CN107963204B - Duct type rotor unmanned aerial vehicle based on modular combination - Google Patents
Duct type rotor unmanned aerial vehicle based on modular combination Download PDFInfo
- Publication number
- CN107963204B CN107963204B CN201711110910.5A CN201711110910A CN107963204B CN 107963204 B CN107963204 B CN 107963204B CN 201711110910 A CN201711110910 A CN 201711110910A CN 107963204 B CN107963204 B CN 107963204B
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- unmanned aerial
- aerial vehicle
- central duct
- electromagnetic
- duct
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- 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
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a ducted rotor unmanned aerial vehicle based on modular combination, wherein the unmanned aerial vehicle adopts a modular design, and can fly by a single unmanned aerial vehicle or by the combination of two or four unmanned aerial vehicles; the combined connection mode is electromagnetic connection. Single unmanned aerial vehicle is located same vertical axis by two centers, and the coaxial screw that rotation direction opposite's screw is constituteed is installed in circular duct, and coaxial screw links firmly with the motor output shaft, and unmanned aerial vehicle owner rotor is constituteed to two coaxial screws, provides lift for unmanned aerial vehicle to offset the moment of torsion when unmanned aerial vehicle hovers. Three frame tip of one side has two electromagnetism connecting grooves and an electromagnetism connecting raised head respectively on the outer side wall of central duct, and two frame tip of opposite side have the motor respectively and link firmly with the screw, and the vice rotor of unmanned aerial vehicle is constituteed to two screws, through the rotation state and the attitude control moment that change two vice rotors, realizes that unmanned aerial vehicle maneuverable flies, VTOL, the function of hovering in the air.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle design, in particular to a ducted rotor unmanned aerial vehicle based on modular combination.
Background
At present many rotor unmanned aerial vehicle all has extensive application in each field, and many rotor unmanned aerial vehicle have VTOL, hover in the air, and the take off and land is nimble, a great deal of advantage that does not receive the place restriction. But general rotor unmanned aerial vehicle produces lift less, and flight efficiency is lower. And ducted unmanned aerial vehicle has reduced induced resistance owing to adopted coaxial two rotor modes, provides bigger lift. And many rotor unmanned aerial vehicle's control stability is better, so through the mode of many rotors and duct formula unmanned aerial vehicle combination, can produce better control effect and bigger lift.
After the design of the traditional unmanned aerial vehicle is completed, the effective load is basically determined, and a larger load-carrying task cannot be completed. And single rotor unmanned aerial vehicle loading capacity is less, and rotor unmanned aerial vehicle lift is not enough. And the mode that adopts modularization built-up connection can improve unmanned aerial vehicle loading capacity effectively, through designing an unmanned aerial vehicle, can accomplish the unmanned aerial vehicle's of multiple combination task, has reduced the cost expense of developing and making unmanned aerial vehicle, and is more convenient moreover. Simultaneously, adopt the modularized design scheme can effectively improve unmanned aerial vehicle reliability.
The modularized multipurpose duct type rotor unmanned aerial vehicle is a modularized unmanned aerial vehicle design which has high lift, duct type, capability of taking off and landing vertically and hovering in the air and can change the load capacity according to the requirement. But this type duct formula rotor unmanned aerial vehicle flight of independent shaping number, also can two the same duct formula rotor unmanned aerial vehicle combination flights, also can be the flight of four duct formula rotor unmanned aerial vehicle modularization combinations. Every duct formula rotor unmanned aerial vehicle of solitary comprises circular duct, middle coaxial double rotor and driving motor and three base that contain attach fitting and two ailerons that contain the motor around the base. Compare with traditional four rotor unmanned aerial vehicle, under the equal power consumption, duct formula rotor unmanned aerial vehicle can provide bigger lift, compact structure moreover, and aerodynamic performance is good, and the safety in utilization is high. And adopt the modularized design, make a plurality of unmanned aerial vehicles of the same type pass through the electromagnetic attraction mode and connect the combination, can accomplish bigger load task, have higher reliability.
Disclosure of Invention
In order to avoid the defects in the prior art, the invention provides a ducted rotor unmanned aerial vehicle based on modular combination, which adopts different numbers of ducted rotor unmanned aerial vehicles in combination according to different load task requirements through modular design, thereby reducing the design and manufacturing processes; through the same unmanned aerial vehicle assembly combination, improve unmanned aerial vehicle lift and loading capacity requirement effectively, improved unmanned aerial vehicle's reliability simultaneously.
The technical scheme adopted by the invention for solving the technical problems is as follows: comprises a central duct, a coaxial propeller, a disc type motor, an electromagnetic connecting convex head, an electromagnetic connecting groove, a motor and a propeller, the central duct is of a circular structure, three inner screw holes are uniformly distributed on the inner annular wall of the central duct in the circumferential direction, used for fixedly connecting mounting connecting rods, three mounting connecting rods are intersected at a circular ring on the vertical axis of the central duct, two disc type motors are vertically fixed at the circular ring at the end part of the mounting connecting rod through motor bases, a coaxial propeller is fixedly connected with an output shaft of the motor, the two coaxial propellers are arranged in the forward and reverse directions, the upper disk type motor drives the upper propeller to rotate, the lower disk type motor drives the lower propeller to rotate, the centers of the two coaxial propellers are positioned on the same vertical axis to form an unmanned aerial vehicle main rotor wing, so that lift force is provided for the unmanned aerial vehicle, and torque is offset when the unmanned aerial vehicle hovers; the utility model discloses an unmanned aerial vehicle, including central duct outside wall, installation connecting rod axis, two electromagnetic connection grooves and an electromagnetic connection plush copper, be fixed with a plurality of cantilever frames along circumference on the central duct outside wall, installation connecting rod axis is located the coplanar in frame axis and the central duct, three frame tip of one side is equipped with two electromagnetic connection grooves and an electromagnetic connection plush copper respectively on the central duct outside wall, wherein the frame of the inherent electromagnetic connection plush copper of tip is located between two frames that are equipped with electromagnetic connection grooves, install the motor respectively in two frames of opposite side on the central duct outside wall and link firmly with the screw, the vice rotor of unmanned aerial vehicle is constituteed to two screws, through the rotating-state and the attitude control moment that change two vice rotors, realize that unmanned aerial vehicle moves.
The electromagnetic connecting grooves and the electromagnetic connecting raised heads at the end parts of the three frames on the outer side wall of the central duct are formed by combining two electromagnetic connecting grooves with one electromagnetic connecting raised head or combining two electromagnetic connecting raised heads with one electromagnetic connecting groove.
The cross section of the installation connecting rod is rectangular, one end of the installation connecting rod is a threaded section and is installed in a matched mode with a circumferential screw hole in the inner ring wall of the central duct, and the other end of the installation connecting rod is fixedly connected with a circular ring in the central duct.
Advantageous effects
The invention provides a modularized combined duct type rotor unmanned aerial vehicle, which adopts a modularized combined duct type rotor unmanned aerial vehicle design; a single unmanned aerial vehicle can fly, or two unmanned aerial vehicles or four unmanned aerial vehicles can fly in a combined manner; the combined connection is an electromagnetic connection mode. Single unmanned aerial vehicle is located same vertical axis by two centers, and the coaxial screw that rotation direction opposite's screw is constituteed is installed in circular central duct, and coaxial screw links firmly with the motor output shaft, and unmanned aerial vehicle owner rotor is constituteed to two coaxial screws, provides lift for unmanned aerial vehicle to offset the moment of torsion when unmanned aerial vehicle hovers. Three frame tip of one side has two electromagnetism connecting grooves and a tip respectively on the central duct outside jade, installs the motor respectively in two frames of opposite side on the central duct outside jade and links firmly with the screw, and unmanned aerial vehicle's vice rotor is constituteed to two screws, through the rotation state and the attitude control moment that change two vice rotors, realizes that unmanned aerial vehicle maneuverable flies.
The invention is based on the modularized combined ducted rotor unmanned aerial vehicle, and through a modularized design idea, the unmanned aerial vehicle adopts different numbers of ducted rotor unmanned aerial vehicle combination modes according to different load-bearing task requirements, so that the design and manufacturing processes are greatly reduced, the unmanned aerial vehicle assembly and combination can meet more load-bearing task requirements, and meanwhile, the reliability of the unmanned aerial vehicle is improved. The single unmanned aerial vehicle adopts a ducted rotor unmanned aerial vehicle, and compared with a common four-rotor unmanned aerial vehicle, the ducted unmanned aerial vehicle can provide larger lift force under the same power consumption, and has compact structure, good pneumatic performance and high use safety; has multipurpose application range and is suitable for various flexible and mobile application occasions.
The invention is based on a modularized combined duct type rotor unmanned aerial vehicle, adopts modularized combination and electromagnetic connection modes to respectively form two-array unmanned aerial vehicles and four-array unmanned aerial vehicles, and realizes the functions of maneuvering flight, vertical take-off and landing and hovering of the unmanned aerial vehicles.
Drawings
The invention relates to a modular combined ducted type rotor unmanned aerial vehicle, which is further described in detail in the following with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic view of a modular combined ducted rotary-wing drone according to the present invention.
Fig. 2 is a schematic view of a combination of two arrays of unmanned aerial vehicles of the modular combined ducted rotor unmanned aerial vehicle of the present invention.
Fig. 3 is a schematic view of a connection portion of a two-array drone according to the present invention.
Fig. 4 is a schematic view of a combination of four unmanned planes in an array of the modular combined ducted rotor unmanned plane according to the present invention.
In the drawings
1. Propeller 2, motor 3, central duct 4, electromagnetic connecting raised head 5, electromagnetic connecting groove 6, coaxial propeller 7 and disc motor
Detailed Description
This embodiment is based on modularization combination duct formula rotor unmanned aerial vehicle. The unmanned aerial vehicles adopt a combined electromagnetic connection mode, or two unmanned aerial vehicles or four unmanned aerial vehicles are combined into a two-array rotor unmanned aerial vehicle or a four-array rotor unmanned aerial vehicle; the functions of maneuvering flight, vertical take-off and landing and hovering of the unmanned aerial vehicle are realized.
Referring to fig. 1, the modular combined duct-based rotary-wing unmanned aerial vehicle of the embodiment is composed of a central duct 3, coaxial propellers 6, a disc-type motor 7, electromagnetic connecting raised heads 4, electromagnetic connecting grooves 5, a motor 2 and propellers 1; wherein, rotor unmanned aerial vehicle's central duct 3 is the loop configuration, and the circumference equipartition has three interior screw hole on the 3 inner ring walls of central duct for link firmly the installation connecting rod, three installation connecting rod cross in the ring department on the 3 vertical axes of central duct. Two disk motors 7 pass through the motor cabinet and fix in the ring department of installation connecting rod from top to bottom, and coaxial screw 6 links firmly with disk motor output shaft, and two coaxial screws 6 are forward reverse setting, and the screw rotates on the disk motor drive of upper portion, and the screw rotates under the disk motor drive of lower part, and two coaxial screw centers lie in same vertical axis and constitute unmanned aerial vehicle owner rotor, provide lift for unmanned aerial vehicle, and offset the moment of torsion when unmanned aerial vehicle hovers. A plurality of cantilever frames are fixed on the outer side wall of the central duct 3 along the circumferential direction, and the central axis of each frame and the axis of a connecting rod arranged in the central duct are positioned on the same plane. The end parts of the three frames on one side of the outer side wall of the central duct 3 are respectively provided with two electromagnetic connecting grooves 5 and an electromagnetic connecting raised head 4, wherein the frame of which the electromagnetic connecting raised head 4 is fixed at the end part is positioned between the two frames provided with the electromagnetic connecting grooves 5; install motor 2 respectively in two frames of opposite side on the 3 outside walls of central duct, screw 1 links firmly with the 2 output shafts of motor, and two screws 1 constitute the vice rotor of unmanned aerial vehicle, through the rotation state and the attitude control moment that change two vice rotors, realize that unmanned aerial vehicle maneuverable flies. In this embodiment, the electromagnetic connecting grooves 5 and the electromagnetic connecting protrusions 4 at the three frame ends on the outer side wall of the central duct 3 are formed by combining two electromagnetic connecting grooves 5 with one electromagnetic connecting protrusion 4, or by combining two electromagnetic connecting protrusions 4 with one electromagnetic connecting groove 5. The cross section of the installation connecting rod is rectangular, one end of the installation connecting rod is a threaded section, the other end of the installation connecting rod is fixedly connected with a circular ring on the vertical axis of the central duct 3, and the threaded section of the installation connecting rod is installed in a matched mode with a circumferential screw hole in the inner annular wall of the central duct 3.
As shown in fig. 2 and 3, when two ducted rotor drones are connected and combined in two arrays, an electromagnetic connecting protruding head 4 is fixed on a frame of one of the two ducted rotor drones, and two symmetrically distributed frames with electromagnetic connecting grooves 5 are arranged on two sides of the frame with the electromagnetic connecting protruding head 4. An electromagnetic connecting groove 5 is fixed on the other unmanned aerial vehicle frame, and two symmetrically distributed frames with electromagnetic connecting raised heads 4 are arranged on two sides of the frame with the electromagnetic connecting groove 5. Two unmanned aerial vehicles are electromagnetically connected through the electromagnetic connecting groove 5 and the electromagnetic connecting raised head 4 to form two-array unmanned aerial vehicle. Four vice rotors respectively symmetric distribution in the both sides of two main rotors of two array unmanned aerial vehicle, two array unmanned aerial vehicle's main lift is provided by the coaxial screw 6 of two unmanned aerial vehicle central circular ducts. The translation and rotation of the two-array unmanned aerial vehicle are provided by the torque and the torque difference of the rotation of the four horizontal propellers. Two arrays of drones can provide twice the load capacity requirement of a single drone. The reliability of unmanned aerial vehicle has been improved simultaneously.
As shown in fig. 4, when four ducted rotor drones are connected and combined, two diagonally distributed drones have the same electromagnetic connection joint; two unmanned aerial vehicles that adjacent distribute have opposite electromagnetism connector, and two adjacent unmanned aerial vehicles connect protruding head 4 and electromagnetism connecting groove 5 mode through electromagnetism and combine together and connect. Four array unmanned aerial vehicles of four unmanned aerial vehicle combinations have eight symmetric distribution's vice rotor and four symmetric distribution's main rotor, and four array unmanned aerial vehicle's main lift is provided by the coaxial screw of four unmanned aerial vehicle central ducts. The translation and rotation of the quad-array drone are provided by the torque and torque difference of the eight horizontal propellers rotation. A quad array drone can provide four times the payload requirement of a single drone. The reliability of unmanned aerial vehicle has been improved simultaneously.
Claims (2)
1. A modularized combined duct type rotor unmanned aerial vehicle comprises a central duct, coaxial propellers, a disc type motor, electromagnetic connecting raised heads, electromagnetic connecting grooves, a motor and propellers, the method is characterized in that: the central duct is of a circular structure, three inner screw holes are uniformly distributed on the inner annular wall of the central duct in the circumferential direction, used for fixedly connecting mounting connecting rods, three mounting connecting rods are intersected at a circular ring on the vertical axis of the central duct, two disc type motors are vertically fixed at the circular ring at the end part of the mounting connecting rod through motor bases, a coaxial propeller is fixedly connected with an output shaft of the motor, the two coaxial propellers are arranged in the forward and reverse directions, the upper disk type motor drives the upper propeller to rotate, the lower disk type motor drives the lower propeller to rotate, the centers of the two coaxial propellers are positioned on the same vertical axis to form an unmanned aerial vehicle main rotor wing, so that lift force is provided for the unmanned aerial vehicle, and torque is offset when the unmanned aerial vehicle hovers; a plurality of cantilever frames are fixed on the outer side wall of the central duct along the circumferential direction, the central axis of each frame and the axis of a connecting rod installed in the central duct are located on the same plane, two electromagnetic connecting grooves and one electromagnetic connecting raised head are respectively arranged at the end parts of three frames on one side of the outer side wall of the central duct, the frame with the electromagnetic connecting raised head fixed at the end part is located between the two frames with the electromagnetic connecting grooves, motors are respectively installed on the two frames on the other side of the outer side wall of the central duct and fixedly connected with propellers, the two propellers form an auxiliary rotor wing of the unmanned aerial vehicle, and the maneuvering flight of the unmanned aerial vehicle is realized by changing the rotating state and the attitude control moment of the two auxiliary rotor wings; the electromagnetic connecting grooves and the electromagnetic connecting raised heads at the end parts of the three frames on the outer side wall of the central duct are formed by combining two electromagnetic connecting grooves with one electromagnetic connecting raised head or combining two electromagnetic connecting raised heads with one electromagnetic connecting groove.
2. The modular combined duct-based rotary-wing unmanned aerial vehicle as claimed in claim 1, wherein the cross section of the installation connecting rod is rectangular, one end of the installation connecting rod is provided with a threaded section which is matched with a circumferential screw hole on the inner annular wall of the central duct, and the other end of the installation connecting rod is fixedly connected with a ring in the central duct.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711110910.5A CN107963204B (en) | 2017-11-13 | 2017-11-13 | Duct type rotor unmanned aerial vehicle based on modular combination |
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| CN201711110910.5A CN107963204B (en) | 2017-11-13 | 2017-11-13 | Duct type rotor unmanned aerial vehicle based on modular combination |
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| CN107963204A CN107963204A (en) | 2018-04-27 |
| CN107963204B true CN107963204B (en) | 2020-09-22 |
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| CN108791878A (en) * | 2018-07-12 | 2018-11-13 | 首航国翼（武汉）科技有限公司 | A kind of Modularized unmanned machine |
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| CN110304242A (en) * | 2019-05-08 | 2019-10-08 | 吉林大学 | A kind of five axis unmanned planes based on coaxial double-rotary wing ducted fan |
| CN111638727B (en) * | 2020-05-29 | 2022-09-23 | 西北工业大学 | Multi-rotor aircraft safety navigation control method based on depth image |
| CN114228992A (en) * | 2021-11-05 | 2022-03-25 | 沈阳飞机设计研究所扬州协同创新研究院有限公司 | Modularized combined ducted fan unmanned aerial vehicle based on ant colony combat concept |
| CN114291260B (en) * | 2022-01-13 | 2024-01-26 | 南京航空航天大学 | Reconstruction device for rotor unmanned aerial vehicle and reconstruction method thereof |
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