CN105438460A - Dual-power synergistically driven unmanned aerial vehicle - Google Patents
Dual-power synergistically driven unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105438460A CN105438460A CN201510943570.9A CN201510943570A CN105438460A CN 105438460 A CN105438460 A CN 105438460A CN 201510943570 A CN201510943570 A CN 201510943570A CN 105438460 A CN105438460 A CN 105438460A
- Authority
- CN
- China
- Prior art keywords
- horn
- rotor unit
- secondary rotor
- spider
- propeller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Abstract
The invention provides a dual-power synergistically driven unmanned aerial vehicle. The dual-power synergistically driven unmanned aerial vehicle comprises an unmanned aerial vehicle main body and a rotor wing assembly used for driving the unmanned aerial vehicle main body. The rotor wing assembly comprises a main rotor wing unit, first auxiliary rotor wing units and second auxiliary rotor wing units. The main rotor wing unit comprises a main propeller (211) and a main propeller driving device (212). The first auxiliary rotor wing units comprise pitching/rolling auxiliary propellers (231) and pitching/rolling auxiliary propeller driving devices (232). The second auxiliary rotor wing units comprise heading propellers (221) and heading propeller driving devices (222). The dual-power synergistically driven unmanned aerial vehicle has the advantages of being capable of effectively improving the power system efficiency of the unmanned aerial vehicle and prolonging the endurance time.
Description
Technical field
The present invention relates to a kind of unmanned vehicle, be specifically related to a kind of unmanned vehicle of double dynamical coordinated drive.
Background technology
Multi-rotor aerocraft is driven by many rotors can realize surely high spot hover, and under floating state, can change fuselage attitude rapidly, has good manoevreability, can carry load and complete aerial mission.
In prior art, multi-rotor aerocraft mainly adopts multiple identical independent driving device to drive, and such as: for six rotorcraft, adopt the rotor driving that six identical, and six rotors is distributed on around aircraft body.The effect being arranged in the rotor around aircraft body comprises provides lift and gesture stability two aspect.That is, the thrust that the rotor of multi-rotor aerocraft produces not only is wanted to overcome gravity suffered by aircraft self, keep aircraft floating state, need simultaneously under the control of flight control system, maintain aircraft by the change of each rotor generation thrust and stablize and complete various maneuver.In addition, the thrust that each rotor of multi-rotor aerocraft produces overcomes aircraft own wt mainly for generation of lift, only has small part thrust to can be used in fuselage gesture stability.When there is external disturbance or maneuver, as blown or in motion process, now needing the body of unmanned vehicle to produce larger inclination angle and just can reach balance.
The defect of above-mentioned layout is: multi-rotor aerocraft is in flight course, and rotor needs to keep thrust to be greater than gravity, and rotor load is larger; In addition, in the process of adjustment attitude of flight vehicle, part rotor needs to produce larger thrust to produce enough control effortes, causes respective drive device to run at high load conditions, power system efficiency is sharply declined.Therefore, the power system efficiency of the unmanned vehicle of above-mentioned layout is relatively low, and cruise duration is shorter.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of unmanned vehicle of double dynamical coordinated drive, effectively can improve the power system efficiency of unmanned vehicle, increase cruise duration.
The technical solution used in the present invention is as follows:
The invention provides a kind of unmanned vehicle of double dynamical coordinated drive, comprising unmanned vehicle main body and for driving the rotor assemblies of described unmanned vehicle main body;
Wherein, described unmanned vehicle main body comprises spider (1), horn (14), fairing (3) and main screw connecting arm (15); Described fairing (3) is arranged at above described spider (1), described main screw connecting arm (15) is vertically arranged, and its tail end is fixed to the upper surface center of described spider (1) through described fairing (3); The magnitude setting of described horn (14) is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, horn described in each (14) is dispersed and is arranged at described spider (1) around, and arrange in " X " type, further, the head end of each horn is connected with described spider (1) is collapsible by collapsible horn support (13); If described 1st horn and described 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If described 2nd horn and described 4th horn are the horn be oppositely arranged, its horn axle point-blank;
Described rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit; Wherein, described main rotor unit comprises main screw (211) and main screw actuating device (212); Described main screw actuating device (212) is fixedly installed in the top of described main screw connecting arm (15), described main screw (211) is arranged at the top of described main screw actuating device (212), and is connected with described main screw actuating device (212);
The magnitude setting of described 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 and the secondary rotor unit of described 1-4 are arranged at the end of described 1st horn, described 2nd horn, described 3rd horn and described 4th horn respectively; In addition, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 are all identical with the structure of the secondary rotor unit of described 1-4, include the secondary screw propeller (231) of pitching/rolling and the secondary propeller driving device (232) of pitching/rolling, the bottom of the secondary screw propeller (231) of described pitching/rolling fixedly mounts the secondary propeller driving device (232) of described pitching/rolling, and the bottom of the secondary propeller driving device (232) of described pitching/rolling is fixed to the end of corresponding horn;
The magnitude setting of described 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 are arranged on described 1st horn and described 3rd horn respectively, and, if the secondary rotor unit of described 2-1 is A point at the setting position of described 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of described 2-2 is B point at the setting position of described 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 include: course screw propeller (221) and course propeller driving device (222), described course screw propeller (221) is fixed to the relevant position of corresponding horn by described course propeller driving device (222).
Preferably, horn described in each (14) is all centered by spider, and be inclined upwardly setting, and described horn (14) acclivitous angle is 5 °.
Preferably, the propeller plane in described course screw propeller (221) and horizontal plane, for generation of the moment around aircraft center shaft, this moment can overcome main screw (211) and rotate the opposing torque produced.
Preferably, described spider (1) is hollow structure, comprise upper cover plate (11) setting up and down and lower cover (12), by the support and connection of some horn supports (13) between described upper cover plate (11) and described lower cover (12);
Electric mode transfer block is installed with in the cavity of described spider (1);
In addition, described horn (14) and described main screw connecting arm (15) are hollow structure, and with the intracavity inter-connection of described spider (1);
Connection cable between described electric mode transfer block and described main screw actuating device (212) is arranged in the cavity of main screw connecting arm (15); Connection cable between described electric mode transfer block and the secondary propeller driving device (232) of described pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between described electric mode transfer block and described course propeller driving device (222) is arranged in the cavity of corresponding horn.
Preferably, described upper cover plate (11) and described lower cover (12) adopt the carbon fiber composite material plate of 2mm, and its bending strength is 45MPa.
Preferably, the lower surface of described spider (1) is fixedly connected with support (16), and described support (16) is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of described support (16) and hold position (4), and, described supply unit holds the lower surface that position (4) is fixedly connected on described spider (1), and described supply unit holds position (4) for placing supply unit;
Be fixedly connected with foot rest (5) at the lower surface of described spider (1), described foot rest (5) for supporting aircraft, also for installing indicator lamp.
Preferably, described cowling design to be length-diameter ratio be 1 parabolic profile shape.
The unmanned vehicle of double dynamical coordinated drive provided by the invention has the following advantages:
The lift of about 80% is produced by the main screw at center, produced the lift of about 20% by pitching/rolling screw propeller, therefore, effectively can be reduced in the load of pitching in flight course/rolling screw propeller, thus actv. promotes Power System of Flight Vehicle efficiency, promote aircraft cruise duration.
Accompanying drawing explanation
Fig. 1 is the structural representation of unmanned vehicle provided by the invention under an observation visual angle;
Fig. 2 is the structural representation of unmanned vehicle main body provided by the invention;
Fig. 3 is the structural representation of unmanned vehicle provided by the invention under another observation visual angle.
Detailed description of the invention
In order to make technical matters solved by the invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of unmanned vehicle of double dynamical coordinated drive, may be used for carrying out taking photo by plane, ground mapping, Investigating, rescue, aerial monitoring, polling transmission line etc.Compared with traditional unmanned vehicle, unmanned vehicle provided by the invention can promote power system efficiency by actv., increases aircraft cruise duration.
Concrete, the unmanned vehicle of double dynamical coordinated drive provided by the invention, adopt the high efficiency main screw of large scale through optimal design and pitching/rolling screw propeller coordinated drive aircraft, this aircraft takeoff weight is about 5kg, the lift of about 80% is produced by the main screw at center, the lift of about 20% is produced by pitching/rolling screw propeller, therefore, effectively can be reduced in the load of pitching in flight course/rolling screw propeller, thus actv. promotes Power System of Flight Vehicle efficiency, promote aircraft cruise duration.
Composition graphs 1, Fig. 2 and Fig. 3, the unmanned vehicle of double dynamical coordinated drive provided by the invention, comprises unmanned vehicle main body and for driving the rotor assemblies of unmanned vehicle main body.Below respectively explanation is introduced to unmanned vehicle main body and rotor assemblies:
(1) unmanned vehicle main body
With reference to figure 2, be the structural representation of unmanned vehicle main body, unmanned vehicle main body comprises spider 1, horn 14, fairing 3 and main screw connecting arm 15; Fairing 3 is arranged at above spider 1, and main screw connecting arm 15 is vertically arranged, and its tail end is fixed to the upper surface of spider 1 through fairing 3; The magnitude setting of horn 14 is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, each horn 14 is dispersed and is arranged at spider 1 around, and arranges in " X " type, further, the head end of each horn is connected with spider 1 is collapsible by collapsible horn support 13; If the 1st horn and the 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If the 2nd horn and the 4th horn are the horn be oppositely arranged, its horn axle point-blank.
The head end of horn is connected with spider 1 is collapsible, therefore, in storage with transportation, can be posted by aircraft body to save space by folding for horn, to be convenient to store and transport.Directly horn is launched to automatically lock during use.
In addition, the present invention also improves spider and fairing:
(1) spider
In addition, spider 1 is hollow structure, comprises upper cover plate 11 setting up and down and lower cover 12, by the support and connection of some horn supports 13 between upper cover plate 11 and lower cover 12.
Because spider 1 is positioned at below the main screw at center, obvious impact can be caused on the slip-stream of main screw 211, cause the decline of main screw 211 thrust.Therefore, under the prerequisite ensureing the enough structural strengths of spider and inner space, should reduce the size of spider as much as possible, 1 impact on main screw 211 thrust is coiled in control center.
Spider structural failure is caused for avoiding the reduction generation stress because of spider size to concentrate, finite element software is utilized to analyze spider distribution of stress situation in aircraft flight process, result shows, spider upper cover plate, except bearing the pulling force of main screw connecting arm generation, also will bear the moment of deflection that horn is transmitted by attaching parts.But test find, spider upper cover plate does not have obvious focal point of stress, the region that stress is larger be around main screw connecting arm attachment point with horn attaching parts attachment point around.For lower cover, only bear the moment of deflection that horn is transmitted by attaching parts, but test finds, spider lower cover does not have obvious focal point of stress, and the region that stress is larger is around horn attaching parts attachment point.
In the present invention, spider upper and lower cover plates adopts the carbon fiber composite material plate of 2mm to manufacture, therefore, and should with spider upper and lower cover plates maximum stress in bend for engineering stress.According to analysis result, the maximum stress in bend value of spider upper and lower cover plates is 7.818MPa, and the bending strength of the 2mm carbon fiber composite material plate adopted can reach 45MPa, can ensure enough intensity
Electric mode transfer block and connection cable etc. can be installed in the space of spider 1 inside, and protect it, avoid causing damage in transport with storing process.
(2) fairing
For fairing provided by the invention, be installed on above spider 1.According to the slip velocity of main screw under strip theory estimation aircraft floating state, finite element software is utilized to calculate different profile fairing to the impact of main screw slip-stream.Select the less fairing profile of center main screw slip-stream impact, to reduce thrust loss, raising efficiency, increases aircraft cruise duration.
By the aerodynamic drag factor of profile fairing different under calculating aircraft floating state, find when the length-diameter ratio of fairing profile is identical, the fairing generation air resistance of parabola and hyperbolic shape is substantially identical and be less than the fairing of other profiles.Consider that processing and the detection difficulty of hyperbola profile fairing are comparatively large, therefore adopt the fairing of parabolic shape.Because aircraft spider is less, and main screw connecting arm length is about 2 times of spider diameter, and fairing length-diameter ratio should be less than 2.After calculating the aerodynamic drag factor of the parabola shaped fairing of many groups, after matching is carried out to curve, obtain length-diameter ratio be 0 to 2 the functional relation that changes with length-diameter ratio of parabola shaped fairing aerodynamic drag factor be
y＝-0.359x
3+1.6231x
2-2.3416x+1.6606
Can find according to curve, be greater than in the scope of 1 in length-diameter ratio, the aerodynamic drag factor of fairing remains unchanged substantially, to be therefore length-diameter ratio by the cowling design of this aircraft be 1 parabolic profile.
Through test, when not installing fairing, below spider, producing violent whirlpool, causing resistance to rise.And after installation fairing, air-flow comparatively uniform flows spider, does not produce obvious whirlpool.Result of calculation shows, after installation fairing, spider resistance about declines about 30%.
(2) rotor assemblies
Rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit.
(1) main rotor unit
Main rotor unit comprises main screw 211 and main screw actuating device 212; Main screw actuating device 212 is fixedly installed in the top of main screw connecting arm 15, and main screw 211 is arranged at the top of main screw actuating device 212, and is connected with main screw actuating device 212.
(2) the 1st secondary rotor unit
The magnitude setting of the 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4 are arranged at the end of the 1st horn, the 2nd horn, the 3rd horn and the 4th horn respectively; In addition, the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 are all identical with the structure of the secondary rotor unit of 1-4, include the secondary screw propeller 231 of pitching/rolling and the secondary propeller driving device 232 of pitching/rolling, the secondary propeller driving device 232 of bottom fixed installation pitching/rolling of the secondary screw propeller 231 of pitching/rolling, the bottom of the secondary propeller driving device 232 of pitching/rolling is fixed to the end of corresponding horn.
(3) the 2nd secondary rotor unit
The magnitude setting of the 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of 2-1 and the secondary rotor unit of 2-2 are arranged on the 1st horn and the 3rd horn respectively, and, utilize strip theory to estimate the opposing torque that main rotor produces under aircraft floating state, calculate course mounting position of motor according to course motor thrust.If the secondary rotor unit of 2-1 is A point at the setting position of the 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of 2-2 is B point at the setting position of the 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2 include: course screw propeller 221 and course propeller driving device 222, course screw propeller 221 is fixed to the relevant position of corresponding horn by course propeller driving device 222, and propeller plane and horizontal plane.
Rotor assemblies provided by the invention, during for raising the efficiency, increasing unmanned vehicle boat, adopt the large scale high efficiency main screw through optimal design and be arranged in above aircraft body, being specially the high efficiency large scale center main screw propeller of 26 cun-28 cun; Two groups of pitching/rolling screw propeller circumaviate device main body is arranged.Main screw and pitching/this aircraft of rolling screw propeller coordinated drive, and, in flight course, control aircraft pitching/roll attitude by pitching/rolling screw propeller thrust variation by a small margin.In addition, by being arranged on aircraft horn of one group of small size course screw propeller symmetry, and propeller plane and horizontal plane.Course screw propeller is responsible for producing the moment around aircraft center shaft, overcomes center main screw propeller and rotates the opposing torque produced, and controls aircraft course deflection.
In practical application, main screw actuating device one end is fixed on the installation position of main screw connecting arm end, and the other end connects main screw, and main screw actuating device cable can be arranged in the cavity of main screw connecting arm.Main screw actuating device can be high efficiency electric or high efficiency oil machine, if actuating device is motor, main screw can be fixedly connected on machine shaft.Main screw actuating device is connected to corresponding electric mode transfer block.If actuating device is oil machine, main screw 221 can be fixedly connected on oil machine transmission shaft.Fuel tank can be placed in power capacity position 4.
Two groups of pitching/rolling propeller driving device 232 one end are fixed on the installation position of horn end, and the other end connects pitching/rolling screw propeller.Actuating device can be motor, and pitching/rolling screw propeller can be fixedly connected on machine shaft.
Course propeller driving device 222 one end is fixed on the installation position on horn, and the other end connects course screw propeller.Actuating device can be motor, and course screw propeller can be fixedly connected on machine shaft.
(3) associate member
In addition, horn 14 and main screw connecting arm 15 are hollow structure, and with the intracavity inter-connection of spider 1; Connection cable between electricity mode transfer block and main screw actuating device 212 is arranged in the cavity of main screw connecting arm 15; Connection cable between electricity mode transfer block and the secondary propeller driving device 232 of pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between electricity mode transfer block and course propeller driving device 222 is arranged in the cavity of corresponding horn.
The lower surface of spider 1 is fixedly connected with support 16, and support 16 can use screw etc. to be fixedly connected on spider lower cover as fastener, and support is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of support 16 and hold position 4, and supply unit holds position 4 and screw etc. can be used as fastener to be fixedly connected on the lower surface of spider 1.Supply unit holds position 4 for placing supply unit, by supply unit to control module, and Signal reception transmitter module, the power supplies such as actuating device; Or supply unit holds position by mission payloads such as attaching parts carry The Cloud Terraces.
Be fixedly connected with foot rest 5 at the lower surface of spider 1, foot rest can use the fasteners such as screw to be fixedly connected on below spider, foot rest 5 for supporting aircraft, also for installing indicator lamp.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (7)
1. a unmanned vehicle for double dynamical coordinated drive, is characterized in that, comprises unmanned vehicle main body and for driving the rotor assemblies of described unmanned vehicle main body;
Wherein, described unmanned vehicle main body comprises spider (1), horn (14), fairing (3) and main screw connecting arm (15); Described fairing (3) is arranged at above described spider (1), described main screw connecting arm (15) is vertically arranged, and its tail end is fixed to the upper surface center of described spider (1) through described fairing (3); The magnitude setting of described horn (14) is 4, be respectively the 1st horn, the 2nd horn, the 3rd horn and the 4th horn, horn described in each (14) is dispersed and is arranged at described spider (1) around, and arrange in " X " type, further, the head end of each horn is connected with described spider (1) is collapsible by collapsible horn support (13); If described 1st horn and described 3rd horn are the horn be oppositely arranged, its horn axle point-blank; If described 2nd horn and described 4th horn are the horn be oppositely arranged, its horn axle point-blank;
Described rotor assemblies comprises main rotor unit, the 1st secondary rotor unit and the 2nd secondary rotor unit; Wherein, described main rotor unit comprises main screw (211) and main screw actuating device (212); Described main screw actuating device (212) is fixedly installed in the top of described main screw connecting arm (15), described main screw (211) is arranged at the top of described main screw actuating device (212), and is connected with described main screw actuating device (212);
The magnitude setting of described 1st secondary rotor unit is 4, be respectively the secondary rotor unit of 1-1, the secondary rotor unit of 1-2, the secondary rotor unit of 1-3 and the secondary rotor unit of 1-4, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 and the secondary rotor unit of described 1-4 are arranged at the end of described 1st horn, described 2nd horn, described 3rd horn and described 4th horn respectively; In addition, the secondary rotor unit of described 1-1, the secondary rotor unit of described 1-2, the secondary rotor unit of described 1-3 are all identical with the structure of the secondary rotor unit of described 1-4, include the secondary screw propeller (231) of pitching/rolling and the secondary propeller driving device (232) of pitching/rolling, the bottom of the secondary screw propeller (231) of described pitching/rolling fixedly mounts the secondary propeller driving device (232) of described pitching/rolling, and the bottom of the secondary propeller driving device (232) of described pitching/rolling is fixed to the end of corresponding horn;
The magnitude setting of described 2nd secondary rotor unit is 2, is respectively the secondary rotor unit of 2-1 and the secondary rotor unit of 2-2; The secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 are arranged on described 1st horn and described 3rd horn respectively, and, if the secondary rotor unit of described 2-1 is A point at the setting position of described 1st horn, A point is 67% of the 1st horn total length to the length of the 1st horn head end; If the secondary rotor unit of described 2-2 is B point at the setting position of described 3rd horn, B point is 67% of the 3rd horn total length to the length of the 3rd horn head end; In addition, the secondary rotor unit of described 2-1 and the secondary rotor unit of described 2-2 include: course screw propeller (221) and course propeller driving device (222), described course screw propeller (221) is fixed to the relevant position of corresponding horn by described course propeller driving device (222).
2. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, horn described in each (14) is all centered by spider, and be inclined upwardly setting, further, described horn (14) acclivitous angle is 5 °.
3. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, the propeller plane in described course screw propeller (221) and horizontal plane, for generation of the moment around aircraft center shaft, this moment can overcome main screw (211) and rotate the opposing torque produced.
4. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, described spider (1) is hollow structure, comprise upper cover plate (11) setting up and down and lower cover (12), by the support and connection of some horn supports (13) between described upper cover plate (11) and described lower cover (12);
Electric mode transfer block is installed with in the cavity of described spider (1);
In addition, described horn (14) and described main screw connecting arm (15) are hollow structure, and with the intracavity inter-connection of described spider (1);
Connection cable between described electric mode transfer block and described main screw actuating device (212) is arranged in the cavity of main screw connecting arm (15); Connection cable between described electric mode transfer block and the secondary propeller driving device (232) of described pitching/rolling is arranged in the cavity of corresponding horn; Connection cable between described electric mode transfer block and described course propeller driving device (222) is arranged in the cavity of corresponding horn.
5. the unmanned vehicle of double dynamical coordinated drive according to claim 4, is characterized in that, described upper cover plate (11) and described lower cover (12) adopt the carbon fiber composite material plate of 2mm, and its bending strength is 45MPa.
6. the unmanned vehicle of double dynamical coordinated drive according to claim 1, it is characterized in that, the lower surface of described spider (1) is fixedly connected with support (16), and described support (16) is for installing inertia measuring module, control module and Signal reception transmitter module;
Be provided with supply unit in the below of described support (16) and hold position (4), and, described supply unit holds the lower surface that position (4) is fixedly connected on described spider (1), and described supply unit holds position (4) for placing supply unit;
Be fixedly connected with foot rest (5) at the lower surface of described spider (1), described foot rest (5) for supporting aircraft, also for installing indicator lamp.
7. the unmanned vehicle of double dynamical coordinated drive according to claim 1, is characterized in that, described cowling design to be length-diameter ratio be 1 parabolic profile shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510943570.9A CN105438460A (en) | 2015-12-16 | 2015-12-16 | Dual-power synergistically driven unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510943570.9A CN105438460A (en) | 2015-12-16 | 2015-12-16 | Dual-power synergistically driven unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105438460A true CN105438460A (en) | 2016-03-30 |
Family
ID=55549203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510943570.9A Pending CN105438460A (en) | 2015-12-16 | 2015-12-16 | Dual-power synergistically driven unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105438460A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691613A (en) * | 2016-05-04 | 2016-06-22 | 北方民族大学 | Unmanned aerial vehicle ascending and descending smoothly and control method |
| CN106379522A (en) * | 2016-10-26 | 2017-02-08 | 辽宁电力建设监理有限公司 | Long-endurance aircraft |
| WO2017197603A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN108357674A (en) * | 2018-04-17 | 2018-08-03 | 山东农业大学 | It can small more rotor unmanned aircrafts of paddle outside big paddle in tilted propeller |
| CN108803643A (en) * | 2018-06-19 | 2018-11-13 | 成都纵横自动化技术有限公司 | Flight control method, device, flight controller and compound rotor aircraft |
| CN109481859A (en) * | 2018-10-19 | 2019-03-19 | 谷雨 | A kind of manned steadily hovering and lifting device for high-rise building life saving |
| CN109703748A (en) * | 2017-10-26 | 2019-05-03 | 深圳光启合众科技有限公司 | Rotor craft |
| CN110171566A (en) * | 2019-06-04 | 2019-08-27 | 北京韦加无人机科技股份有限公司 | A kind of more rotor unmanned aircrafts of inclination paddle |
| CN112319791A (en) * | 2020-11-10 | 2021-02-05 | 上海交通大学 | Novel unmanned aerial vehicle and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| CN203005746U (en) * | 2012-12-20 | 2013-06-19 | 北京航空航天大学 | Composite type multi-rotor aircraft |
| CN204056294U (en) * | 2014-09-12 | 2014-12-31 | 西北工业大学明德学院 | A kind of collapsible four axle multi-rotor aerocrafts |
| CN204507257U (en) * | 2015-01-22 | 2015-07-29 | 方小汉 | A kind of fuel power multi-rotor aerocraft |
| CN205203381U (en) * | 2015-12-16 | 2016-05-04 | 西北工业大学 | Double dynamical driven unmanned vehicles in coordination |
-
2015
- 2015-12-16 CN CN201510943570.9A patent/CN105438460A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201932359U (en) * | 2011-01-21 | 2011-08-17 | 文杰 | Distributive power multi-rotor vertical take-off and landing aircraft |
| CN203005746U (en) * | 2012-12-20 | 2013-06-19 | 北京航空航天大学 | Composite type multi-rotor aircraft |
| CN204056294U (en) * | 2014-09-12 | 2014-12-31 | 西北工业大学明德学院 | A kind of collapsible four axle multi-rotor aerocrafts |
| CN204507257U (en) * | 2015-01-22 | 2015-07-29 | 方小汉 | A kind of fuel power multi-rotor aerocraft |
| CN205203381U (en) * | 2015-12-16 | 2016-05-04 | 西北工业大学 | Double dynamical driven unmanned vehicles in coordination |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691613A (en) * | 2016-05-04 | 2016-06-22 | 北方民族大学 | Unmanned aerial vehicle ascending and descending smoothly and control method |
| WO2017197603A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN106379522A (en) * | 2016-10-26 | 2017-02-08 | 辽宁电力建设监理有限公司 | Long-endurance aircraft |
| CN109703748A (en) * | 2017-10-26 | 2019-05-03 | 深圳光启合众科技有限公司 | Rotor craft |
| CN108357674A (en) * | 2018-04-17 | 2018-08-03 | 山东农业大学 | It can small more rotor unmanned aircrafts of paddle outside big paddle in tilted propeller |
| CN108357674B (en) * | 2018-04-17 | 2023-11-17 | 山东农业大学 | Multi-rotor unmanned aerial vehicle with tilting propeller, inner large propeller, outer small propeller and multiple rotors |
| CN108803643A (en) * | 2018-06-19 | 2018-11-13 | 成都纵横自动化技术有限公司 | Flight control method, device, flight controller and compound rotor aircraft |
| CN108803643B (en) * | 2018-06-19 | 2021-08-20 | 成都纵横自动化技术股份有限公司 | Flight control method and device, flight controller and composite wing aircraft |
| CN109481859A (en) * | 2018-10-19 | 2019-03-19 | 谷雨 | A kind of manned steadily hovering and lifting device for high-rise building life saving |
| CN110171566A (en) * | 2019-06-04 | 2019-08-27 | 北京韦加无人机科技股份有限公司 | A kind of more rotor unmanned aircrafts of inclination paddle |
| CN112319791A (en) * | 2020-11-10 | 2021-02-05 | 上海交通大学 | Novel unmanned aerial vehicle and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105438460A (en) | Dual-power synergistically driven unmanned aerial vehicle | |
| CN104890859B (en) | A kind of solar energy unmanned plane | |
| CN107089328B (en) | Control method of hybrid tail-seat type vertical take-off and landing long-endurance unmanned aerial vehicle | |
| CN202071985U (en) | Novel plane symmetrical layout type multi-rotor unmanned air vehicle | |
| CN106184737A (en) | Combined type layout vertically taking off and landing flyer and VTOL flying method | |
| CN102917765A (en) | Planform configuration for stability of a powered kite and a system and method for use of same | |
| CN105947192A (en) | Tilting double-duct unmanned aerial vehicle | |
| CN206857002U (en) | Hybrid power tail sitting posture VTOL long endurance unmanned aircraft | |
| CN103979104A (en) | Vertical take-off and landing miniature air vehicle with variable X-type wing | |
| CN105775122A (en) | Tilt rotor type aircraft | |
| CN109178301A (en) | A kind of fixed-wing rotor mixing unmanned plane | |
| CN107472554A (en) | A kind of unmanned plane vehicle-mounted pneumatic force test system | |
| RU127039U1 (en) | AEROBIKE | |
| US3249322A (en) | Air train | |
| CN204776020U (en) | Unmanned vehicles with many rotors of major -minor structure | |
| CN206068150U (en) | Combined type layout vertically taking off and landing flyer | |
| CN205203381U (en) | Double dynamical driven unmanned vehicles in coordination | |
| CN206141823U (en) | Many rotors plant protection unmanned aerial vehicle | |
| CN113184185A (en) | Streamlined coaxial many rotor unmanned aerial vehicle of adaptable adverse circumstances | |
| CN209833994U (en) | Novel VTOL unmanned aerial vehicle of hookup wing configuration | |
| CN104229130B (en) | Pneumatic structure four rotor unmanned aircraft | |
| CN205440866U (en) | Rotorcraft aircraft verts | |
| CN204056295U (en) | Pneumatic structure four rotor unmanned aircraft | |
| CN210284611U (en) | Flying wing layout solar unmanned aerial vehicle | |
| CN207931991U (en) | A kind of rotatable rotor multifunction aircraft of solar energy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160330 |