WO2017197603A1

WO2017197603A1 - Multi-rotor unmanned aerial vehicle

Info

Publication number: WO2017197603A1
Application number: PCT/CN2016/082497
Authority: WO
Inventors: 王建军
Original assignee: 深圳市创客工场科技有限公司
Priority date: 2016-05-18
Filing date: 2016-05-18
Publication date: 2017-11-23
Also published as: CN106794897A; CN106794897B

Abstract

A multi-rotor unmanned aerial vehicle (100), comprising a main housing (10), a first rotor group (11), a second rotor group (12), and a third rotor group (13). The main housing comprises two end-face reference surfaces arranged oppositely, and a ridge surface (101) for connecting the two end-face reference surfaces. The first rotor group (11) and the second rotor group (12) are symmetrically distributed at both sides of the third rotor group (13). Rotating shafts of rotors of the first rotor group (11) and the second rotor group (12) are parallel to the end-face reference surfaces. The first rotor (11) and the second rotor group (12) are used for driving the multi-rotor unmanned aerial vehicle (100) to move in a direction parallel to the end-face reference surfaces. Rotating shafts of rotors of the third rotor group (13) are the same in a forward direction as and perpendicular to the end-face reference surfaces. The third rotor group (13) enables the multi-rotor unmanned aerial vehicle (100) to hover above the ground/water surface, so that the multi-rotor unmanned aerial vehicle (100) is in a hovering state, and therefore, the friction force generated by the contact between the multi-rotor unmanned aerial vehicle (100) and the ground/water surface can be eliminated, and motion resistance is effectively reduced.

Description

Multi-rotor drone

Technical field

The present application relates to the field of drone technology, and in particular to a multi-rotor drone.

Background technique

With the continuous advancement of the science and technology society, the drone industry is gradually expanding. The multi-rotor aircraft has developed rapidly due to its simple mechanical structure, simple power system, and the ability to take off and land vertically. At one time, researchers are eager to start multi-rotor aircraft. The use of research, there is a global wave of commercialization of multi-rotor.

In the prior art, in order to enable the drone to perform more complicated tasks or to realize the multi-functionality of the drone, the range of the drone's activity has long been limited to the initial sky flight. However, the current research on water, land and air integrated drones is less, so it is difficult to meet the increasingly complex requirements of the use environment.

Summary of the invention

The purpose of the present application is to provide a multi-rotor drone that can be adapted to a variety of working environments, particularly to a water and land environment.

To achieve the above objective, the present application provides the following technical solutions:

A multi-rotor UAV comprising a main casing, a first rotor group, a second rotor group and a third rotor group, the main casing comprising two opposite end face reference faces and connected to the two end faces a facet between the reference faces, the first rotor set, the second rotor set and the third rotor set are disposed on the facet, the first rotor set being symmetric with the second rotor set Distributed on both sides of the third rotor group, the rotation axes of the rotors in the first rotor group and the second rotor group are parallel to the end surface reference plane, the first rotor group and the second rotor group And driving the drone to move in a direction parallel to the end face reference plane, wherein the rotation axis of the rotor in the third rotor group is positive in the same direction and perpendicular to the end face reference surface.

Wherein the first rotor group includes a first rotor and a second rotor, the second rotor group includes a third rotor and a fourth rotor, the first rotor, the second rotor, the third rotor, and a rotating shaft of the fourth rotor is parallel to the end surface reference surface, the first rotor and the third rotor are symmetrically disposed with respect to the third rotor group and are used to jointly drive the drone toward the first direction Move, the second The rotor and the fourth rotor are used to jointly drive the drone to move in a second direction, the first direction is opposite to the second direction, and the third rotor group includes a fifth rotor and a sixth rotor. The rotation axes of the fifth rotor and the sixth rotor are positive in the same direction and perpendicular to the end surface reference surface.

Wherein, the main casing has a regular hexagonal prism structure, the first rotor and the second rotor are disposed on two adjacent prism faces, and the third rotor and the fourth rotor are respectively disposed on two other The fifth rotor and the sixth rotor and the first rotor, the second rotor, the third rotor and the fourth rotor belong to different facets on adjacent facets The rotation axes of the first rotor, the second rotor, the third rotor, the fourth rotor, the fifth rotor and the sixth rotor are respectively parallel to the corresponding plane faces.

Wherein, the rotation axis of the first rotor and the rotation axis of the second rotor are positively disposed away from each other, and the rotation axis of the third rotor and the rotation axis of the fourth rotor are positively disposed away from each other.

Wherein the first rotor, the third rotor, the second rotor, the fourth rotor, the fifth rotor and the sixth rotor each have a regular hexagonal structure, the regular hexagon The side length is equal to the length of the bottom surface of the hexagonal prism.

The base further includes a top surface and a side wall, the top surface and the side wall form a hollow cavity, the cavity is in communication with the outside, and the top surface is provided with a through hole and a mounting groove. The through hole is in communication with the fifth rotor and the sixth rotor, and the main casing, the first rotor group, the second rotor group, and the third rotor group are mounted to the mounting groove.

Wherein the cross-sectional area of the cavity parallel to the top surface is increased from the top surface in a direction perpendicular to the top surface.

Wherein, the base is made of an elastic material.

The first magnetic medium and the second magnetic medium are further disposed on the edge surface of the main casing, the first rotor, the second rotor, the third rotor and the The second rotor is disposed on the fourth rotor, the first magnetic medium and the second magnetic medium are attracted to each other, and the main casing is further provided with a slot on the edge surface, the first rotor, The second rotor, the third rotor and the fourth rotor are respectively provided with latches that cooperate with the slots.

Wherein, the slot has a cross shape.

In the first rotor group and the second rotor group, the rotation axis of the rotor is parallel to the end surface reference surface, and the first rotor group and the second rotor group drive the drone parallel to The end face moves in the direction of the reference plane, and the rotation axes of the rotors in the third rotor group are positive in the same direction and perpendicular to the end faces Reference surface. Suspending the multi-rotor UAV on the ground/water surface by the third rotor group, so that the multi-rotor UAV is suspended, and the friction generated by the multi-rotor UAV and the ground/water surface contact can be eliminated, and the friction is effectively reduced. Resistance to exercise.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present application. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.

FIG. 1 is a schematic diagram of a multi-rotor UAV provided by an embodiment of the present application.

Figure 2 is an exploded view of the multi-rotor drone shown in Figure 1.

3 is a schematic structural view of the multi-rotor UAV shown in FIG. 1.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The ordinal qualifiers used in the following embodiments of the present application, the first, second, etc. are merely for the purpose of clearly indicating the distinctive features of the similar features in the present application, and do not represent the order of the corresponding features or the order of use.

Referring to FIGS. 1 and 2, the multi-rotor drone 100 of the present invention includes a main casing 10, a first rotor group 11 and a second rotor group 12 and a third rotor group 13. The main housing 10 includes two opposite end face reference faces and a face face 101 connecting the two end face reference faces, where the end face reference faces refer to the ends of the main casing 10 being perpendicular to the facets. section. The first rotor group 11, the second rotor group 12 and the third rotor group 13 are mounted on the facet 101 of the main casing 10. The first rotor group 11 and the second rotor group 12 are symmetrically distributed on both sides of the third rotor group 13 . The first rotor group 11 and the second rotor group 12 respectively include a plurality of rotors, and the rotation axes of the rotors in the first rotor group 11 and the second rotor group 12 are parallel to the end surface reference surface, The first rotor group 11 and the second rotor group 12 are used to drive the drone in a direction parallel to the end face reference plane The rotation axis of the rotor in the third rotor group 13 is positive and perpendicular to the end face reference surface. The function of the third rotor group 13 is to suspend the multi-rotor drone 100 on the ground/water surface, so that the multi-rotor drone 100 is suspended, and the multi-rotor drone 100 can be eliminated from the ground/water surface contact. Friction, effectively reducing the resistance to motion. Then, the multi-rotor drone 100 moves in a direction parallel to the ground/water surface by the first rotor group 11 and the second rotor group 12. The multi-rotor drone 100 of the present invention can be applied to low-altitude flights on the ground and on the surface of the water.

It can be understood that the rotation axis described in the present invention positively satisfies the right hand spiral rule. That is, when the right hand four fingers rotate in the direction of the propeller, the direction indicated by the thumb is the positive direction of the rotating shaft.

Specifically, the first rotor group 11 includes a first rotor 111 and a second rotor 112, the second rotor group 12 includes a third rotor 121 and a fourth rotor 122, and the third rotor group 13 includes a fifth rotor 131 and sixth rotor 132. The first rotor 111 and the third rotor 121 are disposed symmetrically on both sides of the straight line where the fifth rotor 131 and the sixth rotor 132 are located, and the second rotor 112 and the fourth rotor 122 are symmetrically disposed on the fifth rotor 131 and the sixth rotor. 132 is on either side of the line. That is to say, the first rotor group 12 and the second rotor group 13 are mirror-image distributed with respect to the third rotor group 13. Referring to FIG. 3, FIG. 3 is a schematic structural diagram of the first embodiment of the multi-rotor UAV 100 of FIG. 1. The direction indicated by the solid arrow in the figure is the rotation axis of each rotor. The rotation axes of the first rotor 111, the second rotor 112, the third rotor 121, and the fourth rotor 122 are parallel to the reference end surface of the main casing 10 and the symmetry plane AA' of the main casing 10 The included angle is an acute angle, and the line connecting the fifth rotor 131 and the sixth rotor 132 is located on the symmetry plane AA'. The rotation axes of the first rotor 111 and the third rotor 121 are positively biased toward the first direction X, and the rotation axes of the second rotor 112 and the fourth rotor 122 are positively biased toward the second direction. The first direction is opposite to the second direction. The first rotor 111 and the third rotor 121 are capable of driving the drone to move in a first direction. The second rotor 112 and the fourth rotor 122 are capable of driving the drone to move in a second direction. The rotation axes of the fifth rotor 131 and the sixth rotor 132 are the same in the same direction, and the rotation axes of the fifth rotor 131 and the sixth rotor 132 are perpendicular to the end surface reference surface (the vertical paper in FIG. 3 faces outward). ). Further, the rotation axes of the fifth rotor 131 and the sixth rotor 132 should be perpendicular to the end face reference surface, so that the multi-rotor drone 100 is suspended on the ground/water surface.

More specifically, the main casing 10 has a regular hexagonal prism structure, and the six prism faces 101 of the main casing 10 are sequentially disposed. The first rotor 111 and the second rotor 112 are disposed on two adjacent facets 101, and the rotation axis of the first rotor 111 is positively opposite to the rotation axis of the second rotor 112. Keep away from each other. The third rotor 121 and the fourth rotor 122 are disposed on the other two adjacent prism faces 101, and the rotation axis of the third rotor 121 is positively opposite to the rotation axis of the fourth rotor 122. . The fifth rotor 131 and the sixth rotor 132 are disposed on the other two non-adjacent facets 101. That is, the fifth rotor 131 and the sixth rotor 132 are different from the first rotor 111, the second rotor 112, the third rotor 121, and the fourth rotor 122. Said on the facet 101. The rotation axes of the first rotor 111, the second rotor 112, the third rotor 121, the fourth rotor 122, the fifth rotor 131, and the sixth rotor 132 are each parallel to the plane facet 101.

When the drone is in operation, the fifth rotor 131 and the sixth rotor 132 remain rotated, so that the multi-rotor drone 100 is suspended; when the multi-rotor drone 100 needs to move in the first direction, the first rotor 111 and The third rotor 121 rotates, and the second rotor 112 and the fourth rotor 122 stop moving (or reverse movement to change the positive direction of the rotating shaft); when the drone needs to turn to the right in FIG. 2, The second rotor 112 and the third rotor 121 rotate, and the first rotor 121 and the fourth rotor 132 stop moving (or reverse movement to change the positive direction of the rotating shaft).

It can be understood that when the drone needs to move in the second direction, each rotor works in the opposite direction to the first direction. When the drone needs to turn to the left in Figure 2, each rotor works in the opposite way to the right turn in Figure 2. In other embodiments, the forward rotation of all the rotor shafts in FIG. 2 can also be rotated by 180°, and the working process is similar to the above-mentioned working process, and details are not described herein again.

Further specifically, the first rotor 111, the third rotor 121, the second rotor 112, the fourth rotor 122, the fifth rotor 131, and the sixth rotor 132 are all regular hexagons The structure, and the side length of the hexagon is equal to the length of the edge of the bottom surface of the hexagonal prism. The advantage of this arrangement is that when the multi-rotor drone 100 needs to be converted into the flight mode, that is, the direction of the rotation axis of each rotor is perpendicular to the horizontal plane, the adjacent rotors can abut each other to further enhance the stability of the structure. Sex.

More specifically, the multi-rotor UAV 100 further includes a first magnetic medium 17 and a second magnetic medium 18, and the first magnetic medium 17 is disposed on each of the facets 101 of the main casing 10, The second magnetic medium 18 is disposed on a rotor 111, the second rotor 112, the third rotor 121, the fourth rotor 122, the fifth rotor 131, and the sixth rotor 132. The first magnetic medium 17 and the second magnetic medium 18 are attracted to each other to fix the rotor and the main casing 10. A slot 110 is further disposed on the main housing face 101, and the first rotor 111, the second rotor 112, the third rotor 121, the fourth rotor 122, and the fifth rotor 131 And the sixth rotor 132 Pins 118 that cooperate with the slots 110 are respectively provided. The positioning function is realized by the cooperation of the latch 118 and the slot 110.

More specifically, the slot 110 has a substantially cross shape, that is, the latch 118 has a cross shape. The advantage of this design is that the angle of the rotor can be adjusted according to different needs to achieve a variety of flight modes. For example, the rotation axes of all the rotors can be set to face up to achieve the flight mode of the drone.

More specifically, the multi-rotor drone 100 further includes a base 30 including a top surface 31 and side walls 32, the top surface 31 and the side walls 32 forming a hollow cavity 301, the cavity 301 and The outside world is connected. That is, the base 30 has no bottom surface. The top surface 31 is provided with a through hole 310 and a mounting groove 311. The through hole 310 is in communication with the fifth rotor 131 and the sixth rotor 132. The main housing 10, the first rotor 111, The third rotor 121, the second rotor 112, the fourth rotor 122, the fifth rotor 131, and the sixth rotor 132 are all mounted on the mounting groove 311. The function of the base is that when the fifth rotor 131 and the sixth rotor 132 are exhausted to the ground/water surface, the gas is pressurized in the cavity 301 of the base 30, thereby multi-rotor drone 100 hangs.

Further, in order to achieve a better boosting effect. Preferably, the cross-sectional area of the cavity 301 parallel to the top surface 31 is increased from the top surface in the direction perpendicular to the top surface 31. That is, the cross-sectional area at the top surface 31 is the smallest. This structure has the best boosting effect. Preferably, the base 30 is made of an elastic material such as rubber, elastic plastic or the like. Preferably, the base can be made by injection molding or blow molding. The base 30 is fixed integrally with other components by the pressing force generated by the rotation of the rotor into the mounting groove 311. At the same time, this connection also facilitates the removal of the base 30 from other components to form different modes of operation.

It can be understood that in other embodiments of the present invention, the rotation axes of the fifth rotor 131 and the sixth rotor 132 may be forwardly directed to a side close to the side wall 32 of the base 30. The fifth rotor 131 and the sixth rotor 132 are caused to draw out gas in the cavity 301. Such an embodiment may cause the multi-rotor drone 100 to fly against the wall, in particular, to provide travel through the first rotor 111, the third rotor 121, the second rotor 112, and the fourth rotor 122. For the power, the fifth rotor 131 and the sixth rotor 132 are used to adsorb the wall, so that the multi-rotor drone 100 is flying against the wall. The purpose of controlling the gap between the multi-rotor drone 100 and the wall can be achieved by adjusting the rotational speeds of the fifth rotor 131 and the sixth rotor 132.

The embodiments of the present application have been described in detail above. The principles and implementations of the present application are described in the specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present application. A person skilled in the art will have a change in the specific embodiments and the scope of the application according to the idea of the present application. In summary, the content of the present specification should not be construed as limiting the present application.

Claims

A multi-rotor UAV characterized by comprising a main casing, a first rotor group, a second rotor group and a third rotor group, the main casing comprising two opposite end face reference faces and a connection a facet between the two end face reference faces, the first rotor set, the second rotor set and the third rotor set are disposed on the facet, the first rotor set and the first Two rotor groups are symmetrically distributed on both sides of the third rotor group, and the rotation axes of the rotors in the first rotor group and the second rotor group are parallel to the end surface reference plane, the first rotor group and the The second rotor group is configured to drive the drone to move in a direction parallel to the end face reference plane, wherein the rotation axis of the rotor in the third rotor group is positive and perpendicular to the end face reference surface.
The multi-rotor drone according to claim 1, wherein said first rotor group includes a first rotor and a second rotor, and said second rotor group includes a third rotor and a fourth rotor, said a rotation axis of the one rotor, the second rotor, the third rotor, and the fourth rotor is parallel to the end surface reference plane, and the first rotor and the third rotor are symmetric with respect to the third rotor group Provided and used to jointly drive the drone to move in a first direction, the second rotor and the fourth rotor are used to jointly drive the drone to move in a second direction, the first direction and the In the opposite direction of the second direction, the third rotor group includes a fifth rotor and a sixth rotor, and the rotation axes of the fifth rotor and the sixth rotor are positive in the same direction and perpendicular to the end surface reference surface.
The multi-rotor UAV according to claim 2, wherein the main casing has a regular hexagonal prism structure, and the first rotor and the second rotor are disposed on two adjacent prism faces. The third rotor and the fourth rotor are disposed on two other adjacent prism faces, the fifth rotor and the sixth rotor and the first rotor, the second rotor, and the third The rotor and the fourth rotor are divided into different facets, the first rotor, the second rotor, the third rotor, the fourth rotor, the fifth rotor, and the first The axes of rotation of the six rotors are respectively parallel to the corresponding facets.
The multi-rotor UAV according to claim 3, wherein a rotation axis of the first rotor is positively disposed away from a rotation axis of the second rotor, and a rotation axis of the third rotor is positive The rotation axes of the fourth rotor are disposed away from each other.
The multi-rotor drone according to claim 3, wherein said first rotor, said third rotor, said second rotor, said fourth rotor, said fifth rotor, and said first The six rotors each have a regular hexagonal structure, and the side length of the regular hexagon is equal to the length of the edge of the bottom surface of the hexagonal prism.
A multi-rotor drone according to claim 2, further comprising a first magnetic medium and a second magnetic medium, said first magnetic medium being disposed on said main housing face, said first The second magnetic medium is disposed on the rotor, the second rotor, the third rotor and the fourth rotor, and the first magnetic medium and the second magnetic medium attract each other, the main housing A slot is further disposed on the rib surface, and the first rotor, the second rotor, the third rotor and the fourth rotor are respectively provided with latches that cooperate with the slots.
A multi-rotor drone according to claim 6 wherein said slot is in the shape of a cross.
The multi-rotor drone according to claim 1, further comprising a base, the base comprising a top surface and a side wall, the top surface and the side wall forming a hollow cavity, the cavity and the outside Communicating, the top surface is provided with a through hole and a mounting groove, the through hole communicating with the fifth rotor and the sixth rotor, the main casing, the first rotor group, the second rotor The set and the third rotor group are mounted to the mounting slot.
The multi-rotor UAV according to claim 8, wherein a cross-sectional area of said cavity parallel to said top surface is increased from a top surface in a direction perpendicular to said top surface.
The multi-rotor drone according to claim 8, wherein the base is made of an elastic material.