CN108945395A - Multivariant rotor system, the rotor system and unmanned plane for preventing kinking - Google Patents
Multivariant rotor system, the rotor system and unmanned plane for preventing kinking Download PDFInfo
- Publication number
- CN108945395A CN108945395A CN201810827652.0A CN201810827652A CN108945395A CN 108945395 A CN108945395 A CN 108945395A CN 201810827652 A CN201810827652 A CN 201810827652A CN 108945395 A CN108945395 A CN 108945395A
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- China
- Prior art keywords
- steering engine
- rotor system
- bearing
- horn
- multivariant
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The present invention relates to a kind of multivariant rotor systems, it includes propeller and rotation drive device, mounting bracket, the first steering engine, the second steering engine and horn, first steering engine is connected by mounting bracket with rotation drive device, and for driving rotation drive device to rotate around X-direction；Second steering engine is connected by horn with the first steering engine, and for driving the first steering engine to rotate around Y-direction；Wherein, X-direction and Y-direction, which are in, is vertically arranged, and Y-direction is the length direction of horn.Therefore invention increases propeller around X-direction rotate and around Y-direction rotation freedom degree, freedom degree is more, and mobility is more preferable.The invention further relates to a kind of rotor system for preventing kinking, the technical issues of to solve easy kinking in the prior art.The invention further relates to a kind of unmanned planes, to solve the technical problem of mobility difference in the prior art and cruising ability deficiency.
Description
Technical field
The present invention relates to vehicle technology fields, more particularly, to a kind of multivariant rotor system, prevent kinking
Rotor system and unmanned plane.
Background technique
Nowadays, most widely used in unmanned plane is quadrotor configuration unmanned plane, it utilizes motor driven propeller band
Dynamic aircraft flight is flown, inverted flight before being realized using the rotational speed difference of each propeller, the various flight attitudes such as left and right turning.Flight
The various function devices of general carry below device, such as video camera, thermal sensor etc., equipment need to be connect with holder, to realize each angle
Comprehensive monitoring visual field.It adjusts lift size by increasing and decreasing the revolving speed of motor simultaneously during exercise, so as to perpendicular
Histogram moves upwards, if thinking to move in the horizontal direction, must obtain the power in horizontal direction by inclination fuselage,
To push body to advance.Obviously, such forward travel mode is inefficient.Controllable parameter is less than in entire body model
Freedom of motion, thus be the imagination wing machine of drive lacking.
Therefore existing unmanned plane has to adjustment posture when adjusting position in flight, such as must roll fuselage
It is able to achieve advance, retrogressing or go to action, thus reduces its navigability and sensitivity；And the change of its athletic posture relies on
The rotational speed difference of propeller realizes that so that the mobility of unmanned plane is general, the response time changed course is slow, cruising ability is not
Foot, and the equipment of carry must just be able to achieve comprehensive monitoring visual field by holder；In addition such unmanned plane is carrying out flat fly
When, it needs to tilt by fuselage to generate the horizontal component in direction of advance, thus the machine on heading will certainly be generated
Body projected area, when flying speed increase or have other flow perturbations interference when, will increase fuselage resistance so that energy consumption compared with
Greatly, cruising ability is insufficient.
And the rotor system of existing unmanned plane, the freedom degree only rotated with propeller around own axes direction, freedom degree
It is few.In addition, electric wire is easy to be wrapped on propeller, the rotation of propeller is influenced, or even unmanned plane is caused to fall.
Summary of the invention
The purpose of the present invention is to provide a kind of multivariant rotor systems, few to solve freedom degree in the prior art
The technical issues of.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals: a kind of multivariant rotation
Wing system, the rotation drive device including propeller and for driving the propeller to rotate around own axes direction further include
Mounting bracket, the first steering engine, the second steering engine and horn, first steering engine are filled by the mounting bracket and rotation driving
Set it is connected, and for drive the rotation drive device around X-direction rotate；Second steering engine passes through the horn and described the
One steering engine is connected, and for driving first steering engine to rotate around Y-direction；Wherein, the X-direction and the Y-direction are in
It is vertically arranged, the Y-direction is the length direction of the horn.
Wherein, rotation drive device includes but is not limited to motor.The present invention drives mounting bracket by the first steering engine of setting
Rotation, so that rotation drive device i.e. propeller be driven to rotate around X-direction；Horn rotation is driven by the second steering engine of setting again,
To which the first steering engine of driving is rotated around Y-direction, propeller can be enabled to rotate around Y-direction.Therefore invention increases propellers around the side X
To rotation and the freedom degree rotated around Y-direction, freedom degree is more, and mobility is more preferable.
Preferably, the horn is cast, and affixed by connector and first steering engine, the connector includes
U-bracket and pipe clamp interconnected, first steering engine are folded between U-bracket opening both ends, the pipe
Collet is located at outside the horn.
Horn is cast, i.e., is hollow setting in it, alleviates weight of the invention, improves mobility of the invention and continues
Boat ability.Horn includes but is not limited to carbon fiber long tube.Connector is made of U-bracket and pipe clamp, and structure is simplified and stability is good.
Wherein, the axis of symmetry and the axis of pipe clamp between U-bracket opening both ends are arranged at being overlapped, so that the present invention is not opening
When the tilt angle of first steering engine i.e. in X direction is 0 °, guarantee steadily setting for the first steering engine, rotation drive device and propeller
It sets；Also reduce the first steering engine, rotation drive device and propeller gravity stop operating to the present invention after posture held stationary
Influence.
Wherein, horn can be flexible setting, or be folded with, and reducing the present invention, it is taken up space in the state of not using,
It is convenient for collecting.
Preferably, the mounting bracket is U-shaped, and described in first steering engine is folded in by the first steering engine disk
Mounting bracket is open between both ends, mounting bracket opening both ends and the U-bracket be open both ends at parallel or
Person is vertically arranged.
The setting of first steering engine disk is applied not only to the amplitude of oscillation of the first steering engine of transmitting, can also utilize the thickness of its own
Enable mounting bracket opening both ends and U-bracket be open both ends at parallel or be vertically arranged, i.e., not in the same plane,
So that the rotation angle of mounting bracket is not influenced by U-bracket, so that structure of the invention be enabled more to simplify, mobility is more
It is good.
Preferably, U-bracket opening both ends are equipped with the second limited block, second limited block is in the peace
It can offset with the mounting bracket after dress bracket rotation.
The setting of second limited block, for limiting rotation angle of the rotation angle i.e. propeller around X-direction of mounting bracket.
Then the present invention adds one of mechanical protection measure on the basis of realizing braking using the self-locking performance of steering engine.It may be noted that
It is that propeller exists around the rotation angle range of X-direction, horn can be got to avoid propeller, influence the present invention and apply at nobody
Degree of having a smooth flight when on machine, the accident for causing unmanned plane to fall.
Wherein, the sum of thickness of the thickness of U-bracket open end and the second limited block is more than or equal to the first steering engine circle
The sum of thickness and the thickness of mounting bracket open end of disk, and the second limited block can be more than the length at U-bracket both ends
Difference setting.
The object of the invention is also to provide a kind of rotor system for preventing kinking, to solve in the prior art to be easy to twine
The technical issues of line.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals: a kind of rotation preventing kinking
Wing system further includes electric slip ring, bearing and the bearing for installing the bearing including above-mentioned multivariant rotor system
, it is fixed with the second steering engine disk on second steering engine, torsion transferring member is connected on the second steering engine disk, it is described
Torsion transferring member and the inner ring of the bearing offset, and the torsion transferring member is equipped with inner hole, the company of being equipped in the inner hole
Adapter tube, the connecting tube are fixed after passing through the bearing with the horn, and the electric slip ring is set in outside the connecting tube,
Wherein, the rotary terminal of the electric slip ring and the connecting tube are affixed, and the static terminal on the electric slip ring is convex to be equipped with connection
Plate, the top of the bearing block are equipped with the connecting column towards the electric slip ring protrusion, and the connecting plate and the connecting column are affixed.
Since above-mentioned multivariant rotor system has above-mentioned technical effect, prevent from twining with the rotor system
The rotor system of line also technical effect having the same.It is another due to the second steering engine of horn one end transmission connection in practical application
The first steering engine of end connection, rotation drive device and propeller, therefore when the second steering engine drives horn rotation, it be easy to cause electric wire to twine
Around, knot etc. situations, or even due to propeller can also by the first steering engine control tilt, cause wire intertwist propeller or hinder spiral shell
Rotation paddle is rotated around own axes direction, influences mobility of the invention, therefore the present invention passes through setting electric slip ring and bearing, to solve
This problem, so that mobility of the invention is more preferable.
Preferably, the outer wall of the torsion transferring member is equipped with convex block, the bearing spider is equipped with the first limited block,
First limited block can offset conjunction after torsion transferring member rotation with the convex block.
Since torsion transferring member is for transmitting torque, therefore using the rotation angle of the first limited block limitation torsion transferring member
Degree achievees the effect that limiting horn limits propeller around the rotation angle of Y-direction.The present invention passes through the first limited block and convex block
Cooperation, realize propeller around Y-direction rotation angle limit between ± 90 °, then the present invention using steering engine self-locking performance
On the basis of realizing braking, in addition one of mechanical protection measure.Wherein, convex block can be circumferentially arranged strip, increase
Its stability.
Preferably, the outer ring that the bearing block is equipped with end ring and the bearing offsets, set in the connecting tube
There is the flange for the conjunction that can offset with the bearing inner race, and the flange and the end ring are located at the bearing side, it is described
Torsion transferring member is located at the other side of the bearing.
End ring, flange and the setting for reversing transferring member of the present invention, can make bearing give full play to and keep for a long time
Its due performance, improves its precision and service life.
The object of the invention is also to provide a kind of unmanned planes, to solve mobility difference in the prior art and cruising ability
Insufficient technical problem.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals: a kind of unmanned plane, including
Rack and rotor system, the rotor system are above-mentioned multivariant rotor system.
Since above-mentioned multivariant rotor system has above-mentioned technical effect, the unmanned plane with the rotor system
Also technical effect having the same.Therefore the present invention can be realized by the angle of change propeller tilt, i.e. change screw face
Advance, retrogressing or the go to action of unmanned plane.Such as: the present invention is equal by each rotor to carry out the movement on vertical direction
Straight up, to progress horizontal flight, then rotor can moderately be verted to the direction to be flown, and need not
The entire body that first verts flies again, therefore the present invention can carry out increasingly complex motion of space curve, and the algorithm model of building is more
Good, navigability is strong, high sensitivity, and mobility is more preferable, decreases resistance brought by inclination fuselage, and energy consumption is smaller,
Cruising ability is more preferable.
The object of the invention is also to provide a kind of unmanned planes, to solve mobility difference in the prior art and cruising ability
Insufficient technical problem.
Above-mentioned technical problem of the invention is mainly to be addressed by following technical proposals: a kind of unmanned plane, including
Rack and rotor system, the rotor system are the above-mentioned rotor system for preventing kinking.
Since the above-mentioned rotor system for preventing kinking has above-mentioned technical effect, the unmanned plane with the rotor system
Also technical effect having the same.
Preferably, the rotor system is at least provided with 2, and each rotor system is distributed in institute at circumference array
It states in rack, the rack includes into upper and lower spaced upper mounting plate and lower platform, and second steering engine passes through described second
Steering engine mounting base is fixed on the lower platform, the bearing block and the second steering engine mounting base be folded in the upper mounting plate and
Between the lower platform, and fix the upper mounting plate and the lower platform.
Rack includes upper mounting plate and lower platform, is not only convenient for installing, and also reduces weight of the invention, can also be in upper setting
The objects such as camera and undercarriage.
Preferably, the size of the upper mounting plate and the lower platform, shape are equipped with hollow hole at identical setting.
The setting of hollow hole can be used for mitigating weight, improve mobility and cruising ability of the invention.Wherein, upper mounting plate
Hollow hole and the hollow hole of lower platform be mutually aligned, can air feed, air-flow pass through.
Preferably, there are three the rotor system sets, and the angle between the adjacent rotor system is at 120 °.
There are three rotor system is set, and enable the angle between adjacent rotor system at 120 °, each rotor of the present invention
System removes the revolving speed i.e. revolving speed of propeller of three motors including can control, and also each there are two freedom degrees of verting for tool.Cause
This, entire a total of nine parameters that can control of body, so that navigability of the present invention is strong, mobility is more preferable, can carry out
Increasingly complex motion of space curve, and the algorithm model better adaptability constructed, computation complexity and time cost are more suitable
Preferably.
Based on this, the present invention has that freedom degree is high compared with original technology, will not kinking, and can carry out increasingly complex
The algorithm model of motion of space curve, building is more preferable, and navigability is strong, and high sensitivity, mobility is more preferable, decreases dumper
Resistance brought by body, energy consumption is smaller, the more preferable advantage of cruising ability.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Attached drawing 1 is a kind of structural schematic diagram of rotor system of the present invention；
Attached drawing 2 is a kind of structural schematic diagram of unmanned plane of the present invention；
Attached drawing 3 is the cross-sectional view of attached drawing 2；
Attached drawing 4 is the portion the A enlarged drawing of attached drawing 3.
Appended drawing reference:
1- rack；11- upper mounting plate；12- lower platform；
13- hollow hole；2- rotor system；21- propeller；
22- rotation drive device；23- mounting bracket；The first steering engine of 24-；
241- the first steering engine disk；The second steering engine of 25-；251- the second steering engine disk；
252- torsion transmission part；2521- inner hole；2522- convex block；
253- connecting tube；2531- flange；26- horn；
261- connector；2611-U shape bracket；2612- pipe clamp；
The second limited block of 2613-；27- electric slip ring；271- connecting plate；
28- bearing；29- bearing block；291- connecting column；
The first limited block of 292-；293- end ring；254- the second steering engine mounting base.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "front", "rear", "vertical",
The orientation or positional relationship of the instructions such as " liquid flat ", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The embodiment one of multivariant rotor system:
See Fig. 1, Fig. 2, Fig. 3, including propeller 21, rotation drive device 22, mounting bracket 23, the first steering engine 24, second
Steering engine 25 and horn 26, rotation drive device 22 are connected with propeller 21, and for driving propeller 21 around own axes direction
Rotation；First steering engine 24 is connected by mounting bracket 23 with rotation drive device 22, and for driving rotation drive device 22 around X
Direction rotation；Second steering engine 25 is connected by horn 26 with the first steering engine 24, and for driving the first steering engine 24 to turn around Y-direction
It is dynamic；Wherein, X-direction and Y-direction, which are in, is vertically arranged, and Y-direction is the length direction of horn 26.
Wherein, rotation drive device includes but is not limited to motor.The present invention drives mounting bracket by the first steering engine of setting
Rotation, so that rotation drive device i.e. propeller be driven to rotate around X-direction；Horn rotation is driven by the second steering engine of setting again,
To which the first steering engine of driving is rotated around Y-direction, propeller can be enabled to rotate around Y-direction.Therefore invention increases propellers around the side X
To rotation and the freedom degree rotated around Y-direction, freedom degree is more, and mobility is more preferable.
See that Fig. 1, Fig. 2, Fig. 3, horn 26 are cast, and, connector 261 affixed by connector 261 and the first steering engine 24
Including U-bracket 2611 interconnected and pipe clamp 2612, the first steering engine 24 be folded in U-bracket 2611 be open both ends it
Between, pipe clamp 2612 is set in outside horn 26.
Horn is cast, i.e., is hollow setting in it, alleviates weight of the invention, improves mobility of the invention and continues
Boat ability.Horn includes but is not limited to carbon fiber long tube.Connector is made of U-bracket and pipe clamp, and structure is simplified and stability is good.
Wherein, the axis of symmetry and the axis of pipe clamp between U-bracket opening both ends are arranged at being overlapped, so that the present invention is not opening
When the tilt angle of first steering engine i.e. in X direction is 0 °, guarantee steadily setting for the first steering engine, rotation drive device and propeller
It sets；Also reduce the first steering engine, rotation drive device and propeller gravity stop operating to the present invention after posture held stationary
Influence.
Wherein, horn can be flexible setting, or be folded with, and reducing the present invention, it is taken up space in the state of not using,
It is convenient for collecting.
See Fig. 1, Fig. 2, Fig. 3, mounting bracket 23 is U-shaped, and the first steering engine 24 is folded in peace by the first steering engine disk 241
It fills bracket 23 to be open between both ends, the opening both ends of mounting bracket 23 and the opening of U-bracket 2611 both ends are parallel or vertical
Straight setting.
The setting of first steering engine disk is applied not only to the amplitude of oscillation of the first steering engine of transmitting, can also utilize the thickness of its own
Enable mounting bracket opening both ends and U-bracket be open both ends at parallel or be vertically arranged, i.e., not in the same plane,
So that the rotation angle of mounting bracket is not influenced by U-bracket, so that structure of the invention be enabled more to simplify, mobility is more
It is good.
See that Fig. 1, Fig. 2, Fig. 3, U-bracket 2611 are open both ends equipped with the second limited block 2613, the second limited block
2613 can offset after the rotation of mounting bracket 23 with mounting bracket 23.
The setting of second limited block, for limiting rotation angle of the rotation angle i.e. propeller around X-direction of mounting bracket.
Then the present invention adds one of mechanical protection measure on the basis of realizing braking using the self-locking performance of steering engine.It may be noted that
Be, propeller around X-direction rotation angle range between -130 ° to+30 °, horn can be got to avoid propeller, influence this
The degree of having a smooth flight of invention, the accident for causing the present invention to fall.
Wherein, the sum of thickness of the thickness of U-bracket open end and the second limited block is more than or equal to the first steering engine circle
The sum of thickness and the thickness of mounting bracket open end of disk, and the second limited block can be more than the length at U-bracket both ends
Difference setting.
Prevent the embodiment one of the rotor system of kinking:
See that Fig. 1, Fig. 3, Fig. 4, a kind of rotor system preventing kinking are gone back including above-mentioned multivariant rotor system
Including electric slip ring 27, bearing 28 and bearing block 29 for installing bearing 28, the second steering engine disk is fixed on the second steering engine 25
251, torsion transferring member 252 is connected on the second steering engine disk 251, torsion transferring member 252 and the inner ring of bearing 28 offset, torsion
Transferring member 252 is equipped with inner hole 2521, is equipped with connecting tube 253 in inner hole 2521, connecting tube 253 after passing through bearing 28 with machine
Arm 26 is fixed, and electric slip ring 27 is set in outside connecting tube 253, wherein the rotary terminal of electric slip ring 27 and connecting tube 253 are affixed, electricity
Static terminal on slip ring 27 is convex equipped with connecting plate 271, the connecting column of bearing block 29 being equipped with towards 27 protrusion of electric slip ring
291, connecting plate 271 and connecting column 291 are affixed.
Since above-mentioned multivariant rotor system has above-mentioned technical effect, prevent from twining with the rotor system
The rotor system of line also technical effect having the same.It is another due to the second steering engine of horn one end transmission connection in practical application
The first steering engine of end connection, rotation drive device and propeller, therefore when the second steering engine drives horn rotation, it be easy to cause electric wire to twine
Around, knot etc. situations, or even due to propeller can also by the first steering engine control tilt, cause wire intertwist propeller or hinder spiral shell
Rotation paddle is rotated around own axes direction, influences mobility of the invention, therefore the present invention passes through setting electric slip ring and bearing, to solve
This problem, so that mobility of the invention is more preferable.
See that Fig. 1, Fig. 3, Fig. 4, the outer wall of torsion transferring member 252 are equipped with convex block 2522,28 support of bearing is equipped with first
Limited block 292, the first limited block 292 can offset conjunction after torsion transferring member 252 rotates with convex block 2522.
Since torsion transferring member is for transmitting torque, therefore using the rotation angle of the first limited block limitation torsion transferring member
Degree achievees the effect that limiting horn limits propeller around the rotation angle of Y-direction.The present invention passes through the first limited block and convex block
Cooperation, realize propeller around Y-direction rotation angle limit between ± 90 °, then the present invention using steering engine self-locking performance
On the basis of realizing braking, in addition one of mechanical protection measure.Wherein, convex block can be circumferentially arranged strip, increase
Its stability.
See Fig. 1, Fig. 4, bearing block 29 is equipped with end ring 293 and the outer ring of bearing 28 offsets, and connecting tube 253 is equipped with
Offset the flange 2531 of conjunction with 28 inner ring of bearing, and flange 2531 and end ring 293 are located at 28 side of bearing, torsion transferring member
252 are located at the other side of bearing 28.
End ring, flange and the setting for reversing transferring member of the present invention, can make bearing give full play to and keep for a long time
Its due performance, improves its precision and service life.
The embodiment one of unmanned plane:
See that Fig. 2, including rack 1 and rotor system 2, rotor system are above-mentioned multivariant rotor system.
Since above-mentioned multivariant rotor system has above-mentioned technical effect, the unmanned plane with the rotor system
Also technical effect having the same.Therefore the present invention can be realized by the angle of change propeller tilt, i.e. change screw face
Advance, retrogressing or the go to action of unmanned plane.Such as: the present invention is equal by each rotor to carry out the movement on vertical direction
Straight up, to progress horizontal flight, then rotor can moderately be verted to the direction to be flown, and need not
The entire body that first verts flies again, therefore the present invention can carry out increasingly complex motion of space curve, and the algorithm model of building is more
Good, navigability is strong, high sensitivity, and mobility is more preferable, decreases resistance brought by inclination fuselage, and energy consumption is smaller,
Cruising ability is more preferable.
The embodiment two of unmanned plane:
See that Fig. 2, including rack 1 and rotor system 2, rotor system are the above-mentioned rotor system for preventing kinking.
See Fig. 1, Fig. 2, Fig. 3, rack 1 includes into upper and lower spaced upper mounting plate 11 and lower platform 12, the second steering engine 25
It is fixed on lower platform 12 by the second steering engine mounting base 254, bearing block 29 and the second steering engine mounting base 254 are folded in upper mounting plate
Between 11 and lower platform 12, and keep upper mounting plate 11 and lower platform 12 fixed.
Rack includes upper mounting plate and lower platform, is not only convenient for installing, and also reduces weight of the invention, can also be in upper setting
The objects such as camera and undercarriage.
The setting of hollow hole can be used for mitigating weight, improve mobility and cruising ability of the invention.Wherein, upper mounting plate
Hollow hole and the hollow hole of lower platform be mutually aligned, can air feed, air-flow pass through.
See Fig. 1, there are three rotor system 2 is set, and the angle between adjacent rotor system 2 is at 120 °.
There are three rotor system is set, and enable the angle between adjacent rotor system at 120 °, each rotor of the present invention
System removes the revolving speed i.e. revolving speed of propeller of three motors including can control, and also each there are two freedom degrees of verting for tool.Cause
This, entire a total of nine parameters that can control of body, so that navigability of the present invention is strong, mobility is more preferable, can carry out
Increasingly complex motion of space curve, and the algorithm model better adaptability constructed, computation complexity and time cost are more suitable
Preferably.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；
Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its
It is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features
It is equivalently replaced；And these are modified or replaceed, various embodiments of the present invention skill that it does not separate the essence of the corresponding technical solution
The range of art scheme.
Claims (10)
1. a kind of multivariant rotor system, including propeller and for driving the propeller to rotate around own axes direction
Rotation drive device, it is characterised in that: further include mounting bracket, the first steering engine, the second steering engine and horn, first steering engine
It is connected by the mounting bracket with the rotation drive device, and for driving the rotation drive device to rotate around X-direction；
Second steering engine is connected by the horn with first steering engine, and for driving first steering engine to rotate around Y-direction；
Wherein, the X-direction and the Y-direction are in and are vertically arranged, and the Y-direction is the length direction of the horn.
2. multivariant rotor system according to claim 1, it is characterised in that: the horn is cast, and is passed through
Connector and first steering engine are affixed, and the connector includes U-bracket and pipe clamp interconnected, first steering engine
It is folded between U-bracket opening both ends, the pipe clamp is set in outside the horn.
3. multivariant rotor system according to claim 2, it is characterised in that: the mounting bracket is U-shaped, and institute
The first steering engine stated is folded between mounting bracket opening both ends by the first steering engine disk, the mounting bracket opening
Both ends and the U-bracket opening both ends are at parallel or be vertically arranged.
4. multivariant rotor system according to claim 3, it is characterised in that: U-bracket opening both ends
It is equipped with the second limited block, second limited block can offset after mounting bracket rotation with the mounting bracket.
5. a kind of rotor system for preventing kinking, including the described in any item multivariant rotor systems of Claims 1-4,
It is characterized by also including electric slip ring, bearing and bearing block for installing the bearing, it is fixed on second steering engine
Second steering engine disk, torsion transferring member is connected on the second steering engine disk, and the torsion transferring member is interior with the bearing
Circle offsets, and the torsion transferring member is equipped with inner hole, and connecting tube is equipped in the inner hole, and the connecting tube is passing through institute
It is fixed after stating bearing with the horn, the electric slip ring is set in outside the connecting tube, wherein the rotary terminal of the electric slip ring
Affixed with the connecting tube, the static terminal on the electric slip ring is convex equipped with connecting plate, and the top of the bearing block is equipped with court
To the connecting column of the electric slip ring protrusion, the connecting plate and the connecting column are affixed.
6. the rotor system according to claim 5 for preventing kinking, it is characterised in that: on the outer wall of the torsion transferring member
Equipped with convex block, the bearing spider is equipped with the first limited block, and first limited block can be after torsion transferring member rotation
It offsets conjunction with the convex block.
7. the rotor system according to claim 5 for preventing kinking, it is characterised in that: the bearing block is equipped with bearing rib
It encloses and offsets with the outer ring of the bearing, the connecting tube is equipped with the flange for the conjunction that can offset with the bearing inner race, and described convex
Edge and the end ring are located at the bearing side, and the torsion transferring member is located at the other side of the bearing.
8. a kind of unmanned plane, including rack and rotor system, it is characterised in that: the rotor system is that Claims 1-4 such as is appointed
Multivariant rotor system described in one.
9. a kind of unmanned plane, including rack and rotor system, it is characterised in that: the rotor system is such as claim 5 to 7 times
The rotor system of kinking is prevented described in one.
10. unmanned plane according to claim 9, it is characterised in that: the rotor system is at least provided with 2, and each institute
It states rotor system to be distributed in the rack at circumference array, the rack includes into upper and lower spaced upper mounting plate and lower flat
Platform, second steering engine are fixed on the lower platform by the second steering engine mounting base, the bearing block and described second
Steering engine mounting base is folded between the upper mounting plate and the lower platform, and fixes the upper mounting plate and the lower platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810827652.0A CN108945395B (en) | 2018-07-25 | 2018-07-25 | Prevent rotor system and unmanned aerial vehicle of kinking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810827652.0A CN108945395B (en) | 2018-07-25 | 2018-07-25 | Prevent rotor system and unmanned aerial vehicle of kinking |
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| Publication Number | Publication Date |
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| CN108945395A true CN108945395A (en) | 2018-12-07 |
| CN108945395B CN108945395B (en) | 2020-11-17 |
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| WO2023197534A1 (en) * | 2022-04-11 | 2023-10-19 | 南京邮电大学 | Locomotion apparatus for climbing robot, and flying-climbing robot thereof |
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| WO2023212788A1 (en) * | 2022-05-04 | 2023-11-09 | Carlos Pereira Filho Alberto | Wing tip thruster rotation system |
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|---|---|
| CN108945395B (en) | 2020-11-17 |
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