CN110001950B - Keep four rotor unmanned aerial vehicle of stable flight in crosswind - Google Patents
Keep four rotor unmanned aerial vehicle of stable flight in crosswind Download PDFInfo
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- CN110001950B CN110001950B CN201910273599.9A CN201910273599A CN110001950B CN 110001950 B CN110001950 B CN 110001950B CN 201910273599 A CN201910273599 A CN 201910273599A CN 110001950 B CN110001950 B CN 110001950B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a quad-rotor unmanned aerial vehicle capable of keeping stable flight in crosswind, and relates to the field of unmanned aerial vehicles. Including the unmanned aerial vehicle organism, rotor and the driving motor of setting on four supports of unmanned aerial vehicle organism, be provided with the rotor support on the unmanned aerial vehicle organism, driving motor sets up in the inside of rotor support, and driving motor's output passes through shaft coupling and rotatory trunk fixed connection, the top of rotatory trunk is run through the rotor support and is extended to the top of rotor support and the bottom fixed connection of rotor, the surface cover of rotatory trunk is equipped with hollow ring, hollow ring's inner wall surface and the surface contactless of rotatory trunk. According to the invention, the angle of the blade in rotation is changed, so that the lift force generated by the rotation of the blade is changed, the inclination angle of the unmanned aerial vehicle in the flight process can be changed, the problem of crosswind can be effectively solved, and the unmanned aerial vehicle in the crosswind environment can still keep a stable flight track.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle capable of keeping stable flight in crosswind.
Background
Quad-rotor unmanned aerial vehicle is a mainstream product which has the advantages that the traditional helicopter can directly take off without run-up and the flying speed of the fixed wing is high, and therefore, the quad-rotor unmanned aerial vehicle becomes the existing unmanned aerial vehicle. The main use of present four rotor unmanned aerial vehicle still uses as the instrument of taking photo by plane. Traditional four rotor unmanned aerial vehicle receive the interference of crosswind easily when using, lead to the aircraft to appear the air route deviation at the in-process of flight. In the prior art, generally, the unmanned aerial vehicle depends on manual operation, so that the problem of air route deviation caused by the cross wind problem is solved in the flight process of the unmanned aerial vehicle, but the manual operation accuracy is poor, and the operation requirement is high.
Along with the development of sensing technique and intelligence, current unmanned aerial vehicle can rely on sensing technique to distinguish wind direction and wind speed to rely on intelligent control system, guarantee that unmanned aerial vehicle stable flight does not appear the problem of airline deviation, however, this kind of technique is with high costs, and the requirement to sensing element's sensitivity is very high simultaneously, leads to unmanned aerial vehicle's cost and selling price to be on the high side, and very unsuitable is used widely.
Disclosure of Invention
The invention aims to provide a quad-rotor unmanned aerial vehicle capable of keeping stable flight in crosswind, which can keep a flight path flying stably in crosswind weather with severe environment, and reduce the shake of the unmanned aerial vehicle, thereby ensuring the aerial photography quality.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a keep stable four rotor unmanned aerial vehicle of flight in crosswind, includes the unmanned aerial vehicle organism, sets up rotor and the driving motor on four supports of unmanned aerial vehicle organism, be provided with the rotor support on the unmanned aerial vehicle organism, driving motor sets up the inside with the rotor support, and driving motor's output passes through shaft coupling and rotatory trunk fixed connection, the top of rotatory trunk is run through the rotor support and is extended to the top of rotor support and the bottom fixed connection of rotor.
The utility model discloses a rotor support, including rotatory trunk, lifter, rotor support, rotor seat, rotary wing, the surface cover of rotatory trunk is equipped with hollow ring, the inner wall surface of hollow ring and the outer surface contactless of rotatory trunk, the bottom of hollow ring is articulated with the top of lifter, the bottom of lifter runs through the rotor support and extends to the below of rotor support, and lifter and rotor support sliding connection, the top of hollow ring has rotatable rotatory ring through bearing movable mounting, the top fixed mounting of rotatory ring has the pull rod, the rotor includes the rotor seat, there is rotatable blade through bearing movable mounting on the rotor seat lateral wall, the other end of pull rod is articulated with the blade, and the bottom of hollow ring passes through the locating lever with the top surface support of rotor support and is connected.
The bottom of rotor support is provided with the U-shaped board, one side of U-shaped board is the opening form, and has the baffle in that the inboard of U-shaped board articulates, the baffle is 50 to 80 degrees angle settings with rotor support's bottom, the top overlap joint of lifter is at the top of baffle, the opposite side of baffle is fixed through the bottom of V-arrangement elasticity pole with rotor support.
Furthermore, the V-shaped elastic rod comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is in an opening shape, one end of the second connecting rod extends into the opening of the first connecting rod and is hinged with the first connecting rod, and an elastic element is arranged between the second connecting rod and the first connecting rod.
Furthermore, the elastic element is a spring, the spring is wound on the rod body, one end of the rod body penetrates through the first connecting rod and is in sliding connection with the first connecting rod, a pressing plate is arranged at the other end of the rod body, and one side of the pressing plate is in contact with the second connecting rod.
Further, every two U-shaped boards set up the both sides at the unmanned aerial vehicle organism for a set of symmetry, and the U-shaped board opening of every two symmetries is located the horizontal line of same perpendicular to symmetry axis.
Furthermore, run through on the baffle and be provided with the articulated shaft, the both ends of articulated shaft are passed through bearing and the both sides active link of U-shaped plate inner wall, and the baffle is the arc setting.
Furthermore, a connecting column is arranged at one end of each blade and movably mounted on the side wall of the rotor wing seat through a bearing.
Furthermore, the top surface of blade is the streamline shape, and one side of blade is vertically planar, has seted up the recess in the perpendicular bottom of blade, and the inside of recess is provided with the dead lever, the surface sliding adjustment of dead lever has the swivel sleeve, and the swivel sleeve is fixed with the one end of pull rod.
Furthermore, the ratio of the distance from the joint of the V-shaped elastic rod and the baffle to the hinge shaft to the distance from the joint of the lifting rod and the baffle to the hinge shaft is 5: 1.
Further, the bottom of unmanned aerial vehicle organism is the design of V font.
Compared with the prior art, the baffles are arranged at the bottoms of the rotor wing supports on two sides of the unmanned aerial vehicle body, when crosswind exists, the side baffle blown by the crosswind can be subjected to wind pressure to generate torsion force to rotate, when the baffles rotate, the baffles can jack the lifting rod, after the lifting rod is jacked, the hollow circular ring can be in an inclined state, so that the pull rod can lift when rotating, the blades can be adjusted to rotate when the pull rod lifts, when the blades rotate, the lift forces of the blades on two sides are inconsistent, the lift force of one side facing the wind is reduced, the unmanned aerial vehicle can be kept in the inclined state, and the problem that the unmanned aerial vehicle deviates from flight coordination in the flying process caused by the crosswind can be reduced.
According to the unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is arranged in a V shape, so that cross wind blows along the inclined direction of the bottom of the unmanned aerial vehicle when blowing to the bottom of the unmanned aerial vehicle, the influence of the cross wind is reduced, the balance of the unmanned aerial vehicle is guaranteed, and meanwhile the influence of the cross wind on one side on the baffle plate on the other side can be avoided.
According to the invention, the angle of the blade in rotation is changed, so that the lift force generated by the rotation of the blade is changed, the inclination angle of the unmanned aerial vehicle in the flight process can be changed, the problem of crosswind can be effectively solved, and the unmanned aerial vehicle in the crosswind environment can still keep a stable flight track.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2 in accordance with the present invention;
figure 4 is a cross-sectional view of a rotor support according to the present invention;
FIG. 5 is a cross-sectional view of the V-shaped resilient lever of the present invention;
FIG. 6 is a cross-sectional view of a blade of the present invention;
FIG. 7 is a structural cross-sectional view of a U-shaped plate of the present invention;
FIG. 8 is a view showing the state of the hollow circular ring on the wind source side when crosswind is received.
Wherein, 1 unmanned aerial vehicle organism, 2 rotors, 201 rotor seat, 202 blades, 203 spliced pole, 3 driving motor, 4 rotor support, 5 rotatory trunks, 6 hollow rings, 7 lifter, 8 rotatory rings, 9 pull rods, 10 baffles, 11V-arrangement elastic force pole, 111 head rod, 112 second connecting rod, 113 elastic element, the 12 body of rod, 13 articulated shafts, 14 clamp plates, 15 recesses, 16 dead levers, 17 swivel housing, 18 locating levers, 19U-shaped board.
Detailed Description
As shown in fig. 1 to 8, an embodiment of the invention provides a quad-rotor unmanned aerial vehicle capable of keeping stable flight in crosswind, which includes an unmanned aerial vehicle body 1, rotors 2 arranged on four supports of the unmanned aerial vehicle body 1, and a driving motor 3, wherein the unmanned aerial vehicle body 1 is provided with the rotor supports 4, the driving motor 3 is arranged inside the rotor supports 4, an output end of the driving motor 3 is fixedly connected with a rotary trunk 5 through a coupler, and a top end of the rotary trunk 5 penetrates through the rotor supports 4 and extends to a position above the rotor supports 4 to be fixedly connected with bottoms of the rotors 2.
The utility model discloses a rotor, including rotatory trunk 5, including lifter 7, lifter 4, rotary wing support 4, pull rod 9, rotor 2, the outer surface cover of rotatory trunk 5 is equipped with hollow ring 6, the inner wall surface of hollow ring 6 and the outer surface contactless of rotatory trunk 5, the bottom of hollow ring 6 is articulated with the top of lifter 7, the bottom of lifter 7 runs through rotor support 4 and extends to the below of rotor support 4, and lifter 4 and rotor support 4 support sliding connection, inlays on the inner wall of hollow ring 6 and have the bearing, and the bottom of rotatory ring 8 is provided with the arch of the round platform form of inversion, and the bellying of rotatory ring 8 extends to the inside of bearing and fixed between the inner wall of bearing, the top fixed mounting of rotatory ring 8 has pull rod 9, rotor 2 includes rotor seat 201, there is rotatable blade 202 through bearing movable mounting on the rotor seat 201 lateral wall, the other end and the blade 202 of pull rod 9 are articulated. One end of the blade 202 is provided with a connecting column 203, and the connecting column 203 is movably mounted on the side wall of the rotor base 201 through a bearing. The top surface of blade 202 is the streamlined, and one side of blade 202 is vertically planar, has seted up recess 15 in blade 202's perpendicular plane bottom, and the inside of recess 15 is provided with dead lever 16, the surface sliding adjustment of dead lever 16 has swivel sleeve 17, and swivel sleeve 17 is fixed with the one end of pull rod 9, and the bottom of hollow ring 6 passes through locating lever 18 with the top surface support of rotor support 4 to be connected, and the top at rotor support 4 is fixed to the one end of locating lever 18, and the other end of locating lever 18 is articulated with the bottom of hollow ring 6.
The bottom of rotor support 4 is provided with U-shaped plate 12, one side of U-shaped plate 12 is the opening form, and has baffle 10 in that the inboard of U-shaped plate 12 articulates, baffle 10 is 50 to 80 degrees angle settings with the bottom of rotor support 4, the bottom overlap joint of lifter 4 is on baffle 10, and lifter 7 is located rotatory trunk 5 and keeps away from the opening side of U-shaped plate 19, guarantees when the horizontal wind appears, can guarantee. The other side of the baffle plate 10 is fixed with the bottom of the rotor wing bracket 4 through a V-shaped elastic rod 11. The baffle 10 is provided with a hinged shaft 13 in a penetrating manner, two ends of the hinged shaft 13 are movably connected with two sides of the inner wall of the U-shaped plate 12 through bearings, and the baffle 10 is arranged in an arc shape.
In the present embodiment, the ratio of the distance from the joint of the V-shaped spring bar 11 and the flap 10 to the hinge shaft 13 to the distance from the lap joint of the lifter 4 and the flap 10 to the hinge shaft 13 is 5: 1. The V-shaped elastic rod 11 includes a first connecting rod 111 and a second connecting rod 112, one end of the first connecting rod 111 is open, one end of the second connecting rod 112 extends into the opening of the first connecting rod 111 and is hinged to the first connecting rod 111, and an elastic element 113 is disposed between the second connecting rod 112 and the first connecting rod 111. The elastic element 113 is a spring wound on the rod 12, one end of the rod 12 penetrates through the first connecting rod 111 and is slidably connected with the first connecting rod 111, the other end of the rod 12 is provided with a pressing plate 14, and one side of the pressing plate 14 is in contact with the second connecting rod 112. Every two U-shaped plates 12 are a set of symmetry and set up in the both sides of unmanned aerial vehicle organism 1, and the U-shaped plate 12 opening of every two symmetries is located the horizontal line of same perpendicular to symmetry axis. The bottom of unmanned aerial vehicle organism 1 is the design of V font. By setting the baffle 10 to a curved arc, the wind power received by the baffle 10 is greater, avoiding small crosswinds causing the unmanned aerial vehicle to produce small course deviations.
When unmanned aerial vehicle takes off, driving motor 3 can drive rotatory trunk 5 and rotate, can drive rotor seat 201 when rotatory trunk 5 rotates and rotate to make blade 202 rotate, because the top of blade 202 is streamlined design, consequently, make blade 202 produce lift and rise unmanned aerial vehicle. At the normal horizontal flight's of unmanned aerial vehicle in-process, hollow ring 6 is in the horizontality, can guarantee that the lift that four rotor support 4 of unmanned aerial vehicle received is the same to make unmanned aerial vehicle remain stable when flight. In the normal flight process, the rotating speeds of the four driving motors 3 on the unmanned aerial vehicle are adjusted, so that the flight direction of the unmanned aerial vehicle is controlled.
However, in the process of unmanned aerial vehicle flight, when meeting the crosswind, baffle 10 in that direction that the crosswind blows is meeting behind the crosswind, produce a torsion and then take place to rotate under the effect of wind pressure, can lift up lifter 7 when baffle 10 takes place to rotate, after lifter 7 lifts up, lifter 7 can be in the tilt state with hollow ring 6, make hollow ring 6 influence one side in wind regime be higher than the opposite side, just so make blade 202 when the pivoted, keep the horizontality to remove when blade 202 moves the top of the lower one side of hollow ring 6, be the tilt form when blade 202 moves the higher one side top of hollow ring 6 and rotate, just so, the lift that the blade produces in rotatory in-process is unbalanced, make the blade produce one with the opposite power of wind direction and offset the influence of crosswind to unmanned aerial vehicle flight.
As shown in fig. 6, when the blades 202 of the rotor 2 are in the horizontal state, the upper surface is streamlined, so that the lift of the unmanned aerial vehicle can be improved, and when the blades 202 are not in the horizontal state, the generated lift can be changed, so that two sides of one rotor can generate different lifts, and the flight direction of the whole unmanned aerial vehicle can be changed.
Claims (8)
1. The utility model provides a keep four rotor unmanned aerial vehicle of stable flight in crosswind, includes unmanned aerial vehicle organism (1), sets up rotor (2) and driving motor (3) on four supports of unmanned aerial vehicle organism (1), its characterized in that: the unmanned aerial vehicle body (1) is provided with a rotor wing bracket (4), the driving motor (3) is arranged inside the rotor wing bracket (4), the output end of the driving motor (3) is fixedly connected with the rotary trunk (5) through a coupler, and the top end of the rotary trunk (5) penetrates through the rotor wing bracket (4) and extends to the upper part of the rotor wing bracket (4) to be fixedly connected with the bottom of the rotor wing (2);
the outer surface cover of rotatory trunk (5) is equipped with hollow ring (6), the inner wall surface of hollow ring (6) and the outer surface contactless of rotatory trunk (5), the bottom of hollow ring (6) is articulated with the top of lifter (7), the bottom of lifter (7) runs through rotor support (4) and extends to the below of rotor support (4), and lifter (7) and rotor support (4) support sliding connection, there is rotatable rotatory ring (8) at the top of hollow ring (6) through bearing movable mounting, the top fixed mounting who rotates ring (8) has pull rod (9), rotor (2) include rotor seat (201), there are rotatable blade (202) through bearing movable mounting on rotor seat (201) lateral wall, the other end of pull rod (9) is articulated with blade (202), the bottom of hollow ring (6) and the top surface support of rotor support (4) pass through locating lever (18) Connecting;
the bottom of the rotor wing bracket (4) is provided with a U-shaped plate (19), one side of the U-shaped plate (19) is in an open shape, a baffle (10) is hinged to the inner side of the U-shaped plate (19), the baffle (10) and the bottom of the rotor wing bracket (4) are arranged at an angle of 50-80 degrees, the bottom end of the lifting rod (7) is lapped on the top of the baffle (10), and the other side of the baffle (10) is fixed with the bottom of the rotor wing bracket (4) through a V-shaped elastic rod (11);
the V-shaped elastic rod (11) comprises a first connecting rod (111) and a second connecting rod (112), one end of the first connecting rod (111) is in an opening shape, one end of the second connecting rod (112) extends into the opening of the first connecting rod (111) and is hinged to the first connecting rod (111), and an elastic element (113) is arranged between the second connecting rod (112) and the first connecting rod (111).
2. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: the elastic element (113) is a spring, the spring is wound on the rod body (12), one end of the rod body (12) penetrates through the first connecting rod (111) and is in sliding connection with the first connecting rod (111), a pressing plate (14) is arranged at the other end of the rod body (12), and one side of the pressing plate is in contact with the second connecting rod (112).
3. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: every two U-shaped board (19) are a set of symmetry and set up the both sides in unmanned aerial vehicle organism (1), and just U-shaped board (19) opening of per two symmetries is located the horizontal line of same perpendicular to symmetry axis.
4. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: run through on baffle (10) and be provided with articulated shaft (13), the both ends of articulated shaft (13) are passed through the bearing and are linked with the both sides activity of U-shaped plate (19) inner wall, and baffle (10) are the arc setting.
5. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: one end of each blade (202) is provided with a connecting column (203), and the connecting columns (203) are movably mounted on the side wall of the rotor wing seat (201) through bearings.
6. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 5, characterized in that: the top surface of blade (202) is the streamline shape, and one side of blade (202) is vertically planar, sets up recess (15) in the perpendicular plane bottom of blade (202), and the inside of recess (15) is provided with dead lever (16), the surface sliding regulation of dead lever (16) has swivel sleeve (17), and swivel sleeve (17) is fixed with the one end of pull rod (9).
7. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: the ratio of the distance from the joint of the V-shaped elastic rod (11) and the baffle (10) to the hinged shaft (13) to the distance from the joint of the lifting rod (7) and the baffle (10) to the hinged shaft (13) is 5: 1.
8. A quad-rotor drone for maintaining stable flight in crosswinds according to claim 1, characterized in that: the bottom of unmanned aerial vehicle organism (1) is the design of V word form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910273599.9A CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910273599.9A CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
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| Publication Number | Publication Date |
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| CN110001950A CN110001950A (en) | 2019-07-12 |
| CN110001950B true CN110001950B (en) | 2022-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910273599.9A Active CN110001950B (en) | 2019-04-06 | 2019-04-06 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115320838A (en) * | 2022-10-13 | 2022-11-11 | 中国地震应急搜救中心 | Earthquake rescue high altitude monitoring unmanned aerial vehicle |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB551156A (en) * | 1940-04-06 | 1943-02-10 | United Aircraft Corp | Improvements in or relating to aircraft |
| JP4690239B2 (en) * | 2006-04-27 | 2011-06-01 | ヤマハ発動機株式会社 | Unmanned helicopter |
| CN104648667B (en) * | 2015-02-17 | 2017-03-08 | 珠海磐磊智能科技有限公司 | Aircraft |
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| CN107303948A (en) * | 2016-04-23 | 2017-10-31 | 刘凤华 | A kind of short tail goes straight up to gyroplane |
| CN106882364B (en) * | 2017-03-15 | 2019-02-19 | 江西中轻智能设备有限公司 | It is a kind of to control accurate intelligent quadrotor drone |
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Effective date of registration: 20220425 Address after: 518000 floor 12, block a, Kelu building, Baoshen Road, songpingshan community, Xili street, Nanshan District, Shenzhen, Guangdong Applicant after: SHENZHEN FUNSNAP TECHNOLOGY CO.,LTD. Address before: 111000 Group 15, Laodong street, Baita District, Liaoyang City, Liaoning Province Applicant before: Hu Yongxing |
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