CN106741903B - A hybrid drone - Google Patents

Abstract

The invention belongs to the technical field of drones and discloses a hybrid drone, which includes a fuselage, a hollow shaft installed on the fuselage, and a small main shaft sleeved in the hollow shaft and coaxial with it. The upper rotor is connected to the main shaft, and the lower rotor is connected to the hollow shaft. The hollow shaft and the small main shaft are simultaneously driven to rotate in reverse direction by a driving mechanism located in the fuselage. Several small rotors are symmetrically provided on the fuselage. The small rotor is driven to rotate by a motor, and the driving mechanism and the motor are both connected to the control mechanism. The present invention provides a number of small rotors symmetrically on the fuselage. When a torque difference is generated between the upper rotor and the lower rotor, the torque difference generated between the upper rotor and the lower rotor can be offset by the rotation of the small rotor. This enables the drone to fly normally and prevents the drone from losing control.

Description

A hybrid drone

Technical field

The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a hybrid unmanned aerial vehicle.

Background technique

With the development of drone technology, especially the rapid development of rotorcraft technology, its applications are becoming wider and wider, and it has shown indispensable importance in both civilian and military fields. The current types of unmanned rotorcraft include single rotors (i.e. helicopters), coaxial anti-propeller helicopters and multi-rotor helicopters. Among them, coaxial anti-propeller helicopters such as the Russian "Ka-50 Helicopter" work on the principle that the shaft of the lower rotor is hollow. The shaft of the upper rotor passes through the hollow shaft coaxially. The double-layer rotors have the same diameter and can be adjusted to the same pitch through the pitch adjustment mechanism. The upper and lower driven gears are then driven by bevel gears. The upper and lower rotors are driven to rotate in opposite rotation directions. The two rotors with opposite rotation directions and other identical conditions can offset each other's anti-torsion torque, so there is no need for a tail pipe and a tail rotor. This design improves the power performance of the UAV to a certain extent and simplifies the tail design. However, this design is complex to control, and it requires a high degree of consistency between the upper and lower rotors. That is, the upper and lower rotors must be the same size and structure, and the propeller pitch must be exactly the same. , so that the upper and lower rotors can offset each other's anti-torsion torque, thereby allowing the coaxial anti-propeller helicopter to fly smoothly. Once the blade pitch is different, the upper and lower rotors cannot offset each other's anti-torsion torque, causing the coaxial anti-propeller helicopter to lose control and unable to fly normally. .

Contents of the invention

The purpose of the present invention is to provide a hybrid unmanned aerial vehicle to solve the problem of the existing coaxial anti-propeller helicopter losing control when the upper and lower rotor pitches are different.

To achieve this goal, the present invention adopts the following technical solutions:

A hybrid unmanned aerial vehicle, including a fuselage, a hollow shaft installed on the fuselage, and a small main shaft sleeved in the hollow shaft and coaxial with it. An upper rotor is connected to the small main shaft. The hollow shaft A lower rotor is connected to the top, and the hollow shaft and the small main shaft are driven to rotate in reverse direction by a driving mechanism located in the fuselage. The fuselage is symmetrically provided with a number of small rotors, and the small rotors are driven to rotate by a motor. Both the drive mechanism and the motor are connected to the control mechanism.

Preferably, the pitch of the upper rotor is fixed, and the pitch adjustment mechanism is connected to the lower rotor.

Preferably, both the upper rotor and the lower rotor are connected with pitch adjustment mechanisms.

Preferably, the diameter of the upper rotor is smaller than the diameter of the lower rotor.

Preferably, the driving mechanism includes an oil-driven engine connected to the control mechanism, and a driving bevel gear driven by the oil-driven engine. The driving bevel gear is meshed with a shaft that is fixed to the hollow shaft and the small spindle respectively and is arranged up and down. Driven bevel gear.

Preferably, a power supply is provided inside the fuselage, and the power supply is a rechargeable power supply connected to the motor.

Preferably, the fuselage is circumferentially provided with several support arms, the motor is installed on the support arms, and the output end is connected to the small rotor.

Preferably, the small rotor is arranged horizontally or at an angle relative to the horizontal plane.

Preferably, the control mechanism includes a remote controller and a circuit board that is communicatively connected to the remote controller and located inside the fuselage. The circuit board is respectively connected to the drive mechanism, the pitch adjustment mechanism and the motor.

Preferably, a tilting plate is mounted on the hollow shaft.

The present invention provides a number of small rotors symmetrically on the fuselage. When a torque difference is generated between the upper rotor and the lower rotor, the torque difference generated between the upper rotor and the lower rotor can be offset by the rotation of the small rotor. This enables the drone to fly normally and prevents the drone from losing control.

Description of drawings

Figure 1 is a schematic three-dimensional structural diagram of a hybrid drone of the present invention;

Figure 2 is a side view of the hybrid UAV (hiding the fuselage and small rotor) of the present invention;

Figure 3 is an exploded schematic diagram of the hybrid UAV (hiding the fuselage) of the present invention.

In the picture:

1. Fuselage; 2. Hollow shaft; 3. Small main shaft; 4. Upper rotor; 5. Lower rotor; 6. Drive mechanism; 7. Small rotor; 8. Motor; 9. Power supply; 10. Swash plate; 11 , support arm; 61, oil-driven engine; 62, driving bevel gear; 63, driven bevel gear; 64, belt.

Detailed ways

The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation modes.

Example 1:

This embodiment provides a hybrid unmanned aerial vehicle, as shown in Figures 1-3. The hybrid unmanned aerial vehicle includes a fuselage 1, a small spindle 3 is penetrated at the middle position of the fuselage 1, and a small main shaft 3 is sleeved on the small spindle 3. There is a hollow shaft 2 outside the main shaft 3. The hollow shaft 2 and the small main shaft 3 are coaxially arranged. The above-mentioned small spindle 3 and the hollow shaft 2 are driven to rotate synchronously by the driving mechanism 6 located inside the fuselage 1, and the rotation directions of the small spindle 3 and the hollow shaft 2 are opposite. An upper rotor 4 is installed on the small main shaft 3, and the small main shaft 3 drives the upper rotor 4 to rotate. A lower rotor 5 is installed on the hollow shaft 2, and the hollow shaft 2 drives the lower rotor 5 to rotate. The flight of the UAV is realized through the reverse rotation of the upper rotor 4 and the lower rotor 5.

Referring to Figure 2, the above-mentioned driving mechanism 6 includes an oil-driven engine 61, and a driving bevel gear 62 fixed at the output end of the oil-driven engine 61. The driving bevel gear 62 meshes with upper and lower parts fixed to the hollow shaft 2 and the small spindle 3 respectively. A driven bevel gear 63 is provided. The above-mentioned oil-driven engine 61 is connected to a control mechanism (not shown in the figure), and the operation of the oil-driven engine 61 is controlled by the control mechanism. Then the oil-driven engine 61 drives the driving bevel gear 62 to rotate, and then the driving bevel gear 62 drives it to mesh with it. The two driven bevel gears 63 rotate synchronously in opposite directions, so that the small main shaft 3 and the hollow shaft 2 respectively drive the upper rotor 4 and the lower rotor 5 to rotate synchronously in opposite directions to realize the flight of the UAV. It should be noted that in this embodiment, the above-mentioned oil-driven engine 61 can also drive the driving bevel gear 62 to rotate through the belt 64 (shown in FIG. 3 ).

In this embodiment, the diameter of the above-mentioned upper rotor 4 is smaller than the diameter of the lower rotor 5, so that the diameter of the lower rotor 5 is larger than the downwash airflow area of the upper rotor 4, which avoids the upper and lower rotors 5 of the existing coaxial anti-propeller UAV. The mutual influence of airflow caused by the same diameter improves the power performance of the drone.

In this embodiment, the above-mentioned upper rotor 4 is fixedly installed on the small main shaft 3, that is, the pitch of the upper rotor 4 is fixed and cannot be adjusted, and the lower rotor 5 is connected to a pitch adjustment mechanism (not shown in the figure). The mechanism is used to adjust the pitch of the lower rotor 5. Specifically, the pitch in this embodiment refers to the blade angle, that is, the inclination angle between the rotor blade and the plane of rotation. Within a certain range, the greater the blade angle, the larger the windward surface of the blade, and the greater the lift generated. , the greater the torque force. Through the change of the blade angle, the thrust or pulling force generated by the lower rotor 5 can be increased or reduced, thereby achieving control of the drone's heading. The above-mentioned pitch adjustment mechanism is an existing technology, so its structure will not be described in detail here. As long as the structure can realize the pitch adjustment of the lower rotor 5, it can be considered as a pitch adjustment mechanism.

In this embodiment, since the pitch of the upper rotor 4 is fixed and the pitch of the lower rotor 5 is adjustable, and the diameter of the upper rotor 4 is smaller than the diameter of the lower rotor 5, this will inevitably lead to the torque generated by the upper rotor 4 and the lower rotor 5. Different forces may cause a difference in torque force. At this time, in order to offset the difference in torque force and better achieve the balance of the UAV, this embodiment is provided with a number of support arms 11 symmetrically around the fuselage. The arms 11 are equipped with motors 8, each motor 8 is connected to the control mechanism, and the output end of each motor 8 is connected to a small rotor 7, and drives the small rotor 7 to rotate. By arranging the small rotor 7, when a torque difference occurs, the torque difference generated by the upper rotor 4 and the lower rotor 5 can be balanced by the rotation of the small rotor 7, thereby achieving smooth flight of the UAV.

In this embodiment, six small rotors 7 are preferably provided, and the six small rotors 7 rotate simultaneously. By controlling the difference in rotational speed of each small rotor 7, lift is provided for the UAV and assists the lower rotor 5. By controlling the direction, the torque difference between the upper rotor 4 and the lower rotor 5 can be balanced.

According to statistics, most drone accidents are caused by a failure of the oil-driven engine 61, which causes the rotor to lose power and become uncontrolled, resulting in a crash. With the arrangement of the above-mentioned small rotor 7 in this embodiment, when the oil-driven engine 61 fails and causes the upper rotor 4 and the lower rotor 5 to lose power, the motor 8 can be used to drive the small rotor 7 to rotate, assisting the UAV to land safely and avoiding the existing problem. When the upper rotor 4 and lower rotor 5 of the UAV lose power, the UAV crashes or injures ground buildings and people due to loss of control.

In this embodiment, the above-mentioned small rotor 7 is set horizontally or at an angle relative to the horizontal plane, which can be set as needed to better improve the performance of the UAV.

Referring to FIG. 2 , a power supply 9 is provided in the fuselage 1 . The power supply 9 is connected to the motor 8 and is used to supply power to the motor 8 . In this embodiment, the above-mentioned power supply 9 is a rechargeable power supply, and the charging method can be charging when not in use, or a generator can be provided in the fuselage 1, and the generator can be connected to the oil-driven engine 61. To convert its kinetic energy into electrical energy to charge the power supply 9.

The above-mentioned control mechanism includes a remote controller (not shown in the figure) and a circuit board (not shown in the figure) that is communicatively connected to the remote remote controller and located inside the fuselage 1. The circuit board is connected to the above-mentioned driving mechanism 6 and the paddle respectively. Distance adjustment mechanism and motor 8. Remote control of the two self-driving systems of the UAV (i.e., the rotation of the upper rotor 4 and the lower rotor 5, and the rotation of the small rotor 7) through the remote controller can make the two self-driving systems independent of each other, and can coordinate and assist each other during work. .

In this embodiment, a swash plate 10 is set on the hollow shaft 2. The swash plate 10 can cooperate with the above-mentioned small rotor 7 to better control the flight direction of the hybrid drone. Since the swash plate 10 is a modern Some structures will not be described again here.

In the hybrid UAV of this embodiment, a number of small rotors 7 are symmetrically provided on the fuselage 1. When a torque difference occurs between the upper rotor 4 and the lower rotor 5, it can be offset by the rotation of the small rotors 7. The torque difference generated between the upper rotor 4 and the lower rotor 5 allows the UAV to fly normally.

By only setting the pitch adjustment mechanism at the lower rotor 5 and fixing the pitch of the upper rotor 4, when the drone needs to adjust the pitch of the lower rotor 5, the small rotor 7 can be used to balance the effects of the pitch adjustment. The torque difference allows the UAV to fly normally, and this embodiment only needs to control the pitch of the lower rotor 5, and does not need to consider controlling the pitch of the upper rotor 4, which simplifies the operation of the traditional coaxial anti-propeller design. difficulty, it is easier for users to control.

Example 2:

The only difference between this embodiment and Embodiment 1 is:

In this embodiment, the pitch of the upper rotor 4 is also adjustable, that is, like the lower rotor 5, it is connected to a pitch adjustment mechanism. Through the pitch adjustment mechanism, the pitch of the upper rotor 4 can be adjusted to facilitate Improve drone performance. It should be pointed out that when both the upper rotor 4 and the lower rotor 5 are equipped with pitch adjustment mechanisms, a torque difference may also occur between the upper rotor 4 and the lower rotor 5. In this case, the small rotor in this embodiment 7 can still offset the torque difference generated between the upper rotor 4 and the lower rotor 5, allowing the drone to fly normally.

The remaining structures of the hybrid UAV of this embodiment are the same as those of Embodiment 1, so they will not be described again here.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. An exhaustive list of all implementations is neither necessary nor possible. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (7)

1. A hybrid drone, characterized in that it includes a fuselage (1), a hollow shaft (2) installed on the fuselage (1), and a hollow shaft (2) sleeved in and coaxial with the hollow shaft (2). The small main shaft (3) is connected to the upper rotor (4), the hollow shaft (2) is connected to the lower rotor (5), the hollow shaft (2) and the small main shaft ( 3) At the same time, the driving mechanism (6) located in the fuselage (1) drives the reverse rotation. The fuselage (1) is symmetrically provided with a number of small rotors (7). The small rotors (7) are driven by the motor ( 8) Drive rotation, and the driving mechanism (6) and motor (8) are both connected to the control mechanism; The upper rotor (4) has a fixed pitch, and the lower rotor (5) is connected with a pitch adjustment mechanism; the diameter of the upper rotor (4) is smaller than the diameter of the lower rotor (5). 2. The hybrid UAV according to claim 1, characterized in that the driving mechanism (6) includes an oil-driven engine (61) connected to a control mechanism, and is driven by the oil-driven engine (61) A driving bevel gear (62) meshes with a driven bevel gear (63) that is fixed to the hollow shaft (2) and the small main shaft (3) and is arranged up and down. 3. The hybrid drone according to claim 1, characterized in that a power supply (9) is provided inside the fuselage (1), and the power supply (9) is a rechargeable power supply connected to The motor (8). 4. The hybrid UAV according to claim 1, characterized in that the fuselage (1) is provided with a number of support arms (11) circumferentially, and the motor (8) is installed on the support arm (11). 11), and the output end is connected to the small rotor (7). 5. The hybrid UAV according to claim 1, characterized in that the small rotor (7) is arranged horizontally or at an angle relative to the horizontal plane. 6. The hybrid drone according to claim 1, characterized in that the control mechanism includes a remote controller and a circuit board communicatively connected to the remote controller and located inside the fuselage (1), the circuit board They are respectively connected to the driving mechanism (6), pitch adjustment mechanism and motor (8). 7. The hybrid UAV according to claim 1, characterized in that a swash plate (10) is mounted on the hollow shaft (2).