CN108454847B - Rotor wing attitude adjusting device and multi-rotor wing unmanned aerial vehicle comprising same - Google Patents

Rotor wing attitude adjusting device and multi-rotor wing unmanned aerial vehicle comprising same Download PDF

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Publication number
CN108454847B
CN108454847B CN201810238639.1A CN201810238639A CN108454847B CN 108454847 B CN108454847 B CN 108454847B CN 201810238639 A CN201810238639 A CN 201810238639A CN 108454847 B CN108454847 B CN 108454847B
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China
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rotor
swing
control
driving
unmanned aerial
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CN108454847A (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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South China Agricultural University
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South China Agricultural University
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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 rotor wing attitude adjusting device and a multi-rotor wing unmanned aerial vehicle comprising the same, wherein the rotor wing attitude adjusting device comprises an attitude control member and a swing driving mechanism set, the attitude control member is connected with a rotor wing and is used for controlling the spatial position of the rotor wing, the swing driving mechanism set drives the attitude control member to swing, the swing driving mechanism set comprises a first swing driving mechanism and a second swing driving mechanism, the first swing driving mechanism is used for driving the attitude control member to swing in a first adjusting surface, the second swing driving mechanism is used for driving the rotor wing to swing in a second adjusting surface, the first adjusting surface and the second adjusting surface are perpendicular to each other, and the first swing driving mechanism and the second swing driving mechanism are connected with a control system of the multi-rotor wing unmanned aerial vehicle. The device can enough change many rotor unmanned aerial vehicle's flight state with the mode of difference, can do urgent processing again to many rotor unmanned aerial vehicle that is in unbalance state because of taking place the rotor trouble to avoid the emergence of crash accident.

Description

Rotor wing attitude adjusting device and multi-rotor wing unmanned aerial vehicle comprising same
Technical Field
The invention relates to a rotor wing multi-rotor unmanned aerial vehicle, in particular to a rotor wing on a multi-rotor unmanned aerial vehicle.
Background
In the field of multi-rotor unmanned aerial vehicles, multi-rotor unmanned aerial vehicles (such as four rotors, six rotors and eight rotors) have been increasingly widely applied to the fields of crop plant protection, aerial photography, express delivery and the like by virtue of the advantages of light weight, strong controllability, capability of taking off and landing vertically and hovering. But there are following problems in current many rotor unmanned aerial vehicle in-service use:
1. because the distribution of each rotor equal symmetry of many rotor unmanned aerial vehicle relies on mutually supporting between the rotor to realize the dynamic balance of whole organism in the top of setting up at many rotor unmanned aerial vehicle, consequently when one or two rotors in many rotor unmanned aerial vehicle can not rotate because of motor or other trouble, whole many rotor unmanned aerial vehicle will unbalance in the twinkling of an eye. Because do not set up relevant adjusting device on the current many rotor unmanned aerial vehicle, can not adjust many rotor unmanned aerial vehicle after the unbalance, consequently in case this condition takes place, many rotor unmanned aerial vehicle all will be difficult to flee the early fortune of air crash.
2. Current many rotor unmanned aerial vehicle is when flying, all realizes the change of flight gesture through the mode that the rotational speed of adjusting each rotor and turn to completely, and the mode that this flight gesture changed is single, interference killing feature is poor, and specifically, current many rotor unmanned aerial vehicle can only fly when wind-force is very little, in case wind-force is great, the rotor will appear the beat and lose balance, and then directly can take place the crash accident. And when in actual use, the flight safety of the multi-rotor unmanned aerial vehicle is considered, and the multi-rotor unmanned aerial vehicle is usually selected to be prevented from flying when the wind power is large, so that the use of the multi-rotor unmanned aerial vehicle is limited.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rotor wing attitude adjusting device which can adjust a multi-rotor wing unmanned aerial vehicle when the multi-rotor wing unmanned aerial vehicle is unbalanced, so that the accident of crash can be avoided.
The technical scheme for solving the technical problems is as follows:
the utility model provides a rotor wing attitude adjusting device, includes and is connected with the rotor wing and is used for controlling the swing actuating mechanism group of the attitude control spare of rotor wing spatial position and drive attitude control spare wobbling, wherein, swing actuating mechanism group is including being used for driving the first swing actuating mechanism that attitude control spare made swing motion in first regulation face and being used for driving the rotor wing and make swing motion in the second regulation face second swing actuating mechanism, wherein, first regulation face and second regulation face mutually perpendicular, first swing actuating mechanism and second swing actuating mechanism are connected with many rotor unmanned aerial vehicle's control system.
In a preferred aspect of the present invention, the posture control member is constituted by a connecting rod and a ball gear; one end of the connecting rod is connected with the rotor wing, the other end of the connecting rod is connected with the spherical gear, one side of the spherical surface of the spherical gear rotates around the first central shaft to form first circular arc-shaped teeth, and a plurality of first circular arc-shaped teeth are arranged on the spherical surface in parallel along the direction of the axis of the first central shaft; the other side of the spherical surface of the spherical gear rotates around a second central shaft to form second circular arc-shaped teeth, and a plurality of second circular arc-shaped teeth are arranged on the spherical surface in parallel along the axis direction of the second central shaft; the first central shaft and the second central shaft are vertical to each other; the first swing driving mechanism comprises a first cylindrical gear meshed with the first circular arc-shaped teeth and a first motor driving the first cylindrical gear to rotate; the second swing driving mechanism comprises a second cylindrical gear meshed with the second circular arc-shaped teeth and a second motor driving the second cylindrical gear to rotate. When the rotary type cylindrical gear is in work, the spherical gear is provided with the plurality of first circular arc-shaped teeth in parallel along the direction of the axis of the first central shaft, so that the first cylindrical gear can be sequentially meshed with the plurality of first circular arc-shaped teeth to drive the spherical gear to rotate when rotating, and the connecting rod and the rotor wing are driven to do swinging motion; similarly, when the second cylindrical gear rotates, the second cylindrical gear can be meshed with the plurality of second circular arc-shaped teeth to drive the spherical gear to rotate, so that the connecting rod and the rotor wing are driven to swing, and the first circular arc-shaped teeth and the second circular arc-shaped teeth are mutually perpendicular because the first central shaft and the second central shaft are mutually perpendicular. Therefore, when the first circular arc-shaped teeth are meshed with the first cylindrical gear to rotate, the second cylindrical teeth can rotate through the tooth grooves on the second cylindrical gear, and therefore interference on the second cylindrical gear cannot be caused in the rotating motion of the spherical gear; similarly, when the second cylindrical gear drives the spherical gear to rotate, the interference on the second cylindrical gear can not be caused. Therefore, the above-described method of adjusting the spatial attitude of the rotor can be smoothly performed. The arrangement has the advantages that the control points of the rotor wing attitude are concentrated on the spherical gear, so that the power device is convenient to concentrate, and the integral structure is compact; in addition, the device also has the advantages of simple and convenient operation.
In a preferred embodiment of the present invention, the first swing driving mechanism includes a first swing link connected to the rotor and a third motor driving the first swing link to rotate, the second swing driving mechanism includes a second swing link connected to the first swing link and a fourth motor driving the second swing link to rotate, the first swing link and the second swing link are hinged to each other, and the third motor is mounted on the second swing link and rotates together with the second swing link. When the rotary wing adjusting device works, the fourth motor drives the second swing rod to rotate so as to sequentially drive the third motor, the first swing rod and the rotary wing connected with the fourth motor to rotate, so that the posture of the rotary wing in the first adjusting surface is adjusted; the third motor drives the rotor wing to swing by driving the first swing rod to swing, so that the posture of the rotor wing in the second adjusting surface is adjusted. The advantage of this arrangement is that the first motor and the first rocker form a primary adjustment of the rotor in pairs and the second motor and the second rocker form a secondary adjustment of the rotor in pairs, which has the advantage of a large adjustment range with respect to the attitude adjustment of the connecting rod and the ball gear (the adjustment on one face of the ball gear only takes up half a tooth and therefore has a small adjustment range).
Preferably, attitude control and swing mechanism set up in fixed cover, and this fixed cover is installed on many rotor unmanned aerial vehicle's rotor mount. Through setting up fixed cover can keep apart gesture control spare and swing mechanism portion and external environment to can reduce the interference that external environment caused to it.
The utility model provides an including rotor attitude adjusting device's many rotor unmanned aerial vehicle, includes flight device and control system, wherein, flight device includes fuselage, rotor and drive rotor pivoted rotating electrical machines, control system includes ground control system and onboard control system, first swing actuating mechanism and second swing actuating mechanism are connected with many rotor unmanned aerial vehicle's control system. During operation, when needs are adjusted many rotor unmanned aerial vehicle's rotor, can enough realize manual regulation through ground control system, can carry out many rotor unmanned aerial vehicle's autonomic regulation through onboard control system again.
Preferably, the rotating electrical machine is composed of a cylindrical brushless electrical machine, an output shaft of one end of the brushless electrical machine is connected with a rotating shaft of the rotor, and the other end of the brushless electrical machine is arranged on the rotor fixing frame through the attitude adjusting mechanism. When the rotary wing type electric vehicle works, when the posture of the rotary wing needs to be adjusted, the posture adjusting mechanism drives the brushless motor and the rotary wing to integrally rotate; when the rotor gesture need not adjust, brushless motor can directly drive the rotor rotatory to load when can not increasing brushless motor's rotation (if gesture adjustment mechanism sets up between rotating electrical machines and rotor, still need drive gesture adjustment mechanism and rotate together when so rotating electrical machines drive rotor rotates, load when can leading to the rotor to rotate under this condition increases).
Preferably, the onboard control system comprises a wireless transmission module, a storage module, a control module and a power module, wherein a rotating motor in the flight device is connected with the control module, and the ground control system is composed of a remote control device.
Preferably, still include the angular transducer that is used for carrying out the detection to the flight angle of many rotor unmanned aerial vehicle fuselage, this angular transducer is connected with on-board control system's control module. When normal flight, inclination sensor sends the inclination of many rotor unmanned aerial vehicle fuselages to control module in real time, when this inclination is in the safe value within range when many rotor unmanned aerial vehicle fly, control module does not carry out relevant processing work, and when the inclination when flight surpasses the safe value, control module will trigger rotor gesture adjusting device, adjust the gesture of rotor, the angle of inclination that makes the fuselage resumes to slope safe range in and continues normal flight task, thereby realize the autonomic regulation when many rotor unmanned aerial vehicle fly, this autonomic regulation is mainly applied to the flight of many rotor unmanned aerial vehicle when wind-force is great.
Preferably, the fuselage is further provided with a rotation detection sensor for detecting whether each rotor rotates, and the rotation detection sensor is connected with a control module of an onboard control system. During operation, when rotation detection sensor detects that a certain rotor wing does not normally rotate, the signal is transmitted to the control module, the control module starts to execute an emergency forced landing instruction after receiving the signal, the emergency forced landing instruction can drive the non-fault rotor wing to swing, the attitude of the aircraft body is automatically adjusted, and the aircraft body can be safely landed. This autonomic regulation is mainly to the flight of many rotor unmanned aerial vehicle when taking place the wing trouble.
The working principle of the invention is as follows:
during operation, drive the rotor that the gesture control is connected through the swing of first swing actuating mechanism drive gesture control and make swing motion in first regulation face, drive the rotor that is connected with the gesture control through the swing of control second swing actuating mechanism drive gesture control and make swing motion in the second regulation face, and because first regulation face and second regulation face mutually perpendicular, consequently this rotor gesture adjusting device can carry out arbitrary adjustment to rotor space gesture, this rotor space gesture adjustment corresponds the application of three aspects in flight:
the application one is as follows: can change many rotor unmanned aerial vehicle's flight state with the mode of difference, specifically, before not setting up rotor gesture adjusting device, it realizes the switching of motion state to lean on the rotational speed that changes each rotor above that to lean on when many rotor unmanned aerial vehicle fly, if when four rotor many rotor unmanned aerial vehicle need carry out lateral motion, one rotational speed in two rotors of diagonal angle is great in the four rotors, another rotational speed is little, many rotor unmanned aerial vehicle can fly towards the less rotor direction slope of rotational speed this moment, realize lateral motion.
After the rotor wing attitude adjusting device is additionally arranged, when the lateral flying is needed, the moving direction of the rotor wing attitude adjusting device can be controlled by changing the inclination angle of the rotor wing, specifically, when the rotor wing rotates in an inclined state, vertical upward lifting force and horizontal traction force can be simultaneously generated, the horizontal traction force can provide power in the horizontal direction for the front-back movement, deviation movement and other non-vertical lifting movements during flying, and compared with an adjusting mode of changing the rotating speed of each rotor wing, the adjusting mode is more direct, the flying efficiency is higher, and therefore the operating effect in practice is better.
The application II comprises the following steps: can play the anti-wind power regulatory action to many rotor unmanned aerial vehicle when being in great wind-force flight to can strengthen many rotor unmanned aerial vehicle's interference killing feature when flight. Specifically, before not setting up rotor gesture adjusting device, under the effect of wind, many rotor unmanned aerial vehicle's rotor and the whole slope that can take place certain angle of fuselage, the rotor that is in the tilt state has brought vertical ascending lifting component when rotating, the horizontal direction component has been brought again, because this horizontal component can force many rotor unmanned aerial vehicle must produce the branch motion on the horizontal direction, consequently can lead to many rotor unmanned aerial vehicle's hover and the unable realization of vertical lift motion function, the less condition of wind-force that corresponds under this condition, and when wind-force is great, the angle of inclination of rotor also can follow the increase, and then can bring the danger of crash for many rotor unmanned aerial vehicle.
What is different with the above-mentioned condition is that, after addding above-mentioned rotor gesture adjusting device, under the effect of wind, when rotor and the whole rotor of fuselage of many rotor unmanned aerial vehicle took place to incline, rotor gesture adjusting device can adjust the gesture of its rotor immediately, makes it resume the horizontality again from the tilt state to resume hover and vertical lift motion function at the in-process that continues to fly. Like this, when wind-force is less, only need to swing the rotor with less degree to the horizontality can continue normal flight, when wind-force is great, only need to swing the rotor with great degree to the horizontality can continue normal flight, when wind-force is great promptly, many rotor unmanned aerial vehicle also can carry out normal flight operation to its operation application scope has been increased.
The application is as follows: can do urgent processing to the many rotor unmanned aerial vehicle who is in unbalance state because of taking place the rotor trouble to avoid it to take place the crash accident. Specifically, when rotor stall in four rotor many rotor unmanned aerial vehicle, because this trouble rotor can not continue to provide ascending lift, consequently the whole emergence slope of many rotor unmanned aerial vehicle to this trouble rotor side. Before not setting up rotor gesture adjusting device, because the angle of this slope is great, consequently whole many rotors unmanned aerial vehicle can be in serious unbalance state immediately to can take place the crash accident. And after addding rotor gesture adjusting device, other three rotors on the many rotor unmanned aerial vehicle of four rotors can be immediately to the opposite direction rotation who takes place the slope, move to the horizontality from the tilt state slowly, because many rotor unmanned aerial vehicle can hover and the vertical lift motion when its rotor is in the horizontality, consequently many rotor unmanned aerial vehicle can land steadily to the emergence of crash accident has been avoided.
The working principle of the invention is as follows:
compared with the prior art, the invention has the following beneficial effects:
1. can change many rotor unmanned aerial vehicle's flight state with the mode of difference, for the regulation mode through changing each rotor rotational speed, this flight state's change mode is more direct, and flight efficiency is higher, consequently the operation effect in the reality is also better.
2. Can play the anti-wind power regulatory action to many rotor unmanned aerial vehicle when being in great wind-force flight to can strengthen many rotor unmanned aerial vehicle's interference killing feature when flight.
3. Can do urgent processing to the many rotor unmanned aerial vehicle who is in unbalance state because of taking place the rotor trouble to avoid the emergence of crash accident.
Drawings
Fig. 1 and 2 are schematic structural views of an embodiment of a multi-rotor drone having a rotor attitude adjustment device for the multi-rotor drone according to the present invention; wherein, fig. 1 is a schematic structural view when the rotor wing is in a horizontal state, and fig. 2 is a schematic structural view when the rotor wing is in an inclined state.
Fig. 3 is a schematic perspective view of an embodiment of a rotor attitude adjustment apparatus according to the present invention.
Fig. 4 is a schematic perspective view of a second view angle of the rotor attitude adjustment apparatus of the multi-rotor drone shown in fig. 3.
Fig. 5 is a schematic perspective view of a rotor attitude adjustment device according to embodiment 2.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
Referring to fig. 1-4, the rotor attitude adjusting device of the invention comprises an attitude control member 3 connected with a rotor 2 for controlling the spatial position of the rotor and a swing driving mechanism set for driving the attitude control member 3 to swing, wherein the swing driving mechanism set comprises a first swing driving mechanism 4 for driving the attitude control member 3 to swing in a first adjusting plane and a second swing driving mechanism 5 for driving the rotor 2 to swing in a second adjusting plane, wherein the first adjusting plane and the second adjusting plane are perpendicular to each other, and the first swing driving mechanism 4 and the second swing driving mechanism 5 are connected with a control system of a multi-rotor unmanned aerial vehicle.
Referring to fig. 3 and 4, the attitude control member 3 is composed of a connecting rod 3-1 and a spherical gear 3-2; one end of the connecting rod 3-1 is connected with the rotor wing 2, the other end of the connecting rod is connected with the spherical gear 3-2, one side of the spherical surface of the spherical gear 3-2 rotates around a first central shaft to form first circular arc-shaped teeth 3-21, and a plurality of first circular arc-shaped teeth are arranged on the spherical surface in parallel along the axis direction of the first central shaft; the other side of the spherical surface of the spherical gear 3-2 rotates around a second central shaft to form second circular arc-shaped teeth 3-22, and a plurality of second circular arc-shaped teeth 3-22 are arranged on the spherical surface in parallel along the axial direction of the second central shaft; the first central shaft and the second central shaft are vertical to each other; the first swing driving mechanism 4 comprises a first cylindrical gear 4-1 meshed with the first circular arc-shaped teeth and a first motor 4-2 driving the first cylindrical gear 4-1 to rotate; the second swing driving mechanism 5 comprises a second cylindrical gear 5-1 meshed with the second circular arc-shaped teeth 3-22 and a second motor 5-2 driving the second cylindrical gear 5-1 to rotate. When the rotary wing type propeller is in work, as the plurality of first circular arc-shaped teeth are arranged on the spherical gear 3-2 in parallel along the direction of the axis of the first central shaft, when the first cylindrical gear 4-1 rotates, the first cylindrical gear can be sequentially meshed with the plurality of first circular arc-shaped teeth to drive the spherical gear 3-2 to rotate, and further drive the connecting rod 3-1 and the rotary wing 2 to do swing motion; similarly, when the second cylindrical gear 5-1 rotates, the second cylindrical gear can be meshed with the plurality of second circular arc-shaped teeth 3-22 to drive the spherical gear 3-2 to rotate, so as to drive the connecting rod 3-1 and the rotor 2 to swing, and the first circular arc-shaped teeth and the second circular arc-shaped teeth 3-22 are mutually perpendicular because the first central shaft and the second central shaft are mutually perpendicular. Therefore, when the first circular arc-shaped teeth are meshed with the first cylindrical gear 4-1 to rotate, the second cylindrical teeth can rotate through the tooth grooves on the second cylindrical gear 5-1, and therefore interference on the second cylindrical gear 5-1 cannot be caused in the rotation of the spherical gear 3-2; similarly, when the second cylindrical gear drives the spherical gear 3-2 to rotate, the interference on the second cylindrical gear 5-1 is avoided. Therefore, the above-described method of adjusting the spatial attitude of the rotor 2 can be smoothly performed. The arrangement has the advantages that the control points of the postures of the rotor wings 2 are all concentrated on the spherical gear 3-2, so that the power device is convenient to concentrate, and the whole structure is compact; in addition, the device also has the advantages of simple and convenient operation.
Referring to fig. 2, the attitude control member 3 and the swing mechanism are provided in a fixed cowl 6, and the fixed cowl 6 is mounted on a rotor 2 fixing frame of the multi-rotor drone. Through setting up fixed cover 6 can keep apart gesture control 3 and swing mechanism portion and external environment to can reduce the interference that external environment caused to it.
Referring to fig. 1-3, a many rotor unmanned aerial vehicle including rotor attitude adjusting device, includes flight device and control system, wherein, flight device includes fuselage 1, rotor 2 and drive rotor 2 pivoted rotating electrical machines 7, control system includes ground control system and onboard control system, first swing actuating mechanism 4 and second swing actuating mechanism 5 are connected with many rotor unmanned aerial vehicle's control system. The during operation, when needs adjust many rotor unmanned aerial vehicle's rotor 2, can enough realize manual regulation through ground control system, can carry out many rotor unmanned aerial vehicle's autonomic regulation through onboard control system again.
Referring to fig. 3 and 4, the rotating electrical machine 7 is formed by a cylindrical brushless electrical machine, an output shaft of one end of the brushless electrical machine is connected with a rotating shaft of the rotor 2, and the other end of the brushless electrical machine is arranged on a fixing frame of the rotor 2 through the attitude adjusting mechanism. When the rotary wing 2 needs to be adjusted in posture, the posture adjusting mechanism drives the brushless motor and the rotary wing 2 to integrally rotate; when 2 gestures of rotor do not need to be adjusted, brushless motor can directly drive rotor 2 to rotate to load when can not increase brushless motor's rotation (if gesture adjustment mechanism sets up between rotating electrical machines 7 and rotor 2, then rotating electrical machines 7 drive rotor 2 still need drive gesture adjustment mechanism and rotate together when rotating, can lead to the load when rotor 2 rotates to increase under this condition).
The onboard control system comprises a wireless transmission module, a storage module, a control module and a power module, wherein a rotating motor in the flight device is connected with the control module, and the ground control system is composed of a remote control device. Still be equipped with the angular transducer who is used for carrying out the detection to the flight angle of many rotor unmanned aerial vehicle fuselage 1 on the many rotor unmanned aerial vehicle, this angular transducer is connected with control system's on-board control module. When normal flight, inclination sensor sends the inclination of many rotor unmanned aerial vehicle fuselage 1 to control module in real time, when this inclination is in the safe value within range when many rotor unmanned aerial vehicle fly, control module does not carry out relevant processing work, and when the inclination when flight surpasses the safe value, control module will trigger rotor gesture adjusting device, adjust rotor 2's gesture, make fuselage 1's the angle of inclination resume to the safe value of inclining in and continue normal flight task, thereby realize the autonomic regulation when many rotor unmanned aerial vehicle fly, this autonomic regulation mainly is applied to the flight of many rotor unmanned aerial vehicle when wind-force is great.
Still be equipped with the rotation detection sensor that is used for detecting whether every rotor 2 is rotatory on the many rotor unmanned aerial vehicle, this rotation detection sensor is connected with control system's on-board control module. During operation, when rotation detection sensor detects that certain rotor 2 is not normally rotated, give control module with this signal transmission, control module begins to carry out urgent forced landing instruction after receiving the signal, and this urgent forced landing instruction can drive the swing of non-trouble rotor 2, carries out autonomic regulation to fuselage 1 gesture, makes it can carry out safe landing. This autonomic regulation is mainly to the flight of many rotor unmanned aerial vehicle when taking place the wing trouble.
Referring to fig. 1-4, the working principle of the present invention is:
during operation, drive the swing of gesture control 3 through first swing actuating mechanism 4 and drive rotor 2 that is connected with gesture control 3 and make swing motion in first regulation face, drive rotor 2 that is connected with gesture control 3 and make swing motion in the second regulation face through controlling the swing of 5 drive gesture control 3 swings of second swing actuating mechanism, and because first regulation face and second regulation face mutually perpendicular, consequently this rotor attitude adjusting device can carry out arbitrary adjustment to 2 spatial attitudes of rotor, this 2 spatial attitude of rotor adjusts the application that corresponds the three aspect in flight:
the application one is as follows: can change many rotor unmanned aerial vehicle's flight state with the mode of difference, specifically, before not setting up rotor attitude adjusting device, it realizes the switching of motion state to lean on the rotational speed that changes each rotor 2 above that during the flight of many rotor unmanned aerial vehicle, if when four rotor 2 many rotor unmanned aerial vehicle need carry out lateral motion, one rotational speed in two rotors 2 of diagonal angle is great among four rotors 2, another rotational speed is little, many rotor unmanned aerial vehicle opportunity is flown towards the 2 direction inclinations of the less rotor of rotational speed this moment, realize lateral motion.
After the rotor wing attitude adjusting device is additionally arranged, when the lateral flying is needed, the moving direction of the rotor wing attitude adjusting device can be controlled by changing the inclination angle of the rotor wing 2, specifically, when the rotor wing 2 rotates in an inclined state, vertical upward lifting force and horizontal traction force can be simultaneously generated, the horizontal traction force can provide power in the horizontal direction for the back-and-forth movement, deviation movement and other non-vertical lifting movements during flying, and compared with an adjusting mode of changing the rotating speed of each rotor wing 2, the adjusting mode is more direct, the flying efficiency is higher, and therefore the actual running effect is better.
The application II comprises the following steps: can play the anti-wind power regulatory action to many rotor unmanned aerial vehicle when being in great wind-force flight to can strengthen many rotor unmanned aerial vehicle's interference killing feature when flight. Specifically, before not setting up rotor gesture adjusting device, under the effect of wind, many rotor unmanned aerial vehicle's rotor 2 and fuselage 1 are whole can take place the slope of certain angle, rotor 2 that is in the tilt state has brought vertical ascending lifting component when rotating, the horizontal direction component has been brought again, because this horizontal component can force many rotor unmanned aerial vehicle must produce the ascending component motion of horizontal direction, consequently can lead to many rotor unmanned aerial vehicle's hover and the unable realization of vertical lift motion function, the less condition of corresponding wind-force under this condition, and when wind-force is great, the angle of inclination of rotor 2 also can follow the increase, and then can bring the danger of crash for many rotor unmanned aerial vehicle.
What is different from the above-mentioned condition is that, after addding above-mentioned rotor gesture adjusting device, under the effect of wind, when rotor 2 and the whole rotor 2 of fuselage 1 of many rotor unmanned aerial vehicle took place to incline, rotor gesture adjusting device can adjust its rotor 2's gesture immediately, makes it resume the horizontality again from the tilt state to resume hover and vertical lift motion function at the in-process that continues to fly. Like this, when wind-force is less, only need to swing rotor 2 to the horizontality with less degree and can continue normal flight, when wind-force is great, only need to swing rotor 2 to the horizontality with great degree and can continue normal flight, when wind-force is great promptly, many rotor unmanned aerial vehicle also can carry out normal flight operation to its operation application scope has been increased.
The application is as follows: can do urgent processing to the many rotor unmanned aerial vehicle who is in unbalance state because of taking place 2 troubles of rotor to avoid it to take place the crash accident. Specifically, when rotor 2 of the four-rotor 2 multi-rotor unmanned aerial vehicle stops rotating, because this trouble rotor 2 can not continue to provide ascending lift, the multi-rotor unmanned aerial vehicle will incline to this trouble rotor 2 side as a whole. Before not setting up rotor gesture adjusting device, because the angle of this slope is great, consequently whole many rotors unmanned aerial vehicle can be in serious unbalance state immediately to can take place the crash accident. And after addding rotor gesture adjusting device, other three rotors 2 on the many rotor unmanned aerial vehicle of four rotors can be immediately to the opposite direction rotation who takes place the slope, move to the horizontality from the tilt state slowly, because many rotor unmanned aerial vehicle can hover and vertical lift when its rotor 2 is in the horizontality move, consequently many rotor unmanned aerial vehicle can land steadily to the emergence of crash accident has been avoided.
Example 2
Referring to fig. 5, the present embodiment is different from embodiment 1 in that the first swing driving mechanism 4 includes a first swing link 4-3 connected to the rotor 2 and a third motor 4-4 driving the first swing link 4-3 to rotate, the second swing driving mechanism 5 includes a second swing link 5-3 connected to the first swing link 4-3 and a fourth motor 5-4 driving the second swing link 5-3 to rotate, wherein the first swing link 4-3 is hinged to the second swing link 5-3, and the third motor 4-4 is mounted on the second swing link 5-3 and rotates with the second swing link 5-3. When the rotary wing type aircraft works, the fourth motor 5-4 drives the second swing rod 5-3 to rotate so as to sequentially drive the third motor 4-4, the first swing rod 4-3 and the rotary wing 2 connected with the fourth motor to rotate, so that the posture of the rotary wing 2 in the first adjusting surface is adjusted; the third motor 4-4 drives the rotor 2 to swing by driving the first swing rod 4-3 to swing, so that the posture of the rotor 2 in the second adjusting surface is adjusted. The advantage of this arrangement is that the third motor 4-4 and the first rocker 4-3 form a primary adjustment of the rotor 2, and the fourth motor 5-4 and the second rocker 5-3 form a secondary adjustment of the rotor 2, which has the advantage of a large adjustment range compared to the way of adjusting the attitude of the connecting rod 3-1 and the ball gear 3-2 (adjustment on one face of the ball gear 3-2 only takes up half a tooth and therefore has a small adjustment range).
Other embodiments of this example than those described above are described in example 1.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.

Claims (8)

1. A rotor wing attitude adjusting device is characterized by comprising an attitude control member and a swing driving mechanism group, wherein the attitude control member is connected with a rotor wing and used for controlling the spatial position of the rotor wing, the swing driving mechanism group drives the attitude control member to swing, the swing driving mechanism group comprises a first swing driving mechanism and a second swing driving mechanism, the first swing driving mechanism is used for driving the attitude control member to swing in a first adjusting surface, the second swing driving mechanism is used for driving the rotor wing to swing in a second adjusting surface, the first adjusting surface and the second adjusting surface are perpendicular to each other, and the first swing driving mechanism and the second swing driving mechanism are connected with a control system of a multi-rotor unmanned aerial vehicle;
the posture control piece consists of a connecting rod and a spherical gear; one end of the connecting rod is connected with the rotor wing, the other end of the connecting rod is connected with the spherical gear, one side of the spherical surface of the spherical gear rotates around the first central shaft to form first circular arc-shaped teeth, and a plurality of first circular arc-shaped teeth are arranged on the spherical surface in parallel along the direction of the axis of the first central shaft; the other side of the spherical surface of the spherical gear rotates around a second central shaft to form second circular arc-shaped teeth, and a plurality of second circular arc-shaped teeth are arranged on the spherical surface in parallel along the axis direction of the second central shaft; the first central shaft and the second central shaft are vertical to each other; the first swing driving mechanism comprises a first cylindrical gear meshed with the first circular arc-shaped teeth and a first motor driving the first cylindrical gear to rotate; the second swing driving mechanism comprises a second cylindrical gear meshed with the second circular arc-shaped teeth and a second motor driving the second cylindrical gear to rotate.
2. The device of claim 1, wherein the first swing driving mechanism comprises a first swing link connected to the rotor and a third motor for driving the first swing link to rotate, and the second swing driving mechanism comprises a second swing link connected to the first swing link and a fourth motor for driving the second swing link to rotate, wherein the first swing link and the second swing link are hinged to each other, and the third motor is mounted on the second swing link and rotates along with the second swing link.
3. A rotary wing attitude adjustment assembly according to any one of claims 1-2, wherein said attitude control member and said swing mechanism are disposed within a stationary cowl mounted on a rotor mount of a multi-rotor drone.
4. A multi-rotor drone comprising the rotor attitude adjustment device according to any one of claims 1 to 3, further comprising a flying device and a control system, wherein the flying device comprises a fuselage, a rotor, and a rotating electric machine that drives the rotor to rotate, the control system comprises a ground control system and an onboard control system, and the first and second swing drive mechanisms are connected to the control system of the multi-rotor drone.
5. The multi-rotor unmanned aerial vehicle of claim 4, wherein the rotating electrical machine is formed by a cylindrical brushless electrical machine, an output shaft of one end of the brushless electrical machine is connected with a rotating shaft of the rotor, and the other end of the brushless electrical machine is arranged on the rotor fixing frame through the attitude adjusting mechanism.
6. A multi-rotor drone according to claim 5, wherein the onboard control system comprises a wireless transmission module, a storage module, a control module and a power module, wherein the rotating electrical machines in the flying apparatus are connected to the control module, and the ground control system is constituted by a remote control device.
7. The multi-rotor drone of claim 6, further comprising an inclination sensor for detecting a flight angle of the fuselage of the multi-rotor drone, the inclination sensor being connected to a control module of the onboard control system.
8. A multi-rotor unmanned aerial vehicle according to claim 6 or 7, wherein a rotation detection sensor is provided on the main body for detecting whether each rotor rotates, and the rotation detection sensor is connected to a control module of an onboard control system.
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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