked, so that the interference or impact of external factors on the paddles is avoided, the use safety of the whole unmanned aerial vehicle is improved, and the service life of the whole unmanned aerial vehicle is prolonged.
In order to realize the position detection of each paddle after the unmanned aerial vehicle falls, at first control each rotor is rotatory or is stopped at a low speed, then realize the position detection of paddle and then control the righting through motor position measurement sensing mechanism. The method is characterized in that the low-speed rotation of each rotor wing can be controlled to be the low-speed rotation of the unmanned aerial vehicle in the landing process, the synchronous performance of landing and paddles is realized, the paddles can be driven to rotate at a very low speed after the unmanned aerial vehicle is completely stopped so as to realize the detection and driving of the positions of the paddles and stop at a set position, or the paddles are driven to directly reach the set position according to the detected current position information of the paddles after the paddles are completely stopped to rotate.
In order to realize the detection of the blade position, the motor position sensor comprises a magnetic ring which is fixedly arranged corresponding to the 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 distributed at 90 degrees.
Specifically, a magnetic ring is installed under the rotating shaft of the rotor, such as the motor shaft, the NS pole of the rotor is found out through a magnetometer, a Hall sensor is installed at a position 35mm away from the magnetic ring, such as a circuit board or a motor base, the magnetic ring rotates along with the motor, but the circuit board is fixed, when the motor rotates, the field intensity of a magnetic field above the Hall sensor changes, the field intensity above the Hall sensor also changes through detecting the change of the field intensity above the Hall sensor, and thus the voltage change on the Hall sensor is caused. I.e. the motor position (i.e. the actual position of the blade) can be measured by detecting the voltage change of the hall sensor. And (3) inputting the voltage measured by the Hall element into a flight control system by utilizing AD conversion, and controlling the motor position, namely realizing the righting.
The magnetic ring changes in a sinusoidal manner, but in each pi, one value corresponds to two angles, so that the angles cannot be determined, and therefore, another Hall sensor is needed to further determine which angle is, and the real position of the blade and the position angle of the blade can be well determined by combining the sine and cosine relationship.
The specific analysis steps comprise: and rotating the motor on the turntable marked with an angle, performing flight control to obtain ADC data corresponding to the two Hall sensors at corresponding positions, converting the ADC data into voltage through a sampling circuit, recording the conversion result, performing normalization processing on the data by using a matlab mathematical tool to obtain the sampling data relationship between the motor position and the ADC of the two Hall sensors, and regarding the sampled data analysis result, the voltage relationship corresponding to the two Hall sensors at different positions of the magnetic ring is a sine-cosine relationship. And the phase angles of the cosine curve and the sine curve are exactly 90 degrees, and the phase difference is exactly consistent with the placement position difference. Therefore, the relative position of the motor can be known according to the position of the magnetic ring. And ensure that the motor does not interfere with the magnetic ring, and can fit an ideal sinusoidal curve.
When the logistics unmanned aerial vehicle falls on an airport stop platform, all paddles need to be positioned, the specific control method is as follows,
1) The clockwise direction is taken as positive direction, the anticlockwise direction is taken as negative direction, the measurement angles of the two Hall sensors at a specific moment are normalized to +/-pi, the positive and negative of the angle of the paddle at the specific moment are judged according to the normalized positive and negative, namely the phase of the paddle at the specific moment is judged, quadrant judgment can be carried out according to the positive and negative of the angle values detected by the two Hall sensors, and the method is particularly shown in the following table one,
2) Comparing sine values of the normalized measurement angles of the two Hall sensors to obtain the tangent value corresponding to the blade angle at a specific moment;
3) Determining the position angle of the specific moment according to the phase of the blade at the specific moment and the tangential value;
4) Controlling a motor and enabling the position angle to reach a corresponding positive position angle when the blade is positive; 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 position angle.
The specific moment is the moment when the unmanned aerial vehicle stops and then starts the righting process after stopping, or the moment when the unmanned aerial vehicle starts the righting process when rotating at a low speed. The sine and cosine functions have low resolution near the extremum, and the tangent functions exactly compensate the two defects, and the extremum exists at the + -pi/2 position, but the calculated tan (89 DEG) is 57.29, belongs to the normal floating point number, and can effectively meet the requirement of the righting precision.
The sine value is used as the calculation, but the corresponding cosine value can also be used, and when incomparable exists, namely, the corresponding pi/2 position is corresponding, the corresponding tangent value can be directly assigned, for example, the corresponding tangent value is directly assigned to 57.29, or a larger reasonable value is directly assigned, so that the precision is improved.
Meanwhile, in order to obtain the positive angle corresponding to the positive position in the step 4 of the blade, the blade is firstly shifted to the positive position, and the positive angle corresponding to the positive position can be obtained by adopting 1-3 of the steps, namely, the positive angle is the initial set value.
When a magnetic encoder is employed, the specific control is similar to that described above, and detailed description thereof 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's 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 "under" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "lower" may encompass both an upper and lower orientation. The device may be otherwise positioned (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 foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (8)
1. Space saving formula commodity circulation unmanned aerial vehicle horn, its characterized in that: the mechanical arm comprises an arm framework fixedly connected with a main body framework of the logistics unmanned aerial vehicle, and an arm cover plate fixedly connected with the arm framework, an arm cavity is formed in the mechanical arm to fix an electric control plate, a heat dissipation hole is formed in the arm cover plate corresponding to the electric control plate, a blade position detection mechanism is correspondingly arranged on the mechanical arm, the blade position detection mechanism is controllably connected with a motor of the mechanical arm so that blades of a rotor wing rest at a set position, the blade position detection mechanism comprises a magnetic ring corresponding to a rotating shaft of the rotor wing, a magnetic encoder or two Hall sensors which are arranged corresponding to the magnetic ring and are distributed at 90 degrees, and the magnetic encoder or the Hall sensors are fixed on a circuit board or a motor base, so that the normal position parking of the blades of each rotor wing of the unmanned aerial vehicle is realized by regulating the blades of each rotor wing to the direction perpendicular to the mechanical arm; the specific control method is as follows,
1) The clockwise direction is taken as positive direction, the anticlockwise direction is taken as negative direction, the measurement angles of two Hall sensors at a specific moment are normalized to +/-pi, the positive and negative of the angle of the paddle at the specific moment are judged according to the normalized positive and negative, namely the phase of the paddle at the specific moment is judged, quadrant judgment is carried out according to the positive and negative of the angle values detected by the two Hall sensors,
2) Comparing sine values of the normalized measurement angles of the two Hall sensors to obtain the tangent value corresponding to the blade angle at a specific moment;
3) Determining the position angle of the specific moment according to the phase of the blade at the specific moment and the tangential value;
4) And controlling the motor and enabling the position angle to reach the corresponding positive position angle when the blade is positive.
2. A space saving logistics unmanned aerial vehicle arm as claimed in claim 1, wherein: the front side and the rear side of the arm cover plate are in a triangle with a front convex center, and the radiating holes are arranged on sloping surfaces of the front side and the rear side of the horn so as to realize heat radiation by utilizing airflow flowing during traveling.
3. A space saving logistics unmanned aerial vehicle arm as claimed in claim 1, wherein: the end part of the horn is vertically and fixedly provided with a supporting cylinder, a carrier plate is arranged in the supporting cylinder at intervals up and down, organic paddles are respectively and fixedly arranged on the carrier plate, and each of the paddles comprises a motor and a rotor wing which is coaxially arranged in an up-down corresponding mode.
4. A space saving logistics unmanned aerial vehicle arm according to claim 3, wherein: the motor seat of upper portion oar and upper portion's carrier plate fixed connection, the motor seat of lower portion oar and switching carrier plate fixed connection, switching carrier plate and lower part's carrier plate fixed connection.
5. A space saving logistics unmanned aerial vehicle arm according to claim 3, wherein: the horn is of a herringbone structure with two inner ends fixedly connected with the main body framework of the logistics unmanned aerial vehicle.
6. A space saving logistics unmanned aerial vehicle arm according to claim 3, wherein: the support cylinder is provided with an indicator lamp.
7. A space saving logistics unmanned aerial vehicle arm according to claim 3, wherein: the support cylinder is internally provided with two groups of positioning bayonets which are used for positioning the carrier plate and are formed by an upper fixing table and a lower fixing table, the carrier plate is correspondingly provided with clamping parts matched with the positioning bayonets, a clearance allowing the self-positioning bayonets to pass through is formed between the clamping parts, and the clamping parts are correspondingly clamped into the positioning bayonets and then fixed in the circumferential direction to finish assembly and fixation.
8. The space saving type logistics unmanned aerial vehicle arm of claim 1, wherein the logistics unmanned aerial vehicle comprises three arms.
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