CN107672801A - A kind of quick rotor wing unmanned aerial vehicle of deflecting four - Google Patents
A kind of quick rotor wing unmanned aerial vehicle of deflecting four Download PDFInfo
- Publication number
- CN107672801A CN107672801A CN201711120301.8A CN201711120301A CN107672801A CN 107672801 A CN107672801 A CN 107672801A CN 201711120301 A CN201711120301 A CN 201711120301A CN 107672801 A CN107672801 A CN 107672801A
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- CN
- China
- Prior art keywords
- rotor
- inner frame
- outer framework
- motor
- angular displacement
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- 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.)
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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
-
- 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
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
The invention discloses a kind of quick rotor wing unmanned aerial vehicle of deflecting four, for aid in the mankind it is high it is aerial complete geological exploration, the civilian task such as take photo by plane, it can also be used to the resource of Special section is transported.The present invention includes unmanned plane frame, rotor, deviator, signal receiver, power supply and drive control device.The present invention detects the outer framework rotor of deviator by magneto-electric angular displacement sensor, the space of inner frame rotor swings angle, the outer framework rotor being connected on inner frame is promoted using the outer framework motor stator of deviator, rotates inner frame；The inner frame rotor for being connected to rotor motor support is promoted by inner frame motor stator, make rotor motor holder pivots, it is achieved thereby that rotor changes in the pose of space coordinates, realize the quick deflecting of unmanned plane, the present invention can be used for taking photo by plane to be delivered with goods and materials, unmanned plane operating efficiency is improved, improves kinetic stability during deflecting.
Description
Technical field
The present invention disclose a kind of quickly deflecting four rotor wing unmanned aerial vehicle, the civil area such as is related to transporting equipment, takes photo by plane, especially relating to
A kind of and quick rotor wing unmanned aerial vehicle of deflecting four.
Background technology
In geological prospecting, disaster relief field, four rotor wing unmanned aerial vehicles can help people to explore landform, improve the work effect of people
Rate.In traffic and transport field, because some areas are with a varied topography, haulage vehicle is caused to cannot be introduced into, with four rotor wing unmanned aerial vehicles
The development of technology, goods and materials delivery is carried out to Special section using four rotor wing unmanned aerial vehicles, to shorten delivery time and deliver cost
It is inevitable trend.Existing four rotor wing unmanned aerial vehicle is realized by adjusting the rotating speed of four rotor motors to change the rotating speed of rotor
The change of lift, so as to control the posture of unmanned plane and position.This posture that unmanned plane is controlled by regulation motor rotating speed
Make it that unmanned plane deflecting speed is slower with the method for position, and cause dynamic instability, flight attitude is unstable during deflecting, failure
Rate is high, is not readily used for execution task.
The content of the invention
The purpose of the present invention, quick side steering is driven using a kind of motor, the change of UAV Attitude is driven, improves
The deflecting speed of unmanned plane, the accuracy of deflecting and the stability of the power of deflecting process are improved, improve the work of unmanned plane
Make efficiency.
The present invention solve its technical problem solution be：
The rotor wing unmanned aerial vehicle of quick deflecting four of the present invention, it includes unmanned aerial vehicle body 1, reversing arrangement a 2, reversing arrangement b 3, changed
To 5 five device c 4, reversing arrangement d parts；The knot of four reversing arrangements of the rotor wing unmanned aerial vehicle of quick deflecting four of the present invention
Structure is identical, therefore in following structure description, only describes one of reversing arrangement；It is characterized in that：Described commutation dress
Put a, reversing arrangement b, reversing arrangement c, reversing arrangement d respectively with unmanned aerial vehicle body bolt connection.
Preferably, described unmanned aerial vehicle body is made up of unmanned machine support, signal receiver, drive control device, power supply,
Wherein signal receiver, drive control device, power supply and unmanned plane bracket screw connect.
Preferably, described reversing arrangement a is by rotor motor support, inner frame motor rotor core, inner frame motor
Rotor, multipair pole magnet steel a, multipair pole magnet steel installation pedestal, rotor motor, rotor, inner frame, multipair pole magnet steel b, outer framework electricity
Machine rotor, outer framework motor rotor core, bearing a, inner frame back end cover for motor, inner frame motor stator, inner frame motor are determined
Sub- winding, inner frame angular displacement type magnetism encoder, bearing b, inner frame angular displacement type magnetism encoder end cap, outer framework, axle
C, outer framework back end cover for motor, outer framework angular displacement type magnetism encoder end cap, bearing d, outer framework angular displacement type magnetoelectricity is held to compile
Code device, outer framework motor stator, outer framework motor stator limit for height winding, outer framework motor stator winding composition；Wherein inner frame
Rotor and inner frame motor rotor core gemel connection, inner frame rotor, multipair pole magnet steel installation pedestal, rotor motor
It is connected with rotor motor support bracket bolt, multipair pole magnet steel a is glued with multipair pole magnet steel installation pedestal, rotor and rotor motor screw
Connection, inner frame rotor, inner frame back end cover for motor are connected with bearing a bearings, multipair pole magnet steel installation pedestal, inner frame
Angular displacement type magnetism encoder end cap is connected with bearing b bearings, outer framework rotor, inner frame back end cover for motor, inner frame
Angular displacement type magnetism encoder end cap and inner frame mode connects for screw, multipair pole magnet steel b, inner frame motor stator and inner frame glue
Connect, outer framework motor rotor core is glued with outer framework rotor, inner frame motor stator winding and inner frame motor stator
It is glued, inner frame angular displacement type magnetism encoder is connected with inner frame angular displacement type magnetism encoder head bolts, outer framework electricity
Machine rotor, outer framework back end cover for motor hold with bearing c-axis and are connected, inner frame, outer framework angular displacement type magnetism encoder end cap with
Bearing d bearings connect, outer framework back end cover for motor, outer framework angular displacement type magnetism encoder end cap and outer framework mode connects for screw,
Outer framework motor stator is glued with outer framework, outer framework angular displacement type magnetism encoder and outer framework angular displacement type magnetism encoder
Head bolts connect, and outer framework motor stator limit for height winding, outer framework motor stator winding and outer framework motor stator are glued, outside
Framework is connected with unmanned plane support bracket bolt.
The beneficial effects of the invention are as follows：
1. using deviator, the free degree of rotor is added so that the pose of rotor can change, and improve the change of unmanned plane
To speed so that operating efficiency improve.
2. using deviator, the situation of dynamic instability, improves nothing when overcoming general four rotor wing unmanned aerial vehicles deflecting
Stability during man-machine deflecting.
3. two magneto-electric angular displacement sensors are respectively adopted to feed back as the position of housing motor and inside casing motor, measurement
The angular displacement of housing motor and inside casing rotor, the pose change of current rotor can be accurately controlled.
Brief description of the drawings
Accompanying drawing 1：The overall structure diagram of the present invention；
Accompanying drawing 2：The unmanned aerial vehicle body structural representation of the present invention；
Accompanying drawing 3：The deviator partial structural diagram of the present invention；
Accompanying drawing 4：The deviator partial structural diagram of the present invention；
Accompanying drawing 5：The deviator partial structural diagram of the present invention；
Accompanying drawing 6：The deviator partial structural diagram of the present invention；
Accompanying drawing 7：The deviator partial structural diagram of the present invention；
Accompanying drawing 8：The deviator partial structural diagram of the present invention；
Accompanying drawing 9：The deviator partial structural diagram of the present invention；
Accompanying drawing 10：The deviator partial structural diagram of the present invention；
Accompanying drawing 11：The deviator partial structural diagram of the present invention；
In figure, the unmanned machine supports of 1-1,1-2 signal receivers, 1-3 drive control devices, 1-4 power supplys, 2-1 rotor motors support, 2-
2 inner frame motor rotor cores, 2-3 inner frames rotor, the multipair pole magnet steel installation pedestals of multipair pole magnet steel a, the 2-5 of 2-4,2-
Multipair pole magnet steel b, 2-10 outer frameworks rotor of 6 rotor motors, 2-7 rotors, 2-8 inner frames, 2-9,2-11 outer framework motors
Rotor core, 2-12 bearing a, 2-13 inner frames back end cover for motor, 2-14 inner frames motor stator, 2-15 inner frame motor stators
Winding, 2-16 inner frame angular displacement types magnetism encoder, 2-17 bearing b, 2-18 inner frame angular displacement type magnetism encoders end cap,
2-19 outer frameworks, 2-20 bearing c, 2-21 outer frameworks back end cover for motor, 2-22 outer framework angular displacement type magnetism encoders end cap, 2-
23 bearing d, 2-24 outer framework angular displacement type magnetism encoders, 2-25 outer frameworks motor stator, 2-26 outer frameworks motor stator limit
High winding, 2-27 outer framework motor stator windings.
Embodiment
It is specific below by what is shown in accompanying drawing to make the object, technical solutions and advantages of the present invention of greater clarity
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the model of the present invention
Enclose.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring the present invention's
Concept.
The concrete structure and embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.
The present invention structure composition as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11.
The rotor wing unmanned aerial vehicle of quick deflecting four of the present invention, it includes unmanned aerial vehicle body 1, reversing arrangement a 2, reversing arrangement b
3rd, 5 five reversing arrangement c 4, reversing arrangement d parts；Four reversing arrangements of the rotor wing unmanned aerial vehicle of quick deflecting four of the present invention
Structure it is identical, therefore in following structure description, one of reversing arrangement is only described；It is characterized in that：Described changes
To device a 2, reversing arrangement b 3, reversing arrangement c 4, reversing arrangement d 5 respectively with the bolt connection of unmanned aerial vehicle body 1.
Further, described unmanned aerial vehicle body 1 is by unmanned machine support 1-1, signal receiver 1-2, drive control device 1-
3rd, power supply 1-4 is formed, wherein signal receiver 1-2, drive control device 1-3, power supply 1-4 and unmanned machine support 1-1 mode connects for screw.
Further, described reversing arrangement a 2 is by rotor motor support 2-1, inner frame motor rotor core 2-2, interior
It is frame motor rotor 2-3, multipair pole magnet steel a 2-4, multipair pole magnet steel installation pedestal 2-5, rotor motor 2-6, rotor 2-7, interior
Framework 2-8, multipair pole magnet steel b 2-9, outer framework rotor 2-10, outer framework motor rotor core 2-11, bearing a 2-12,
Inner frame back end cover for motor 2-13, inner frame motor stator 2-14, inner frame motor stator winding 2-15, inner frame angular displacement type
Magnetism encoder 2-16, bearing b 2-17, inner frame angular displacement type magnetism encoder end cap 2-18, outer framework 2-19, bearing c
2-20, outer framework back end cover for motor 2-21, outer framework angular displacement type magnetism encoder end cap 2-22, bearing d 2-23, outer framework
Angular displacement type magnetism encoder 2-24, outer framework motor stator 2-25, outer framework motor stator limit for height winding 2-26, outer framework electricity
Machine stator winding 2-27 is formed；Wherein inner frame rotor 2-3 and inner frame motor rotor core 2-2 gemel connections, inner frame
Rotor 2-3, multipair pole magnet steel installation pedestal 2-5, rotor motor 2-6 and rotor motor support 2-1 bolt connections, multipair pole
Magnet steel a 2-4 and multipair pole magnet steel installation pedestal 2-5 is glued, rotor 2-7 and rotor motor 2-6 mode connects for screw, inner frame motor
Rotor 2-3, inner frame back end cover for motor 2-13 are connected with bearing a2-12 bearings, multipair pole magnet steel installation pedestal 2-5, inner frame
Angular displacement type magnetism encoder end cap 2-18 is connected with bearing b 2-17 bearings, outer framework rotor 2-10, inner frame motor
Rear end cap 2-13, inner frame angular displacement type magnetism encoder end cap 2-18 and inner frame 2-8 mode connects for screw, multipair pole magnet steel b 2-
9th, inner frame motor stator 2-14 and inner frame 2-8 is glued, outer framework motor rotor core 2-11 and outer framework rotor 2-
10 are glued, and inner frame motor stator winding 2-15 and inner frame motor stator 2-14 is glued, inner frame angular displacement type magnetoelectricity coding
Device 2-16 and inner frame angular displacement type magnetism encoder end cap 2-18 mode connects for screw, outer framework rotor 2-10, outer framework electricity
Machine rear end cap 2-21 is connected with bearing c 2-20 bearings, inner frame 2-8, outer framework angular displacement type magnetism encoder end cap 2-22 with
Bearing d 2-23 bearings connect, outer framework back end cover for motor 2-21, outer framework angular displacement type magnetism encoder end cap 2-22 with it is outer
Framework 2-19 mode connects for screw, outer framework motor stator 2-25 and outer framework 2-19 are glued, outer framework angular displacement type magnetism encoder
2-24 and outer framework angular displacement type magnetism encoder end cap 2-22 mode connects for screw, it is outer framework motor stator limit for height winding 2-26, outer
Frame motor stator winding 2-27 and outer framework motor stator 2-25 is glued, and outer framework 2-19 connects with unmanned machine support 1-1 bolts
Connect.
Its operation principle：Reversing arrangement a 2, reversing arrangement b 3, reversing arrangement c 4, the knots of reversing arrangement d 5 of the present invention
Structure is identical, and the operation principle of the present invention is illustrated by taking a 2 as an example, works as signal receiver（1-2）When receiving instruction, instruction is passed on
To drive control device（1-3）, so that housing motor stator winding（2-27）Obtain electric, driving and inner frame（2-8）Connection
Housing rotor（2-10）Rotate, and then drive inner frame（2-8）Rotation；Meanwhile when drive control device receives signal
When so that inner frame motor stator winding（2-15）Obtain electric, driving and rotor motor support（2-1）The inner frame motor of connection turns
Son（2-3）Rotate, and then drive rotor motor support（2-1）And rotor motor（2-6）Rotation, finally make rotor（2-7）Position
Appearance changes, and completes deflecting；Using inner frame magneto-electric angular displacement sensor（2-16）, outer framework magneto-electric angular displacement sensor
（2-24）Inner frame rotor is gathered respectively（2-3）And outer framework rotor（2-10）Angular displacement, can accurately control
The pose of rotor.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. the rotor wing unmanned aerial vehicle of quick deflecting four of the present invention, it includes unmanned aerial vehicle body（1）, reversing arrangement a（2）, reversing arrangement b
（3）, reversing arrangement c（4）, reversing arrangement d（5）Five parts；Four commutations of the rotor wing unmanned aerial vehicle of quick deflecting four of the present invention
The structure of device is identical, therefore in following structure description, only describes one of reversing arrangement；It is characterized in that：It is described
Reversing arrangement a（2）, reversing arrangement b（3）, reversing arrangement c（4）, reversing arrangement d（5）Respectively with unmanned aerial vehicle body（1）Bolt
Connection.
2. unmanned aerial vehicle body according to claim 1（1）By unmanned machine support（1-1）, signal receiver（1-2）, driving
Controller（1-3）, power supply（1-4）Composition, wherein signal receiver（1-2）, drive control device（1-3）, power supply（1-4）With nobody
Machine support（1-1）Mode connects for screw.
3. reversing arrangement a according to claim 1（2）By rotor motor support（2-1）, inner frame motor rotor core
（2-2）, inner frame rotor（2-3）, multipair pole magnet steel a（2-4）, multipair pole magnet steel installation pedestal（2-5）, rotor motor
（2-6）, rotor（2-7）, inner frame（2-8）, multipair pole magnet steel b（2-9）, outer framework rotor（2-10）, outer framework motor
Rotor core（2-11）, bearing a（2-12）, inner frame back end cover for motor（2-13）, inner frame motor stator（2-14）, inner frame
Motor stator winding（2-15）, inner frame angular displacement type magnetism encoder（2-16）, bearing b（2-17）, inner frame angular displacement type
Magnetism encoder end cap（2-18）, outer framework（2-19）, bearing c（2-20）, outer framework back end cover for motor（2-21）, outer framework angle
Displacement-type magnetism encoder end cap（2-22）, bearing d（2-23）, outer framework angular displacement type magnetism encoder（2-24）, outer framework
Motor stator（2-25）, outer framework motor stator limit for height winding（2-26）, outer framework motor stator winding（2-27）Composition；Wherein
Inner frame rotor（2-3）With inner frame motor rotor core（2-2）It is glued, inner frame rotor（2-3）, multipair pole magnetic
Steel installation pedestal（2-5）, rotor motor（2-6）With rotor motor support（2-1）Bolt connection, multipair pole magnet steel a（2-4）With it is more
To pole magnet steel installation pedestal（2-5）It is glued, rotor（2-7）With rotor motor（2-6）Mode connects for screw, inner frame rotor（2-
3）, inner frame back end cover for motor（2-13）With bearing a（2-12）Bearing connects, multipair pole magnet steel installation pedestal（2-5）, inner frame
Angular displacement type magnetism encoder end cap（2-18）With bearing b（2-17）Bearing connects, outer framework rotor（2-10）, inner frame
Back end cover for motor（2-13）, inner frame angular displacement type magnetism encoder end cap（2-18）With inner frame（2-8）Mode connects for screw, it is multipair
Pole magnet steel b（2-9）, inner frame motor stator（2-14）With inner frame（2-8）It is glued, outer framework motor rotor core（2-11）With
Outer framework rotor（2-10）It is glued, inner frame motor stator winding（2-15）With inner frame motor stator（2-14）It is glued,
Inner frame angular displacement type magnetism encoder（2-16）With inner frame angular displacement type magnetism encoder end cap（2-18）Mode connects for screw, outside
Frame motor rotor（2-10）, outer framework back end cover for motor（2-21）With bearing c（2-20）Bearing connects, inner frame（2-8）, it is outer
Framework angular displacement type magnetism encoder end cap（2-22）With bearing d（2-23）Bearing connects, outer framework back end cover for motor（2-21）、
Outer framework angular displacement type magnetism encoder end cap（2-22）With outer framework（2-19）Mode connects for screw, outer framework motor stator（2-25）
With outer framework（2-19）It is glued, outer framework angular displacement type magnetism encoder（2-24）With outer framework angular displacement type magnetism encoder end
Lid（2-22）Mode connects for screw, outer framework motor stator limit for height winding（2-26）, outer framework motor stator winding（2-27）With housing
Frame motor stator（2-25）It is glued, outer framework（2-19）With unmanned machine support（1-1）Bolt connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711120301.8A CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711120301.8A CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107672801A true CN107672801A (en) | 2018-02-09 |
| CN107672801B CN107672801B (en) | 2023-07-21 |
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ID=61148777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711120301.8A Active CN107672801B (en) | 2017-11-14 | 2017-11-14 | Quick four rotor unmanned aerial vehicle that turns to |
Country Status (1)
| Country | Link |
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| CN (1) | CN107672801B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106132825A (en) * | 2013-12-23 | 2016-11-16 | 李尚泫 | Many rotor flyings body |
| US20170015412A1 (en) * | 2015-07-17 | 2017-01-19 | iDrone LLC | Thrust vectoring on a rotor-based remote vehicle |
| CN107010211A (en) * | 2016-07-28 | 2017-08-04 | 张崎 | A kind of Posable multi-rotor aerocraft |
| CN107235141A (en) * | 2017-06-02 | 2017-10-10 | 韩孚楷 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
| CN207550501U (en) * | 2017-11-14 | 2018-06-29 | 哈尔滨理工大学 | A kind of quick deflecting quadrotor device |
-
2017
- 2017-11-14 CN CN201711120301.8A patent/CN107672801B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106132825A (en) * | 2013-12-23 | 2016-11-16 | 李尚泫 | Many rotor flyings body |
| US20170015412A1 (en) * | 2015-07-17 | 2017-01-19 | iDrone LLC | Thrust vectoring on a rotor-based remote vehicle |
| CN107010211A (en) * | 2016-07-28 | 2017-08-04 | 张崎 | A kind of Posable multi-rotor aerocraft |
| CN107235141A (en) * | 2017-06-02 | 2017-10-10 | 韩孚楷 | The multi-rotor unmanned aerial vehicle structure that a kind of vector is promoted |
| CN207550501U (en) * | 2017-11-14 | 2018-06-29 | 哈尔滨理工大学 | A kind of quick deflecting quadrotor device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107672801B (en) | 2023-07-21 |
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