阅读说明：本技术 一种基于行星轮变速的无人机自平衡装置及其平衡方法 (Unmanned aerial vehicle self-balancing device based on planetary gear speed change and balancing method thereof ) 是由 张华� 朱钱威 高鹏 于 2020-05-07 设计创作，主要内容包括：本发明公开了一种基于行星轮变速的无人机自平衡装置及其平衡方法,涉及无人机技术领域。该方法是在无人机每个旋翼传动系统中增加行星轮变速装置,利用设于机架中心的铅锤触发装置对机架倾斜的响应,通过局部短路的形式使得低侧旋翼下方的分合闸电磁铁断电失去电磁吸力,弹簧回弹导致摩擦片压紧行星齿轮架,降低行星轮绕太阳轮的公转速度,从而提高在恒定输入下太阳轮的转速,并通过太阳轮带动动力轴提升无人机机身倾斜一侧的旋翼转速,增加升力,达到无人机自平衡的目的。本发明具有能够实时根据无人机的飞行姿态自适应调整机身相对较低一侧的升力以此达到无人机自平衡的效果。(The invention discloses an unmanned aerial vehicle self-balancing device based on planetary gear speed change and a balancing method thereof, and relates to the technical field of unmanned aerial vehicles. According to the method, a planetary gear speed change device is added in each rotor transmission system of the unmanned aerial vehicle, a plumb bob trigger device arranged in the center of a rack is used for responding to the inclination of the rack, the opening and closing electromagnet below a low-side rotor is powered off to lose electromagnetic suction force in a local short circuit mode, a friction plate is pressed on a planetary gear rack due to spring rebounding, the revolution speed of the planetary gear around a sun gear is reduced, the rotating speed of the sun gear under constant input is increased, the rotating speed of the rotor on the inclined side of the unmanned aerial vehicle body is increased by driving a power shaft through the sun gear, the lift force is increased, and the. The self-balancing unmanned aerial vehicle has the advantage that the lift force on the relatively lower side of the self-balancing unmanned aerial vehicle body can be adjusted in a self-adaptive manner in real time according to the flight attitude of the unmanned aerial vehicle, so that the self-balancing effect of the unmanned aerial vehicle is achieved.)

1. The utility model provides an unmanned aerial vehicle self-balancing unit based on planet wheel variable speed which characterized in that: the planetary gear speed changing device in each rotor wing transmission system comprises a switching-on/off electromagnet (1), a plumb trigger device (2), a friction plate (3), a planetary gear carrier (4), a sun gear (5), a planetary gear (6), a gear ring (7), a shell (8), a power shaft (9), a rack (10), an input shaft (11), a motor (12), a motor base (13), a lower end cover (14), an upper end cover (15), a spring (16) and a rotor wing (17);

the three opening and closing electromagnets (1) are uniformly distributed in the small holes on the boss surface of the upper end cover (15) along the circumferential direction, and the bottom of each opening and closing electromagnet (1) is fixed with a friction plate (3); the friction plate (3) compresses the upper end face of the planet gear carrier (4), three shafts are uniformly distributed on the circumference of the lower end face, a planet gear (6) is sleeved on each shaft, the planet gear (6) is meshed with an external gear ring (7), and an internal sun gear (5) is meshed simultaneously to form a planet gear train; one end of the input shaft (11) is connected with the motor (12), and the other end is connected with the gear ring (7) through a spline; the sun wheel (5) transmits power to the power shaft (9) through a spline, and the top end of the power shaft (9) is in threaded connection with a rotor wing (17) so as to drive the rotor wing (17) to rotate; the rest of the upper end covers (15), the shell (8), the lower end cover (14) and the motor base (13) are connected with each other through bolts and fixed on the unmanned aerial vehicle frame (10).

2. The unmanned aerial vehicle self-balancing device based on planet wheel speed change of claim 1, characterized in that: the plumb triggering device (2) comprises: the device comprises a housing (21), a buckle (22), a spherical hinge support (23), a ball head (24), a plumb shaft (25), a conductive block (26), a trigger block (27), a plumb (28) and a wiring terminal (29); wherein ball pivot support (23) are fixed in the central point of housing (21) inboard up end and put the department, it is articulated with ball head (24) and ball pivot support (23) to go up the top end in plumb bob axle (25), plumb bob axle (25) middle part is fixed with a square conducting block (26), there is plumb bob (28) at plumb bob axle (25) bottom mounting, evenly distributed has four trigger block (27) around the inner wall of housing (21), housing (21) are fixed in unmanned aerial vehicle frame (10) central point through four buckle (22) and put, and four right angles of casing (21) point to four rotors of unmanned aerial vehicle respectively.

3. The unmanned aerial vehicle self-balancing device based on planet wheel variable speed of claim 2, characterized in that: trigger block (27) are L type angle iron plate, and the right angle of four trigger blocks (27) is corresponding to four inside angles of housing (21) respectively, and adjacent trigger block (27) have 5-8 mm's clearance, and trigger block (27) mounting height is a little higher than about the conducting block 10-13mm, all draws forth one section binding post (29) simultaneously on every trigger block (27) and is used for inserting control circuit (18).

4. The unmanned aerial vehicle self-balancing device based on planet wheel variable speed of claim 3, characterized in that: the control circuit (18) comprises opening and closing electromagnets (1a) (1b) (1c) (1d) and switches (2a) (2b) (2c) (2d), the opening and closing electromagnets (1a) (1b) (1c) (1d) are a group of opening and closing electromagnets (1) below different rotor wings (17) of the unmanned aerial vehicle respectively, the on-off states of the switches (2a) (2b) (2c) (2d) respectively correspond to the contact and disconnection states of the conductive block (26) and the four different trigger blocks (27), the switches (2a) are correspondingly connected in parallel with the opening and closing electromagnets (1a), and the switches (2b) (2c) (2d) are correspondingly connected in parallel with the opening and closing electromagnets (1b) (1c) (1d) respectively.

5. The unmanned aerial vehicle self-balancing device based on planet wheel variable speed of claim 2, characterized in that: the plumb shaft (25) and the housing (21) are both made of non-conductive high polymer material polyethylene.

6. The unmanned aerial vehicle self-balancing device based on planet wheel speed change of claim 1, characterized in that: three shafts uniformly distributed on the lower end face of the planet gear carrier (4) are provided with shaft shoulders, the shaft shoulders are in contact with the inner ring of the planet wheel roller bearing (41), stepped holes are formed in the upper end face and the lower end face of the planet wheel (6), the outer ring of the planet wheel roller bearing (41) is clamped into the stepped hole in the upper end of the planet wheel (6), the lower end face of the inner ring of the planet wheel roller bearing (41) is pressed against the upper end face of the planet wheel upper thrust bearing (42), and the planet wheel upper thrust bearing (42) is arranged at the bottom of the stepped hole in the upper end; a planet wheel lower thrust bearing (43) is arranged in a stepped hole at the lower end of the planet wheel (6), one end of an intermediate thrust bearing (44) is contacted with the lower end face of the planet wheel lower thrust bearing (43), and the other end of the intermediate thrust bearing is clamped in the stepped hole in the gear ring.

7. The unmanned aerial vehicle self-balancing device based on planet wheel speed change of claim 1, characterized in that: the power shaft (9) is divided into an upper section and a lower section by a flange (911) in the middle of the power shaft (9), wherein the length of the upper section is greater than that of the lower section, a spline section (912) is arranged above the flange of the upper section, a threaded end (913) is arranged at the top end of the upper section of the power shaft (9), the sun gear (5) is matched with the spline section (912), the lower end surface of a thrust bearing (91) of the upper section of the power shaft (9) presses the upper end surface of the spline section (912), the upper end surface of the thrust bearing (91) is contacted with the lower end surface of a roller bearing (92), the upper end surface of the roller bearing (92) is clamped into a stepped hole at the inner hole of an upper end cover (15), one end of the thrust bearing (91) of the lower section of the power shaft (9) presses the lower end surface of the flange (911) of the power shaft (9) similarly, the other end of the thrust bearing is contacted with the upper end surface of the roller bearing (92), the threaded section (912) is threadedly engaged with the rotor (17).

8. The unmanned aerial vehicle self-balancing device based on planet wheel speed change of claim 1, characterized in that: the ring gear (7) includes: a first stepped hole (71), a second stepped hole (72), a first stepped surface (73), and a second stepped surface (74); an intermediate thrust bearing (44) is clamped in the first stepped hole (71), an intermediate roller bearing (93) is clamped in the second stepped hole (72), a main ball bearing (81) is clamped between the first stepped surface (73) and a large hole surface (83) of the shell (8), and an auxiliary ball bearing (82) is clamped between the second stepped surface (74) and a small hole surface (84) of the shell (8).

9. A balancing method of an unmanned aerial vehicle self-balancing device based on planet gear speed change is characterized in that: increase planet wheel speed change gear in every rotor transmission system of unmanned aerial vehicle, utilize and locate the response of plummet trigger device (2) at frame (10) center to the frame slope, make deciliter brake electro-magnet (1) outage of low side rotor (17) below lose electromagnetic suction through the form of local short circuit, spring (16) kick-back leads to the friction disc to compress tightly the planet carrier, reduce the revolution speed of planet wheel (6) around sun gear (5), thereby improve the rotational speed of sun gear under the invariable input, and drive power shaft (9) through sun gear (5) and promote the rotor rotational speed of unmanned aerial vehicle frame slope one side, lift force is increased, reach the purpose of unmanned aerial vehicle self-balancing.

10. The balance method of the unmanned aerial vehicle self-balancing device based on the planetary gear speed change as claimed in claim 9, wherein: the spring (16) is in a compressed state under the initial condition, the opening and closing electromagnet (1) is powered on at the moment, the friction plate overcomes the spring force to compress the spring (16) upwards to be separated from the planet gear carrier (4) under the action of electromagnetic force, and the rotor (17) is in a low-gear rotating speed; when the opening and closing electromagnet (1) loses electromagnetic force by local short circuit, the friction plate (3) compresses the planet gear carrier (4) under the action of the spring force of the spring (16), and the rotor (17) is at a high-level rotating speed.

The technical field is as follows:

the invention relates to the technical field of unmanned aerial vehicles, in particular to a self-balancing device and a balancing method thereof, wherein the self-balancing device can adjust the rotating speed of each rotor wing according to the flight attitude of an unmanned aerial vehicle in real time in the flight process of the unmanned aerial vehicle.

Background art:

unmanned aerial vehicles refer to unmanned aircraft, which are unmanned aerial vehicles operated by radio remote control devices and self-contained program control devices. It is often more suitable for tasks that are too "fool, dirty, or dangerous" than for piloted aircraft. Because it has the advantages of small volume, convenient use, low requirement on the operational environment, strong battlefield viability and the like, it is widely applied to military, civil and other aspects.

Because the flight attitude of the unmanned aerial vehicle completely depends on program control and manual operation, the unmanned aerial vehicle is sometimes subjected to external interference or manual improper operation, so that the unmanned aerial vehicle can be crashed, economic loss is caused, and if the unmanned aerial vehicle is in a city with dense personnel, pedestrians can be collided in the crash process, and serious secondary casualties are caused.

In order to solve the problems, the method obviously provides an unmanned aerial vehicle self-balancing device based on planet wheel speed change and a balancing method thereof, the purpose of self-balancing of the unmanned aerial vehicle is achieved mainly by means of mechanical transmission and common circuit control, the unmanned aerial vehicle self-balancing device has the advantages of being fast in dynamic response and strong in anti-jamming capability, and has obvious beneficial effects of avoiding external interference and artificial misoperation and achieving self-balancing of the unmanned aerial vehicle.

The invention content is as follows:

the invention provides an unmanned aerial vehicle self-balancing device based on planetary gear speed change and a balancing method thereof in order to solve the problems in the prior art, and the invention can effectively realize the self-balancing regulation effect of the unmanned aerial vehicle.

The technical scheme adopted by the invention is as follows: the utility model provides an unmanned aerial vehicle self-balancing unit based on planet wheel variable speed, planet wheel speed change gear among every rotor transmission system all includes divide-shut brake electro-magnet, plummet trigger device, friction disc, planet wheel carrier, sun gear, planet wheel, ring gear, casing, power shaft, frame, input shaft, motor cabinet, bottom end cover, upper end cover, spring and rotor. The number of the opening and closing electromagnets is three, the three opening and closing electromagnets are uniformly distributed in the small holes on the convex table surface of the upper end cover along the circumferential direction, and the bottom of each opening and closing electromagnet is fixed with a friction plate. The friction plate compresses the upper end face of the planet gear carrier, three shafts are uniformly distributed on the circumference of the lower end face, each shaft is sleeved with a planet gear, and the planet gears are engaged with the external gear ring and the internal sun gear to form a planet gear train. One end of the input shaft is connected with the motor, and the other end of the input shaft is connected with the gear ring through a spline. The sun gear transmits power to the power shaft through the spline, and the top end of the power shaft is connected with a rotor wing in a threaded mode, so that the rotor wing is driven to rotate. All the other upper end covers, the shell, the lower end cover and the motor base are mutually connected and fixed on the unmanned aerial vehicle frame through bolts.

Further, the plumb bob trigger apparatus includes: the lead-acid battery comprises a housing, a buckle, a spherical hinge support, a ball head, a lead hammer shaft, a conductive block, a trigger block, a lead hammer and a wiring terminal. Wherein the ball pivot support is fixed in the central position department of the inboard up end of housing, and the top is fixed with the bulb articulated with the ball pivot support at the epaxial top of plumb, and plumb axle middle part is fixed with a square conducting block, has the plumb at plumb axle bottom mounting, and evenly distributed has four trigger block around the inner wall of housing, and the housing is fixed in unmanned aerial vehicle frame central point through four buckles and puts to four rotors of directional unmanned aerial vehicle respectively in four right angles of casing.

Furthermore, the trigger blocks are L-shaped angle iron blocks, the right angles of the four trigger blocks respectively correspond to four corners inside the housing, gaps of 5-8mm exist between the adjacent trigger blocks, the installation height of each trigger block is slightly higher than that of each conductive block by about 10-13mm, and meanwhile, a connecting terminal is led out from each trigger block and used for being connected with the control circuit.

Further, the control circuit comprises a switching-on and switching-off electromagnet and a switch. The opening and closing electromagnets are a group of opening and closing electromagnets below different rotor wings of the unmanned aerial vehicle respectively, the on-off states of the switches respectively correspond to the contact disconnection states of the conductive blocks and the four different trigger blocks, wherein each switch is correspondingly connected in parallel with each opening and closing electromagnet, and the switches in the same way are correspondingly connected in parallel with the opening and closing electromagnets respectively.

Furthermore, the plumb spindle and the housing are both made of non-conductive high polymer material polyethylene.

The switch is in the off-state under initial condition, and the divide-shut brake electro-magnet is in the state of getting electric this moment, and the spring on the electro-magnet contracts under the electromagnetic suction of divide-shut brake electro-magnet, and the friction disc is disengaged with the planet gear frame, and the planet wheel revolution is not influenced, and the sun gear rotational speed is in low gear this moment, this is the initial condition when unmanned aerial vehicle does not take place to incline. When the switch is switched on, the opening and closing electromagnet is locally short-circuited to cause power loss, the friction plate presses the planet gear carrier under the action of the spring of the opening and closing electromagnet, the revolution of the planet gear is influenced, and the rotating speed of the sun gear is at a high gear.

Guarantee its four right angles and point to four rotors of unmanned aerial vehicle respectively during the installation casing, this is the direction that corresponds four rotors respectively in order to let the position of four trigger blocks to this guarantees to take place the slope when the frame to a certain rotor, and the plummet will be close to the trigger block of appointed department under the action of gravity, thereby can realize that the switch is respectively to the accurate control of different rotor below divide-shut brake electro-magnets, and the rotor rotational speed of lower position department is followed low gear and is turned into high gear.

Furthermore, three shafts uniformly distributed on the lower end face of the planet gear carrier are provided with shaft shoulders, the shaft shoulders are contacted with the inner ring of the planet wheel roller bearing, stepped holes are formed in the upper end face and the lower end face of the planet wheel, the outer ring of the planet wheel roller bearing is clamped into the stepped hole in the upper end of the planet wheel, the lower end face of the inner ring of the planet wheel roller bearing is pressed on the upper end face of the upper thrust bearing of the planet wheel, and the upper thrust bearing of the planet wheel is arranged at the bottom of; a planet wheel lower thrust bearing is installed in a stepped hole at the lower end of the planet wheel, one end of the intermediate thrust bearing is in contact with the lower end face of the planet wheel lower thrust bearing, and the other end of the intermediate thrust bearing is clamped into the stepped hole in the gear ring.

The upper end surface and the lower end surface of the intermediate thrust bearing have different rotating speeds, the lower end surface of the intermediate thrust bearing is clamped into the gear ring to rotate along with the gear ring, and the upper end surface of the intermediate thrust bearing is contacted with the lower thrust bearing of the planet wheel and is consistent with the revolution speed of the planet wheel.

Further, the flange at the middle part of the power shaft divides the power shaft into an upper section and a lower section, wherein the length of the upper section is larger than that of the lower section, a spline section is arranged above the flange of the upper section, a threaded end is arranged at the top end of the upper section of the power shaft, the sun wheel is matched with the spline section, the lower end face of the thrust bearing of the upper section of the power shaft compresses the upper end face of the spline section, the upper end face of the thrust bearing is contacted with the lower end face of the roller bearing, the upper end face of the roller bearing is clamped into a stepped hole at the inner hole of the upper end cover, one end of the thrust bearing of the lower section of the power shaft compresses the lower end face of the flange of the power shaft in a similar way, the other end of the thrust bearing is contacted with the upper end.

The intermediate roller bearing outer ring is clamped in the gear ring and rotates together with the gear ring, and the intermediate roller bearing inner ring is in contact with the power shaft and corresponds to the rotating speed of the power shaft.

Further, the ring gear includes: the first step hole, the second step hole, the first step surface and the second step surface; an intermediate thrust bearing is clamped in the first stepped hole, an intermediate roller bearing is clamped in the second stepped hole, a main ball bearing is clamped between the first stepped surface and the large hole surface of the shell, and an auxiliary ball bearing is clamped between the second stepped surface and the small hole surface of the shell.

The invention also provides a balancing method of the unmanned aerial vehicle self-balancing device based on planetary gear speed change, wherein the planetary gear speed change device is added in each rotor transmission system of the unmanned aerial vehicle, a plumb hammer trigger device arranged in the center of the rack is utilized to respond to the inclination of the rack, the power of an opening and closing electromagnet below the low-side rotor is cut off to lose electromagnetic suction force in a local short circuit mode, a friction plate is pressed on a planet gear carrier due to the springback of a spring, the revolution speed of the planet gear around the sun gear is reduced, the rotating speed of the sun gear under constant input is increased, the rotating speed of the rotor on the inclined side of the unmanned aerial vehicle rack is increased by driving a power shaft through the sun.

Furthermore, the spring is in a compressed state under the initial condition, the opening and closing electromagnet is powered on, the friction plate overcomes the spring force to compress the spring upwards to separate from the planetary gear carrier under the action of electromagnetic force, and the rotor wing is in a low-gear rotating speed; when the opening and closing electromagnet loses electromagnetic force by local short circuit, the friction plate compresses the planet gear carrier under the action of the spring force of the spring, and the rotor wing is in high-level rotating speed.

The invention has the following beneficial effects:

1. the self-balancing unmanned aerial vehicle is based on the physical gravity effect, mainly adopts a control mode of mechanical transmission and a common circuit to realize the self-balancing purpose of the unmanned aerial vehicle, and has the advantages of fast dynamic response and strong anti-interference capability.

2. The invention provides a method for vertically arranging planetary wheel rotors, which can realize that power is input by a gear ring, is transmitted to a sun wheel through the speed change action of a planetary wheel and is output by a power shaft.

3. The invention has simple structure and is easy to disassemble, assemble and maintain.

Description of the drawings:

FIG. 1 is a rotary sectional view A-A of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a structural view of a plumb bob trigger apparatus according to the present invention.

Fig. 4 is a layout diagram of the unmanned aerial vehicle and the plumb triggering device in the invention.

Fig. 5 is a circuit diagram of the switch control opening and closing electromagnet in the invention.

Fig. 6 is a partially enlarged view of the planetary gear structure of the present invention.

Fig. 7 is an exploded view of the power shaft assembly structure of the present invention.

Fig. 8 is an assembly structural view between the housing and the ring gear in the present invention.

Fig. 9 is an assembly structure view of the planetary gear in the present invention.

FIG. 10 is a diagram of the operation of embodiment 1 of the present invention.

Fig. 11 is a three-dimensional structural view of a plumb bob trigger apparatus in which a half of a cover is cut away in embodiment 1 of the present invention.

Fig. 12 is a schematic view of the contact between the conductive block and the trigger block of the plumb bob trigger device in embodiment 1 of the present invention.

FIG. 13 is a diagram of the operation of embodiment 2 of the present invention.

Fig. 14 is a three-dimensional structural view of a plumb bob trigger apparatus in example 2 of the present invention, in which a half of a cover is cut away.

Fig. 15 is a schematic view of the contact between the conductive block and the trigger block of the plumb bob trigger device in embodiment 2 of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention will be more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.

An unmanned aerial vehicle self-balancing device based on planetary gear speed change is described below with reference to fig. 6, 7, 8 and 9 in combination with fig. 1.

The unmanned aerial vehicle self-balancing device based on planetary gear speed change comprises a switching-on and switching-off electromagnet 1, a plumb bob trigger device 2, a friction plate 3, a planetary gear carrier 4, a sun gear 5, a planetary gear 6, a gear ring 7, a shell 8, a power shaft 9, a rack 10, an input shaft 11, a motor 12, a motor base 13, a lower end cover 14, an upper end cover 15, a spring 16 and a rotor 17. The number of the opening and closing electromagnets 1 is three, the three opening and closing electromagnets are uniformly distributed in small holes in the boss surface of the upper end cover 15 along the circumferential direction, and a friction plate 3 is fixed at the bottom of each opening and closing electromagnet 1. The friction plate 3 compresses the upper end face of the planet gear carrier 4, three shafts are uniformly distributed on the circumference of the lower end face, a planet gear 6 is sleeved on each shaft, and the planet gear 6 is meshed with the external gear ring 7 and the internal sun gear 5 at the same time to form a planet gear train. One end of the input shaft 11 is connected with the motor 12, and the other end is connected with the gear ring 7 through a spline. The sun wheel 5 transmits power to the power shaft 9 through a spline, and the top end of the power shaft 9 is connected with a rotor 17 in a threaded mode, so that the rotor 17 is driven to rotate. The rest upper end covers 15, the shell 8, the lower end cover 14 and the motor base 13 are connected with each other through bolts and fixed on the unmanned aerial vehicle frame 10.

Three shafts uniformly distributed on the lower end face of the planet gear carrier 4 are provided with shaft shoulders, the shaft shoulders are contacted with the inner ring of the planet wheel roller bearing 41, the upper end face and the lower end face of the planet wheel 6 are provided with stepped holes, the outer ring of the planet wheel roller bearing 41 is clamped into the stepped hole at the upper end of the planet wheel 6, the lower end face of the inner ring of the planet wheel roller bearing 41 is pressed on the upper end face of the planet wheel upper thrust bearing 42, and the planet wheel upper thrust bearing 42 is arranged at the bottom of the stepped; a planet wheel lower thrust bearing 43 is arranged in a stepped hole at the lower end of the planet wheel 6, one end of an intermediate thrust bearing 44 is contacted with the lower end surface of the planet wheel lower thrust bearing 43, and the other end is clamped in the stepped hole in the gear ring.

The power shaft 9 is divided into an upper section and a lower section by a flange 911 at the middle part of the power shaft 9, wherein the length of the upper section is greater than that of the lower section, a spline section 912 is arranged above the flange of the upper section, a threaded end 913 is arranged at the top end of the upper section of the power shaft 9, the sun gear 5 is matched with the spline section 912, the lower end surface of a thrust bearing 91 at the upper section of the power shaft 9 presses the upper end surface of the spline section 912, the upper end surface of the thrust bearing 91 is contacted with the lower end surface of a roller bearing 92, the upper end surface of the roller bearing 92 is clamped into a stepped hole at an inner hole of an upper end cover 15, similarly, one end of the thrust bearing 91 at the lower section of the power shaft 9 presses the lower end surface of the flange 911 of the power shaft 9, the other end of the thrust bearing 91 is contacted with the upper end surface of.

The ring gear 7 includes: a first step hole 71, a second step hole 72, a first step surface 73, and a second step surface 74. The intermediate thrust bearing 44 is engaged in the first stepped hole 71, the intermediate roller bearing 93 is engaged in the second stepped hole 72, the main ball bearing 81 is engaged between the first stepped surface 73 and the large hole surface 83 of the housing 8, and the sub ball bearing 82 is engaged between the second stepped surface 74 and the small hole surface 84 of the housing 8.

In order to support the planet wheels, the lower end face of the intermediate thrust bearing 44 is clamped into the gear ring 7 to rotate along with the gear ring, the upper end face of the intermediate thrust bearing 44 is in contact with the lower thrust bearing 43 of the planet wheels and is consistent with the revolution speed of the planet wheels 6, so that the rotating speeds of the upper end face and the lower end face of the intermediate thrust bearing 44 are different, and the effect of supporting the planet wheels 6 and the planet wheel carrier 4 is achieved.

In order to realize radial positioning of the power shaft 9, the outer ring of the intermediary roller bearing 93 is clamped into the gear ring 7, the inner ring of the intermediary roller bearing 93 is contacted with the power shaft 9 along with the rotation of the gear ring 7, the rotating speeds of the inner ring and the outer ring of the intermediary roller bearing 93 are different, and the radial positioning effect on the power shaft is realized.

Fig. 5 is a schematic diagram of fig. 3 and fig. 4, which are combined to describe a plumb triggering device of an unmanned aerial vehicle self-balancing device based on planetary gear shifting.

The plumb bob trigger device 2 includes: the device comprises a housing 21, a buckle 22, a ball joint support 23, a ball head 24, a plumb shaft 25, a conductive block 26, a trigger block 27, a plumb 28 and a wiring terminal 29. Wherein ball pivot support 23 is fixed in the central position department of the inboard up end of housing 21, the top is fixed with bulb 24 and ball pivot support 23 articulated on plumb shaft 25, plumb shaft 25 middle part is fixed with a square conducting block 26, there is the plumb 28 at plumb shaft 25 bottom mounting, evenly distributed has four trigger block 27 around the inner wall of housing 21, housing 21 is fixed in unmanned aerial vehicle frame 10 central point through four buckles 22 and puts, and four right angles of housing 21 point to four rotors of unmanned aerial vehicle respectively.

The trigger blocks 27 are L-shaped angle iron blocks, the right angles of the four trigger blocks 27 respectively correspond to four inner angles of the housing 21, gaps of 5-8mm exist between the adjacent trigger blocks 27, the installation height of the trigger blocks 27 is slightly higher than that of the conductive blocks by about 10-13mm, and meanwhile, a connecting terminal 29 is led out from each trigger block 27 and used for being connected into the control circuit 18.

The control circuit 18 comprises opening and closing electromagnets 1a, 1b, 1c and 1d and switches 2a, 2b, 2c and 2d, wherein the opening and closing electromagnets 1a, 1b, 1c and 1d are respectively a group of opening and closing electromagnets 1 below different rotor wings 17 of the unmanned aerial vehicle, the on-off states of the switches 2a, 2b, 2c and 2d respectively correspond to the contact and off states of the conductive block 26 and four different trigger blocks 27, the switch 2a is correspondingly connected in parallel with the opening and closing electromagnet 1a, and the switches 2b, 2c and 2d are similarly connected in parallel with the opening and closing electromagnets 1b, 1c and 1d respectively.

The plumb shaft and the housing are both made of non-conductive high polymer material polyethylene.

In order to obtain different output rotating speeds, the rotating speed of the sun wheel is divided into two gears: low gear and high gear. The switch is in the off-state under initial condition, and divide closing electromagnet 1 is in the state of getting electric this moment, and the spring on the electromagnet contracts under the electromagnetic suction of divide closing electromagnet 1, and friction disc 3 and planet carrier 4 disengage, and the planet wheel revolution is not influenced, and the sun gear rotational speed is in low gear this moment, and this is the initial condition when unmanned aerial vehicle does not take place to incline. When the inclination occurs, the switch corresponding to the lower position is switched on, the opening and closing electromagnet 1 is locally short-circuited to cause power loss, the friction plate 3 presses the planet gear carrier 4 under the action of the spring of the opening and closing electromagnet 1, the revolution of the planet gear is influenced, the rotating speed of the sun gear 5 is increased, and at the moment, the rotating speed of the sun gear is in a high gear.

In order to make things convenient for the lower side rotor rotational speed of drift angle control that utilizes unmanned aerial vehicle, guarantee four rotors that its right angle points to unmanned aerial vehicle respectively during installation casing 21, this is for letting the position of four trigger block 27 correspond four rotors 17's direction respectively, guarantee to take place the slope when the organism to a certain rotor with this, plumb 28 will be close to the trigger block of appointed department under the action of gravity, thereby can realize switch 2a, 2b, 2c, 2d is respectively to different rotor below divide-shut brake electro-magnets 1a, 1b, 1c, 1 d's accurate control, switch into high gear with lower position department rotor 17 rotational speed from low gear.

With reference to fig. 1 and 2 and the remaining drawings, an embodiment of the present invention provides a balancing method for an unmanned aerial vehicle self-balancing device based on planetary gear speed change, including the following steps: increase planet wheel speed change gear in every rotor transmission system of unmanned aerial vehicle, utilize the response of plumb bob trigger device 2 to the frame slope of locating frame 10 center, make the divide-shut brake electro-magnet 1 outage of low side rotor 17 below lose electromagnetic suction through the form of local short circuit, spring 16 kick-backs and leads to the friction disc to compress tightly the planet carrier, reduce the revolution speed of planet wheel 6 around sun gear 5, thereby improve the rotational speed of sun gear under the invariable input, and drive the rotor rotational speed that power shaft 9 promoted unmanned aerial vehicle frame 10 slope one side through sun gear 5, lift force is increased, reach the purpose of unmanned aerial vehicle self-balancing.

The spring 16 is in a compressed state under the initial condition, the opening and closing electromagnet 1 is powered on at the moment, the friction plate overcomes the spring force to compress the spring 16 upwards and separate from the planet gear carrier 4 under the action of electromagnetic force, and the rotor 17 is in a low-gear rotating speed; when the opening and closing electromagnet 1 loses electromagnetic force due to local short circuit, the friction plate 3 compresses the planet gear carrier 4 under the action of the spring force of the spring 16, and the rotor 17 is at a high gear rotating speed.

The following embodiments are specific embodiments of an unmanned aerial vehicle self-balancing device based on planetary gear speed change and a balancing method thereof by using the device described in the above embodiments.