CN106347651B - A kind of miniature drone of column coaxial double-oar layout - Google Patents
A kind of miniature drone of column coaxial double-oar layout Download PDFInfo
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- CN106347651B CN106347651B CN201611021801.1A CN201611021801A CN106347651B CN 106347651 B CN106347651 B CN 106347651B CN 201611021801 A CN201611021801 A CN 201611021801A CN 106347651 B CN106347651 B CN 106347651B
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- 238000010276 construction Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 3
- 239000003814 drug Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
- B64C27/021—Rotor or rotor head construction
- B64C27/022—Devices for folding or adjusting the blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of miniature drone of column coaxial double-oar layout, including：Load-carrying construction, load-carrying construction include column fuselage, and flight controller and battery are equipped in column fuselage；One end of column fuselage is disposed with mission payload, the other end is equipped with coaxial reverse motor by cardan mounting, the foldable double paddle rotor heads for being close to column fuselage of rotor, double paddle rotor heads, coaxial reverse motor and the coaxial setting of column fuselage are installed on coaxial reverse motor.The present invention controls UAV Attitude by the rotor face of the double paddle rotor heads of cardan mounting tiltable；Double paddle rotor heads can be close to fuselage folding, have higher portability and ease for use；Double paddle rotor heads can be stored in transmitting tube after folding, and be easy to dispose and be discharged.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of miniature drone of column coaxial double-oar layout.
Background technology
Rotor wing unmanned aerial vehicle is a kind of multipurpose vertically taking off and landing flyer.Compared with fixed-wing unmanned plane, rotor wing unmanned aerial vehicle can
It is of less demanding to landing site with VTOL, it is easy to use efficient.Rotor wing unmanned aerial vehicle is widely used, and can be executed aviation and be taken the photograph
The tasks such as shadow, medical aid, meteorological detection, aerial inspection.
Conventional helicopters layout is configured with a secondary main rotor and a secondary tail-rotor.The tail-rotor of lateral arrangement is used for offsetting anti-twisted
Square, and for controlling yaw.Conventional helicopters layout uses a set of extremely complex pitch and link mechanism control rotor
Face tilts, and using freely twists or it is semi-free twist rotor waved in preceding fly eliminate before fly the rolling moment of middle generation.It is traditional straight
The machine of liter layout is only suitable for large and medium-sized rotor because of complicated mechanical mechanism, longer maintenance time and high use cost
Unmanned plane.
In recent years, it gradually comes into vogue by more rotor class rotor wing unmanned aerial vehicles of representative of quadrotor.Compared to conventional helicopters
Layout, the rotor that more rotors are rotated using pairs of negative direction offset reaction torque, without additionally driving do not generate lift
Tail-rotor improves the effective utilization of energy.More rotors abandon complicated mechanical mechanism and freely twist rotor, are revolved using rigidity is adjusted
The inclination in the method control rotor face of wing rotating speed, to control the posture of aircraft.In preceding fly, the rotation of pairs of negative direction rotation
The wing also counteracts rolling moment.Easy to maintain due to simple in structure, cost of use is cheap, more rotor-hub configurations be more suitable for it is small-sized just
Take the use of formula unmanned plane.
However, in long-term use, multi-rotor unmanned aerial vehicle also exposes its intrinsic problem.It is driven using multiple motors
Dynamic rotor makes the efficiency that electric energy is converted into mechanical energy reduce, and affects the cruising ability of multi-rotor unmanned aerial vehicle.Meanwhile by turning
The strategy that speed control changes posture needs rotor ceaselessly to do acceleration and deceleration motion so that adjusts posture and needs to pay a large amount of energy
Amount, it is especially especially pronounced when rotor diameter and larger rotary inertia.Excessive rotor quantity also leverages more rotors
The portability of unmanned plane.
Invention content
Shortcoming present in regarding to the issue above, the present invention provide a kind of the micro-unmanned of column coaxial double-oar layout
Machine.
The invention discloses a kind of miniature drone of column coaxial double-oar layout, including：Load-carrying construction, the load knot
Structure includes column fuselage, and flight controller and battery are equipped in the column fuselage；
One end of the column fuselage is disposed with mission payload, and the other end is equipped with coaxial reversed electricity by cardan mounting
Machine, is equipped with the foldable double paddle rotor heads for being close to column fuselage on the coaxial reverse motor, double paddle rotor heads, coaxial
Reverse motor and the coaxial setting of column fuselage.
As a further improvement on the present invention, the load-carrying construction further includes center girder, and the center girder setting exists
In the column fuselage.
As a further improvement on the present invention, the flight controller, battery and mission payload are attached to the column machine
On body and/or center girder.
As a further improvement on the present invention, the coaxial reverse motor has two coaxially arranged rotors, carries respectively
For positive and negative two reversed driving rotary forces；The coaxial reverse motor is connected by shaft with double paddle rotor heads.
As a further improvement on the present invention, double paddle rotor heads include propeller hub and rotor, the rotor and the paddle
Hub is connected by limit hinge；
When rotor folds, the rotor is locked in the position for being close to column fuselage；
When rotor is unfolded and when being rotated around propeller hub, the rotor is locked in perpendicular to the position of column fuselage, and with it is described
Propeller hub is rigidly connected.
As a further improvement on the present invention, the mission payload includes photoelectric nacelle, first-aid medicine packet and emergency communication
One kind in equipment.
Compared with prior art, beneficial effects of the present invention are：
The invention discloses a kind of miniature drone of column coaxial double-oar layout, pass through the double paddle rotations of cardan mounting tiltable
The rotor face of wing head controls UAV Attitude；Double paddle rotor heads can be close to fuselage folding, have higher portability and easy-to-use
Property；Double paddle rotor heads can be stored in transmitting tube after folding, and be easy to dispose and be discharged；
The present invention drives the rigid hingeless rotor reversely turned (when rotor is unfolded and is rotated around propeller hub by coaxial reverse motor
When, rotor is rigidly connected with propeller hub) reaction torque is offset, flight efficiency is improved, the cruising ability of unmanned plane is improved.
Description of the drawings
Fig. 1 is the structure chart of the miniature drone of column coaxial double-oar layout disclosed in an embodiment of the present invention；
Fig. 2 is the sectional view of A-A in Fig. 1；
Fig. 3 is the structure connection figure between coaxial reverse motor and column fuselage disclosed in an embodiment of the present invention；
Fig. 4 is the unfolding state figure of the miniature drone of column coaxial double-oar layout disclosed in an embodiment of the present invention；
Fig. 5 is the folded state diagram of the miniature drone of column coaxial double-oar layout disclosed in an embodiment of the present invention.
In figure：
1, coaxial reverse motor；2, double paddle rotor heads；21, rotor；22, propeller hub；23, limit hinge；3, cardan mounting；4、
Load-carrying construction；41, column fuselage；42, center girder；5, flight controller；6, battery；7, mission payload.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
The present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in Figs. 1-2, the present invention provides a kind of miniature drone of column coaxial double-oar layout, including：It is coaxial reversed
Motor 1, double paddle rotor heads 2, cardan mounting 3, load-carrying construction 4, flight controller 5, battery 6 and mission payload 7；Wherein：
The miniature drone that load-carrying construction 4 makes column coaxial double-oar be laid out, which becomes one, has the structure for undertaking load, holds
Power structure 4 includes column fuselage 41 and the center girder 42 that is arranged in column fuselage 41, center girder 42 preferably with column machine
The axis of body 41 coincides setting.
Flight controller 5 and battery 6 are equipped in column fuselage 41, flight controller 5 and battery 6 are attached to load-carrying construction
On 4 (column fuselage 41 and/or center girders 42)；Wherein, flight controller 5 is the miniature drone of column coaxial double-oar layout
Gesture stability and flight course planning are provided, autonomous flight ability is made it have；Battery 6 is the micro-unmanned of column coaxial double-oar layout
Machine provides electric energy.
There are mission payload 7, mission payload 7 to be attached to 4 (column of load-carrying construction in one end of column fuselage 41 arrangement (carry)
Fuselage 41 and/or center girder 42) on；According to the needs of task, mission payload 7 can change the outfit as photoelectric nacelle, first-aid medicine
The load such as packet, emergency communication equipment.
Coaxial reverse motor 1 is equipped with by cardan mounting 3 in the other end of column fuselage 41, as shown in Figure 3；It is coaxial anti-
The foldable double paddle rotor heads 2 for being close to column fuselage, double paddle rotor heads 2, coaxial reverse motor 1 and column are installed on motor 1
The 41 coaxial setting of shape fuselage.Wherein, coaxial reverse motor 1 provides the power of double 2 rotations of paddle rotor head of driving for the present invention；It is coaxial
Reverse motor 1 has two coaxially arranged rotors, provides the rotary driving force of positive and negative both direction respectively；Coaxial reverse motor
1 is connected by shaft with double paddle rotor heads 2, and the rotor negative direction rotation of double paddle rotor heads is driven.
Cardan mounting 3 is the bindiny mechanism between coaxial reverse motor 1 and load-carrying construction 4, and cardan mounting 3 is controlled in flight
Under the control of device 5 the rotor face of double paddle rotor heads 2 can tilt, it is angled with fuselage axis；The present invention is straight with tradition
The machine layout of liter is compared, and has simplified mechanical structure and cheap cost of use, compared with more rotor-hub configurations, does not use motor tune
Speed, improves capacity usage ratio, and cardan mounting 3 has the excellent performances such as simple in structure, maintenance is simple, consumption little energy.
Double paddle rotor heads 2 include two propeller hubs 22 and multiple rotors 21 setting up and down, and the number of rotor setting can basis
Actual demand is configured；Rotor 21 is connect with propeller hub 22 by limit hinge 23；When rotor 21 folds, rotor 21 is locked in
It is close to the position of column fuselage 41, as shown in Figure 5；When rotor 21 is unfolded and is rotated around propeller hub 22, rotor 21 is locked in vertically
It is rigidly connected in the position of column fuselage 41, and with propeller hub 22, has rigidity without the high-effect characteristic for twisting rotor；As shown in Figure 4.
The technical performance of the miniature drone of column coaxial double-oar disclosed by the invention layout is：
Bare weight：800g；
Maximum take-off weight：2000g；
Payload capacity：500g；
Rotor diameter：432mm；
Fuselage diameter：92mm；
Cruise duration：45 minutes (load-carrying 500g is equipped with 1 group of 4s lithium battery), 1 hour 10 points of (2 groups of 4s of load-carrying 500g outfits
Lithium battery)；
Max level speed：20m/s：Maximum ceiling：1000m；
Remote control distance：1.5Km (does not increase journey), and 5Km (increases journey)；
Power：Brshless DC motor (peak power output 1.5kw)；
Feature：Autonomous landing, autonomous flight are equipped with modularization multitask gondola, long endurance, overall life cycle cost
It is low.Rotor is close to fuselage after folding, and has stronger portability；It can be stored in transmitting tube, be easy to dispose and discharge.
Advantage of the invention is that：The miniature drone of column coaxial double-oar layout passes through the double paddle rotations of cardan mounting tiltable
The rotor face of wing head controls UAV Attitude；Double paddle rotor heads can be close to fuselage folding, have higher portability and easy-to-use
Property；Double paddle rotor heads can be stored in transmitting tube after folding, and be easy to dispose and be discharged；It is driven by coaxial reverse motor reversed
The rigid hingeless rotor (when rotor is unfolded and is rotated around propeller hub, rotor is rigidly connected with propeller hub) turned offsets reaction torque, improves
Flight efficiency, improves the cruising ability of unmanned plane.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of miniature drone of column coaxial double-oar layout, which is characterized in that including：Load-carrying construction (4), the load knot
Structure (4) includes column fuselage (41), and flight controller (5) and battery (6) are equipped in the column fuselage (41)；
One end of the column fuselage (41) is disposed with mission payload (7), and the other end is equipped with coaxial anti-by cardan mounting (3)
To motor (1), the foldable double paddle rotor heads (2) for being close to column fuselage of rotor, institute are installed on the coaxial reverse motor (1)
State double paddle rotor heads (2), coaxial reverse motor (1) and column fuselage (41) coaxial setting.
2. the miniature drone of column coaxial double-oar layout as described in claim 1, which is characterized in that the load-carrying construction
(4) further include center girder (42), center girder (42) setting is in the column fuselage (41).
3. the miniature drone of column coaxial double-oar layout as claimed in claim 2, which is characterized in that the flight controller
(5), battery (6) and mission payload (7) are attached on the column fuselage (41) and/or center girder (42).
4. the miniature drone of column coaxial double-oar layout as described in claim 1, which is characterized in that the coaxial reversed electricity
Machine (1) has two coaxially arranged rotors, provides positive and negative two reversed driving rotary forces respectively；The coaxial reverse motor
(1) it is connected with double paddle rotor heads (2) by shaft.
5. the miniature drone of column coaxial double-oar layout as described in claim 1, which is characterized in that double paddle rotor heads
(2) include propeller hub (22) and rotor (21), the rotor (21) is connect with the propeller hub (22) by limit hinge (23)；
When rotor (21) fold, the rotor (21) is locked in the position for being close to column fuselage (41)；
When rotor (21) is unfolded and is rotated around propeller hub (22), the rotor (21) is locked in the position perpendicular to column fuselage (41)
It sets, and is rigidly connected with the propeller hub (22).
6. the miniature drone of column coaxial double-oar layout as described in claim 1, which is characterized in that the mission payload
(7) include one kind in photoelectric nacelle, first-aid medicine packet and emergency communication equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021801.1A CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611021801.1A CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
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| CN106347651A CN106347651A (en) | 2017-01-25 |
| CN106347651B true CN106347651B (en) | 2018-07-13 |
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| CN201611021801.1A Active CN106347651B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature drone of column coaxial double-oar layout |
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| CN108146632B (en) * | 2017-11-23 | 2020-05-19 | 北京航空航天大学 | Combined rotor wing for vertical take-off and landing fixed wing aircraft |
| CN108163204A (en) * | 2018-01-13 | 2018-06-15 | 南昌航空大学 | A kind of rotor wing unmanned aerial vehicle umbrella |
| CN108438260A (en) * | 2018-02-07 | 2018-08-24 | 长安大学 | A kind of vectored thrust aircraft and its test method for microgravity test |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
| US11479341B2 (en) * | 2018-03-26 | 2022-10-25 | XDynamics Limited | Propeller driving unit |
| CN108423153A (en) * | 2018-05-17 | 2018-08-21 | 王瀚晨 | Modularized micro unmanned plane |
| CN108791859B (en) * | 2018-07-12 | 2024-02-06 | 西安君晖航空科技有限公司 | Rotor unmanned aerial vehicle who supports closely fast |
| CN108891589A (en) * | 2018-08-13 | 2018-11-27 | 吴立群 | A kind of power and vector control mechanism of coaxial double-oar aircraft |
| CN109533310B (en) * | 2018-10-18 | 2022-05-06 | 沈阳理工大学 | Miniature coaxial double-rotor suspension device of maneuvering launching foldable type |
| CN109405649B (en) * | 2018-11-12 | 2021-03-26 | 彩虹无人机科技有限公司 | Foldable coaxial reverse-propeller unmanned aerial vehicle and striking method |
| CN112224411B (en) * | 2020-10-30 | 2021-10-22 | 北京特种机械研究所 | Microminiature unmanned aerial vehicle |
| CN114476040B (en) * | 2021-04-26 | 2024-05-17 | 远超航空科技(成都)有限公司 | Unmanned aerial vehicle for achieving posture adjustment through folding rotating paddles |
| AT526183A1 (en) * | 2022-06-13 | 2023-12-15 | Andreas Desch Dipl Ing | DRONE |
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