CN108454847A - A kind of rotor attitude regulating mechanism and the multi-rotor unmanned aerial vehicle including the device - Google Patents

A kind of rotor attitude regulating mechanism and the multi-rotor unmanned aerial vehicle including the device Download PDF

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Publication number
CN108454847A
CN108454847A CN201810238639.1A CN201810238639A CN108454847A CN 108454847 A CN108454847 A CN 108454847A CN 201810238639 A CN201810238639 A CN 201810238639A CN 108454847 A CN108454847 A CN 108454847A
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China
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rotor
driving
unmanned aerial
aerial vehicle
swing
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CN201810238639.1A
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Chinese (zh)
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CN108454847B (en
Inventor
兰玉彬
燕颖斌
陈盛德
姚伟祥
王娟
陈鹏超
王林琳
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华南农业大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/54Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/54Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/56Initiating means, e.g. actuated personally
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/54Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58Transmitting means
    • B64C27/59Transmitting means mechanical
    • B64C27/68Transmitting means mechanical using electrical energy

Abstract

The invention discloses a kind of rotor attitude regulating mechanism and including the multi-rotor unmanned aerial vehicle of the device, wherein, rotor attitude regulating mechanism includes the swing driving mechanism group that gesture stability part and driving gesture stability part swing for controlling rotor spatial position are connect with rotor, wherein, the swing driving mechanism group includes for driving gesture stability part to make the first swing driving mechanism of pendulum motion in the first adjusting face and for driving rotor to make the second swing driving mechanism of pendulum motion in the second adjusting face, wherein, the first adjusting face and the second adjusting face are mutually perpendicular to, first swing driving mechanism and the connection of the control system of the second swing driving mechanism and multi-rotor unmanned aerial vehicle.The device can either in different ways be changed the state of flight of multi-rotor unmanned aerial vehicle, and can make emergent management to the multi-rotor unmanned aerial vehicle for being in imbalance state because rotor failure occurs, to avoid the generation of air crash accident.

Description

A kind of rotor attitude regulating mechanism and the multi-rotor unmanned aerial vehicle including the device
Technical field
The present invention relates to a kind of rotor multi-rotor unmanned aerial vehicles, and in particular to the rotor in multi-rotor unmanned aerial vehicle.
Background technology
In multi-rotor unmanned aerial vehicle field, multi-rotor unmanned aerial vehicle (such as quadrotor, six rotors, eight rotors) has by it Light weight, it is handling it is strong, can VTOL and the advantages of hovering, be widely used in crops plant more and more It protects, take photo by plane, the fields such as express delivery.But existing multi-rotor unmanned aerial vehicle has the following problems in actual use:
1, it is arranged in the upper of multi-rotor unmanned aerial vehicle since each rotor of multi-rotor unmanned aerial vehicle is all evenly and symmetrically distributed on Side is to cooperate to realize the dynamic equilibrium of entire body by between rotor, therefore work as multi-rotor unmanned aerial vehicle in flight One or two of rotor when cannot be rotated because of motor or other failures, entire multi-rotor unmanned aerial vehicle will moment it is unbalance.By In being not provided with relevant regulating device in existing multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle after unbalance can not be carried out It adjusts, therefore the situation once occurs, multi-rotor unmanned aerial vehicle will all be unable to escape the misfortune of air crash.
2, existing multi-rotor unmanned aerial vehicle is in flight, by way of being all rotating speed and the steering adjusting each rotor completely Realize the change of flight attitude, the mode which changes is single, poor anti jamming capability, specifically, existing more rotations Wing unmanned plane can only fly in wind-force very little, once wind-force is larger, rotor just will appear beat and disequilibrium, and then directly Air crash accident can occur.And in actual use, it is contemplated that the flight safety of multi-rotor unmanned aerial vehicle is usually selected when wind-force is larger Select it is no-fly, to limit the use of multi-rotor unmanned aerial vehicle.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of rotor attitude regulating mechanism, the device energy It is enough adjusted when multi-rotor unmanned aerial vehicle is unbalance, so as to avoid the generation of air crash accident.
The present invention solve above-mentioned technical problem technical solution be:
A kind of rotor attitude regulating mechanism, include connect with rotor gesture stability part for controlling rotor spatial position and The swing driving mechanism group for driving gesture stability part to swing, wherein the swing driving mechanism group includes for driving posture control Product makees the first swing driving mechanism of pendulum motion in the first adjusting face and for driving rotor to make in the second adjusting face Second swing driving mechanism of pendulum motion, wherein the first adjusting face and the second adjusting face are mutually perpendicular to, first pendulum Dynamic driving mechanism and the connection of the control system of the second swing driving mechanism and multi-rotor unmanned aerial vehicle.
The preferred embodiment of the present invention, wherein the gesture stability part is made of connecting rod and ball-type gear;Wherein, One end of the connecting rod is connect with rotor, and the other end is connect with ball-type gear, the side of the spherical surface of the ball-type gear around First center axis rotation forms the first round-arced tooth, and multiple the are parallelly equipped with along the direction of the first center shaft axis on spherical surface One round-arced tooth;The other side of the spherical surface of the ball-type gear forms the second round-arced tooth, spherical surface around the second center axis rotation On along the second central shaft axis direction parallelly be equipped with multiple second round-arced tooths;And in first central shaft and second Mandrel is mutually perpendicular to;First swing driving mechanism includes the first roller gear engaged with first round-arced tooth and drive The first motor of dynamic first roller gear rotation;Second swing driving mechanism includes being engaged with second round-arced tooth Second motor of the second roller gear and driving the second roller gear rotation.When work, due on ball-type gear along in first The direction of axis parallelly be equipped with multiple first round-arced tooths, therefore the first roller gear rotate when, can successively with it is more Engagement occurs for a first round-arced tooth to drive the rotation of ball-type gear, and then connecting rod and rotor is driven to make pendulum motion; Similarly, it when the second roller gear rotates, can be engaged with multiple second round-arced tooths to drive the rotation of ball-type gear, into And connecting rod and rotor is driven to make pendulum motion, and since first central shaft and the second central shaft are mutually perpendicular to, First round-arced tooth is also mutually perpendicular to the second round-arced tooth.In this way, turning when the first round-arced tooth is engaged with the first roller gear When dynamic, the second cylin-drical tooth can be rotated by the tooth socket on the second roller gear, therefore the rotation fortune of ball-type gear Second roller gear will not be interfered in dynamic;It similarly, will not when second turn of roller gear driving ball-type gear rotation Second roller gear is interfered.Thus, the above-mentioned mode to the adjustment of rotor spatial attitude can be smoothed out.It is arranged in this way It is advantageous in that, since the control point of rotor posture has all concentrated on ball-type gear, is set convenient for the concentration of power plant It sets so that compact overall structure;In addition, the device also have the advantages that it is easy to operate, convenient.
The preferred embodiment of the present invention, wherein first swing driving mechanism includes the first pendulum being connect with rotor Bar and the third motor of driving the first swing rod rotation, second swing driving mechanism includes being connect with first swing rod Second swing rod and the 4th motor of driving the second swing rod rotation, wherein hinged between first swing rod and the second swing rod, institute Third motor is stated on the second swing rod, is rotated together with the second swing rod.When work, the 4th motor is by driving the second swing rod It rotates to drive third motor, the first swing rod and rotor rotational connected to it successively, to realize that rotor is adjusted first Attitude regulation in face;Third motor drives rotor to swing by driving the first swing rod to swing, to realize rotor second Attitude regulation in adjusting face.The advantages of this arrangement are as follows third motor and the first swing rod form the level-one adjusting to rotor, 4th motor and the second swing rod form the two level adjusting to rotor, relative to connecting rod and the attitude regulation mode of ball-type gear It says (adjusting on one face of ball-type gear only occupies half tooth, therefore adjustable range is smaller), which has the amplitude of accommodation Big advantage.
Preferably, the gesture stability part and swing mechanism setting be in fixed cover, the fixation cover be mounted on more rotors without On man-machine rotor fixed frame.It, can be by gesture stability part and swing mechanism portion and external environment by the way that the fixed cover is arranged Keep apart, is interfered caused by it so as to reduce external environment.
A kind of multi-rotor unmanned aerial vehicle including rotor device for adjusting posture, including flight instruments and control system, wherein institute It includes fuselage, rotor and the electric rotating machine for driving rotor rotational to state flight instruments, and the control system includes ground control system Control system on system and machine, the control system of first swing driving mechanism and the second swing driving mechanism and multi-rotor unmanned aerial vehicle System connection.When work, when needing the rotor to multi-rotor unmanned aerial vehicle to be adjusted, it can either be realized by ground control system Adjust manually, but can be carried out by control system on machine multi-rotor unmanned aerial vehicle from main regulation.
Preferably, the electric rotating machine is made of the brushless motor of cylindrical type, the output shaft of the brushless motor one end and rotation The other end other end of the rotation axis connection of the wing, brushless motor is arranged by the attitude regulation mechanism on rotor fixed frame. When work, when needing the posture to rotor to be adjusted, attitude regulation mechanism drives brushless motor and rotor unitary rotation;When When rotor posture need not be adjusted, brushless motor can directly drive rotor wing rotation, to increase brushless motor (if attitude regulation mechanism is arranged between electric rotating machine and rotor, electric rotating machine drives rotor to turn for load when rotation It also needs to that attitude regulation mechanism is driven to rotate together when dynamic, load when rotor rotational can be caused to increase in this case).
Preferably, control system includes wireless transport module, memory module, control module and electric power mould on the machine Block, wherein the electric rotating machine in the flight instruments is connect with control module, and the ground control system is by remote control structure At.
Preferably, further include the obliquity sensor being detected for the flight angle to multi-rotor unmanned aerial vehicle fuselage, it should Obliquity sensor is connect with the control module of control system on machine.In normal flight, obliquity sensor is in real time by more rotors The angle of inclination of unmanned aerial vehicle body sends control module to, the safety value model when the inclination angle is in multi-rotor unmanned aerial vehicle flight When enclosing interior, control module is without relevant processing work, and when the inclination angle when flight is more than safety value, and control module is just Rotor attitude regulating mechanism can be triggered, the posture of rotor is adjusted, the inclination angle of fuselage is made to be restored to inclination safe range It is interior to continue normal aerial mission, when to realize multi-rotor unmanned aerial vehicle flight from main regulation, should mainly be applied from main regulation In flight of the multi-rotor unmanned aerial vehicle when wind-force is larger.
Preferably, the rotation sensor whether rotated for detecting each rotor, the rotation are additionally provided on the fuselage Turn detection sensor to connect with the control module of control system on machine.When work, when rotation sensor detects some rotation When the non-normal rotation of the wing, which is passed into control module, control module starts to execute emergency landing instruction after receiving signal, Emergency landing instruction can drive non-faulting rotor to swing, and carry out that, from main regulation, safety can be carried out to fuselage posture It lands.The flight from main regulation mainly for multi-rotor unmanned aerial vehicle when wing failure occurs.
The operation principle of the present invention is that:
When work, drives gesture stability part to swing by the first swing driving mechanism and connect with gesture stability part to drive Rotor makees pendulum motion in the first adjusting face, drives the swing of gesture stability part to drive by controlling the second swing driving mechanism The rotor being connect with gesture stability part makees pendulum motion in the second adjusting face, and since the first adjusting face and second adjusts face phase It is mutually vertical, therefore the rotor attitude regulating mechanism can carry out arbitrary adjustment, the rotor spatial attitude tune to rotor spatial attitude The whole application for awing corresponding to three aspects:
Using one:The state of flight of multi-rotor unmanned aerial vehicle can be changed in different ways, specifically, rotor be not set Before attitude regulating mechanism, when multi-rotor unmanned aerial vehicle flight is to realize the switching of motion state by changing the rotating speed of each rotor thereon , such as when quadrotor multi-rotor unmanned aerial vehicle needs to carry out lateral movement, one in quadrotor in two diagonal rotors turns Speed is larger, another rotating speed is small, and multi-rotor unmanned aerial vehicle can tilt flight towards the smaller rotor direction of rotating speed at this time, realize lateral Movement.
And after adding rotor attitude regulating mechanism, when needing to carry out crabbing, the inclination of change rotor can be passed through Angle controls its direction of motion, specifically, when rotor is in heeling condition rotation, can generate lifting straight up simultaneously Power and horizontal tractive force, moving forward and backward, being biased to the non-perpendicular elevating movements such as movement when which can be to flight Power in horizontal direction is provided, for the regulative mode for changing each rotor rotating speed, the regulative mode is more direct, Flight efficiency higher, therefore operational effect in practice is also more preferable.
Using two:Multi-rotor unmanned aerial vehicle when can be in large wind flight plays wind resistance power adjustment effect, to Anti-interference ability of the multi-rotor unmanned aerial vehicle in flight can be enhanced.Specifically, before rotor attitude regulating mechanism is not set, Under the action of wind-force, the inclination of certain angle integrally can all occur for the rotor and fuselage of multi-rotor unmanned aerial vehicle, in skewed The rotor of state while bringing lifting component straight up, and brings horizontal direction component, due to this in rotation Horizontal component can force multi-rotor unmanned aerial vehicle to have to generate the componental movement in horizontal direction, therefore can lead to multi-rotor unmanned aerial vehicle Hovering and vertical displacement movement function cannot achieve, the smaller situation of corresponding wind-force in the case of this, and when wind-force is larger, The inclination angle of rotor also can and then increase, and then the danger of air crash can be brought to multi-rotor unmanned aerial vehicle.
Unlike the above situation, after adding above-mentioned rotor attitude regulating mechanism, under the action of the forces of the wind, when more rotations When the rotor of wing unmanned plane and fuselage entirety rotor run-off the straight, rotor attitude regulating mechanism can be immediately to the appearance of its rotor State is adjusted, it is made to be again restored to horizontality from heeling condition, to continue flight during restore hovering and Vertical displacement movement function.In this way, when wind-force is smaller, only need to rotor be rocked to horizontality with smaller degree can continue just Rotor need to can only be continued normally to fly by normal flight when wind-force is larger with the more magnanimous horizontality that is rocked to, that is, When wind-force is larger, multi-rotor unmanned aerial vehicle can also carry out normal flight operation, to increase its operation scope of application.
Using three:It can make emergent management to the multi-rotor unmanned aerial vehicle for being in imbalance state because rotor failure occurs, from And avoid it that air crash accident occurs.Specifically, when a rotor in quadrotor multi-rotor unmanned aerial vehicle stops operating, due to The failure rotor can not continue to provide upward lifting force, therefore multi-rotor unmanned aerial vehicle will integrally be sent out to the failure rotor side It is raw to tilt.Before rotor attitude regulating mechanism is not set, since the inclined angle is larger, entire multi-rotor unmanned aerial vehicle meeting It is in serious unbalance state immediately, to which air crash accident can occur.And after adding rotor attitude regulating mechanism, quadrotor is revolved more Other three rotors on wing unmanned plane can be rotated towards the negative direction of run-off the straight immediately, be moved at leisure from heeling condition Horizontality, since multi-rotor unmanned aerial vehicle can carry out hovering and vertical displacement movement when its rotor is in horizontality, Multi-rotor unmanned aerial vehicle can smoothly land, so as to avoid the generation of air crash accident.
The present invention operation principle be:
The present invention has advantageous effect below compared with prior art:
1, the state of flight of multi-rotor unmanned aerial vehicle can be changed in different ways, with respect to each rotation of change For the regulative mode of wing rotating speed, which shifts gears more directly, flight efficiency higher, therefore fortune in practice Row effect is also more preferable.
2, multi-rotor unmanned aerial vehicle when can be in large wind flight plays wind resistance power adjustment effect, so as to increase Strong anti-interference ability of the multi-rotor unmanned aerial vehicle in flight.
3, emergent management can be made to the multi-rotor unmanned aerial vehicle for being in imbalance state because rotor failure occurs, to avoid The generation of air crash accident.
Description of the drawings
Fig. 1 and Fig. 2 be the present invention a kind of rotor attitude regulating mechanism with multi-rotor unmanned aerial vehicle more rotors nobody The structural schematic diagram of one specific implementation mode of machine;Wherein, Fig. 1 is the structural schematic diagram when rotor is at horizontality, Fig. 2 For the structural schematic diagram when rotor is at heeling condition.
Fig. 3 is a kind of dimensional structure diagram of a specific implementation mode of rotor attitude regulating mechanism of the present invention.
Fig. 4 is that the stereochemical structure at second visual angle of rotor attitude regulating mechanism of shown in Fig. 3 kind of multi-rotor unmanned aerial vehicle is shown It is intended to.
Fig. 5 is a kind of corresponding dimensional structure diagram of rotor attitude regulating mechanism of embodiment 2.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited In this.
Embodiment 1
Referring to Fig. 1-Fig. 4, a kind of rotor attitude regulating mechanism of the invention includes being connect with rotor 2 for controlling rotor sky Between position gesture stability part 3 and the swing driving mechanism group that swings of driving gesture stability part 3, wherein the wobble drive machine Structure group includes for driving gesture stability part 3 to make the first swing driving mechanism 4 of pendulum motion in the first adjusting face and be used for Driving rotor 2 makees the second swing driving mechanism 5 of pendulum motion in the second adjusting face, wherein described first adjusts face and the Two adjusting faces are mutually perpendicular to, the control of first swing driving mechanism 4 and second swing driving mechanism 5 and multi-rotor unmanned aerial vehicle System connects.
Referring to Fig. 3 and Fig. 4, the gesture stability part 3 is made of connecting rod 3-1 and spherical gear 3-2;Wherein, the company One end of extension bar 3-1 is connect with rotor 2, and the other end is connect with spherical gear 3-2, the side of the spherical surface of the spherical gear 3-2 The first round-arced tooth 3-21 is formed around the first center axis rotation, is parallelly set along the direction of the first center shaft axis on spherical surface There are multiple first round-arced tooths;The other side of the spherical surface of the spherical gear 3-2 forms the second circle around the second center axis rotation Arc-shaped gear 3-22 is parallelly equipped with multiple second round-arced tooth 3-22 on spherical surface along the axis direction of the second central shaft;And institute It states the first central shaft and the second central shaft is mutually perpendicular to;First swing driving mechanism 4 includes and first round-arced tooth The first motor 4-2 of the first roller gear 4-1 and driving the first roller gear 4-1 rotations of engagement;Second wobble drive Mechanism 5 includes being rotated with the second round-arced tooth 3-22 the second roller gear 5-1 engaged and the second roller gear of driving 5-1 The second motor 5-2.It is multiple due to being parallelly equipped with along the direction of the first center shaft axis on spherical gear 3-2 when work First round-arced tooth, therefore when the first roller gear 4-1 rotations, can be engaged with multiple first round-arced tooths successively to drive The rotation of dynamic spherical gear 3-2, and then connecting rod 3-1 and rotor 2 is driven to make pendulum motion;Similarly, the second roller gear 5-1 When rotation, it can be engaged with multiple second round-arced tooth 3-22 to drive the rotation of spherical gear 3-2, and then drive connection Bar 3-1 and rotor 2 make pendulum motion, and since first central shaft and the second central shaft are mutually perpendicular to, the first circle Arc-shaped gear is also mutually perpendicular to the second round-arced tooth 3-22.In this way, turning when the first round-arced tooth is engaged with the first roller gear 4-1 When dynamic, the second cylin-drical tooth can be rotated by the tooth socket on the second roller gear 5-1, therefore spherical gear 3-2 The second roller gear 5-1 will not be interfered in rotational motion;Similarly, as second turn of roller gear driving spherical gear 3-2 The second roller gear 5-1 will not be interfered when rotation.Thus, the above-mentioned mode to the adjustment of 2 spatial attitude of rotor can It is smoothed out.The advantages of this arrangement are as follows since the control point of 2 posture of rotor has all concentrated on spherical gear 3-2, Convenient for the concentrated setting of power plant so that compact overall structure;In addition, the device also have the advantages that it is easy to operate, convenient.
Referring to Fig. 2, in fixed cover 6, which is mounted on more rotations for the gesture stability part 3 and swing mechanism setting On 2 fixed frame of rotor of wing unmanned plane.By the way that the fixed cover 6 is arranged, can by gesture stability part 3 and swing mechanism portion with it is outer Portion, which is environmentally isolated, to come, and is interfered caused by it so as to reduce external environment.
Referring to Fig. 1-Fig. 3, a kind of multi-rotor unmanned aerial vehicle including rotor device for adjusting posture, including flight instruments and control System, wherein the flight instruments include the electric rotating machine 7 that fuselage 1, rotor 2 and driving rotor 2 rotate, the control system System includes control system on ground control system and machine, first swing driving mechanism, 4 and second swing driving mechanism 5 and more The control system of rotor wing unmanned aerial vehicle connects.It, can either when needing the rotor 2 to multi-rotor unmanned aerial vehicle to be adjusted when work Realized by ground control system and adjusted manually, but can be carried out by control system on machine multi-rotor unmanned aerial vehicle from homophony Section.
Referring to Fig. 3 and Fig. 4, the electric rotating machine 7 is made of the brushless motor of cylindrical type, the output of the brushless motor one end The rotation axis connection of axis and rotor 2, the other end other end of brushless motor is arranged by the attitude regulation mechanism to be consolidated in rotor 2 Determine on frame.When work, when needing the posture to rotor 2 to be adjusted, attitude regulation mechanism drives brushless motor and rotor 2 whole Body rotates;When 2 posture of rotor need not be adjusted, brushless motor can directly drive rotor 2 to rotate, to increase When the rotation of brushless motor load (if attitude regulation mechanism be arranged between electric rotating machine 7 and rotor 2, electric rotating Machine 7 also needs to that attitude regulation mechanism is driven to rotate together when rotor 2 being driven to rotate, when rotor 2 can be caused to rotate in this case Load increases).
Control system includes wireless transport module, memory module, control module and power module on the machine, wherein Electric rotating machine in the flight instruments is connect with control module, and the ground control system is made of remote control.More rotors The obliquity sensor being detected for the flight angle to multi-rotor unmanned aerial vehicle fuselage 1 is additionally provided on unmanned plane, which passes Sensor is connect with the control module of control system on machine.In normal flight, obliquity sensor is in real time by multi-rotor unmanned aerial vehicle The angle of inclination of fuselage 1 sends control module to, within the scope of the safety value when the inclination angle is in multi-rotor unmanned aerial vehicle flight When, without relevant processing work, and when the inclination angle when flight is more than safety value, control module will be touched control module Tuorbillion wing attitude regulating mechanism, is adjusted the posture of rotor 2, so that the inclination angle of fuselage 1 is restored to and tilts in safe range Continue normal aerial mission, when to realize multi-rotor unmanned aerial vehicle flight from main regulation, should be mainly used in from main regulation Flight of the multi-rotor unmanned aerial vehicle when wind-force is larger.
The rotation sensor whether rotated for detecting each rotor 2 is additionally provided in the multi-rotor unmanned aerial vehicle, it should Rotation sensor is connect with the control module of control system on machine.When work, when rotation sensor detects some When 2 non-normal rotation of rotor, which is passed into control module, starting execution emergency landing after control module reception signal refers to It enables, emergency landing instruction can drive non-faulting rotor 2 to swing, and to 1 posture of fuselage from main regulation, can carry out Safe landing.The flight from main regulation mainly for multi-rotor unmanned aerial vehicle when wing failure occurs.
Referring to Fig. 1-Fig. 4, the operation principle of the present invention is that:
When work, drives gesture stability part 3 to swing by the first swing driving mechanism 4 and connect with gesture stability part 3 to drive The rotor 2 connect makees pendulum motion in the first adjusting face, drives gesture stability part 3 to put by controlling the second swing driving mechanism 5 It moves to drive the rotor being connect with gesture stability part 32 to make pendulum motion in the second adjusting face, and adjust face and the due to first Two adjusting faces are mutually perpendicular to, therefore the rotor attitude regulating mechanism can carry out arbitrary adjustment, the rotor to 2 spatial attitude of rotor The adjustment of 2 spatial attitudes awing corresponds to the application of three aspects:
Using one:The state of flight of multi-rotor unmanned aerial vehicle can be changed in different ways, specifically, rotor be not set Before attitude regulating mechanism, when multi-rotor unmanned aerial vehicle flight is to realize cutting for motion state by changing the rotating speed of each rotor 2 thereon It changes, such as when 2 multi-rotor unmanned aerial vehicle of quadrotor needs to carry out lateral movement, one in two rotors 2 in quadrotor 2 diagonally A rotating speed is larger, another rotating speed is small, and multi-rotor unmanned aerial vehicle can tilt flight towards smaller 2 direction of rotor of rotating speed at this time, real Existing lateral movement.
And after adding rotor attitude regulating mechanism, when needing to carry out crabbing, the inclination of change rotor 2 can be passed through Angle controls its direction of motion, specifically, when rotor 2 is in heeling condition rotation, can generate lift straight up simultaneously Lift and horizontal tractive force, the non-perpendicular lifting such as move forward and backward, be biased to movement when which can be to flight are transported The dynamic power provided in horizontal direction, for the regulative mode for changing each 2 rotating speed of rotor, the regulative mode is more straight It connects, flight efficiency higher, therefore operational effect in practice is also more preferable.
Using two:Multi-rotor unmanned aerial vehicle when can be in large wind flight plays wind resistance power adjustment effect, to Anti-interference ability of the multi-rotor unmanned aerial vehicle in flight can be enhanced.Specifically, before rotor attitude regulating mechanism is not set, Under the action of wind-force, the whole inclination that certain angle can all occur of rotor 2 and fuselage 1 of multi-rotor unmanned aerial vehicle, in inclination The rotor 2 of state while bringing lifting component straight up, and brings horizontal direction component in rotation, due to The horizontal component can force multi-rotor unmanned aerial vehicle have to generate horizontal direction on componental movement, therefore can cause more rotors nobody The hovering of machine and vertical displacement movement function cannot achieve, the smaller situation of corresponding wind-force in the case of this, and when wind-force is larger When, the inclination angle of rotor 2 also can and then increase, and then the danger of air crash can be brought to multi-rotor unmanned aerial vehicle.
Unlike the above situation, after adding above-mentioned rotor attitude regulating mechanism, under the action of the forces of the wind, when more rotations When 1 entirety 2 run-off the straight of rotor of rotor 2 and fuselage of wing unmanned plane, rotor attitude regulating mechanism can be immediately to its rotor 2 Posture be adjusted, so that it is again restored to horizontality from heeling condition, to restore outstanding during continuing flight Stop and vertical displacement movement function.In this way, when wind-force is smaller, only rotor 2 need to be rocked to horizontality with smaller degree Continue normal flight, when wind-force is larger, rotor 2 need to can only be continued normally to fly with the more magnanimous horizontality that is rocked to Row, that is, when wind-force is larger, multi-rotor unmanned aerial vehicle can also carry out normal flight operation, and model is applicable in increase its operation It encloses.
Using three:Can to because occur rotor 2 failure due to be in the multi-rotor unmanned aerial vehicle of imbalance state and make emergent management, from And avoid it that air crash accident occurs.Specifically, when a rotor 2 in 2 multi-rotor unmanned aerial vehicle of quadrotor stops operating, by It can not continue to provide upward lifting force in the failure rotor 2, therefore multi-rotor unmanned aerial vehicle integrally will be to the failure rotor 2 Side run-off the straight.Before rotor attitude regulating mechanism is not set, since the inclined angle is larger, entire more rotors nobody Chance is in serious unbalance state immediately, to which air crash accident can occur.And after adding rotor attitude regulating mechanism, quadrotor Other three rotors 2 in 2 multi-rotor unmanned aerial vehicles can be rotated towards the negative direction of run-off the straight immediately, at leisure from heeling condition Horizontality is moved to, since fortune can be hovered and be vertically moved up or down to multi-rotor unmanned aerial vehicle when its rotor 2 is in horizontality It is dynamic, therefore multi-rotor unmanned aerial vehicle can smoothly land, so as to avoid the generation of air crash accident.
Embodiment 2
Referring to Fig. 5, the present embodiment difference from example 1 is that, first swing driving mechanism 4 includes and rotation The third motor 4-4 of the first swing rod 4-3 and driving the first swing rod 4-3 rotations that the wing 2 connects, second swing driving mechanism 5 include the 4th motor 5-4 with the first swing rod 4-3 the second swing rod 5-3 connecting and driving the second swing rod 5-3 rotations, Wherein, hinged between the first swing rod 4-3 and the second swing rod 5-3, the third motor 4-4 is mounted on the second swing rod 5-3, It is rotated together with the second swing rod 5-3.When work, the 4th motor 5-4 is driven successively by driving the second swing rod 5-3 rotations and it Third motor 4-4, the first swing rod 4-3 and rotor 2 of connection are rotated, to realize posture of the rotor 2 in the first adjusting face It adjusts;Third motor 4-4 drives rotor 2 to swing by driving the first swing rod 4-3 to swing, to realize that rotor 2 is adjusted second Attitude regulation in nodal section.The advantages of this arrangement are as follows third motor 4-4 and the first swing rod 4-3 form the level-one to rotor 2 It adjusts, the 4th motor 5-4 and the second swing rod 5-3 form the two level adjusting to rotor 2, relative to connecting rod 3-1 and spherical gear For the attitude regulation mode of 3-2 (adjusting on mono- face spherical gear 3-2 only occupies half tooth, therefore adjustable range is smaller), The attitude regulation has the advantages that the amplitude of accommodation is big.
The present embodiment other embodiment other than the above is implemented referring to embodiment 1.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content, He it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, should be The substitute mode of effect, is included within the scope of the present invention.

Claims (9)

1. a kind of rotor attitude regulating mechanism, which is characterized in that include being connect with rotor for controlling rotor spatial position The swing driving mechanism group that gesture stability part and driving gesture stability part are swung, wherein the swing driving mechanism group includes using Make the first swing driving mechanism of pendulum motion in the first adjusting face in driving gesture stability part and for driving rotor the Make the second swing driving mechanism of pendulum motion in two adjusting faces, wherein described first, which adjusts face and the second adjusting face, mutually hangs down Directly, first swing driving mechanism and the connection of the control system of the second swing driving mechanism and multi-rotor unmanned aerial vehicle.
2. rotor attitude regulating mechanism according to claim 1, which is characterized in that the gesture stability part by connecting rod and Ball-type gear is constituted;Wherein, one end of the connecting rod is connect with rotor, and the other end is connect with ball-type gear, the ball-type tooth The side of the spherical surface of wheel is on the first center axis rotation the first round-arced tooth of formation, spherical surface along the side of the first center shaft axis To parallelly equipped with multiple first round-arced tooths;The other side of the spherical surface of the ball-type gear is formed around the second center axis rotation Second round-arced tooth is parallelly equipped with multiple second round-arced tooths on spherical surface along the axis direction of the second central shaft;And it is described First central shaft and the second central shaft are mutually perpendicular to;First swing driving mechanism includes being engaged with first round-arced tooth The first roller gear and driving the first roller gear rotation first motor;Second swing driving mechanism include with it is described Second motor of the second roller gear and driving the second roller gear rotation of the engagement of the second round-arced tooth.
3. rotor attitude regulating mechanism according to claim 1, which is characterized in that first swing driving mechanism includes The first swing rod for being connect with rotor and the third motor of driving the first swing rod rotation, second swing driving mechanism include with Second swing rod of first swing rod connection and the 4th motor of driving the second swing rod rotation, wherein first swing rod with Hinged between second swing rod, the third motor is mounted on the second swing rod, is rotated together with the second swing rod.
4. according to claim 1-3 any one of them rotor attitude regulating mechanisms, which is characterized in that the gesture stability part and In fixed cover, which is mounted on the rotor fixed frame of multi-rotor unmanned aerial vehicle for swing mechanism setting.
5. a kind of multi-rotor unmanned aerial vehicle including claim 1-4 any one of them rotor device for adjusting posture, feature exist In further including flight instruments and control system, wherein the flight instruments include fuselage, rotor and driving rotor rotational Electric rotating machine, the control system include control system on ground control system and machine, first swing driving mechanism and The control system of two swing driving mechanisms and multi-rotor unmanned aerial vehicle connects.
6. multi-rotor unmanned aerial vehicle according to claim 5, which is characterized in that the electric rotating machine by cylindrical type brushless electricity Mechanism is at the output shaft of the brushless motor one end and the rotation axis connection of rotor, the other end of brushless motor pass through the posture Regulating mechanism is arranged on rotor fixed frame.
7. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that control system includes wireless transmission on the machine Module, memory module, control module and power module, wherein the electric rotating machine in the flight instruments connects with control module It connects, the ground control system is made of remote control.
8. multi-rotor unmanned aerial vehicle according to claim 7, which is characterized in that further include for the machine to multi-rotor unmanned aerial vehicle The obliquity sensor that the flight angle of body is detected, the obliquity sensor are connect with the control module of control system on machine.
9. multi-rotor unmanned aerial vehicle according to claim 7 or 8, which is characterized in that be additionally provided on the fuselage for detecting The rotation sensor whether each rotor rotates, the rotation sensor and the control module of control system on machine connect It connects.
CN201810238639.1A 2018-03-21 2018-03-21 Rotor wing attitude adjusting device and multi-rotor wing unmanned aerial vehicle comprising same Active CN108454847B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110416916A (en) * 2019-08-01 2019-11-05 东北大学 For posture regulation method and regulating and controlling mechanism of the crusing robot under wind load

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Publication number Priority date Publication date Assignee Title
CN1122423A (en) * 1994-11-02 1996-05-15 陈植洪 Improved ball gear and its serial engagement device and its driving device
WO2010118643A1 (en) * 2009-04-17 2010-10-21 Li Lin Inclining controller of double-rotor helicopter
CN102069905A (en) * 2010-12-16 2011-05-25 扬州大学 Oblique wing helicopter
CN102632993A (en) * 2012-05-05 2012-08-15 扬州大学 Series-parallel tilting drive mechanism of tilt rotor aircraft

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Publication number Priority date Publication date Assignee Title
CN1122423A (en) * 1994-11-02 1996-05-15 陈植洪 Improved ball gear and its serial engagement device and its driving device
WO2010118643A1 (en) * 2009-04-17 2010-10-21 Li Lin Inclining controller of double-rotor helicopter
CN102069905A (en) * 2010-12-16 2011-05-25 扬州大学 Oblique wing helicopter
CN102632993A (en) * 2012-05-05 2012-08-15 扬州大学 Series-parallel tilting drive mechanism of tilt rotor aircraft

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110416916A (en) * 2019-08-01 2019-11-05 东北大学 For posture regulation method and regulating and controlling mechanism of the crusing robot under wind load

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