CN206856983U

CN206856983U - It is a kind of can be with the quadrotor of center-of-gravity regulating

Info

Publication number: CN206856983U
Application number: CN201720477479.7U
Authority: CN
Inventors: 赵磊; 王亚东; 张婷婷; 孙浩; 孙磊
Original assignee: Huangshan University
Current assignee: Huangshan University
Priority date: 2017-05-02
Filing date: 2017-05-02
Publication date: 2018-01-09
Anticipated expiration: 2027-05-02

Abstract

Aircraft field can be belonged to the quadrotor of center-of-gravity regulating the utility model discloses a kind of.The device includes quadrotor body, gravity adjusting device and control device；Gravity adjusting device includes housing, balancing weight, the first adjustment mechanism being arranged in the housing and the second adjustment mechanism being arranged in the housing being connected with the quadrotor body, aircraft of the prior art, the problem of in the presence of needing to be adjusted center of gravity, the utility model detects center of gravity information by gyroscope, and the first motor and the second motor is controlled to drive balancing weight to adjust center of gravity by processor, the stabilization of aircraft center of gravity can be realized, is easy to aircraft also to keep stably flying in severe operating environment.

Description

It is a kind of can be with the quadrotor of center-of-gravity regulating

Technical field

The utility model aircraft field, it is more particularly to a kind of can be with the quadrotor of center-of-gravity regulating.

Background technology

Rotor craft has been widely applied to the every field of life at present, in order to ensure that the normal of rotor craft flies OK, it is necessary to the center of gravity of rotor craft is in the point of intersection of each propeller, it is main in the prior art to be use up using in design The entirety of rotor craft may be made to be centrosymmetric, also keep symmetrical as far as possible when production and assembling.But produced The influence of technique, the center of gravity of rotor craft can not be completely in the point of intersection of each propeller, more or less occur necessarily Centre-of gravity shift, for aircraft, small centre-of gravity shift can all cause to occur during aircraft flight rotation or not It is stable, or even can not normally take off.

In summary, the problem of needing to be adjusted center of gravity be present in aircraft of the prior art.

Utility model content

The utility model offer is a kind of can solve flight of the prior art with the quadrotor of center-of-gravity regulating The problem of device is due to rotation caused by crank, flight is unstable or even can not take off.

It is a kind of can be with the quadrotor of center-of-gravity regulating, including quadrotor body, gravity adjusting device and control Device processed；Housing that gravity adjusting device includes being connected with the quadrotor body, balancing weight, it is arranged on the shell The first internal adjustment mechanism and the second adjustment mechanism being arranged in the housing；First adjustment mechanism includes the first peace Dress seat, the first motor on the housing and first be connected with the output end of first motor are installed Thick stick, has the first supporting table and the second supporting table for being used for supporting first leading screw in first mounting seat, and described first Between first motor and second supporting table, first leading screw is installed in rotation on described supporting table In first supporting table and second supporting table is extended to, end of first leading screw away from first motor can turn It is arranged on dynamicly in second supporting table, first mounting seat is connected by connector with the housing；Described second Adjustment mechanism includes the drive seat on first leading screw, the second mounting seat in the drive seat, is arranged on The second motor in the drive seat and the second leading screw being connected with the output end of second motor, the drive Dynamic seat has positioned at first supporting table and second supporting table between, in second mounting seat for supporting described the 3rd supporting table of two leading screws and the 4th supporting table, the 3rd supporting table are located at second motor and described 4th Between supportting platform, second leading screw is installed in rotation in the 3rd supporting table and extends to the 4th supporting table, institute State end of second leading screw away from second motor to be rotatably arranged in the 4th supporting table, the balancing weight On offer the screwed hole being engaged with second leading screw, the balancing weight is arranged on described second by the screwed hole On thick stick, the balancing weight is between the 3rd supporting table and the 4th supporting table；Control device includes gyroscope and place Device is managed, the gyroscope, first motor and second motor are connected with the processor, the control Device processed is arranged on the quadrotor body.

More preferably, the first mounting hole for being connected with the quadrotor body is offered on the housing, The housing is connected by first mounting hole with the quadrotor body.

More preferably, first motor is servomotor.

More preferably, second motor is servomotor.

The utility model offer is a kind of to detect center of gravity information by gyroscope with the quadrotor of center-of-gravity regulating, And the first motor and the second motor is controlled to drive balancing weight to adjust center of gravity by processor, it is possible to achieve flight is thought highly of The stabilization of the heart, it is easy to aircraft also to keep stably flying in severe operating environment.

Brief description of the drawings

Fig. 1 for it is provided by the utility model it is a kind of can be with the structural representation of the quadrotor of center-of-gravity regulating；

Fig. 2 is the structural representation of gravity adjusting device in Fig. 1.

Description of reference numerals：

10- quadrotor bodies, 20- housings, the mounting holes of 21- first, the supporting tables of 30- first, 31- second are supported Platform, the motors of 32- first, the leading screws of 33- first, the mounting holes of 34- second, the supporting tables of 40- the 3rd, the supporting tables of 41- the 4th, 42- Second motor, the leading screws of 43- second, 50- balancing weights.

Embodiment

Below in conjunction with the accompanying drawings, an embodiment of the present utility model is described in detail, it is to be understood that this The protection domain of utility model is not limited by embodiment.

As shown in figure 1, a kind of of the utility model embodiment offer can be with the quadrotor of center-of-gravity regulating, including four Rotor craft body 10, gravity adjusting device and control device (not shown)；As shown in Fig. 2 gravity adjusting device include with Housing 20, balancing weight 50, the first adjustment mechanism being arranged in housing 20 and the setting that quadrotor body 10 is connected The second adjustment mechanism in housing 20；The first peace for being connected with quadrotor body 10 is offered on housing 20 Hole 21 is filled, housing 20 is connected by the first mounting hole 21 with quadrotor body 10；First adjustment mechanism includes first Mounting seat, the first motor 32 on the housing 20 and first be connected with the output end of the first motor 32 are installed Thick stick 33, there is the first supporting table 30 and the second supporting table 31 for being used for supporting the first leading screw 33, the first support in the first mounting seat Platform 30 offers bearing hole between the first motor 32 and the second supporting table 31 in first supporting table 30, in bearing hole Bearing is provided with, the first leading screw 33 is arranged in bearing hole through the bearing, and the other end of the first leading screw 33 extends to second Platform 31 is supportted, bearing hole is also offered in the second supporting table 31, bearing is also equipped with bearing hole, the first leading screw 33 drives away from first The end set of dynamic motor 32 offers in the bearing hole of the second supporting table 31 in first supporting table 30 and the second supporting table 31 Second mounting hole 34, the position of corresponding second mounting hole 34 offers the 3rd mounting hole on housing 20, by the second mounting hole 34 With the 3rd mounting hole, the first adjustment mechanism is connected with housing 20 by bolt；Second adjustment mechanism include the second mounting seat, Drive seat on the first leading screw 33, the second motor 42 in drive seat and defeated with the second motor 42 Go out the second leading screw 43 that end is connected, drive seat is between the first supporting table 30 and the second supporting table 31, the second adjustment mechanism By drive seat whole second adjustment mechanism can be driven to move under the rotation of the first leading screw 33, have in the second mounting seat and use In the 3rd supporting table 40 and the 4th supporting table 41 that support the second leading screw 43, the 3rd supporting table 40 positioned at the second motor 42 with Between 4th supporting table 41, bearing hole is offered in the 3rd supporting table 40, bearing is provided with bearing hole, the second leading screw 43 passes through Bearing is arranged in the bearing hole of the 3rd supporting table 40, and bearing hole is offered in the 4th supporting table 41, axle is provided with bearing hole Hold, end of second leading screw 43 away from the second motor 42 extends to the 4th supporting table 41 and be arranged on the 4th by bearing In the bearing hole for supportting platform 41, end of second leading screw 43 away from the second motor 42 is rotatably arranged in the 4th supporting table 41 On, the screwed hole being engaged with the second leading screw 43 is offered on balancing weight 50, balancing weight 50 is arranged on second by screwed hole On thick stick 43, for balancing weight 50 between the 3rd supporting table 40 and the 4th supporting table 41, balancing weight 50 can be in the second leading screw 43 Moved under drive between the 3rd supporting table 40 and the 4th supporting table 41；Control device includes gyroscope and processor, top Spiral shell instrument, the first motor 32 and the second motor 42 with being connected with processor, gyroscope can detect acceleration and Corner information simultaneously transfers information to processor, and processor is by fuzzy-adaptation PID control, by the first motor 32 and second Motor 42 is controlled and then adjusts the position of balancing weight 50, to adjust the center of gravity of quadrotor.

The above-mentioned motor 42 of first motor 32 and second is servomotor, and above-mentioned processor is ARM The AM3359 of cortexA8 frameworks, above-mentioned gyroscope are GY-91MPU9250.

Disclosed above is only several specific embodiments of the present utility model, and still, the utility model embodiment is not office It is limited to this, the changes that any person skilled in the art can think of should all fall into the scope of protection of the utility model.

Claims

1. A four-rotor aircraft that can adjust the center of gravity, comprising a four-rotor aircraft body, is characterized in that, also includes:

The center of gravity adjustment device includes a housing connected to the quadrotor aircraft body, a counterweight, a first adjustment mechanism disposed in the housing, and a second adjustment mechanism disposed in the housing; the first An adjustment mechanism includes a first mounting base, a first driving motor installed on the housing, and a first lead screw connected to the output end of the first driving motor, and the first mounting base is provided with a A first support platform and a second support platform supporting the first lead screw, the first support platform is located between the first drive motor and the second support platform, and the first lead screw is rotatable Installed on the first support platform and extending to the second support platform, the end of the first lead screw away from the first drive motor is rotatably arranged on the second support platform, the The first mounting base is connected with the housing through a connecting piece; the second adjustment mechanism includes a driving base mounted on the first lead screw, a second mounting base located on the driving base, and a second mounting base mounted on the driving base. The second drive motor on the drive base and the second lead screw connected to the output end of the second drive motor, the drive base is located between the first support platform and the second support platform, so The second mounting seat has a third support platform and a fourth support platform for supporting the second lead screw, the third support platform is located between the second drive motor and the fourth support platform, The second lead screw is rotatably mounted on the third support platform and extends to the fourth support platform, and the end of the second lead screw away from the second drive motor is rotatably arranged on the third support platform. On the fourth supporting platform, the counterweight is provided with a threaded hole matched with the second lead screw, and the counterweight is installed on the second lead screw through the threaded hole. The counterweight is located between the third support platform and the fourth support platform;

A control device, which includes a gyroscope and a processor, the gyroscope, the first drive motor and the second drive motor are all connected to the processor, and the control device is installed on the quadrotor aircraft body superior.

2. A quadrotor aircraft capable of adjusting the center of gravity as claimed in claim 1, wherein a first mounting hole for being connected to the body of the quadrotor aircraft is provided on the housing, and the housing It is connected with the quadrotor aircraft body through the first mounting hole.

3. A quadrotor aircraft capable of adjusting the center of gravity as claimed in claim 1, wherein the first drive motor is a servo motor.

4. A quadrotor aircraft capable of adjusting the center of gravity as claimed in claim 1, wherein the second driving motor is a servo motor.