CN106986019A - A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination - Google Patents
A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination Download PDFInfo
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- CN106986019A CN106986019A CN201710250396.9A CN201710250396A CN106986019A CN 106986019 A CN106986019 A CN 106986019A CN 201710250396 A CN201710250396 A CN 201710250396A CN 106986019 A CN106986019 A CN 106986019A
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- rotor
- aerial vehicle
- unmanned aerial
- steering wheel
- face angle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention discloses a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination, it is related to multi-rotor unmanned aerial vehicle rotor face angle of inclination control field, including motor mounting plate, electricity adjusts installing plate and installs panel seat, deflection tube is fixed with the installation panel seat, armed draw ring is fixedly connected with the deflection tube, the fixed sleeving for connecting unmanned plane horn is socketed with outside the deflection tube, the fixed sleeving sets arc opening along middle part circumferencial direction, the male arms of the armed draw ring can be rotated along the arc opening of the fixed sleeving, the armed draw ring is connected with servo driving.Motor mounting plate is set to rotatable structure by the present invention, when obstacle occurs for a rotor, the rotor face angle of inclination of the relative normal rotor of adjustment, climbing power can be converted into the power of resistance spin, solve in the prior art when a rotor of multi-rotor unmanned aerial vehicle breaks down, spin can occur for unmanned plane or out of control the problem of fall.
Description
Technical field
Rotor control field, more particularly to multi-rotor unmanned aerial vehicle rotor face inclination angle are revolved the present invention relates to multi-rotor unmanned aerial vehicle
Control field is spent, is a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination specifically.
Background technology
Unmanned plane is the abbreviation of " UAV ", and english abbreviation is " UAV ", is to utilize radio robot and oneself
The not manned aircraft that standby presetting apparatus is manipulated.The concept of unmanned plane comes across in the 1920s, with science and technology earliest
Make rapid progress, unmanned air vehicle technique is more and more ripe, and the application of unmanned plane gradually enters into the public visual field, and unmanned plane is at civilian aspect
Using more and more extensively, unmanned plane+sector application is that unmanned plane has really just been needed now.At present taking photo by plane, it is agricultural, plant protection, micro-
Type auto heterodyne, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief,
The application in movies-making, manufacture romance etc. field, has greatly expanded the purposes of unmanned plane in itself, every country is all positive
Extend sector application and development unmanned air vehicle technique.
Unmanned plane is classified by flying platform configuration, can be divided into fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, flapping wing unmanned plane etc.,
Multi-rotor unmanned aerial vehicle has very good performance because of it in terms of handling, reliability, and simple in construction, and accessory is easy
Change, be to compare a kind of fast-selling consumer level unmanned plane at present, be loved by consumers.Multi-rotor unmanned aerial vehicle is by multigroup power
The flying platform of system composition, typically common are the even more many rotor compositions of four rotors, six rotors, eight rotors.Many gyroplanes
Tool structure is very simple, dynamical system only need to motor directly connect oar just can be with.
According to Newton's third law, when two objects interact, the power of other side is put on each other, its is equal in magnitude,
In the opposite direction, the rotor of unmanned plane is while rotation, and motor can also produce a reactive torque, promote motor to be revolved to opposite direction
Turn, likewise, for multi-rotor unmanned aerial vehicle, its each rotor can also produce such power, so in order to avoid unmanned plane
Spin, by taking the multi-rotor unmanned aerial vehicle of four rotors as an example, in four propellers of unmanned plane, two adjacent propeller rotation sides
To on the contrary, when flight, reaction force produced by the one group of relative rotor wing rotation rotor wing rotation relative with another group is produced
Reaction force it is in opposite direction, when two reaction forces are equal in magnitude, be then mutually completely counterbalanced by, unmanned aerial vehicle body can just be protected
It is fixed to keep steady, and when two reaction force sizes are unequal, will spinning for unmanned plane is easily caused unmanned plane out of control.It is right
, often only can not by a rotor when one in one group of relative rotor of unmanned plane breaks down in multi-rotor unmanned aerial vehicle
Moment of torsion for balance is provided, unmanned plane spin is frequently resulted in, even out of control falls.
The content of the invention
It is an object of the invention to provide a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination, it is used for
Solve in the prior art when a rotor of multi-rotor unmanned aerial vehicle breaks down, unmanned plane can occur spin or out of control fall
Problem.
The present invention is achieved through the following technical solutions：
A kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination, including motor mounting plate, electricity are adjusted installing plate, used
It is fixedly connected or one in being provided with the installation panel seat that motor mounting plate and electricity tune installing plate is fixedly mounted, the installation panel seat
It is fixedly connected with outside armed draw ring, the deflection tube and is socketed with for connecting nobody on the deflection tube of shaping, the deflection tube
It is peripherally disposed in the middle part of the fixed sleeving of machine horn, the fixed sleeving to have setting on arc opening, the armed draw ring
There is male arms, the male arms can be rotated in the arc opening, the steering wheel that the fixed sleeving outer surface is provided with protrusion is installed
Steering wheel, the steering wheel and the armed draw ring drive connection are installed on plate, the steering wheel installing plate.
It is preferred that, the fixed sleeving is ladder pipe spreader, and the big portion of the fixed sleeving is the axle being socketed with deflection tube
Cartridge, is provided with bearing between the bearing sleeve and the deflection tube, the steering wheel installing plate is consolidated with the bearing sleeve
Connect or be integrally formed calmly.
It is preferred that, the output end of the steering wheel is provided with steering wheel rocking arm, the steering wheel rocking arm drive connection pull bar, the drawing
The male arms of bar and the armed draw ring is hinged.
It is preferred that, the corresponding central angle of arc opening on the bearing sleeve is 0 °~90 °.
It is preferred that, the pull bar is arc pull bar, the arc diameter of the pull bar, the diameter of the bearing sleeve and described
The diameter of fixed sleeving successively decreases successively.
It is preferred that, the bearing is be symmetricly set on the bearing sleeve two ends two.
It is preferred that, the fixed sleeving, bearing sleeve, armed draw ring, pull bar, steering wheel rocking arm, steering wheel installing plate, motor peace
It is carbon fibre composite to fill plate, electricity and adjust installing plate, install panel seat, the material of deflection tube.
The present invention compared with prior art, with advantages below and beneficial effect：
（1）The motor mounting plate being fixedly mounted in original multi-rotor unmanned aerial vehicle is set to follow the knot that panel seat is rotated is installed
Structure, so that the rotor face of rotor changes angle of inclination therewith, enough balance torsions can not be provided when obstacle occurs for a rotor
During square, rotor face angle of inclination can be changed, the component of resistance unmanned plane spin is increased, it is to avoid unmanned plane spins, and reduces this
The component of rotor in the vertical direction, reduces the difference of the power of one group of relative rotor in the vertical direction, is easy to unmanned plane to fly
System regulation balance is controlled, so as to solve in the prior art when a rotor of multi-rotor unmanned aerial vehicle breaks down, unmanned plane meeting
Generation is spinned or out of control the problem of fall.
（2）The fixed sleeving is set to ladder pipe spreader, the bearing sleeve in its big portion is connected with deflection tube, and in axle
Bearing is set between cartridge and deflection tube, reduces frictional force when deflection tube is rotated, makes rotation more smooth, strengthen handling
Energy.
（3）The corresponding central angle of arc opening on the bearing sleeve is 0 °~90 °, thus the armed draw ring can
Rotational angle is 0 °~90 °, and the angle of inclination for alloing rotor face is 0 °~90 °, can be for unmanned plane in varied situations
The adjustment of rotor face angle of inclination is carried out to the demand of ascent direction component and supression direction of rotation component.
（4）The pull bar is set to arc pull bar, it is to avoid pull bar pull armed draw ring when contact, friction bearing sleeve pipe or
The outer wall of fixed sleeving, causes deflection tube not deflect normally, or unnecessary abrasion occurs between structural elements.
（5）Due to the adverse circumstances that unmanned plane may face in routine duties, unmanned plane is set to need with high intensity, resistance to
High temperature, corrosion resistant performance, needs are used to meet；Simultaneously because unmanned plane requires there is good flying quality, therefore again
Relatively light dead-weight is needed, carbon fibre composite can not only be used for structural material bearing load, played but also as functional material
Effect, not only meets endurance quality of the unmanned plane in adverse circumstances, fatigue performance, due also to the less spy of its structure proportion
Point, easily makes unmanned plane obtain good flying quality.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present invention；
Fig. 2 is that Fig. 1 horizontally rotates 45 ° of views；
Fig. 3 removes dimensional structure diagram after fixed sleeving and bearing sleeve for the present invention；
Fig. 4 is prior art helicopter schematic diagram；
Fig. 5 is four rotor wing unmanned aerial vehicle regular flight condition principle schematics；
Fig. 6 is state of flight principle schematic when four rotor wing unmanned aerial vehicles, one rotor is just stopped；
Fig. 7 changes the principle schematic during surfaces of revolution for the relative rotor of four rotor wing unmanned aerial vehicle failure rotors；
Wherein 1- fixed sleevings；2- bearing sleeves；3- armed draw rings；4- pull bars；5- steering wheels；6- rotating shafts；7- steering wheel rocking arms；8- rudders
Machine installing plate；9- motor mounting plates；10- electricity adjusts installing plate；11- installs panel seat；12- bearings；13- deflection tubes.
Embodiment
The present invention is described in further detail with reference to embodiment, but the implementation of the present invention is not limited to this.
Embodiment 1：
With reference to shown in attached Fig. 1 and 2, a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination, including motor peace
Dress plate 9, electricity adjust installing plate 10, adjust the installation panel seat 11 of installing plate 10 for motor mounting plate 9 and electricity to be fixedly mounted, described to install
It is provided with and is fixedly connected or integrally formed deflection tube 13 on panel seat 11, armed draw ring 3 is fixedly connected with the deflection tube 13,
The fixed sleeving 1 for connecting unmanned plane horn is socketed with outside the deflection tube 13, the middle part of fixed sleeving 1 is circumferentially square
Male arms is provided with to being provided with arc opening, the armed draw ring 3, the male arms can be rotated in the arc opening, institute
State and steering wheel 5, the rudder are installed on the steering wheel installing plate 8 that the outer surface of fixed sleeving 1 is provided with protrusion, the steering wheel installing plate 8
Machine 5 and the drive connection of armed draw ring 3.
The principle to the present invention is further elaborated below：
According to Newton's third law, when two objects interact, the power of other side is put on each other, its equal in magnitude, direction
Conversely.As shown in figure 4, when the main rotor at the top of helicopter is rotated, Helicopter Main, which is known from experience, produces a reactive torque, promotes straight
Liter machine is reversely rotated, and is reversely rotated to restrain helicopter, special to go straight up to drive end unit one empennage of setting, the main rotor and empennage
Rotor face be mutually perpendicular to, a power vertical with empennage rotor face, the power of the empennage generation are produced during empennage rotation
The trend spinned with Helicopter Main rotor wing rotation direction is on the contrary, so as to avoid helicopter from spinning.
For multi-rotor unmanned aerial vehicle, by taking four rotor wing unmanned aerial vehicles as an example, as shown in figure 5, generally using in the prior art
Turn clockwise for a pair with the rotors of a pair of rotate counterclockwises to provide lift, in order to avoid unmanned plane spins, no matter not
With each rotor under state of flight rotating speed how, the moment of torsion that the rotor turned clockwise for a pair is produced be consistently equal to a pair it is counterclockwise
The moment of torsion that the rotor of rotation is produced, i.e. M1+M3=M2+M4.After one in a pair of rotors clockwise breaks down, one inverse
Hour hands rotor breaks down and also herewith managed, as shown in fig. 6, the moment of torsion that a rotor turned clockwise is produced is difficult to be equal to one
The moment of torsion produced to the rotor of rotate counterclockwise, i.e. M1 ＜ M2+M4, unmanned plane will turn clockwise；Additionally, due to event
Barrier rotor stops operating, and the failure rotor no longer produces upward lift, although had can be from dynamic for existing unmanned plane
Should, the flight control system of regulation balance, but when two side's lift differ greatly, it tends to be difficult to balance, now unmanned plane can be to failure
Rotor direction tilts, dives and even topple.After one rotor of unmanned plane breaks down, spinned and inclined dual in unmanned plane
Under effect, eventually cause unmanned plane is out of control to fall.
Rotor is disposed as that the structure at rotor face angle of inclination can be changed by the present invention, when event occurs for a rotor clockwise
During barrier, system for flight control computer adjusts rapidly the rotor face angle of inclination of the relative normal rotor clockwise of failure rotor, one
Rotor counterclockwise, which breaks down, also herewith to be managed, as illustrated in fig. 1 and 2, the drop-down armed of steering wheel 5 draw ring 3, makes to fix with armed draw ring 3
The deflection tube 13 of connection is rotated, so that the installation panel seat 11 for being fixedly connected with deflection tube 13 is rotated, is arranged on installation panel seat 11
Motor mounting plate 9, electricity adjust the run-off the straight of installing plate 10, so that the angle of inclination in the normal rotor face of rotor clockwise changes
Become, as shown in Figures 6 and 7, the lift that rotor wing rotation is produced normal clockwise is converted into the power that resistance unmanned plane turns clockwise, and promotees
Unmanned plane is set to stop spin；Turned clockwise further, since the lift that rotor is provided normal clockwise is converted into resistance unmanned plane
Power, this described tend to balance to rotor symmetry axis two ends clockwise, reduce or avoided unmanned plane from inclining to failure wing direction
Tiltedly.Therefore, after a rotor breaks down, the rotor face angle of inclination of relative normal rotor is adjusted, so that it may avoid unmanned plane
Occur the danger out of control fallen, make the relatively flat steady landing of unmanned function.
Embodiment 2：
As Figure 1-3, on the basis of embodiment 1, the fixed sleeving 1 be ladder pipe spreader, the fixed sleeving 1 it is big
Portion is the bearing sleeve 2 being socketed with deflection tube 13, and bearing 12, institute are provided between the bearing sleeve 2 and the deflection tube 13
Steering wheel installing plate 8 is stated to be fixedly connected or be integrally formed with the bearing sleeve 2.By setting bearing sleeve 2 and bearing 12, reduce
Frictional force when deflection tube 13 is rotated, makes rotation more smooth, strengthens unmanned plane handling.
Further, the output end of the steering wheel 5 is provided with steering wheel rocking arm 7, the drive connection pull bar 4 of steering wheel rocking arm 7,
The male arms of the pull bar 4 and the armed draw ring 3 is hinged.
Further, the corresponding central angle of arc opening on the bearing sleeve 2 is 0 °~90 °, so that the armed
The rotatable angle of draw ring 3 is 0 °~90 °, and the angle of inclination of the armed draw ring 3 is equal with the angle of inclination in rotor face, makes rotation
The angle of inclination of aerofoil can be 0 °~90 °, to ascent direction component and can restrain rotation in varied situations for unmanned plane
Turn the demand of direction component to carry out the adjustment of rotor face angle of inclination.
Further, the pull bar 4 is arc pull bar, arc diameter, the diameter of the bearing sleeve 2 of the pull bar 4
Successively decrease successively with the diameter of the fixed sleeving 1, it is to avoid contact, friction bearing sleeve pipe or fixed cover when pull bar pulls armed draw ring
The outer wall of pipe, causes deflection tube not deflect normally, or unnecessary abrasion occurs between structural elements.
Further, the bearing 12 is be symmetricly set on the two ends of bearing sleeve 2 two, makes the He of bearing sleeve 2
The connection of deflection tube 3 is more balanced, stably, is rotated more steady.
Further, the fixed sleeving 1, bearing sleeve 2, armed draw ring 3, pull bar 4, steering wheel rocking arm 7, steering wheel installing plate
8th, it is carbon fibre composite that motor mounting plate 9, electricity, which adjust installing plate 10, install panel seat 11, the material of deflection tube 13, due to nothing
The man-machine adverse circumstances that may be faced in routine duties, make unmanned plane need with high intensity, high temperature resistant, corrosion resistant property
Can, use needs to meet；Simultaneously because unmanned plane requires there is good flying quality again, it is therefore desirable to relatively gently certainly
Weight, carbon fibre composite can not only be used for structural material bearing load, be played a role but also as functional material, not only meet nothing
Man-machine endurance quality in adverse circumstances, fatigue performance, due also to its less feature of structure proportion, easily makes unmanned plane
Obtain good flying quality.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
According to the present invention technical spirit above example is made any simple modification, equivalent variations, each fall within the present invention protection
Within the scope of.
Claims (7)
1. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination, including motor mounting plate（9）, electricity adjust install
Plate（10）, for motor mounting plate to be fixedly mounted（9）Installing plate is adjusted with electricity（10）Installation panel seat（11）, it is characterised in that institute
State installation panel seat（11）On be provided with and be fixedly connected or integrally formed deflection tube（13）, the deflection tube（13）On be fixedly connected
There is armed draw ring（3）, the deflection tube（13）Outside is socketed with the fixed sleeving for connecting unmanned plane horn（1）, it is described solid
Determine sleeve pipe（1）Middle part is peripherally disposed arc opening, the armed draw ring（3）On be provided with male arms, the male arms can
Rotated in the arc opening, the fixed sleeving（1）Outer surface is provided with the steering wheel installing plate of protrusion（8）, the steering wheel
Installing plate（8）On steering wheel is installed（5）, the steering wheel（5）With the armed draw ring（3）Drive connection.
2. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 1, its feature
It is, the fixed sleeving（1）For ladder pipe spreader, the fixed sleeving（1）Big portion be and deflection tube（13）The axle of socket
Cartridge（2）, the bearing sleeve（2）With the deflection tube（13）Between be provided with bearing（12）, the steering wheel installing plate（8）
With the bearing sleeve（2）It is fixedly connected or is integrally formed.
3. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 1 or 2, it is special
Levy and be, the steering wheel（5）Output end steering wheel rocking arm is installed（7）, the steering wheel rocking arm（7）Drive connection pull bar（4）, institute
State pull bar（4）With the armed draw ring（3）Male arms be hinged.
4. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 3, its feature
It is, the bearing sleeve（2）On the corresponding central angle of arc opening be 0 °~90 °.
5. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 4, its feature
It is, the pull bar（4）For arc pull bar, the pull bar（4）Arc diameter, the bearing sleeve（2）Diameter and described
Fixed sleeving（1）Diameter successively decrease successively.
6. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 2 or 5, it is special
Levy and be, the bearing（12）To be symmetricly set on the bearing sleeve（2）Two of two ends.
7. a kind of motor cabinet for changing multi-rotor unmanned aerial vehicle rotor face angle of inclination according to claim 6, its feature
It is, the fixed sleeving（1）, bearing sleeve（2）, armed draw ring（3）, pull bar（4）, steering wheel rocking arm（7）, steering wheel installing plate
（8）, motor mounting plate（9）, electricity adjust installing plate（10）, install panel seat（11）, deflection tube（13）Material be carbon fiber be combined
Material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250396.9A CN106986019B (en) | 2017-04-17 | 2017-04-17 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710250396.9A CN106986019B (en) | 2017-04-17 | 2017-04-17 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106986019A true CN106986019A (en) | 2017-07-28 |
| CN106986019B CN106986019B (en) | 2023-05-30 |
Family
ID=59416243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710250396.9A Active CN106986019B (en) | 2017-04-17 | 2017-04-17 | Motor cabinet capable of changing inclination angle of rotary wing surface of multi-rotor unmanned aerial vehicle |
Country Status (1)
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Cited By (6)
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| CN107322565A (en) * | 2017-08-04 | 2017-11-07 | 厦门理工学院 | Transfer robot |
| CN107891989A (en) * | 2017-11-21 | 2018-04-10 | 四川建筑职业技术学院 | A kind of unmanned plane cantilever of adjustable vertical deflection angle |
| CN108820231A (en) * | 2018-06-06 | 2018-11-16 | 广东工业大学 | A kind of motor cabinet of unmanned plane |
| CN109263870A (en) * | 2018-10-11 | 2019-01-25 | 浙江大学 | 6-dof motion platform and its control method based on the more rotor systems of vector |
| WO2019033691A1 (en) * | 2017-08-15 | 2019-02-21 | 罗琮贵 | High-speed flying method and ring wing aircraft |
| CN110576964A (en) * | 2019-09-24 | 2019-12-17 | 中国人民解放军战略支援部队航天工程大学 | Rotor wing tilting device for four-axis unmanned aerial vehicle |
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