CN109050898A - Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula - Google Patents
Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula Download PDFInfo
- Publication number
- CN109050898A CN109050898A CN201810936892.4A CN201810936892A CN109050898A CN 109050898 A CN109050898 A CN 109050898A CN 201810936892 A CN201810936892 A CN 201810936892A CN 109050898 A CN109050898 A CN 109050898A
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- fuselage
- motor
- horn
- rotor
- connector
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005611 electricity Effects 0.000 claims description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000000463 material Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 239000002356 single layer Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- 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
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a kind of non-homogeneous ten rotor wing unmanned aerial vehicles of power arrangement formula, comprising: fuselage；Horn is circumferentially laid out along fuselage, and one end is fixing end to the horn along its length, and one end is free end；The fixing end of horn is fixed on fuselage, and the free end of horn is equipped with aviation mechanism；Center coaxial double-oar aviation mechanism is additionally provided with below fuselage；Coaxial double-oar aviation mechanism is mounted on the underface of fuselage geometric center by foot prop connector, and space is rationally utilized, and load-carrying ability is strong, and flight efficiency is high, compact-sized.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of layout type.
Background technique
Multi-rotor unmanned aerial vehicle mostly uses greatly lithium battery as power, has simple structure, flight stability, easily controllable etc. excellent
The UAV system such as land mapping, agricultural plant protection, fire-fighting, the forest fire protection that point is developed based on multi-rotor unmanned aerial vehicle are a wide range of
It promotes and applies.
Big load, long endurance are the important directions of unmanned air vehicle technique development, and load-carrying can be improved by increasing rotor quantity
Ability.Common big load multi-rotor unmanned aerial vehicle mostly uses greatly the forms such as the more rotors of conventional single layer, coaxial double-oar bilayer layout.It is conventional
Eight rotor of single layer is common structure type, has many advantages, such as that good flight stability, high reliablity, wind resistance be good, power effect is than high；
In order to further increase load-carrying ability, some units have developed 12 rotor of single layer, 16 using the method for increasing rotor quantity
Rotor structure, this structure can only increase frame dimensions by increase unmanned plane wheelbase to realize, and the central area of rack
There is larger area not covered by rotor wind field, so that space utilization rate is not high, operational support is inconvenient.It is another common coaxial
Double paddle bilayer layout structures, greatly improve space utilization rate, so that frame structure is more compact, but due to coaxial two paddles up and down
Between air-flow generate interference, make capable effect than reducing, generally than normal arrangement formula reduction by 15% or so.
Summary of the invention
It is an object of that present invention to provide a kind of non-homogeneous ten rotor wing unmanned aerial vehicles of power arrangement formula, and load-carrying ability is strong, flight
It is high-efficient, it is compact-sized.
For this purpose, providing a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula, comprising: fuselage, fuselage include fuselage frame
Frame, equipment compartment and foot prop, equipment compartment are mounted on fuselage ring, are connected with vertical foot prop below fuselage ring；；Eight machines
Arm is circumferentially laid out along fuselage, and one end is fixing end to the horn along its length, and one end is free end, the fixing end of horn
It is fixed on fuselage, the free end of horn is separately installed with aviation mechanism；Center coaxial double-oar flying machine is additionally provided with below fuselage
Structure.
Optionally, the fuselage ring connects into square structure, eight horns by fuselage connector by four square tubes
It is fixed on four angles of fuselage ring by fuselage connector, fuselage ring and horn in same plane and form " well " font
Shape.Fuselage ring is the main stressed member of entire unmanned plane, and the present invention is set as square structure, and stability is good, can bear
Biggish load.
Further, the horn includes horn connector and horn bar, and horn bar is connected by horn connector and fuselage
The foldable connection of fitting.Optionally, horn length is identical as foot prop length, and horn can be folded down 90 degree, after folding, can fix
On foot prop, the portability of entire unmanned aerial vehicle body is improved.
Further, four vertical foot props are connected separately at four angles of fuselage ring.
Further, the aviation mechanism includes that motor, motor cabinet, electricity tune controller and rotor, the rotor can be rotated
Be fixed on motor, motor with electricity adjust controller be connected, motor is installed on motor cabinet, the free end phase of motor cabinet and horn
Even.The motor is brushless motor, and electricity adjusts flight control system and brushless motor in controller connection equipment compartment, according to flight control system
Control signal control motor speed, rotor is rotated together with brushless motor, for providing lift.
Further, the center coaxial double-oar aircraft systems include coaxial connector, upper motor and lower motor, upper rotor
It with lower rotor, powers on and controller and lower electricity is adjusted to adjust controller, upper motor connection powers on tune controller, the lower lower electricity regulation of motor connection
The output shaft of device processed, upper motor and lower motor on the same axis, and it is opposed be mounted on coaxial connector, upper rotor can be rotated
Ground is fixed on the output shaft of motor to rotate to a direction, lower rotor be rotatably fixed on the output shaft of lower motor with
Just the direction opposite with upper rotor rotates, and the coaxial connector is connected on foot prop by foot prop connector, foot prop connector
One end is connect with foot prop, and the other end is connected to coaxial connector, and plane where plane where foot prop connector and fuselage ring is flat
Row powers on and controller and lower electricity is adjusted to adjust controller using same model, and uses the same input signal, coaxial upper to ensure
Motor is cancelled out each other with the revolving speed of lower motor absolutely consistent, torque.
Further, the center coaxial double-oar aviation mechanism is one, and coaxial double-oar aviation mechanism is mounted on fuselage
The underface of geometric center, the axis of center coaxial double-oar aviation mechanism passes through the geometric center of fuselage, for providing center liter
Power.
It optionally, further include foot prop connector, foot prop connector one end is connect with foot prop, and the other end is connected to coaxial connection
Part, plane is parallel with plane where fuselage ring where foot prop connector.
Further, flight control system, GPS system, image delivering system, load control system are installed in the equipment compartment
System, power-supply management system and lithium battery.
UAV system flight theory of the present invention is as follows:
Take off it is ready after, first start center coaxial double-oar aviation mechanism, throttle is opened into 50%~60% level, so that flying
Row device obtains certain lift, then starts flight by the program of common eight-rotary wing aircraft；In flight course, center coaxial double-oar
Aviation mechanism remains uniform power output, and eight aviation mechanisms being circumferentially laid out are responsible for providing the lift that flight needs,
When aircraft needs to land, land by normal procedure, after coming to a complete stop, closing center's coaxial double-oar aviation mechanism.
Using above-mentioned technical proposal, the invention has the following advantages:
1. load-carrying ability is strong, center coaxial double-oar aviation mechanism constitutes ten rotor flying systems together with eight aviation mechanisms,
In the reasonable situation of dynamical system type selecting, single-blade can bear the take-off weight of 10kg, take-off weight about 100kg；
2. flight efficiency is high, the efficiency only with center coaxial double-oar aviation mechanism is slightly lower, eight aviation mechanisms being circumferentially laid out
In one plane, air-flow is not interfered with, whole flight efficiency is higher；
3. relying on, eight aviation mechanisms for being circumferentially laid out carry out the posture of unmanned planes and direction is stablized, stability, wind resistance with it is general
Logical eight axis aircraft of single layer is suitable, is better than four axis, six axis mechanisms；
4. coaxial double-oar aviation mechanism is mounted on the underface of fuselage geometric center by foot prop connector, sky is rationally utilized
Between, entire unmanned plane is compact-sized, is convenient for logistics support.
Detailed description of the invention
Fig. 1 is the overall structure diagram of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula of the embodiment of the present invention；
Fig. 2 is partial enlarged view at A in Fig. 1；
Fig. 3 is partial enlarged view at B in Fig. 1.
Appended drawing reference: 1 fuselage ring, 2 fuselage connectors, 3 equipment compartments, 4 foot props, 5 horns, 6 horn connectors, 7 flights
Mechanism, 8 electricity adjust controllers, 9 motors, 10 rotors, 11 motor cabinets, 12 foot prop connectors, 13 coaxial connectors, motor on 14, and 15
Upper rotor.
Specific embodiment
Detailed description of the present invention embodiment below with reference to the accompanying drawings, allow those of ordinary skill in the art easily
Realize them.However, the present invention can also be implemented in many different forms, and it is not limited to embodiment as described herein.In order to clear
The part unrelated with the description present invention is omitted in Chu Qijian in the accompanying drawings.Unless otherwise indicated, the term as used herein has
Common meaning in this field.Herein, each component of attached drawing is referred to using descriptions such as term "left", "right", "upper", "lower"
Relative position, using the same or similar different components of the difference function such as term " first ", " second ".These terms and similar
The use of term is only used for facilitating description, but should not be understood as limiting the scope of the invention.
Referring to Fig.1, a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula, comprising: fuselage, fuselage include fuselage ring 1
With equipment compartment 3 and foot prop, equipment compartment 3 is mounted on fuselage ring 1, and vertical foot prop 4 is connected with below fuselage ring 1；It is described
Flight control system, GPS system, image delivering system, load control system, power-supply management system and lithium electricity are installed in equipment compartment 3
Pond (not shown)；Eight horns 5, along fuselage circumferentially be laid out, the horn 5 along its length one end be fixing end, one
End is free end, and the fixing end of horn 5 is fixed on fuselage, and the free end of horn 5 is separately installed with aviation mechanism 7；Under fuselage
Side is additionally provided with center coaxial double-oar aviation mechanism.
Optionally, the fuselage ring 1 connects into square structure by fuselage connector 2 by four carbon fiber square tubes,
The load of 100kg or more can be born, eight horns 5 are fixed on four angles of fuselage ring 1 by fuselage connector 2, fuselage
Frame 1 and horn 5 in same plane and form " well " word shape.Fuselage ring 1 is the main stressed member of entire unmanned plane, this
Invention is set as square structure, and stability is good, can bear biggish load.
The horn 5 includes horn connector 6 and horn bar, and horn bar can by horn connector 6 and fuselage connector 2
Fold connection.Fuselage connector 2 and two adjacent horn connectors 6 form a five-way structure, 5 length of horn and foot prop 4
Length is identical, and horn can be folded down 90 degree, after folding, can be fixed on foot prop 4, improves the portable of entire unmanned aerial vehicle body
Property.Four vertical foot props 4 are connected separately at four angles of fuselage ring 1, foot prop 4 is four isometric carbon fiber bars.
Referring to Fig. 2, the aviation mechanism 7 includes motor 9, motor cabinet 11, electricity tune controller 8 and rotor 10, the rotor
10 are rotatably fixed on motor 9, and motor 9 adjusts controller 11 to be connected with electricity, and motor 9 is installed on motor cabinet 11, motor cabinet
11 are connected with the free end of horn 5.The motor 9 be brushless motor, electricity adjust controller connection equipment compartment in flight control system and
Brushless motor controls motor speed according to the control signal of flight control system, and rotor is rotated together with brushless motor, for providing
Lift.The wheelbase of eight aviation mechanisms is 2250mm, and rotor specification is 32mm × 11mm, and single aviation mechanism maximum pull is about
20kg, take-off weight are less than 10kg；
Referring to Figure 1 and Figure 3, the center coaxial double-oar aircraft systems include coaxial connector 13, upper motor 14 and lower motor, on
Rotor 15 and lower rotor, power on and controller and lower electricity are adjusted to adjust controller, and the upper connection of motor 14 powers on tune controller, lower motor connection
On the same axis, axis passes through fuselage center, and opposed installation to the output shaft of lower electricity tune controller, upper motor 14 and lower motor
On coaxial connector 13, upper rotor 15 is rotatably mounted to the output shaft of motor 14 to rotate to a direction, under
Rotor is fixed on the output shaft of lower motor rotatably so that the direction opposite with upper rotor rotates.It powers on and adjusts controller and lower electricity
It adjusts controller to use same model, and uses the same input signal, to ensure the revolving speed of coaxial upper motor 14 and lower motor
Absolutely consistent, torque is cancelled out each other.Coaxial connector 13 is connected on foot prop 4 by foot prop connector 12, foot prop connector 12
One end is connect with foot prop 4, and the other end is connected to coaxial connector 13,1 place of 12 place plane of foot prop connector and fuselage ring
Plane is parallel.
Center coaxial double-oar aviation mechanism be one, coaxial double-oar aviation mechanism be mounted on the geometric center of fuselage just under
Side, the axis of center coaxial double-oar aviation mechanism passes through the geometric center of fuselage, for providing center lift.
To make center coaxial double-oar aviation mechanism provide bigger lift, so that the load-carrying ability of entire flying platform reaches
To maximum, using following design principle: select upper rotor and lower rotor to be dimensioned slightly smaller than the cornerwise size of foot prop first, so that
Space layout is rationally compact；On this basis, the brushless motor to match with upper rotor and lower rotor size is matched, it is preferred that
The upper motor of the coaxial aviation mechanism in center and lower power of motor are greater than the motor of circumferential eight aviation mechanisms；Upper rotor and lower rotor
Direction of rotation it is opposite.Upper rotor and lower rotor are having a size of 35mm × 12mm, maximum pull about 40kg, operating point in practical flight
For 20kg.
It is described in detail above for realizing certain most preferred embodiments of the invention and other embodiments, but should manage
Solution, the effect of these embodiments is only that citing, and does not lie in and limit the scope of the invention in any way, is applicable in or construct.
Protection scope of the present invention is limited by appended claims and its equivalent way.Those skilled in the art can be in religion of the invention
Lead it is lower many changes are made to foregoing embodiments, these changes each fall within protection scope of the present invention.
Claims (10)
1. a kind of non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula, comprising: fuselage, fuselage include fuselage ring (1) and equipment compartment
(3), equipment compartment (3) is mounted on fuselage ring (1)；Eight horns (5) are circumferentially laid out along fuselage, and the horn (5) is along length
Degree direction one end is fixing end, and one end is free end, and the fixing end of horn (5) is fixed on fuselage, and the free end of horn is pacified respectively
Equipped with aviation mechanism (7)；It is characterized in that, being additionally provided with center coaxial double-oar aviation mechanism below fuselage ring (1).
2. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the fuselage ring
(1) square structure is connected by fuselage connector by four square tubes, eight horns (5) are fixed by fuselage connector (2)
On four angles of fuselage ring (1), fuselage ring (1) and horn (5) in same plane and form " well " word shape.
3. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the horn (5)
Including horn connector (6) and horn bar, horn bar passes through horn connector (6) and fuselage connector (2) foldable connection.
4. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the aviation mechanism
It (7) include that motor (9), motor cabinet (11), electricity tune controller (8) and rotor (10), the rotor (10) are rotatably fixed on
On motor (9), motor (9) adjusts controller (8) to be connected with electricity, and motor (9) is installed on motor cabinet (11), motor cabinet (11) and machine
The free end of arm (5) is connected.
5. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the fuselage ring
(1) lower section is also connected with vertical foot prop (4), and the center coaxial double-oar aircraft systems include coaxial connector (13), are powered on
Machine (14) and lower motor, upper rotor (15) and lower rotor power on and adjust controller and lower electricity tune controller, in upper motor (14) connection
Electricity adjusts controller, and the lower electricity of lower motor connection adjusts controller, and the output shaft of upper motor (14) and lower motor is on the same axis, and right
It sets and is mounted on coaxial connector (13), upper rotor (15) is rotatably mounted to the output shaft of motor (14) so as to one
Direction rotates, and lower rotor is fixed on the output shaft of lower motor rotatably so that the direction opposite with upper rotor rotates, described total
Shaft coupling piece (13) is connected on foot prop (4) by foot prop connector (12), and foot prop connector (12) one end and foot prop (4) are even
It connects, the other end is connected to coaxial connector (13), and plane where plane where foot prop connector (12) and fuselage ring (1) is flat
Row.
6. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the center is coaxial
Double paddle aviation mechanisms are one, and coaxial double-oar aviation mechanism is mounted on the underface of the geometric center of fuselage, center coaxial double-oar
The axis of aviation mechanism passes through the geometric center of fuselage.
7. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 2, which is characterized in that in fuselage ring
(1) four vertical foot props (4) are connected separately at four angles.
8. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the equipment compartment
(3) inner that flight control system, GPS system, image delivering system, load control system, power-supply management system and lithium battery are installed.
9. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the horn (5)
Length and foot prop (4) height are identical.
10. non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula according to claim 1, which is characterized in that the fuselage frame
The material of frame (1) and foot prop (4) is carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810936892.4A CN109050898A (en) | 2018-08-16 | 2018-08-16 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810936892.4A CN109050898A (en) | 2018-08-16 | 2018-08-16 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109050898A true CN109050898A (en) | 2018-12-21 |
Family
ID=64686275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810936892.4A Pending CN109050898A (en) | 2018-08-16 | 2018-08-16 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109050898A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625257A (en) * | 2018-12-27 | 2019-04-16 | 顺丰科技有限公司 | Logistics unmanned plane |
| CN109981042A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of clean intelligent robot of solar panel based on more rotors |
| CN110155314A (en) * | 2019-05-13 | 2019-08-23 | 北京遥感设备研究所 | A kind of six rotor wing unmanned aerial vehicles |
| CN110155313A (en) * | 2019-05-13 | 2019-08-23 | 之江实验室 | A kind of more rotor manned aircraft |
| CN110254712A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane |
| CN110282125A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn vertical dicycly based on blade and move the aircraft that the wing pushes |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
| WO2021128444A1 (en) * | 2019-12-27 | 2021-07-01 | 周鹏跃 | Multi-rotor aerial vehicle |
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| CN109981042A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of clean intelligent robot of solar panel based on more rotors |
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| CN110155313A (en) * | 2019-05-13 | 2019-08-23 | 之江实验室 | A kind of more rotor manned aircraft |
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| CN110282125A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn vertical dicycly based on blade and move the aircraft that the wing pushes |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
| WO2021128444A1 (en) * | 2019-12-27 | 2021-07-01 | 周鹏跃 | Multi-rotor aerial vehicle |
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