CN108177766B

CN108177766B - Multi-rotor unmanned aerial vehicle

Info

Publication number: CN108177766B
Application number: CN201711208648.8A
Authority: CN
Inventors: 宋大雷; 肖川; 梅森; 林天宇
Original assignee: Shenyang Woozoom Technology Co ltd
Current assignee: Shenyang Woozoom Technology Co ltd
Priority date: 2017-11-27
Filing date: 2017-11-27
Publication date: 2020-04-07
Anticipated expiration: 2037-11-27
Also published as: CN108177766A

Abstract

The utility model relates to a many rotor unmanned aerial vehicle, include: a body (10); a support arm (20) extending laterally outward from the fuselage; a rotor (30); a first support frame (41) fixed at the end of the support arm and formed with a hollow area capable of accommodating the rotor; the first tilting steering engine (43) is fixed on the first support frame; and the second support frame (42) is positioned in the hollow area and is connected to an output shaft of the first tilting steering engine, and the rotor wing is fixed on the second support frame through a first motor (31) so as to be driven by the first tilting steering engine to tilt transversely. When unmanned aerial vehicle was doing lateral motion, the rotor that transversely verts can enough provide and keeps unmanned aerial vehicle at the lift of a take the altitude, also can provide unmanned aerial vehicle lateral motion's power, and the fuselage needn't incline simultaneously. Because the rotor is held in the cavity region that first support frame formed, the rotor can vert at this cavity region internal wide angle, as long as guarantee can produce the power of horizontal direction and the lift of vertical direction can.

Description

Multi-rotor unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned air vehicle technique field specifically, relates to a many rotor unmanned aerial vehicle.

Background

Many rotor unmanned aerial vehicle realizes the change of unmanned aerial vehicle lift through the rotational speed of adjusting every rotor to control unmanned aerial vehicle's gesture and position. When changing gesture and position, current unmanned aerial vehicle adjusts the rotational speed of the motor of being connected with the rotor through flight control system, when unmanned aerial vehicle moves towards four directions in the horizontal plane, must make the fuselage slope certain angle by flight control system regulation motor rotational speed, under this kind of circumstances, if carry other equipment such as cloud platform camera, infrared equipment, these equipment are in order to guarantee the stable control to the task target, then corresponding tilt motion is made along with the slope of fuselage equally to these equipment. In addition, when the fuselage inclines, unmanned aerial vehicle receives great windage, is unfavorable for flying.

Disclosure of Invention

The utility model aims at providing a many rotor unmanned aerial vehicle to solve the problem of unmanned aerial vehicle body slope when lateral shifting.

In order to realize above-mentioned purpose, this disclosure provides a many rotor unmanned aerial vehicle, includes: a body; a support arm extending laterally outwardly from the fuselage; a rotor; the first support frame is fixed at the end part of the support arm and is provided with a hollow area capable of accommodating the rotor wing; the first tilting steering engine is fixed on the first support frame; and the second support frame is positioned in the hollow area and connected with the output shaft of the first tilting steering engine, and the rotor wing is fixed on the second support frame through a first motor so as to be driven by the first tilting steering engine to transversely tilt.

Optionally, the first support frame is a semicircular bracket with an outward opening, the second support frame is a circular bracket, the rotor is coaxial with the circular bracket, and the radius of rotation of the rotor and the radius of the circular bracket are respectively smaller than the radius of the semicircular bracket.

Optionally, a plurality of radially extending support rods are connected to the inside of the circular ring support, and the plurality of support rods intersect at the center of the circular ring support to form a motor base of the first motor.

Optionally, the rotor has a lateral tilt angle of 0-360 °.

Optionally, a landing gear is connected to the bottom of the fuselage, the landing gear including a first rod extending laterally downward from the fuselage to either side, and a second rod connected to the first rod and extending horizontally.

Optionally, the arm is longitudinally tiltably connected to the fuselage.

Optionally, be provided with the second steering wheel that verts in the fuselage, the output shaft cover of the second steering wheel that verts is equipped with first belt pulley, the cover is equipped with the second belt pulley on the support arm, first belt pulley with the second belt pulley passes through belt drive, so that the support arm by the second steering wheel drive that verts vertically verts.

Optionally, the second tilting steering engine comprises a housing, a second motor, a worm connected to an output shaft of the second motor, a worm wheel in transmission with the worm, and a gear train driven by the worm wheel, wherein the first belt pulley is connected to the output shaft of the gear train.

Optionally, each of the rotors corresponds to one of the arms, such that each of the rotors independently tilts longitudinally.

Optionally, the longitudinal tilt angle of the rotor is 0-360 °.

Through above-mentioned technical scheme, unmanned aerial vehicle when being transverse motion, the rotor that transversely verts can enough provide the lift that keeps unmanned aerial vehicle at a take the altitude, also can provide unmanned aerial vehicle transverse motion's power, and the fuselage needn't incline simultaneously can reduce the windage, makes things convenient for unmanned aerial vehicle to fly. Since the rotor is accommodated in the hollow region formed by the first support frame, the rotor can be tilted through a large angle in the hollow region. The power that can produce the horizontal direction and the lift of vertical direction as long as the assurance can make the fuselage move under the condition of not inclining when the rotor verts, when the rotor verts to being located the horizontal plane internal rotation, the fuselage is in the state of hovering.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic structural view of a multi-rotor drone according to one embodiment of the present disclosure;

fig. 2 is a partial view of a multi-rotor drone according to one embodiment of the present disclosure;

fig. 3 is a schematic diagram of the internal structure of a second tilt steering engine in a multi-rotor drone according to one embodiment of the present disclosure.

Description of the reference numerals

10 fuselage

20 support arm

30 rotor 31 first support

41 first support frame 42 second support frame 43 first tilting steering engine

51 second tilting steering engine 511 shell 512 second motor

513 worm 514 turbine 515 gear train

60 undercarriage

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise stated, the use of the directional words "up" and "down" is defined with reference to the up-down direction of the drone in the flat flight state, "inner" and "outer" are defined with respect to the profile of the corresponding component, the "lateral" refers to the lateral direction of the drone when flying forward and backward, and the "longitudinal" refers to the forward and backward direction of the drone. It should be noted that, the front-back direction of the flight of the unmanned aerial vehicle is defined according to the usage habit of the unmanned aerial vehicle, and the length extending direction of the fuselage is the front-back direction of the flight of the unmanned aerial vehicle and is transversely perpendicular to the front-back direction. In addition, the terms "first," "second," and the like, as used in this disclosure, are intended to distinguish one element from another, and are not necessarily sequential or significant.

As shown in fig. 1, the present disclosure provides a multi-rotor drone including: a body 10, the body 10 being shown as a rod extending fore and aft within the body 10 for clarity of presentation; a support arm 20 extending laterally outward from the body 10; a rotor 30; a first support frame 41 fixed to an end of the arm 20 and formed with a hollow area capable of receiving the rotor 30; the first tilting steering engine 43 is fixed on the first support frame 41; and a second support frame 42 located in the hollow area and connected to the output shaft of the first tilting steering engine 43, wherein the rotor 30 is fixed on the second support frame 42 through the first motor 31 so as to be driven by the first tilting steering engine 43 to tilt transversely. Here, the lateral tilt refers to a tilt of the rotor 30 toward both sides of the fuselage, and the longitudinal tilt described below refers to a tilt of the rotor toward the front-rear direction. Like this, unmanned aerial vehicle is when lateral motion, and rotor 30 that transversely verts can enough provide and keep unmanned aerial vehicle at the lift of a take the altitude, also can provide unmanned aerial vehicle lateral motion's power, and the fuselage needn't incline simultaneously can reduce the windage, makes things convenient for unmanned aerial vehicle to fly. When the mounting device is fixed on the body 10, the mounting device can also run stably, for example, when a pan-tilt camera is mounted, stable monitoring of a task target can be ensured. In addition, since the rotor 30 is accommodated in the hollow region formed by the first support frame 41, the rotor 30 can be tilted at a large angle within the hollow region, so that the body 10 can be moved smoothly as long as it is ensured that the horizontal power and the vertical lift can be generated.

The hollow region described above refers to a space defined by the first support bracket 41 that does not affect the lateral tilting of the rotor 30 and the second support bracket 42, and since the rotor 30 is accommodated in the hollow region, the second support bracket 42 is also located in the hollow region, and when the rotor 30 and the second support bracket 42 are tilted in the lateral direction, they can be tilted at a large angle without interfering with the arm 20 or the first support bracket 41, etc.

The present disclosure does not specifically limit the structural form of the first support frame 41 and the second support frame 42, and referring to fig. 1 and 2, in this embodiment, the first support frame 41 is a semicircular bracket with an outward opening, the second support frame 42 is a circular bracket, the rotor 30 is coaxially disposed with the circular bracket, and the rotation radius of the rotor 30 and the radius of the circular bracket are respectively smaller than the radius of the semicircular bracket. Note that the opening of the first support bracket 41 is directed outward with respect to the outer side of the fuselage 10. In this case, the first tilt actuator 43 is provided at an end of the semicircular bracket, and the direction of the output shaft thereof is parallel to the front-rear direction of the body 10, so that a driving force for tilting the second support bracket 42 in the lateral direction can be generated. As shown in fig. 1 and fig. 2, because the radius of rotation of rotor 30 and the radius of ring support are less than the radius of semicircular bracket respectively, when rotor 30 and second support frame 42 transversely vert, the two can not collide first support frame 41, because the opening of first support frame 41 is outside, rotor 30 and second support frame 42 can not collide unmanned aerial vehicle organism spare parts such as support arm 20 when transversely verting yet. Rotor 30 and second support frame 42 can tilt a large angle, and rotor 30 and second support frame 42 can tilt 360 ° without considering maintaining lift.

In addition, because first support frame 41 and second support frame 42 are the platykurtic structure, the disturbance that the two produced the air current when rotor 30 is rotatory is less, can not influence unmanned aerial vehicle's flight gesture.

The rotor 30 can be installed through the support rod 421 in the circular ring support, the support rod 421 extends along the radial direction of the circular ring support to pass through the circle center, and the rotor 30 is installed at the circle center through the first motor 31. In order to improve the strength of the first support bracket 41 to stably support the rotor 30, the support rod 421 may include a plurality of support rods 421, and the plurality of support rods 421 intersect at the center of the circular ring bracket to form a motor seat of the first motor 31, and the first motor 31 is accommodated in the motor seat.

In this embodiment, the rotor 30 is tiltable in the lateral direction by 0 to 360 °, i.e. the rotor 30 can be tiltable in the lateral direction by a full angle. Specifically, when the unmanned aerial vehicle need keep hovering the state, rotor 30 does not vert, and the angle of verting is 0 promptly, and fuselage 10 is also in the horizontal attitude. When the drone requires lateral full speed motion, the rotor 30 can tilt approximately 90 °. When rotor 30 verts to 90, no longer for unmanned aerial vehicle provides lift, can adjust fuselage 10 for vertical gesture by horizontal gesture this moment, under this condition, because fuselage 10 and rotor 30 all have verted 90, unmanned aerial vehicle can hover under the condition that fuselage 10 is in vertical state. As rotor 30 continues to tilt, the attitude changes in a manner similar to the above process. In this case, both the rotor 30 and the fuselage 10 are able to tilt laterally by 0-360 °. It should be noted that the attitude of the fuselage 10 can be achieved by the variation of the lift generated by the rotors 30 on both sides of the fuselage 10, and when the lift on one side is low, the side tends to sink relatively.

Further, as shown in fig. 1, a landing gear 60 is connected to the bottom of the body 10, and the landing gear 60 may include a first rod extending downward from the body 10 to both sides, and a second rod connected to the first rod and extending horizontally. Like this, two second poles can support unmanned aerial vehicle steadily on the platform of taking off and land, and in addition, the operator can also hand the second pole and fly the operation.

In the present embodiment, the arm 20 can also be connected to the fuselage 10 so as to be longitudinally tiltable, and the first support bracket 41 fixed to the end of the arm 20 can be longitudinally tiltable together with the arm 20, so that the rotor 30 can also be longitudinally tiltable. Under this condition, when unmanned aerial vehicle was the seesaw, the rotor 30 of vertically verting can enough provide and keep unmanned aerial vehicle at the lift of a take the altitude, also can provide unmanned aerial vehicle seesaw's power, and similar when its effect and foretell transverse movement, no longer describe here. Like this, because rotor 30 can enough transversely vert, also can vertically vert, realized unmanned aerial vehicle rotor 30's qxcomm technology and vert, when unmanned aerial vehicle when moving towards all directions, fuselage 10 all can keep the horizontality.

Specifically, as shown in fig. 2, a second tilting steering engine 51 is arranged in the body 10, an output shaft of the second tilting steering engine 51 is sleeved with a first belt pulley (not shown in the figure), a second belt pulley 52 is sleeved on the support arm 20, and the first belt pulley and the second belt pulley 52 are driven by a belt 53, so that the support arm 20 is driven by the second tilting steering engine 51 to tilt longitudinally. Thus, the support arm 20 rotates smoothly in a belt transmission mode, no noise is generated during operation, the equipment runs reliably, and the transmission ratio can be adjusted conveniently by adjusting the diameter ratio of the first belt pulley to the second belt pulley 52. In addition, the distance between the first pulley and the second pulley 52 can be adjusted according to the actual model, and only the length of the belt 53 needs to be changed.

Further, as shown in fig. 3, the second tilt steering engine 51 may include a housing 511, a second motor 512, a worm 513 connected to an output shaft of the second motor 512, a worm wheel 514 driven by the worm 513, and a gear train 515 driven by the worm wheel 514, wherein the first pulley is connected to an output shaft of the gear train 515. Through setting up worm gear subassembly for second steering engine 51 that verts has self-locking function. Specifically, due to the unidirectional property of the worm gear and worm transmission mode, only the worm 513 can drive the worm wheel 514, and the power transmission direction is the direction of the second motor 512-the worm 513-the worm wheel 514-the wheel train 515, so that when the second tilting steering engine 51 works continuously in a certain angle position, the input end can be cut off, namely, the power input of the second motor 512 can be cut off, energy does not need to be continuously consumed to maintain the position, and the problem that the second tilting steering engine 51 cannot work normally due to overhigh temperature rise when the second tilting steering engine 51 works for a long time under load is avoided. In this case, the arm 20 can continue to operate stably at any position within the tiltable angle. On the other hand, turbine 514 drive gear train 515, can further amplify output torque under the prerequisite that satisfies self-locking performance, it is accurate to have the drive ratio, high efficiency, compact structure, the characteristics of reliable operation, simultaneously because the output shaft at gear train 515 is connected to the load, make the effort that the load transmitted worm gear subassembly very little, and like this, in this embodiment, the worm gear subassembly only needs to provide less auto-lock power, alright in order to realize the auto-lock of steering wheel, prevent that the load from using on second motor 512, especially when unmanned aerial vehicle flight gesture changes, the vibration impact that high frequency alternating load produced is cushioned, can prolong the life of second motor 512, reduce the energy consumption.

Similar to the previously described lateral tilt angle of rotor 30, the longitudinal tilt angle of rotor 30 is 0-360 °. The flight attitude change process of the drone under this condition is similar to that described above, and is not described herein again, but it should be noted that the rotors 30 at least include two front and rear groups, so that the lift difference between the front and rear rotors 30 can tilt the fuselage 10 longitudinally.

Further, each rotor 30 may correspond to one arm 20, such that each rotor 30 is independently longitudinally tiltable, and specifically, each arm 20 corresponds to a drive system comprising a second tilt steering engine 51, a first pulley, a second pulley 52, and a belt 53. Like this, because rotor 30's horizontal tilting is realized by first tilting steering wheel 43, and every rotor 30 is corresponding to a first tilting steering wheel 43, rotor 30's vertical tilting is realized by second tilting steering wheel 51, and every rotor 30 is corresponding to a second tilting steering wheel 51 for every rotor 30 can carry out the attitude change separately, thereby can make unmanned aerial vehicle's attitude change variety. Taking the quad-rotor unmanned aerial vehicle shown in fig. 1 as an example, the lift generated by the four rotors 30 and the angles of the four rotors 30 may be different, and synchronous operation may also be realized through circuit design, so that the unmanned aerial vehicle may have various postures. Further, as shown in fig. 1 and 2, in order to arrange the rotary wings 30 on both sides of the fuselage 10 symmetrically to the fuselage 10, the arms 20 are aligned in the fore-and-aft direction.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A multi-rotor unmanned aerial vehicle, comprising:

a body (10);

the support arm (20) extends outwards and transversely from the machine body (10), and the support arm (20) is connected to the machine body (10) in a longitudinally-tilting mode;

a rotor (30);

a first support frame (41) fixed to an end of the arm (20) and formed with a hollow area capable of accommodating the rotor (30);

the first tilting steering engine (43) is fixed on the first support frame (41); and

a second support frame (42) which is positioned in the hollow area and is connected with an output shaft of the first tilting steering engine (43),

the rotor wing (30) is fixed on the second support frame (42) through a first motor (31) and can be driven by the first tilting steering engine (43) to tilt transversely;

a second tilting steering engine (51) is arranged in the machine body (10), an output shaft of the second tilting steering engine (51) is sleeved with a first belt pulley, a second belt pulley (52) is sleeved on the support arm (20), and the first belt pulley and the second belt pulley (52) are driven through a belt (53) to enable the support arm (20) to be driven by the second tilting steering engine (51) to tilt longitudinally;

the second tilting steering engine (51) comprises a shell (511), a second motor (512), a worm (513) connected to an output shaft of the second motor (512), a worm wheel (514) in fit transmission with the worm (513), and a gear train (515) driven by the worm wheel (514), wherein the first belt pulley is connected to an output shaft of the gear train (515).

2. A multi-rotor drone according to claim 1, wherein the first support (41) is a semi-circular cradle open outwards, the second support (42) is a circular cradle, the rotor (30) being arranged coaxially with the circular cradle, the radius of rotation of the rotor (30) and the radius of the circular cradle being respectively smaller than the radius of the semi-circular cradle.

3. A multi-rotor unmanned aerial vehicle according to claim 2, wherein a plurality of radially extending support bars (421) are connected to the interior of the ring carrier, the plurality of support bars (421) intersecting at the centre of the ring carrier to form a motor mount for the first motor (31).

4. A multi-rotor drone according to claim 1, characterized by a transverse tiltable angle based on the rotors (30) of 0-360 °.

5. A multi-rotor drone according to claim 1, characterized in that the fuselage (10) has a landing gear attached to its bottom, the landing gear comprising a first rod extending laterally downwards from the fuselage (10) and a second rod connected to the first rod and extending horizontally.

6. A multi-rotor drone according to claim 1, wherein each rotor (30) corresponds to one arm (20) so that each rotor (30) tilts longitudinally independently of the others.

7. A multi-rotor drone according to claim 1, characterized by a longitudinal tiltable angle based on the rotors (30) of 0-360 °.