CN107117300A - Unmanned vehicle based on coaxial many rotor pose adjustments - Google Patents
Unmanned vehicle based on coaxial many rotor pose adjustments Download PDFInfo
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- CN107117300A CN107117300A CN201710283807.4A CN201710283807A CN107117300A CN 107117300 A CN107117300 A CN 107117300A CN 201710283807 A CN201710283807 A CN 201710283807A CN 107117300 A CN107117300 A CN 107117300A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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Abstract
Unmanned vehicle based on coaxial many rotor pose adjustments, it is related to a kind of aircraft, it is poor to solve existing single-blade vehicle reliability, power attenuation is big, and Multi-axis aircraft weight is big, and load capacity is poor, and coaxial dual-rotor helicopter weight is big, the problem of mobility is poor, based on the unmanned vehicle of co-axial rotor pose adjustment, it includes movement, frame and beat adjustment mechanism；Movement includes dual output drive mechanism, framework and coaxial many rotor mechanisms；Dual output drive mechanism is installed on framework, two output ends of dual output drive mechanism are connected with coaxial many rotor mechanisms, the propeller of reverse rotation is provided with coaxial many rotor mechanisms, the bottom of framework is connected with beat control stick, and beat adjustment mechanism is arranged in frame and can the swing of beat control stick.The present invention can be used for taking photo by plane, spray agricultural and unmanned probing.
Description
Technical field
The present invention relates to a kind of aircraft.Specifically related to a kind of unmanned vehicle based on coaxial many rotor pose adjustments.
Background technology
Aircraft has important effect in field of aerospace, and the characteristics of unmanned vehicle is due to its own is applied to
The multiple fields such as detect, investigate, taking photo by plane, it is maximum that Austrian western Bell Co. succeeded in developing S-100 depopulated helicopters in 2003
Take-off weight is 200kg, mission payload 50kg, cruising time 4h, available for round-the-clock monitoring in 24 hours, area and activity peace
Guarantor, border patrols, maritime affairs security and accurate measurement and drawing；In July, 2011, the U8 of industry helicopter institute of Air China independent development without
People's helicopter is satisfactorily completed plateau Flight Test in July, 11 first, the U8 of industry helicopter institute of Air China independent development nobody go straight up to
Machine satisfactorily completes plateau Flight Test first, and 230 kilograms of U8 depopulated helicopters maximum take-off weight, 40 kilograms of mission payload is surveyed
The km of distance 100 is controlled, in 4 hours cruising time, can be needed to load distinct device according to different task, is adapted to make in highlands
Industry.And in terms of coaxial aircraft, intelligence Science and Technology Ltd. of Beijing Air China has successfully developed the TD220 depopulated helicopters of sizing
Applied in multiple fields, started the beginning that depopulated helicopter is applied in geologic prospect field；In national grid Zhejiang Province
Utilities Electric Co., takes the lead in being applied to " ultra-high-tension power transmission line become more meticulous inspection ", as marine payload platform, accelerates depopulated helicopter
Ocean right-safeguarding application study.
Co-axial helicopter has rational power consumption (without the tail-rotor power consumption for being used to balance reaction torque), excellent
The features such as maneuverability, less overall dimension.
Some coaxial double-rotor helicopters realize the behaviour in helicopter course by the blade angle of rotor above and below the change of oar disk
It is vertical and stably.There are some shortcomings in such a variable pitch coaxial double-rotary wing structure, due to steerable system part and up and down rotor
The quantity and volume of these non-streamline shape parts of hub be more than single-rotor helicopter and exposure in the gas flow, thus close coupled type goes straight up to
The useless resistance area of machine is more than single-rotor helicopter.Because co-axial helicopter has special steerable system component, therefore will
The level that useless resistance area is reduced to single-rotor helicopter is highly difficult.And because low two rotor of rigidity is easily collided, two rotors must be protected
Hold certain spacing, the longitudinal volume of increase fuselage.The operating mechanism of excessively complexity substantially increases the event of aviation mechanism simultaneously
Barrier rate, also increases the difficulty and cost of manufacture.
Aircraft also employs coaxial rigid rotor design, and propelling screws control helicopter level is installed in afterbody
Flight.But this rigid rotor adds control that Design of Propeller is generally used on relatively large helicopter, fuselage size is big, resistance
Power is big, and power performance is poor, and this structure is then seldom used on small aircraft, because small aircraft weight is smaller, surely
Qualitative difference, the torque meeting produced with propelling screws is interfered with each other using the air-flow that oar and main rotor are produced is promoted during such a design
Stability of aircraft is influenceed, is unfavorable for Aircraft structural design and maneuverability.
In small aircraft field, Multi-axis aircraft rises, relatively it is well-known be great Jiang companies product, also have
The brands such as Parrot, AEE.Multi-axis aircraft is applied to that weight is relatively light, size less big aircraft, same by multiple propellers
When lift is provided, mechanical structure is simple, controls aircraft flight posture by adjusting the rotating speed of each propeller, it is possible to achieve many
Plant complicated flare maneuver.But this mechanical, electrical tune of Multi-axis aircraft electricity and propeller quantity are more, fuselage weight is big, and band carries energy
Power is poor with endurance, and cost is higher, and control difficulty is high.
The design having at present is that the air-flow for guiding rotor to produce by wing plate produces lateral thrust and torque to control course,
Such as coaxial double-oar spherical aircraft.The advantage of this aircraft is simple in construction, has the disadvantage that wind loading rating is poor, when there is beam wind
Wing plate can be produced between cross force influence stability of aircraft, and this structural requirement wing plate and propeller on the contrary enough distances
To produce torque adjustment rotor axis direction, and require there can not be barrier between propeller and wing plate, this just determines this knot
Structure can not realize the compact of Flight Vehicle Structure.
Other existing designs are to adjust body nodal point relative to the position of rotor axis to change by adjustment mechanism
The attitude angle of rotor, so as to realize the Heading control of aircraft.The aircraft of this principle has had the material object designed can be with
With reference to, with the position of change battery come the position of centre of gravity of change of flight device, so that change the attitude angle of rotor axle, control flight
The course of device.This design manipulates the angle of two plectrum controls connecting rods to control battery using two steering wheels for being fixed on fuselage
Position, using more complicated linkage, steering wheel is arranged on the motion of controls connecting rod on the connecting rod of activity so as to controlling battery
Position, this structure is still than more conservative, and center of gravity phase can be caused to change body nodal point position by relying solely on the movement of battery
Excursion for rotor axial location is smaller, and the attitude angle of rotor axis can only change in smaller range, to aircraft
The adjusting range of state of flight is not big enough, it is impossible to makes full use of fuselage weight to adjust flight attitude and also will be unable to play aircraft
Stability potential, and because axis attitude angle bug flying speed it is slow.Moreover, the naked leakage of this battery setting outside
Meter can not protect battery well.
In order to realize the compact of coaxial aircraft structure and reduce the phenomenon that aircraft power is wasted have some flights
Device, only using coaxial double-rotary wing design, body nodal point is adjusted relative to rotor axis by fuselage adjustment mechanism in terms of power
Position changes the attitude angle of rotor, so as to realize the Heading control of aircraft, also have some aircraft by fuselage below
Air-flow that wing plate guiding rotor is produced and produce the motive forces of different directions.
The content of the invention
The present invention is poor to solve existing single-blade vehicle reliability, and power attenuation is big, and Multi-axis aircraft weight is big, and band carries energy
Power is poor, and coaxial dual-rotor helicopter weight is big, the problem of mobility is poor, and then provides a kind of based on coaxial many rotor appearances
The unmanned vehicle of state adjustment.
The present invention adopts the technical scheme that to solve the above problems：
Based on the unmanned vehicle of co-axial rotor pose adjustment, it includes movement, frame and beat adjustment mechanism；
Movement includes dual output drive mechanism, framework and coaxial many rotor mechanisms；
Dual output drive mechanism is installed, two output ends of dual output drive mechanism are connected with coaxial many rotors on framework
The propeller of reverse rotation is provided with mechanism, coaxial many rotor mechanisms, the bottom of framework is connected with beat control stick, and beat is adjusted
Complete machine structure is arranged in frame and beat control stick can be controlled to swing.
The beneficial effects of the invention are as follows：Complete machine of the present invention uses coaxial many rotor designs, and adjustment rotor relative rotation speed can be with
The autobiography that different reaction torques control fuselage is produced to fuselage, the axis direction of propeller can be produced relative to fuselage ring bows
The elevation angle makes body nodal point movement, gravity produce adjustment torque change propeller axis direction relative to movement and then adjust aircraft
The direction of motion.Control moment can be produced using whole gravity of fuselage ring using this design, with already present merely with electricity
The aircraft of pond gravity is compared, and can produce bigger control moment, and during above-mentioned already present aircraft adjustment flight attitude
Fuselage is together rotated relative to propeller axis, and this design propeller axis in space angle change when fuselage relative to spiral shell
Angle change can be reduced fuselage and existed the angle change of rotation oar axis with partial offset in the opposite direction in space with propeller axis
Angle change in space, it is possible to provide more stable platform.
The present invention is few lightweight relative to the propeller that multi-rotor aerocraft provides power, can the heavier load of band, also
Longer cruising time can be provided；Relative to the coaxial dual-rotor helicopter by auxiliary blade control, this aircraft is by weight
Power adjusts flight attitude, does not aid in the power consumption of blade additionally, also will not be because aiding in the interference in air flow of blade to fly；Relative to same
Sample leans on the coaxial dual-rotor helicopter that gravity is adjusted, and this aircraft can call the weight of whole fuselage ring to control appearance
State, unlike battery weight is only leaned in some designs before.
The present invention is few lightweight relative to the propeller that multi-rotor aerocraft provides power, can the heavier load of band, also
Longer cruising time can be provided；Relative to the coaxial dual-rotor helicopter by auxiliary blade control, this aircraft is by weight
Power adjusts flight attitude, does not aid in the power consumption of blade additionally, also will not be because aiding in the interference in air flow of blade to fly；Relative to same
Sample leans on the coaxial dual-rotor helicopter that gravity is adjusted, and this aircraft can call the weight of whole fuselage ring to control appearance
State, unlike battery weight is only leaned in some designs before.Aircraft of the present invention is designed using coaxial double-rotary wing to fly compared to single-blade
Row device, coaxial double-oar, which can reduce propeller size, makes aircraft be easier to fly over narrow space, reaction torque of double oars to fuselage
Can mutually it balance each other, it is not necessary to using the tail-rotor easily encountered foreign object and damaged, increase vehicle reliability reduces fuselage size simultaneously,
Reduce the power attenuation that tail-rotor is brought.Because single-blade aircraft must balance the reaction torque that rotor is produced with tail-rotor, and tail-rotor is needed
There are enough distances with fuselage and produce the arm of force of torque to provide, increase the dimensional weight of fuselage, and many rotors of coaxial aircraft
Direction of rotation is on the contrary, reaction torque is mutually balanced to stablize, without tail-rotor.
Compared to used in Multi-axis aircraft it is electric it is mechanical, electrical adjust it is few with propeller quantity, it is possible to reduce fuselage weight, increase
Load capacity and endurance, cost-effective, reduction control difficulty.According to brushless electric machine test data, in identical power consumption work(
Under rate, bigger propeller can produce more lift, can significantly improve dynamical system efficiency, and coaxial many rotors are compared
It is more suitable for using major diameter propeller in Multi-axis aircraft, also beneficial to raising aircraft endurance.
Present invention design calls the attitude angle of the adjustment of weight rotor axis of frame and plectrum to overcome above by tune
Complete machine structure adjusts body nodal point relative to the position of rotor axis to change the attitude angle of rotor, so as to realize flying for Heading control
The shortcoming that row device structural conservation is brought.The present invention can be used for taking photo by plane, spray agricultural and unmanned probing etc..
Brief description of the drawings
Fig. 1 is the overall structure front view of the present invention, and Fig. 2 is Fig. 1 side view, and Fig. 3 is the front view of movement, and Fig. 4 is
Fig. 3 side view, Fig. 5 removes the three-dimensional structure diagram of two side plates for the present invention, and Fig. 6 is the overall structure for removing undercarriage cross bar
Schematic diagram, Fig. 7 is the structural representation of No. two helical axis, universal bearing and the connection of universal drive shaft bearing, and Fig. 8 is Fig. 6 upward view,
Fig. 9 is the overall structure figure of frame.
Embodiment
Further illustrate the present invention below in conjunction with the accompanying drawings and by embodiment.
Illustrate referring to Fig. 1-Fig. 5, based on the unmanned vehicle of coaxial many rotor pose adjustments, it includes movement A, frame B
With beat adjustment mechanism C；Movement A includes dual output drive mechanism 1, framework 2 and coaxial many rotor mechanisms 3；
Dual output drive mechanism 1 is installed, two output ends of dual output drive mechanism 1 are connected with coaxial many on framework 2
The propeller 4 of reverse rotation is provided with rotor mechanism 3, coaxial many rotor mechanisms 3, the bottom of framework 2 is connected with beat manipulation
Bar 5, beat adjustment mechanism C is arranged on frame B and beat control stick 5 can be controlled to swing.
Complete machine uses coaxial many rotor designs, and adjustment rotor relative rotation speed can produce different reaction torques to fuselage and control
The autobiography of fuselage, the axis direction of propeller can produce the angle of pitch relative to fuselage ring makes body nodal point movement, gravity phase
Adjustment torque, which is produced, for movement changes propeller axis direction and then the adjustment aircraft direction of motion.Can profit using this design
Control moment is produced with whole gravity of fuselage ring, compared with the already present aircraft merely with battery gravity, can be produced
Bigger control moment, and fuselage is together rotated relative to propeller axis during above-mentioned aircraft adjustment flight attitude, and this
Design propeller axis in space angle change when fuselage exist relative to angle change and the propeller axis of propeller axis
Angle change can reduce the angle change of fuselage in space, it is possible to provide more stable with partial offset in the opposite direction in space
Platform.
Illustrate referring to Fig. 2 to Fig. 4, in order to improve the reliability and stability of coaxial many rotor mechanisms 3, dual output drive mechanism 1
Including a motor 1-1, motor gear axle 1-2, gear shaft 1-3, No. two motor 1-5, a No. two motor gear axle 1-6
With No. two gear shaft 1-7；Number motor 1-1 output shaft is connected with a motor gear axle 1-2, a motor gear axle 1-2
Gear be meshed with gear shaft 1-3 gear, No. two motor 1-5 output shaft is connected with No. two motor gear axle 1-6,
No. two motor gear axle 1-6 gear is meshed with No. two gear shaft 1-7 gear, a gear shaft 1-3 and No. two gear shafts
1-7 is all connected with coaxial many rotor mechanisms 3.Such design, coaxial many rotor mechanisms 3 can be controlled respectively using bi-motor design
On the forward and reverse of propeller 4 rotation.A number motor 1-1 and No. two motor 1-5 can use DC brushless motor, direct current without
The power of brush motor is delivered to the rotation that propeller is driven on propeller shaft by gear drive.
Illustrate referring to Fig. 1 to Fig. 7, in order to preferably ensure that the framework 2 of movement can be swung altogether frame B back and forth or left and right relatively
The many rotor mechanisms 3 of axle include a helical axis 3-1, No. two helical axis 3-2, universal bearing 3-3 and universal drive shaft bearing 3-4；No. one
Gear shaft 1-3 is connected with helical axis 3-1 one end, and the helical axis 3-1 other end is connected with propeller 4, No. two teeth
Wheel shaft 1-7 is connected with No. two helical axis 3-2 one end, and No. two helical axis 3-2 other end is connected with propeller 4, a spiral
Axle 3-1 and No. two helical axis 3-2 is coaxial package structure；A number helical axis 3-1 is sleeved on No. two helical axis 3-2 and the two phase
To rotating, No. two helical axis 3-2 rotational installations on the frame 2, are provided with universal bearing 3-3, universal bearing 3-3 peaces on framework 2
On the universal drive shaft bearing 3-4 being connected with frame B.Connect movement and fuselage ring using universal bearing, make movement relative to
The adjustable angle of frame, to change the direction of movement propeller lift using the gravity of fuselage, carrys out the flight of change of flight device
Direction.Preferably, two propellers of one propeller of each installation or each installation on a helical axis 3-1 and No. two helical axis 3-2,
By controlling a motor 1-1 and No. two motor 1-5 rotation, propeller and No. two helical axis on a helical axis 3-1 are realized
Propeller antiport on 3-2.
Illustrate referring to Fig. 5, Fig. 6 and Fig. 8, in order to further mitigate the weight of complete machine, the swing of stability contorting movement, frame
Two sets of beat adjustment mechanism C are relatively set with B, beat adjustment mechanism C includes steering wheel C1, plectrum C2 and disk arm C3；Steering wheel
C1 is arranged on frame B, and steering wheel C1 output shaft, which is provided with disk arm C3, disk arm C3, is provided with plectrum C2, plectrum C2's
End offers through hole C21, and two through hole C21 insertions arrange that the end of beat control stick 5 is inserted into two through hole C21.Often
Individual beat adjustment mechanism C has two disk arms C3, two disk arm C3 to be controlled by steering wheel C1,
A fixation in relative to two disk arm C3 of each plectrum C2, another disk arm C3 only plays branch to plectrum C2
Support is acted on, and can be relatively rotated.Universal bearing 3-3 drives two plectrum C2 to control respectively with the controllable steering wheel C1 of two rotational angles
Corner on two rotational freedoms of the movement processed relative to frame B, controls angles of the movement A relative to frame B, so as to control
Aircraft flight posture.Each steering wheel C1 is fixedly connected by disk arm C3 with a plectrum C2, while being another plectrum C2
Rotation provide rotation support.Movement is connected by the universal bearing and the bearing block of installation bearing that can be slid on control stick with plectrum
Connect, the control operating station of movement can be achieved.
Steering wheel C1, which is arranged symmetrically, to make fuselage weight symmetrical, designed and optimized beneficial to airframe structure, two plectrums
C2 orbit angle angle is 45 degree, the fuselage weight distribution that this design is better achieved on the premise of ensureing that control is required
Symmetrical and aerodynamic configuration it is symmetrical, beneficial to control.It can ensure that movement A angles can be adjusted along both direction.Plectrum C2
The part of useful effect uses spherical design, and the sphere centre of sphere of two plectrum C2 effect partials is overlapped, two such plectrum C2
It can ensure not collide during relative rotation, when two plectrum C2 are rotated, plectrum C2 acting surface can produce folder relative to control stick
Angle with the transition sleeve with universal bearing 5-2, it is necessary to be connected, and the end of beat control stick 5 carries transition sleeve, transition sleeve
Cylinder is installed in through hole C21.
Illustrate referring to Fig. 5, rely only on universal bearing movement relative to fuselage ring meeting rotation (rotation), pin is used for avoiding
This rotation, such movement can only just be swung, and in order to avoid such situation occurs, coaxial many rotor mechanisms 3 also include axle pressure
Cover 3-5, gag lever post 3-6 and two pin 3-7；Axle gland 3-5 is installed on the frame 2, and axle gland 3-5 side also installs spacing
Spaced two pin 3-7 arranged side by side are installed, gag lever post 3-6 is arranged in two pins on bar 3-6, universal drive shaft bearing 3-4
Between 3-7.No. two helical axis 3-2 pass axle gland 3-5, and No. two helical axis 3-2 energy relative axle glands 3-5 are rotated, and are so set
Put, pin can transmit torque between movement and fuselage ring, prevent fuselage ring from producing autobiography relative to movement.
Illustrate referring to Fig. 3, in order to mitigate the weight of movement, framework 2 includes upper boxboard 2-1, middle boxboard 2-2, lower boxboard 2-3
With four column 2-4；Four column 2-4 are square arrangement, and four column 2-4 upper end, middle part are corresponding with lower end to be provided with
Boxboard 2-1, middle boxboard 2-2 and lower boxboard 2-3, a motor 1-1 and No. two motor 1-5 are arranged on lower boxboard 2-3, No. two spiral shells
Spin axis 3-2 passes boxboard 2-1, a gear shaft 1-3 and is arranged on by bearing on middle boxboard 2-2, and No. two gear shaft 1-7 pass through
Bearing is arranged on upper boxboard 2-1.Preferably, four column 2-4 are nylon column.
Illustrate referring to Fig. 7, in order to mitigate the weight of movement, frame B includes support body B1 and multiple supporting linkage B2, universal
Multiple supporting linkage B2 are circumferentially installed, supporting linkage B2 is connected with support body B1 on bearing block 3-4.
Illustrate referring to Fig. 5, support body B1 is quadra structure, quadra structure includes four vertical strut rod B11, four
Individual undercarriage cross bar B 12 and four side plate B13；Four vertical strut rod B11 connect into a munnion, four undercarriage cross bars
B12 connects into a horizontal frame, and munnion is arranged on horizontal frame, and one is connected between every two neighboring vertical strut rod B11 on munnion
One steering wheel C1, multiple supporting linkage B2 are respectively installed on individual side plate B13, two relative side plate B13 respectively with munnion to connect
Connect.
Illustrate referring to Fig. 1 and Fig. 2, in order to ensure aircraft electric power normal supply, based on coaxial many rotor pose adjustments
Unmanned vehicle also includes battery D, and battery D is arranged on frame B.Battery D be used for a motor 1-1, No. two motor 1-5,
Steering wheel C1 powers.Battery D powers use, and battery D is rechargeable battery.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when can using the disclosure above structure and technology contents do
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent variations and modification that the technical spirit according to the present invention is made to above case study on implementation still belong to
Technical solution of the present invention scope.
Claims (10)
1. the unmanned vehicle based on coaxial many rotor pose adjustments, it is characterised in that：It includes movement (A), frame (B) and inclined
Put adjustment mechanism (C)；
Movement (A) includes dual output drive mechanism (1), framework (2) and coaxial many rotor mechanisms (3)；
Dual output drive mechanism (1) is installed, two output ends of dual output drive mechanism (1) are connected with coaxial on framework (2)
The propeller (4) of reverse rotation, the bottom connection of framework (2) are provided with many rotor mechanisms (3), coaxial many rotor mechanisms (3)
There is beat control stick (5), beat adjustment mechanism (C) is arranged in frame (B) and beat control stick (5) can be controlled to swing.
2. the unmanned vehicle according to claim 1 based on coaxial many rotor pose adjustments, it is characterised in that：The lose-lose
Going out drive mechanism (1) includes motor (1-1), motor gear axle (1-2), gear shaft (1-3), No. two motors
(1-5), No. two motor gear axles (1-6) and No. two gear shafts (1-7)；
The output shaft of a number motor (1-1) is connected with a motor gear axle (1-2), the gear of a motor gear axle (1-2)
It is meshed with the gear of a gear shaft (1-3), the output shaft of No. two motors (1-5) is connected with No. two motor gear axles (1-6),
The gear of No. two motor gear axles (1-6) is meshed with the gear of No. two gear shafts (1-7), a gear shaft (1-3) and No. two
Gear shaft (1-7) is all connected with coaxial many rotor mechanisms (3).
3. the unmanned vehicle according to claim 2 based on coaxial many rotor pose adjustments, it is characterised in that：It is described coaxial
Many rotor mechanisms (3) include helical axis (3-1), No. two helical axis (3-2), universal bearing (3-3) and universal drive shaft bearing (3-
4)；
A number gear shaft (1-3) is connected with one end of a helical axis (3-1), and the other end of a helical axis (3-1) is connected with
Propeller (4), No. two gear shafts (1-7) are connected with one end of No. two helical axis (3-2), the other end of No. two helical axis (3-2)
Propeller (4) is connected with, a helical axis (3-1) and No. two helical axis (3-2) are coaxial package structure；A number helical axis (3-
1) it is sleeved on No. two helical axis (3-2) and the two is relatively rotated, No. two helical axis (3-2) is rotatably installed on framework (2), frame
Universal bearing (3-3) is installed, universal bearing (3-3) is arranged on the universal drive shaft bearing (3-4) being connected with frame (B) on frame (2)
On.
4. the unmanned vehicle according to claim 3 based on coaxial many rotor pose adjustments, it is characterised in that：The frame
(B) two sets of beat adjustment mechanisms (C) are relatively set with, beat adjustment mechanism (C) includes steering wheel (C1), plectrum (C2) and disk
Arm (C3)；Steering wheel (C1) is arranged in frame (B), and the output shaft of steering wheel (C1) is provided with disk arm (C3), disk arm (C3)
Plectrum (C2) is installed, the end of plectrum (C2) offers through hole (C21), two through hole (C21) insertion arrangements, beat control stick
(5) end is inserted into two through holes (C21).
5. the unmanned vehicle according to claim 4 based on coaxial many rotor pose adjustments, it is characterised in that：It is described coaxial
Many rotor mechanisms (3) also include axle gland (3-5), gag lever post (3-6) and two pins (3-7)；Axle gland (3-5) is arranged on frame
On frame (2), the side of axle gland (3-5) is also installed to be provided with to be spaced side by side in gag lever post (3-6), universal drive shaft bearing (3-4) and set
Two pins (3-7) put, gag lever post (3-6) is arranged between two pins (3-7).
6. the unmanned vehicle according to claim 5 based on coaxial many rotor pose adjustments, it is characterised in that：The framework
(2) upper boxboard (2-1), middle boxboard (2-2), lower boxboard (2-3) and four columns (2-4) are included；Four columns (2-4) are square
Arrangement, upper end, the middle part of four columns (2-4) are corresponding with lower end to be provided with upper boxboard (2-1), middle boxboard (2-2) and lower boxboard
(2-3), a motor (1-1) and No. two motors (1-5) are arranged on lower boxboard (2-3), and No. two helical axis (3-2) pass top box
Plate (2-1) a, gear shaft (1-3) is arranged on middle boxboard (2-2) by bearing, and No. two gear shafts (1-7) are pacified by bearing
On upper boxboard (2-1).
7. the unmanned vehicle according to claim 6 based on coaxial many rotor pose adjustments, it is characterised in that：Described four
Column (2-4) is nylon column.
8. the unmanned vehicle based on coaxial many rotor pose adjustments according to claim 4,5,6 or 7, it is characterised in that：
The frame (B) includes support body (B1) and multiple supporting linkages (B2), is circumferentially provided with universal drive shaft bearing (3-4) multiple
Supporting linkage (B2), supporting linkage (B2) is connected with support body (B1).
9. the unmanned vehicle according to claim 8 based on coaxial many rotor pose adjustments, it is characterised in that：The support body
(B1) be quadra structure, quadra structure include four vertical strut rods (B11), four undercarriage cross bars (B12) and
Four side plates (B13)；Four vertical strut rods (B11) connect into a munnion, and four undercarriage cross bars (B12) connect into one
Horizontal frame, munnion is arranged on horizontal frame, and a side plate (B13) is connected between every two neighboring vertical strut rod (B11) on munnion,
One steering wheel (C1) is respectively installed, multiple supporting linkages (B2) are connected with munnion respectively on two relative side plates (B13).
10. the unmanned vehicle based on coaxial many rotor pose adjustments according to claim 4,5,6,7 or 9, its feature exists
In：The unmanned vehicle based on coaxial many rotor pose adjustments also includes battery (D), and battery (D) is arranged on frame (B)
On.
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| CN201710283807.4A CN107117300B (en) | 2017-04-26 | 2017-04-26 | Unmanned vehicle based on coaxial more rotor pose adjustments |
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| CN201710283807.4A CN107117300B (en) | 2017-04-26 | 2017-04-26 | Unmanned vehicle based on coaxial more rotor pose adjustments |
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| CN107117300B CN107117300B (en) | 2019-04-16 |
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| CN113702988B (en) * | 2021-08-10 | 2024-04-16 | 井冈山大学 | Ranging obstacle avoidance device for surveying and mapping unmanned aerial vehicle |
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