CN107571989A - Circular single rotor wing unmanned aerial vehicle - Google Patents
Circular single rotor wing unmanned aerial vehicle Download PDFInfo
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- CN107571989A CN107571989A CN201710843756.6A CN201710843756A CN107571989A CN 107571989 A CN107571989 A CN 107571989A CN 201710843756 A CN201710843756 A CN 201710843756A CN 107571989 A CN107571989 A CN 107571989A
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Abstract
Existing two kinds of unmanned planes, one kind is " multi-rotor unmanned aerial vehicle ", and because of rotor even number, fuselage self-balancing manipulates well, but total load head is smaller.Another " single rotor band tail-rotor unmanned plane ", its load is larger, but because tail-rotor is to the active force of fuselage vertical direction of advance all the time, causes manipulation difficult.The present invention " circular single rotor wing unmanned aerial vehicle " also uses single rotor, therefore load is also larger.Hull rotation then installs flat wind wheel and rotor reversion solution using below rotor with vertical center line.Rotor motor and wind wheel motor are battery powered, and change input voltage can controlled motor rotating speed, and then control the horizontal torque of main rotor and wind wheel, and when people's manipulation, the two horizontal torque phase waiting time body just balances not rotation.The present invention additionally uses universal joint and " horizontal direction movement device ", and it combines the flight all around of controllable unmanned plane.Because of the existing two kinds of unmanned plane advantages of this unmanned plane collection, both shortcomings are turn avoid, so flying quality improves, market prospects are considerable.
Description
Technical field
The present invention relates to a kind of " circular single rotor wing unmanned aerial vehicle ", the fuselage of this unmanned plane is hemispherical, and circular fuselage is put down
The wind wheel of the lower section installation wind wheel motor driven rotation at face center, its top central coaxial line installation is driven by rotor motor to rotate
Blade.The direction of rotation of lower section wind wheel and top blade is all the time on the contrary, change the rotating speed size of wind wheel with regard to that can balance blade rotation
Standard of fuselage rotation torque caused by turning, so that the fuselage of unmanned plane can be balanced without rotating.Unmanned plane of the present invention belongs to
General Aviation industrial technical field.
Background technology
Domestic and international Development of UAV is rapid nearly ten years, is widely used in social economy, General Aviation and national defense construction
Every field, huge Social benefit and economic benefit is obtained, and also only just beginning, the development prospect in future are more preferable now.
Conventional unmanned plane mainly has a two categories below both at home and abroad now, and the advantage and disadvantage that each of which has are as follows：
1st, multi-rotor unmanned aerial vehicle：It is near as the unmanned plane that Shenzhen of representative company more than 200 manufactures using the big boundary unmanned plane in Shenzhen
Development in several years is swift and violent, and Shenzhen unmanned plane industry has occupied the market share of the world 70% and the market share of the country 90%, into
One of major industry for Shenzhen.Its great advantage is simple in construction, and more rotors are all even numbers, mostly 4 rotors, the rotation of 6 wings
With 8 rotors, wherein half rotor is turned clockwise, half rotates counterclockwise in addition, and fuselage natural equilibrium is without rotation and steady
Surely the direction flown, manipulation and training are all easier to, and student can skillfully manipulate after training two or three days, therefore it is each to obtain each row
The extensive use of industry.But regrettably because multi-rotor unmanned aerial vehicle each of which rotor diameter is small, although quantity is more, total work
Rate is simultaneously little, and floor space is larger, it be suitable for load it is less take photo by plane with scene make an inspection tour etc. function use.
2nd, the unmanned plane of the single rotor long-tail sill bolt tail-rotor of tradition：Structure is more complicated, and it is by the tail-rotor on its long tail boom
Fuselage is acted on to form countertorque to balance unmanned plane due to hull rotation caused by main rotor, but because tail-rotor active force begins
Eventually perpendicular to the direction of advance of unmanned plane, so manipulation is more difficult, trainee needs a wheat harvesting period to can be only achieved qualified water on duty
It is flat, so as to have a strong impact on the extensive use of this unmanned plane.But this single rotor wing unmanned aerial vehicle is because rotor diameter is larger, institute
It is that total load head is larger with its great advantage, is adapted to do as the requirements such as agricultural plant protection, Airborne Express object can carry larger load work(
The unmanned plane of energy.
The content of the invention
For the actual conditions of existing above two unmanned plane, how to retain the respective advantage of two kinds of unmanned planes, while again
The shortcomings that avoiding above two unmanned plane, then carries out comprehensive analysis and innovation improves, and just generates the present invention " circular single rotor
Unmanned plane " technology.
Now the operation principle of unmanned plane of the present invention is described below：
The fuselage of unmanned plane of the present invention is hemispherical, and the rotation of wind wheel motor driven is provided with below circular fuselage planar central
The wind wheel turned, its top central coaxial line installation are driven the blade of rotation by rotor motor.According to aerodynamics, hemispherical machine
During square rotor low incidence rotation with it, the downward force feed of air so as to producing the weight that lift praises unmanned plane, while air
Also Level Promoting fuselage rotates and directionless sense for reaction to blade.The present invention is below circular fuselage by wind wheel motor driven
The wind wheel of rotation rotates with the rotor blade opposite direction above it, changes the rotating speed size of wind wheel with regard to that can change torsion caused by wind wheel
Square, so as to so that the fuselage of unmanned plane is balanced without rotating.Then it is by rotor as the flight of unmanned plane all around
Universal joint is installed on motor output shaft, the main shaft i.e. universal drive shaft of unmanned plane main rotor is hinged above this universal joint, when this ten thousand
Can of waving to axle around universal joint all around controls the flight of unmanned plane all around.And the plane rocking of this universal drive shaft
Controlled by " plane direction movement device ", its structure be be mutually perpendicular to and can with the fixation frid of relative motion and
Above movable frid, the square hole sliding block that can be moved in the dovetail groove of movable frid is installed, and is mounted with square hole sliding block
Ball can be turned in the ring of the 360 degree of motions in longitudinal direction and laterally the hole of 360 degree of rotations turns ball, drive the universal drive shaft of rotor blade rotation then
Pass through Kong Zhuan ball center hole with universal joint hinge to be connected, universal drive shaft is made around the spider center of universal joint flexibly free
Horizontal universal swing, it is simple and reliable for structure so as to realize the manipulation to unmanned plane all around heading.It is relatively existing two kinds
Unmanned plane, unmanned plane load of the present invention is larger, flight efficiency is higher, manipulation is easier and safer, and manufacturing cost is lower,
Its cost performance has stronger market competition advantage.
Brief description of the drawings
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings
Fig. 1 is the fuselage profilograph of the present invention " circular single rotor wing unmanned aerial vehicle " installation U-shaped undercarriage.
Fig. 2 is the fuselage profilograph of the present invention " circular single rotor wing unmanned aerial vehicle " installation fluid reservoir and sled undercarriage.
Fig. 3 is the present invention " circular single rotor wing unmanned aerial vehicle " fuselage appearance top view.
Fig. 4 is the vertical section enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " airframe structure.
Fig. 5 is the horizontal profile enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " airframe structure.
Fig. 6 is the enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " wind wheel structure section.
Fig. 7 is the enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " wind wheel structure 3-3 sections.
Fig. 8 is the 1-1 vertical sections enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " plane direction movement device.
Fig. 9 is the horizontal layout enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " plane direction movement device.
Figure 10 is the 2-2 cross sections enlarged drawing of the present invention " circular single rotor wing unmanned aerial vehicle " plane direction movement device.
The longitudinal direction manipulation figure of universal drive shaft when Figure 11 is the present invention " circular single rotor wing unmanned aerial vehicle " flight forward.
The longitudinal profile state diagram of universal drive shaft when Figure 12 is the present invention " circular single rotor wing unmanned aerial vehicle " hovering.
Figure 13 be the present invention " circular single rotor wing unmanned aerial vehicle " backward flight when universal drive shaft longitudinal direction manipulation figure.
The horizontal manipulation figure of universal drive shaft when Figure 14 is the present invention " circular single rotor wing unmanned aerial vehicle " flight to the right.
The horizontal section state diagram of universal drive shaft when Figure 15 is the present invention " circular single rotor wing unmanned aerial vehicle " hovering.
The horizontal manipulation figure of universal drive shaft when Figure 16 is the present invention " circular single rotor wing unmanned aerial vehicle " flight to the left.
In figure
1st, kuppe 2, wind wheel lower casing 3, wind wheel 4, wind wheel upper casing 5, wind wheel substrate 6, mounting bracket
7th, wind wheel motor 8, rotor motor 9, blade 10, fuselage cover 11, universal joint 12, fixed frid
13rd, movable frid 14, rotor centers body 15, universal drive shaft 16, waterproof plectane 17, hole turn ball 18, thread spindle
19th, ring turns ball 20, electric pushrod 21, male pin 22, lifting ear 23, square hole sliding block 24, battery
25th, rotor shaft 26, nut 27, screw 28, air draft collar extension 29, fluid reservoir 30, fresh air inlet
31st, wheel blade 32, wind wheel body 33, lower ring plate 34, U-shaped undercarriage 35, sled undercarriage 36, equipment compartment
37th, lattice piece 38, plane direction movement device
Embodiment
In the fuselage profilograph of the U-shaped undercarriage of present invention installation shown in Fig. 1.Its structure refers to Fig. 4 enlarged drawing, its wind
Photography of the equipment to ground is taken photo by plane and maked an inspection tour in wheel lower section installation wind wheel lower casing and U-shaped undercarriage, favourable fuselage lower section installation high-altitude
Etc. the implementation of function.
The fuselage profilograph of fluid reservoir and sled undercarriage is being installed, under wind wheel shown in Fig. 2 below fuselage of the present invention
Side is mounted directly fluid reservoir and made to substitute wind wheel lower casing, plant protection (injection agricultural chemicals or fertilising) of the favourable unmanned plane to agricultural etc.
The implementation of industry function.
It is the top view of fuselage appearance plane of the present invention in figure 3.Because the aerial rotor torque of unmanned plane of the present invention changes
Change is controlled by changing the pitch of blade, but changes the rotation of rotor by controlling the input voltage of rotor motor
Speed changes the torque of rotor, therefore blade is fixed with respect to the flying angle of rotor centers body, so knot
Structure is simple, can install 4 to 8 blades.Under equal load torque conditions, blade length is favorably reduced, that is, reduces main rotation
The diameter of wing disk, so unmanned plane overall structure is more compact, installation and transport are more convenient.
The fuselage interior structure of unmanned plane of the present invention is illustrated in figures 4 and 5.As can be seen from the figure it with it is existing
The structure of two kinds of unmanned planes is entirely different.Because this unmanned plane is single rotor, the hull rotation of unmanned plane can be produced naturally；For this
The present invention installs universal joint 11 on the output shaft of rotor motor 8, the top of this universal joint 11 is be hinged turn ball 17 through hole after with
The main shaft of rotor centers body 14 --- i.e. universal drive shaft 15, rotor motor 8 is passed through by the drive universal drive shaft 15 of universal joint 11 turns ball 17,
Several blades 9 installed in rotor centers body 14 are driven to rotate again.This hole turns ball 17 and is mounted in a square hole sliding block 23, knot
Structure is simple and reliable.
Installed in addition in the lower section of circular fuselage planar central drives wind wheel 3 to rotate by wind wheel motor 7, and this wind wheel 3 is all the time
Rotated with the opposite direction of rotor centers body 14, the reaction torque can that such wind wheel 3 is formed balances its top and is arranged on rotor centers
Hull rotation moment of torsion caused by several blades 9 of body 14, fuselage can balances and stabilization does not turn disorderly.Because rotor motor 8
The power of most of (about 90%) is the weight for praising unmanned plane, and the power of hull rotation only has 10% or so, in addition wind
The angle of attack of wheel blade 31 in wheel 3 is 90 degree, and resistance is big, thus the wind wheel 3 of small diameter be can so that the balance rotating angle of attack is smaller and
The horizontal torque for being relatively large in diameter rotor disk being made up of several blades 9.The battery 24 in equipment compartment is placed in simultaneously to rotor electricity
Machine 8 and wind wheel motor 7 are powered.By changing the input voltage size of wind wheel motor 7 and rotor motor 8 with regard to theirs can be changed
The size of rotating speed and moment of torsion.Control the input voltages of the two motors to control the size of each of which moment of torsion simultaneously, always may be used
The balance of this unmanned aerial vehicle body is realized to find equalization point.Several critical piece rotor motors 8 in equipment compartment, wind wheel
Motor 7, battery 24 and a set of " horizontal direction movement device " 38, and other winged control electronic instruments etc. are all mounted in installation
On frame 6；Mounting bracket 6 is arranged on above wind wheel upper casing 4 further through screw 27, all parts in the protection equipment cabin of fuselage cover 10 and
Electronic equipment is exposed to the sun from outside wind and rain and the sun and turns into an entirety.Wind wheel lower casing 2 is screwed in wind wheel upper casing 4
Outer toroid lower edge on formed flat wind wheel cavity.Wind wheel 3 enters in wind wheel in this cavity internal rotation from fresh air inlet 30
Air, under the action of the centrifugal force again from the 28 downward jet of exhaust collar extension of its edge, therefore wind wheel 3 is completed to balance fuselage
Outside the horizontal torque of rotation, a small amount of lift can also be produced.There are some lattice pieces 37 to support wind wheel lower casing 2 and make in exhaust collar extension 28
With the weight of equipment.The universal drive shaft 15 passed during unmanned plane airflight from fuselage roof, its horizontal hunting angle is larger, is anti-
Only in rainwater intrusion equipment compartment, waterproof plectane 16 is mounted with the top of fuselage cover, because universal drive shaft 15 is from the center of waterproof plectane 16
Aperture passes through, so this waterproof plectane 16 can also follow the swing of universal drive shaft 15 and swing waterproof at the top of fuselage cover 10.
The wind wheel internal structure of unmanned plane of the present invention is illustrated in figure 6 and figure 7.It is by wind wheel body 32 and some wheel blades
31 and lower ring plate 33 became one, some wheel blades 31 are uniformly placed between wind wheel body 32 and lower ring plate 33, by screw 27 with
Wind wheel substrate 5 is linked to be entirety, then is connected upwards with wind wheel motor 7 by rotor shaft 25.
A set of " the plane direction movement for controlling unmanned plane of the present invention all around to fly is represented in Fig. 8, Fig. 9 and Figure 10
Device ".It is installed can be moved in its dovetail groove again on the movable frid 13 that can be slided in the fixed dovetail groove of frid 12
Square hole sliding block 23, and this square hole sliding block 23 in be mounted with longitudinal direction can be done around thread spindle 18 360 degree move rings turn ball 19
Turn ball 17 with the hole that 360 degree of rotations can be laterally done around thread spindle 18；The universal drive shaft 15 of rotor centers body 14 then passes through hole and turns ball
17 centre bore is connected with the hinge of universal joint 11, under 2 compound actions of electric pushrod 20 of vertical and horizontal installation so that universal
Axle 15 can make the plane universal swing of freedom and flexibility around the top of universal joint 11, so as to realize to left before and after unmanned plane of the present invention
Right direction flight freely manipulates.
Unmanned plane lengthwise movement control mode of the present invention is illustrated in Figure 11, Figure 12 and Figure 13.Wherein Figure 12 represents this
Universal drive shaft 15 is in the operating mode of plumbness when unmanned plane hovers in the air.Electric pushrod 21 passes through lifting ear 23 and male pin in Figure 11
21 push away movable frid 13 moves forwards so that universal drive shaft 15 leans forward, and unmanned plane, which obtains, to lean forward component and fly forward.It is electric in Figure 13
Move push rod 21 and rearward moved by lifting ear 23 and the drawing activity frid 13 of male pin 21 so that the hypsokinesis of universal drive shaft 15, unmanned plane obtain
Obtain hypsokinesis component and fly backward.
Unmanned plane transverse movement control mode of the present invention is illustrated in Figure 14, Figure 15 and Figure 16.Wherein Figure 15 represents this
Universal drive shaft 15 is in the operating mode of plumbness when unmanned plane hovers in the air.Electric pushrod 21 passes through lifting ear 23 and male pin in Figure 14
21 push away movable frid 13 moves to the right so that the Right deviation of universal drive shaft 15, the shape that unmanned plane obtains Right deviation component and flown to the right
State.Electric pushrod 21 draws square hole sliding block 23 to be moved to the left side by lifting ear 23 and male pin 21 in Figure 16 so that and universal drive shaft 15 is left-leaning,
Unmanned plane obtains left-leaning component and flown to the left side.
If 2 electric pushrods 21 that the winged hand of unmanned plane manipulates vertical and horizontal move simultaneously, unmanned plane of the present invention can
Can be to the flight of right front, left front, right back and left back with difference.Because the flight all around of unmanned plane of the present invention is
The horizontal universal swing of universal drive shaft 15, relatively conventional unmanned plane of single rotor with tail-rotor of manipulation force are manipulated using electric pushrod 21
It is much larger, so the manipulation of unmanned plane of the present invention can be free and relaxed as existing " multi-rotor unmanned aerial vehicle ".And the present invention nobody
The load of machine again can be big as tradition " single rotor band empennage unmanned plane ".Unmanned plane of the present invention had both retained existing two kinds in a word
Unmanned plane each the advantages of, while the shortcomings that avoid above two unmanned plane again, due also to simple in construction and compact, manufacturing cost
Can be lower with the manufacturing cycle, therefore the present invention " circular single rotor wing unmanned aerial vehicle ", if can research and develop successfully, its cost performance is relatively existing
Two kinds of unmanned planes having are all by with the stronger market competitiveness.
It should be noted that：For those of ordinary skill in the field, on the premise of without prejudice to inventive principle,
Can also make some improvement and deformation to the technology of the present invention, but these be still belong to protection scope of the present invention it
It is interior.
Claims (3)
1. a kind of circular single rotor wing unmanned aerial vehicle, it mainly include rotor motor, universal joint, horizontal direction movement device, universal drive shaft,
Rotor centers body, blade, wind wheel motor, wind wheel upper casing, wind wheel lower casing, wind wheel, battery and undercarriage sequential combination, its feature
It is：The lower section of wind wheel upper casing connects into wind wheel cavity with screw and wind wheel lower casing, and the wind wheel in wind wheel cavity passes through it
Rotor shaft is connected with wind wheel motor；Screw fixing and mounting bracket lays wind wheel motor, thereon on wind wheel upper casing below mounting bracket
Rotor motor is laid with vertical axis by side, and universal joint is installed on the output shaft of rotor motor, universal drive shaft is hinged above universal joint, this
Universal drive shaft is connected through the hole above horizontal direction movement device and fuselage cover with rotor centers body, and rotor centers body is symmetrically installed
Some blades；Battery and winged control instrument and meter are placed in equipment compartment, and hemispheric fuselage cover is arranged on above wind wheel upper casing.
2. a kind of circular single rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that：In plane direction movement device, peace
The movable frid being placed on above fixed frid can move forward and backward in the presence of electric pushrod along the dovetail groove of fixed frid；
Square hole sliding block can move left and right in the presence of electric pushrod along the dovetail groove of movable frid；Square hole is placed in thread spindle
Ring in sliding block turns ball can be around the rotation of 360 degree of this thread spindle, and is placed in ring with two other thread spindle and turns the hole in ball and turn
Ball can also be around the 360 degree of rotations of its thread spindle, and the center that hole turns ball is provided with the circular hole for allowing universal drive shaft to extend there through.
3. a kind of circular single rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that：Wind wheel is by symmetrical cloth below wind wheel body
If putting the wheel blade of dry plate bending, it is linked to be wind wheel, wind wheel center and wind wheel base plate screw with lower ring plate with one heart again below these wheel blades
Nut is fixed on below rotor shaft again after connection, then kuppe is arranged on screw again the bottom of rotor shaft；Wind wheel is pacified
Be placed between wind wheel upper casing and wind wheel lower casing with mode connects for screw into wind wheel cavity in, wind wheel upper casing center is provided with circular hole, wind wheel
Output shaft of the axle through this circular hole connection wind wheel motor；Its outer rim makes the air draft collar extension of wind-guiding curved surface connection wind wheel lower casing；Wind
Wheel lower casing center is provided with the fresh air inlet of circle, and the lower surface fresh air inlet of wind wheel lower casing is to being provided with some radial directions and vertical between outer shroud
Lattice piece for wind wheel lower casing structure strengthen, and by outer annular edge formed air draft collar extension, these lattice pieces be also installation photography etc. work(
The supporting member of energy equipment.It also can use fluid reservoir to be connected instead of wind wheel lower casing with wind wheel upper casing in addition, meet as injection decoction
Deng needed for agricultural plant protection unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843756.6A CN107571989A (en) | 2017-09-13 | 2017-09-13 | Circular single rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843756.6A CN107571989A (en) | 2017-09-13 | 2017-09-13 | Circular single rotor wing unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN107571989A true CN107571989A (en) | 2018-01-12 |
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ID=61032770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710843756.6A Pending CN107571989A (en) | 2017-09-13 | 2017-09-13 | Circular single rotor wing unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384765A (en) * | 2022-10-31 | 2022-11-25 | 四川蓉远地测科技有限公司 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
-
2017
- 2017-09-13 CN CN201710843756.6A patent/CN107571989A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384765A (en) * | 2022-10-31 | 2022-11-25 | 四川蓉远地测科技有限公司 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
| CN116331543A (en) * | 2022-10-31 | 2023-06-27 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
| CN116331543B (en) * | 2022-10-31 | 2023-12-29 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
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