CN110481769B - Unmanned aerial vehicle device based on coaxial double rotors - Google Patents
Unmanned aerial vehicle device based on coaxial double rotors Download PDFInfo
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- CN110481769B CN110481769B CN201910814263.9A CN201910814263A CN110481769B CN 110481769 B CN110481769 B CN 110481769B CN 201910814263 A CN201910814263 A CN 201910814263A CN 110481769 B CN110481769 B CN 110481769B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/12—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like sideways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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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
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- 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
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/68—Transmitting means, e.g. interrelated with initiating means or means acting on blades using electrical energy, e.g. having electrical power amplification
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- 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
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle device based on coaxial double rotors, which belongs to the technical field of unmanned aerial vehicles and comprises: motor element, rotor subassembly, displacement subassembly, load storehouse body and undercarriage. The rotor assembly comprises a first rotor set, a second rotor set and a central fixed shaft, the first rotor set, the central vertical groove and the second rotor set sequentially penetrate through the central fixed shaft, the motor assembly can respectively drive the first rotor set and the second rotor set to rotate when rotating around the central fixed shaft, and a GPS signal receiving and transmitting device is arranged on a signal end; the load storehouse is internal to be equipped with flight control module, navigation module and power module etc. in the body, and the below in the load storehouse is fixed with the undercarriage, and the displacement subassembly cover is established on the fixed end of center fixed axle for only rotate the displacement operation that can realize the rotor through a relative another rotor group of a rotor group of displacement subassembly drive, simplified displacement operation structure through the design of individual layer displacement, overall structure is simple, easy maintenance and reliability height.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle device based on coaxial double rotors.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle for short, and is unmanned aerial vehicle operated by radio remote control equipment and self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device, an information acquisition device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The airplane can take off like a common unmanned aerial vehicle or launch and lift off by a boosting rocket under the radio remote control, and can also be carried to the air by a mother airplane to launch and fly. Unmanned aerial vehicles are often used for inspection of power transmission lines in mountainous areas and across large rivers, and for inspection of power transmission lines during ice disasters, flood disasters, earthquakes, landslides, and nights.
The existing coaxial unmanned aerial vehicle is controlled by upper and lower blades of an upper rotor and a lower rotor in a full-variable-pitch mode, the six-steering-engine double-inclined-disc mode is used for controlling, the number of steering engines is large, and the steering engines have a crash risk if the steering engines break down.
Therefore, the existing coaxial dual-rotor unmanned aerial vehicle mostly adopts the upper and lower rotor full-variable-pitch operation to change the flight state of the unmanned aerial vehicle, and the upper and lower rotor full-variable-pitch operation leads to the structure of the unmanned aerial vehicle to be complex, the number of steering engines is large, the unmanned aerial vehicle is not easy to maintain, and the reliability is low.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a novel unmanned aerial vehicle device based on coaxial double rotors, so that the distance changing operation of the rotors among a plurality of rotor groups can be realized only by adjusting one rotor group, and the unmanned aerial vehicle device has the characteristics of simple structure, easiness in maintenance and high reliability.
In order to solve the technical problem, the invention provides an unmanned aerial vehicle device based on coaxial double rotors, which comprises: the motor component is internally provided with a central vertical groove; a rotor assembly, the rotor assembly comprising: the central fixed shaft is provided with a signal end and a fixed end, and the fixed end sequentially penetrates through the first rotor group, the central vertical groove and the second rotor group, so that the first rotor group, the second rotor group and the motor assembly are respectively and symmetrically distributed by taking the central fixed shaft as a central shaft, the first rotor group and the second rotor group are symmetrically fixed at the upper end surface and the lower end surface of the motor assembly, so that the first rotor group and the second rotor group are respectively driven to rotate when the motor assembly rotates around the central fixed shaft, and the signal end is provided with a GPS signal receiving and transmitting device; the variable-pitch assembly is sleeved on the fixed end of the central fixed shaft, is movably connected with the second rotor wing group, and drives the second rotor wing group to rotate relative to the first rotor wing group through the variable-pitch assembly so as to adjust the distance between the second rotor wing group and the first rotor wing group; the load bin body is fixed on the fixed end of the central fixed shaft and used for internally placing a load; the undercarriage is fixed on the loading bin body.
Optionally, the motor assembly includes: a motor stator; the upper end surface of the first rotating body is fixedly connected with the first rotor wing group so as to drive the first rotor wing group to rotate through the rotation of the first rotating body; the lower end surface of the second rotating body is fixedly connected with the second rotor wing group so as to drive the second rotor wing group to rotate through the rotation of the second rotating body; the first rotating body and the second rotating body are symmetrically sleeved at the peripheral part of the motor stator, a first rotating hole is formed in the central part of the first rotating body, a second rotating hole is formed in the center of the second rotating body, a threading hole is formed in the central part of the motor stator, and the first rotating hole, the second rotating hole and the threading hole are connected to form the central vertical groove.
Optionally, the first rotating body comprises: the first coil iron core is bonded on the peripheral part of the motor stator; the first rotor comprises a first inner circle structure and a first outer circle structure, the first inner circle structure and the first outer circle structure are coaxially distributed and fixedly connected through a plurality of first connecting arms, a plurality of first mounting holes used for mounting the first rotor set are formed in the upper end face of the first inner circle structure, and a heat dissipation hole is formed in a gap between any two first connecting arms; the center part of the first inner circle structure is provided with the first rotating hole, and the motor stator is positioned between the first inner circle structure and the first outer circle structure; the first magnet is uniformly adhered to the inner wall of the first excircle structure; the bearing comprises a first bearing and a first bearing mounting seat, wherein the first bearing mounting seat is fixed on the first inner circle structure, a first boss is arranged on the first bearing mounting seat, and the first bearing is fixed on the first boss.
Optionally, the second rotating body comprises: the second coil iron core is bonded on the peripheral part of the motor stator; the second rotor comprises a second inner circle structure and a second outer circle structure, the second inner circle structure and the second outer circle structure are coaxially distributed and fixedly connected through a plurality of second connecting arms, a plurality of second mounting holes used for mounting the second rotor wing group are formed in the second inner circle structure, and a heat dissipation hole is formed in a gap between any two second connecting arms and used for dissipating heat; the central part of the second inner circle structure is provided with the second rotating hole; the second magnet is uniformly stuck on the inner wall of the second outer circular structure; the second bearing mounting base is fixed on the second inner circle structure, a second boss is arranged on the second bearing mounting base, and the second bearing is fixed on the second boss.
Optionally, the first rotor set comprises: two first rotors; the first connecting seat is provided with a first threaded hole, the first connecting seat is sleeved on the central fixed shaft, and the first connecting seat is fixed on the first inner circle structure through a plurality of first mounting holes; the first rotor wing folding mechanisms are fixedly connected with the first connecting seats, and the two first rotor wings are symmetrically fixed on two sides of the first rotor wing folding mechanisms so as to respectively perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction through the first rotor wing folding mechanisms; the first rotor folding mechanism includes: each first paddle clamp comprises a first parallel arm, a second parallel arm, a first pin shaft and a first convex arm, the first parallel arm is provided with a first connecting hole, the second parallel arm is provided with a second connecting hole, the first convex arm is provided with a third connecting hole, the first parallel arm and the second parallel arm are fixed on the first convex arm through respective end parts and form a groove structure with the first convex arm, so that any one first rotor wing is arranged in the corresponding groove structure through the end part of the first rotor wing, and sequentially penetrates through the first connecting hole, the end part of the first rotor wing and the second connecting hole through the first pin shaft to connect any one first rotor wing with the corresponding first paddle clamp pin shaft; the first propeller hub comprises two first concave arms and a first connecting ring, the two first concave arms are symmetrically fixed on two sides of the first connecting ring, each first concave arm corresponds to one first convex arm and is connected with the corresponding first convex arm through the third connecting hole pin shaft, a second threaded hole corresponding to the first threaded hole is formed in the first connecting ring, the first connecting ring is sleeved on the first connecting seat, and a first screw sequentially penetrates through the first threaded hole and the second threaded hole to enable the first connecting ring to be in threaded connection with the first connecting seat.
Optionally, the second rotor set comprises: two second rotors; the second connecting seat is provided with a fourth connecting hole, the second connecting seat is sleeved on the central fixed shaft, and the second connecting seat is fixed on the second inner circle structure through a plurality of second mounting holes; the two second rotors are symmetrically fixed on two sides of the second rotor folding mechanism so as to respectively perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction through the second rotor folding mechanism; the second rotor folding mechanism includes: each second paddle clamp comprises a third parallel arm, a fourth parallel arm, a second pin shaft and a second convex arm, the third parallel arm is provided with a fifth connecting hole, the fourth parallel arm is provided with a sixth connecting hole, the second convex arm is provided with a seventh connecting hole, the third parallel arm and the fourth parallel arm are fixed on the second convex arm through respective end parts and form a groove structure with the second convex arm, so that any one second rotor wing is arranged in the corresponding groove structure through the end part of the second rotor wing, and sequentially penetrates through the fifth connecting hole, the end part of the second rotor wing and the sixth connecting hole through the second pin shaft to connect any one second rotor wing with the corresponding second paddle clamp pin shaft; the second propeller hub comprises two second concave arms, a second connecting ring, a connecting shaft and two force guide arms for conducting driving force, the two second concave arms are symmetrically fixed on the two transverse sides of the second connecting ring, each second concave arm is correspondingly connected with one second convex arm through a seventh connecting hole pin shaft, an eighth connecting hole corresponding to the fourth connecting hole is formed in the second connecting ring, the second connecting ring is sleeved on the second connecting seat, and the connecting shaft sequentially penetrates through the eighth connecting hole and the fourth connecting hole to rotatably connect the second connecting ring and the second connecting seat; the two guide force arms are symmetrically fixed on two longitudinal sides of the second connecting ring and are respectively movably connected with the variable-pitch assembly, so that the two guide force arms are driven by the variable-pitch assembly to drive the second connecting ring to rotate around the connecting shaft.
Optionally, the pitch changing assembly includes: the driving disc is sleeved on the fixed end of the central fixed shaft through the hollow structure, and the other end of the first driving rod and the other end of the second driving rod are respectively movably connected with the driving disc; one end of the third driving rod is movably connected with the driving disc, and one end of the fourth driving rod is movably connected with the driving disc; the first steering engine is fixed on the load bin body and is movably connected with the other end of the third driving rod through the first steering engine arm; the second steering engine is fixed on the load bin body and is movably connected with the other end of the fourth driving rod through the second steering engine arm.
Optionally, the driving plate includes: a third bearing; the bearing groove is sleeved on the fixed end of the central fixed shaft, the third bearing is installed on the bearing groove, and the other end of the first driving rod and the other end of the second driving rod are respectively movably connected with the bearing groove; the fourth bearing is arranged on the fourth bearing installation seat, and the third bearing and the fourth bearing are in interference fit together; one end of the third driving rod is movably connected with the fourth bearing mounting seat, and one end of the fourth driving rod is movably connected with the fourth bearing mounting seat.
Optionally, the loading cartridge body comprises: the first cover body is sleeved at the peripheral parts of the first steering engine and the second steering engine so as to envelop the first steering engine and the second steering engine inside the first cover body; the first bin body is connected with the first cover body in a buckling mode, a first partition plate is arranged between the first bin body and the first cover body, and a flight control module is arranged in the first bin body; the second cabin body is connected with the first cabin body in a buckling mode, a second partition plate is arranged between the second cabin body and the first cabin body, and a navigation module is arranged in the second cabin body; the third bin body is connected with the second bin body in a buckling mode, a third partition plate is arranged between the third bin body and the second bin body, and a power supply module is arranged in the second bin body; the third cabin body is fixedly connected with the undercarriage, and the first partition plate, the second partition plate and the third partition plate are parallel to each other.
Optionally, the landing gear comprises: the rack body is of a circular structure and is fixedly connected with the third bin body; the first foot rest, the second foot rest and the third foot rest are respectively and movably connected with the frame body, so that the first foot rest, the second foot rest and the third foot rest can rotate relative to the frame body.
Has the advantages that:
the embodiment of the invention provides an unmanned aerial vehicle device based on coaxial double rotors, which comprises: motor element, rotor subassembly, displacement subassembly, load storehouse body and undercarriage. Wherein, a central vertical slot is arranged inside the motor component; the rotor wing assembly comprises a first rotor wing group, a second rotor wing group and a central fixed shaft, and the fixed end of the central fixed shaft sequentially passes through the first rotor wing group, the central vertical groove and the second rotor wing group, so that the first rotor wing group, the second rotor wing group and the motor assembly are symmetrically distributed by taking the central fixed shaft as a central shaft respectively; the load cabin body is internally provided with a flight control module, a navigation module, a power supply module and the like, an undercarriage is fixed below the load cabin body and used for supporting the whole flight device, a variable-pitch component is sleeved on the fixed end of a central fixed shaft and is movably connected with a second rotor wing group, the second rotor wing group is driven by the variable-pitch component to rotate relative to a first rotor wing group 21 so as to adjust the distance between the second rotor wing group and the first rotor wing group, thus, the variable-pitch operation of the rotor wings can be realized only by driving one rotor wing group to rotate relative to the other rotor wing group by one variable-pitch component, the variable-pitch operation structure is simplified, compared with the traditional operation mode that each rotor wing needs to be subjected to variable-pitch operation, the unmanned flight device based on coaxial double rotor wings is more convenient and simpler, and the unmanned flight device based on coaxial double rotor wings is formed by the motor component, the rotor wing components, the variable-pitch component, the single-pitch-variable structure has the advantages of simple overall structure, easiness in maintenance and high reliability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of the overall structure of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a connection relationship between a motor assembly, a rotor assembly and a driving assembly of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a first schematic structural diagram of a motor assembly in an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a second schematic structural diagram of a motor assembly in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 7 is a first schematic structural diagram of a first rotor folding mechanism in an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a first schematic structural diagram of a second rotor folding mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 9 is a second schematic structural diagram of a first rotor folding mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 10 is a second schematic structural diagram of a second rotor folding mechanism in the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 11 is a schematic structural diagram of a driving disc in an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 12 is a first schematic structural diagram of a landing gear of the unmanned aerial vehicle according to the embodiment of the invention;
fig. 13 is a second schematic structural diagram of a landing gear in the unmanned aerial vehicle according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention; the "and/or" keyword referred to in this embodiment represents sum or two cases, in other words, a and/or B mentioned in the embodiment of the present invention represents two cases of a and B, A or B, and describes three states where a and B exist, such as a and/or B, which represents: only A does not include B; only B does not include A; including A and B.
Also, in embodiments of the invention where an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the present invention.
Referring to fig. 1 to 10, an embodiment of the present invention provides an unmanned aerial vehicle based on coaxial dual rotors, including: motor element 1, rotor subassembly 2, displacement subassembly 3, load storehouse body 4 and undercarriage 5. Wherein, a central vertical slot is arranged inside the motor component 1; the rotor wing assembly 2 comprises a first rotor wing group 21, a second rotor wing group 22 and a central fixing shaft 23, the fixing end 231 of the central fixing shaft 23 sequentially penetrates through the first rotor wing group 21, the central vertical groove and the second rotor wing group 22, so that the first rotor wing group 21, the second rotor wing group 22 and the motor assembly 1 are respectively and symmetrically distributed by taking the central fixing shaft 23 as a central shaft, meanwhile, the first rotor wing group 21 and the second rotor wing group 22 are symmetrically fixed at the upper end surface and the lower end surface of the motor assembly 1, so that the first rotor wing group 21 and the second rotor wing group 22 are respectively driven to rotate when the motor assembly 1 rotates around the central fixing shaft 23, and a GPS signal receiving and transmitting device 6 is arranged on a signal end and used for receiving and transmitting GPS positioning signals; a flight control module 7, a navigation module 8, a power supply module 9 and the like are arranged in the load cabin 4, an undercarriage 5 is fixed below the load cabin 4 and used for supporting the whole flight device, the variable-pitch component 3 is sleeved on a fixed end 231 of a central fixed shaft 23 and is movably connected with the second rotor set 22, the second rotor set 22 is driven to rotate relative to the first rotor set 21 through the variable-pitch component 3 so as to adjust the distance between the second rotor set 22 and the first rotor set 21, thus the variable-pitch operation of the rotors can be realized only by driving one rotor set to rotate relative to the other rotor set through one variable-pitch component, the variable-pitch operation structure is simplified, compared with the traditional operation mode that each rotor needs to be subjected to the variable-pitch operation, the operation mode is more convenient and simpler, and the unmanned flight device based on coaxial double-rotor structure and composed of the motor component 1, the rotor component 2, the variable-pitch component 3, the load cabin 4 and the undercarriage 5 is adopted, the single-pitch-variable structure has the advantages of simple overall structure, easiness in maintenance and high reliability.
In order to further explain the present invention and to explain the technical problems to be solved and the technical effects to be achieved by the present invention in detail, the following description of the embodiments of the present invention describes the motor assembly 1, the rotor assembly 2, the pitch varying assembly 3, the loading bin 4 and the landing gear 5, which constitute the components of the unmanned aerial vehicle, one by one.
For the motor assembly 1;
with continuing reference to fig. 1-6, the motor assembly 1 includes: a motor stator 11, a first rotating body 12 and a second rotating body 13.
Wherein, an upper end surface of the first rotating body 12 (which can be understood as an upper surface of the first rotating body 12 shown in fig. 6) is fixedly connected to the first rotor set 21, so that the first rotor set 21 is driven to rotate in the first direction by the rotation of the first rotating body 12. A lower end surface of the second rotating body 13 (which can be understood as a lower surface of the second rotating body 13 shown in fig. 6) is fixedly connected to the second rotor set 22, so that the second rotor set 22 is driven to rotate in a second direction by the rotation of the second rotating body 13; and the first and second directions are opposite directions so that their reaction torques can cancel each other out. Further, the first rotating body 12 and the second rotating body 13 are symmetrically sleeved on the periphery of the motor stator 11, a first rotating hole 1221b is formed in the center of the first rotating body 12, a second rotating hole 1321b is formed in the center of the second rotating body 22, a threading hole 111 is formed in the center of the motor stator 11, and the first rotating hole 1221b, the second rotating hole 1321b and the threading hole 111 are connected to form a central vertical groove for accommodating the following central fixing shaft 23.
In an embodiment of the invention, the first rotating body 12 comprises: a first coil core 121, a first rotor 122, a first magnet 123, a first bearing 124, and a first bearing mount 125.
Wherein, the first coil core 121 is adhered to the peripheral part of the motor stator 11; first rotor 122 includes first inner circle structure 1221 and first outer circle structure 1222, and first inner circle structure 1221 and first outer circle structure 1222 coaxial distribution to through the first connecting arm 1223 fixed connection of a plurality of, and the up end of first inner circle structure 1221 is provided with the first mounting hole 1221a that a plurality of is used for installing first rotor group 21, with this through this first mounting hole 1221a with first rotor group 21 and first rotor 122 fixed connection, and drive first rotor group 21 and rotate in the first direction through the rotation of first rotor 122 in the first direction. A heat dissipation hole 1223a is formed in a gap portion between any two first connection arms 1223, so that a heat dissipation function of the motor assembly 1 in the rotation process is realized. A first rotating hole 1221b is provided at a central portion of the first inner circular structure 1221, and the motor stator 11 is located between the first inner circular structure 1221 and the first outer circular structure 1222. The first magnet 123 is uniformly adhered to the inner wall of the first outer circle structure 1221; the first bearing mounting base 125 is fixed on the first inner circular structure 1221, a first boss 1251 is provided on the first bearing mounting base 125, and the first bearing 124 is fixed on the first boss 1251.
In the present embodiment, the second rotating body 13 comprises: a second coil core 131, a second rotor 132, a second magnet 133, a second bearing 134, and a second bearing mount 135.
Wherein, the second coil core 131 is adhered to the peripheral part of the motor stator 11; the second rotor 132 includes a second inner circular structure 1321 and a second outer circular structure 1322, the second inner circular structure 1321 and the second outer circular structure 1322 are coaxially distributed, and are fixedly connected through a plurality of second connecting arms 1323, and a plurality of second mounting holes for mounting the second rotor set 22 are provided on the second inner circular structure 1321, so that the second rotor set 22 and the second rotor 132 are fixedly connected through the second mounting holes, and the second rotor set 22 is driven to rotate in the second direction by the rotation of the second rotor 132 in the second direction. A heat dissipation hole 1223a is formed in a gap between any two second connecting arms 1323 for heat dissipation; a second rotating hole 1321b is formed in the center of the second inner circular structure 1321; the second magnet 133 is uniformly adhered to the inner wall of the second outer circular structure 1322; the second bearing mounting seat 135 is fixed on the second inner circular structure 1321, and a second boss 1351 is arranged on the second bearing mounting seat 135, and the second bearing 134 is fixed on the second boss 1351.
In the first and second rotating bodies 12 and 13, the first and second magnets 123 and 133 may be rare-earth neodymium-iron-boron magnets, and the first and second bearings 124 and 134 may be deep groove ball bearings. The upper/lower layer rotor (the first rotor 122 and the second rotor 132) of the motor is provided with heat dissipation holes 1223a and mounting holes (the first mounting hole 1221a and the second mounting hole), and the rare earth neodymium iron boron magnet is uniformly adhered to the inner wall of the upper/lower layer rotor. The coil iron core is wound with a coil for driving a motor to move, the bearing mounting seat is provided with bosses (a first boss 1251 and a second boss 1351) for fixing the deep groove ball bearings (the first bearing 124 and the second bearing 134), the middle of the motor stator is provided with a central vertical groove for wiring, and the inner wall of the motor stator is provided with a key groove for fixing a main shaft and the like. That is, in the motor assembly 1 composed of the motor stator 11, the first rotating body 12 and the second rotating body 13 according to the embodiment of the present invention, it is a dual-rotor brushless motor, and the conventional motor is a single-rotor motor, and the first rotating hole 1221b, the second rotating hole 1321b and the threading hole 111 in the embodiment of the present invention are connected to form a central vertical slot structure for installing the following central fixing shaft 23, so that the motor assembly 1 according to the embodiment of the present invention is a hollow shaft motor assembly, and the middle part thereof can be used for threading, so that the internal space thereof is reasonably applied, and the structure is simple and convenient, while the conventional motor is a solid spindle, and the central part has no threading function. In addition, the motor assembly 1 in the embodiment of the invention shares one motor stator through the double rotors, is compact in deconstruction, can reduce the use of one motor stator compared with the traditional coaxial double-rotor unmanned aerial vehicle, is more portable, and improves the cruising ability.
For rotor assembly 2;
with continued reference to fig. 1-10, the rotor assembly 2 includes a first rotor set 21, a second rotor set 22 and a central stationary shaft 23, and the fixed end 231 of the central stationary shaft 23 passes through the first rotor set 21, the central vertical slot and the second rotor set 22 in sequence.
Wherein, first rotor group 21 specifically includes: two first rotors 211, a first connection base 212, and a first rotor folding mechanism 213. This first rotor folding mechanism 213 is used for connecting two first rotors 211 for realize two first rotors 211's horizontal folding and vertical folding, first connector 212 is used for being connected two first rotors 211, first connector 212 and first rotor folding mechanism 213 with central fixed axle 23, and central fixed axle 23 cover is established in the central perpendicular groove of motor element 1, and first connector 212 and motor element 1 fixed connection, in order to rotate through two first rotors 211 of motor element 1 drive.
Specifically, the first connection seat 212 is provided with a first threaded hole 2121, and the first connection seat 212 is sleeved on the central fixed shaft 23 and fixed on the first inner circle structure 1221 of the first rotor 122 through a plurality of first mounting holes 1221 a. First rotor folding mechanism 213 and first connector 212 fixed connection, two first rotors 211 are fixed in the both sides of first rotor folding mechanism 213 of symmetry to carry out horizontal folding and the vertical folding in the longitudinal direction in the horizontal direction respectively through first rotor folding mechanism.
With continued reference to fig. 4, 7, and 9, the first rotor folding mechanism 213 includes: two first paddle clips 2131 and a first hub 2132. Each first paddle clamp 2131 includes a first parallel arm 21311, a second parallel arm 21312, a first pin 21313, and a first protruding arm 21314, the first parallel arm 21311 is provided with a first connecting hole 21311a, the second parallel arm 21312 is provided with a second connecting hole 21312a, the first protruding arm 21314 is provided with a third connecting hole 21314a, the first parallel arm 21311 and the second parallel arm 21312 are fixed on the first protruding arm 21314 through respective ends, and form a groove 2133 structure with the first protruding arm 21314, so that any one first rotor 211 is disposed in the corresponding groove 2133 structure through the end thereof, and sequentially passes through the first connecting hole 21311a, the end of the first rotor 211, and the second connecting hole 21312a through a first pin 21313, so as to connect any one first rotor 211 with a corresponding first paddle clamp 2131 through the pin. That is, in the embodiment of the present invention, it can be understood that the left and right sides of the first rotor folding mechanism 213 are provided with 2 symmetrical first paddle clamps 2131 for installing the left and right symmetrical first rotors 211, and each of the left and right first paddle clamps 2131 is provided with a recess 2133 structure formed by a first parallel arm 21311, a second parallel arm 21312 and a first protruding arm 21314, so that the end of the first rotor 211 can be inserted into the recess 2133 structure and connected with the first pin 21313, the first connection hole 21311a and the second connection hole 21312 a.
In addition, the first hub 2131 includes two first concave arms 21321 and one first connecting ring 21322, the two first concave arms 21321 are symmetrically fixed on two sides of the first connecting ring 21322, each first concave arm 21321 is connected with one first convex arm 21314 through a third connecting hole 21314a by a pin, a second threaded hole 21322a corresponding to the first threaded hole 2121 is arranged on the first connecting ring 21322, the first connecting ring 21322 is sleeved on the first connecting seat 212, and the first connecting ring 21322 is connected with the first connecting seat 212 by a first screw passing through the first threaded hole 2121 and the second threaded hole 21322a in sequence. That is, it can be understood in the embodiment of the present invention that 2 first concave arms 21321 are symmetrically disposed on the left and right sides of the first hub 2131, and the 2 first concave arms 21321 correspond to the 2 first convex arms 21314, and each first convex arm 21314 is pin-connected to a corresponding one of the first concave arms 21321 through a corresponding third connecting hole 21314 a.
It should be noted that each first paddle clip 2131 is connected with a corresponding first concave arm 21321 of the first hub 2131 through a first convex arm 21314 by a pin, so that the first paddle clip 2131 can rotate and fold around the first concave arm 21321 (i.e., the first paddle clip 2131) in the longitudinal direction through the pin connection, and meanwhile, because the end portions of the two first rotors 211 are inserted into the structures of the concave grooves 2133 and are also connected through the pin of the first pin 21313, the first rotors 211 can rotate and fold in the transverse direction relative to the first paddle clip 2131, thereby achieving the transverse folding and the longitudinal folding of the first rotors 211 in the process of storing the flying device, reducing the storage volume of the flying device, and achieving the technical effect of saving the occupied space.
Similar to the first rotor group 21, the second rotor group 22 in the embodiment of the present invention specifically includes: two second rotors 221, a second connection mount 222, and a second rotor folding mechanism 223. The second connecting seat 222 is provided with a fourth connecting hole 2221, the second connecting seat 222 is sleeved on the central fixing shaft 23, and the second connecting seat 222 is fixed on the second inner circle structure through a plurality of second mounting holes. Meanwhile, the second rotor folding mechanism 223 is fixedly connected with the second connecting seat 222, and the two second rotors 222 are symmetrically fixed at two sides of the second rotor folding mechanism 223 so as to respectively perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction through the second rotor folding mechanism 223.
With continued reference to fig. 4, 8 and 10, second rotor folding mechanism 223 includes: two second paddle clamps 2231, each second paddle clamp 2231 includes a third parallel arm 22311, a fourth parallel arm 22312, a second pin 22313, and a second convex arm 22314. The third parallel arm 22311 is provided with a fifth connecting hole 22311a, the fourth parallel arm 22312 is provided with a sixth connecting hole 22312a, the second convex arm 22314 is provided with a seventh connecting hole 22314a, the third parallel arm 22311 and the fourth parallel arm 22312 are fixed on the second convex arm 22314 through respective ends, and form a groove 2133 structure with the second convex arm 22314, so that any one of the second rotors 221 is arranged in the corresponding groove 2133 structure through the end thereof, and sequentially passes through the fifth connecting hole 22311a, the end of the second rotor 221 and the sixth connecting hole 22312a through the second pin 22313, and any one of the second rotors 221 is pin-connected with a corresponding one of the second paddle clamps 2231;
that is, it can be understood that in the embodiment of the present invention, the second rotor folding mechanism 223 is provided with 2 symmetrical second blade clips 2231 on the left and right sides for installing the second rotor 221, and each of the second blade clips 2231 on the left and right sides is provided with a groove 2133 structure formed by a third parallel arm 22311, a fourth parallel arm 22312 and a second convex arm 22314, so that the end of the second rotor 221 can be inserted into the groove 2133 structure.
In addition, in the embodiment of the present invention, the second hub 2232 may include two second concave arms 22321, one second connecting ring 22322, one connecting shaft 22323 and two guide arms 22324 for conducting the driving force, the two second concave arms 22321 are symmetrically fixed on two lateral sides of the second connecting ring 22322, each second concave arm 22321 is connected to one second convex arm 22314 through a seventh connecting hole 22314 by a pin, the second connecting ring 22322 is provided with an eighth connecting hole 22322 corresponding to the fourth connecting hole 2221, and the second connecting ring is sleeved on the second connecting seat, and the connecting shaft passes through the eighth connecting hole and the fourth connecting hole in sequence to rotatably connect the second connecting ring and the second connecting seat; the two guide force arms are symmetrically fixed on two longitudinal sides of the second connecting ring and are respectively movably connected with the variable-pitch assembly, so that the two guide force arms are driven by the variable-pitch assembly to drive the second connecting ring to rotate around the connecting shaft.
It should also be noted that each second paddle clamp 2231 is pivotally connected to a corresponding second concave arm 22321 of the second hub 2232 by a second convex arm 22314, so that the second paddle clamp 2231 can be rotationally folded around the second concave arm 22321 (i.e., the second paddle clamp 2231) in the longitudinal direction by the pivotal connection, and at the same time, since the end portions of the two second rotors 221 are inserted into the groove 2133 structure and are also pivotally connected by a second pin 22313, the second rotor 221 can be rotationally folded in the transverse direction with respect to the second paddle clamp 2231, thereby achieving the transverse folding and the longitudinal folding of the second rotor 211 during the storage of the flight device, reducing the storage volume of the flight device, and achieving the technical effect of saving occupied space.
It should be noted that, in the embodiment of the present invention, in order to implement single-rotor driving variable-pitch, the present invention innovatively connects only the second rotor group 22 to the variable-pitch assembly 3, that is, two guide arms 22324 are symmetrically disposed on two longitudinal sides of the second connecting ring 22322 and are movably connected to the variable-pitch assembly 3, respectively, so that the variable-pitch assembly drives the two guide arms 22324 to drive the second connecting ring 22322 to rotate.
For the pitch assembly 3;
referring to fig. 11 in conjunction with fig. 4, the pitch-variable device 3 specifically includes: a first drive rod 31, a second drive rod 32, a drive disk 33, a third drive rod 34, a fourth drive rod 35, a first steering engine 36, a first rudder arm 37, a second steering engine 38 and a second rudder arm 39.
Specifically, one end of the first driving rod 31 is movably connected to one of the force guide arms 22324 of the second hub 2232, one end of the second driving rod 34 is movably connected to the other of the force guide arms 2232 of the second hub 2232, the center of the driving disk 33 is a hollow structure, so that the driving disk 33 is sleeved on the fixed end 232 of the central fixed shaft 23 through the hollow structure, and the other end of the first driving rod 31 and the other end of the second driving rod 32 are respectively movably connected to the driving disk 33. One end of the third driving rod 34 is movably connected with the driving disk 33, and one end of the fourth driving rod 35 is movably connected with the driving disk 33. The first steering engine 36 is fixed on the loading cabin 4 and is movably connected with the other end of the third driving rod 34 through a first steering engine arm 37. The second steering engine 36 is fixed on the loading cabin 4 and is movably connected with the other end of the fourth driving rod 35 through a second steering engine arm 37.
In the driving process, after the first steering engine 36 and the second steering engine 38 are powered on, the corresponding driving rods (the third driving rod 34 and the fourth driving rod 35) are driven to move through respective steering engine arms (the first steering engine arm 37 and the second steering engine 36) respectively, so that the two driving force guide arms 22324 corresponding to the third driving rod 34 and the fourth driving rod 35 in the moving process move up and down, and finally the two driving force guide arms 22324 in the up-and-down moving process drive the driving coil connecting shaft 22323 to rotate.
In one embodiment, the drive disk 33 may include: a third bearing 331, a bearing groove 332, a fourth bearing 333, and a fourth bearing mount 334. The bearing groove 332 is sleeved on the fixed end 232 of the central fixing shaft 23, the third bearing 331 is installed on the bearing groove 332, and the other end of the first driving rod 31 and the other end of the second driving rod 32 are movably connected with the bearing groove 332 respectively. The fourth bearing 333 is mounted on the fourth bearing mounting seat 334, and the third bearing 331 and the fourth bearing 333 are in interference fit together; one end of the third driving rod 34 is movably connected to the fourth bearing mounting seat 334, and one end of the fourth driving rod 35 is movably connected to the fourth bearing mounting seat 334.
In the present embodiment, the load cartridge body 4 comprises: a first cover 41, a first bin 42, a second bin 43 and a third bin 44.
The first cover body 41 is sleeved at the peripheral parts of the first steering engine 36 and the second steering engine 38, so that the first steering engine 36 and the second steering engine 38 are enveloped in the first cover body 41; can effectually avoid first steering wheel 36 and second steering wheel 38 to expose completely in the external world like this, improve first steering wheel 36 and second steering wheel 38's security. Meanwhile, the first cabin 42 and the first cover 41 are connected in a snap-fit manner, a first partition plate 45 is arranged between the first cabin 42 and the first cover 41, and the flight control module 7 is arranged in the first cabin 42. The first cabin 42 and the first cover 41 are connected in a snap-fit manner to realize quick installation and quick detachment therebetween, and the flight control module 7 can be fixed on the first partition plate 45 in an adhesion or other detachable connection manner. Similarly, the second cabin body 43 and the first cabin body 42 are also connected in a snap-fit manner, a second partition plate 46 is also arranged between the second cabin body 43 and the first cabin body 42, and the navigation module 8 is arranged in the second cabin body 43. The second cabin body 43 and the first cabin body 42 are connected in a snap-fit manner to realize quick installation and quick detachment therebetween, and the navigation module 8 can be fixed on the second partition plate 46 in an adhesion or other detachable connection manner. Similarly, the third cabin 44 and the second cabin 43 are connected in a snap-fit manner, a third partition 47 is disposed between the third cabin 44 and the second cabin 43, and the power module 9 is disposed in the second cabin 43. The third cabin 44 and the second cabin 43 are connected in a snap-fit manner to realize quick installation and quick detachment therebetween, and the power module 9 can be fixed on the third partition plate 47 in an adhesion or other detachable connection manner. And the first partition plate, the second partition plate and the third partition plate are parallel to each other.
It should be noted that, in the embodiment of the present invention, since the motor assembly adopts a brand-new "dual-rotor single-stator" structure, and the central fixing shaft 23 adopts a hollow structure, the hollow inside of the central fixing shaft 23 can be used for installing electric wires, in other words, the circuit of the GPS signal receiving/transmitting device, the circuit of the flight control module, the circuit of the navigation module, the circuit of the power module, and the like in the embodiment of the present invention can be communicated with each other through the hollow structure of the central fixing shaft 23.
In an embodiment of the present invention, referring to fig. 3 in combination with fig. 12 to 13, the third cabin 44 is fixed to the landing gear 5, and the landing gear 5 specifically includes: a frame body 51, a first foot frame 52, a second foot frame 53 and a third foot frame 54. Wherein, the shelf body is in a circular structure and is fixedly connected with the third bin body 44. The first foot rest 52, the second foot rest 53 and the third foot rest 54 are respectively movably connected with the frame body 51, so that the first foot rest 52, the second foot rest 53 and the third foot rest 54 can rotate relative to the frame body 51, and finally, the retraction and the extension of the landing gear are realized.
In summary, the coaxial dual-rotor-based unmanned aerial vehicle provided by the embodiment of the invention includes a motor assembly 1, a rotor assembly 2, a variable pitch assembly 3, a load cabin 4 and an undercarriage 5. Wherein, a central vertical slot is arranged inside the motor component 1; the rotor wing assembly 2 comprises a first rotor wing group 21, a second rotor wing group 22 and a central fixing shaft 23, the fixing end 231 of the central fixing shaft 23 sequentially penetrates through the first rotor wing group 21, the central vertical groove and the second rotor wing group 22, so that the first rotor wing group 21, the second rotor wing group 22 and the motor assembly 1 are respectively and symmetrically distributed by taking the central fixing shaft 23 as a central shaft, meanwhile, the first rotor wing group 21 and the second rotor wing group 22 are symmetrically fixed at the upper end surface and the lower end surface of the motor assembly 1, so that the first rotor wing group 21 and the second rotor wing group 22 are respectively driven to rotate when the motor assembly 1 rotates around the central fixing shaft 23, and a GPS signal receiving and transmitting device 6 is arranged on a signal end and used for receiving and transmitting GPS positioning signals; a flight control module 7, a navigation module 8, a power supply module 9 and the like are arranged in the load cabin 4, an undercarriage 5 is fixed below the load cabin 4 and used for supporting the whole flight device, the variable-pitch component 3 is sleeved on a fixed end 231 of a central fixed shaft 23 and is movably connected with the second rotor set 22, the second rotor set 22 is driven to rotate relative to the first rotor set 21 through the variable-pitch component 3 so as to adjust the distance between the second rotor set 22 and the first rotor set 21, thus the variable-pitch operation of the rotors can be realized only by driving one rotor set to rotate relative to the other rotor set through one variable-pitch component, the variable-pitch operation structure is simplified, compared with the traditional operation mode that each rotor needs to be subjected to the variable-pitch operation, the operation mode is more convenient and simpler, and the unmanned flight device based on coaxial double-rotor structure and composed of the motor component 1, the rotor component 2, the variable-pitch component 3, the load cabin 4 and the undercarriage 5 is adopted, the single-pitch-variable structure has the advantages of simple overall structure, easiness in maintenance and high reliability.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (7)
1. An unmanned aerial vehicle device based on coaxial dual rotors, the device comprising:
the motor component is internally provided with a central vertical groove;
a rotor assembly, the rotor assembly comprising: the central fixed shaft is provided with a signal end and a fixed end, and the fixed end sequentially penetrates through the first rotor group, the central vertical groove and the second rotor group, so that the first rotor group, the second rotor group and the motor assembly are respectively and symmetrically distributed by taking the central fixed shaft as a central shaft, the first rotor group and the second rotor group are symmetrically fixed at the upper end surface and the lower end surface of the motor assembly, so that the first rotor group and the second rotor group are respectively driven to rotate when the motor assembly rotates around the central fixed shaft, and the signal end is provided with a GPS signal receiving and transmitting device;
the variable-pitch assembly is sleeved on the fixed end of the central fixed shaft, is movably connected with the second rotor wing group, and drives the second rotor wing group to rotate relative to the first rotor wing group through the variable-pitch assembly so as to adjust the distance between the second rotor wing group and the first rotor wing group;
the load bin body is fixed on the fixed end of the central fixed shaft and used for internally placing a load;
the undercarriage is fixed on the loading cabin body;
the motor assembly includes:
a motor stator;
the upper end surface of the first rotating body is fixedly connected with the first rotor wing group so as to drive the first rotor wing group to rotate through the rotation of the first rotating body;
the lower end surface of the second rotating body is fixedly connected with the second rotor wing group so as to drive the second rotor wing group to rotate through the rotation of the second rotating body;
the first rotating body and the second rotating body are symmetrically sleeved on the periphery of the motor stator, a first rotating hole is formed in the center of the first rotating body, a second rotating hole is formed in the center of the second rotating body, a threading hole is formed in the center of the motor stator, and the first rotating hole, the second rotating hole and the threading hole are connected to form the central vertical groove;
the first rotating body includes:
the first coil iron core is bonded on the peripheral part of the motor stator;
the first rotor comprises a first inner circle structure and a first outer circle structure, the first inner circle structure and the first outer circle structure are coaxially distributed and fixedly connected through a plurality of first connecting arms, a plurality of first mounting holes used for mounting the first rotor set are formed in the upper end face of the first inner circle structure, and a heat dissipation hole is formed in a gap between any two first connecting arms; the center part of the first inner circle structure is provided with the first rotating hole, and the motor stator is positioned between the first inner circle structure and the first outer circle structure;
the first magnet is uniformly adhered to the inner wall of the first excircle structure;
the first bearing mounting base is fixed on the first inner circle structure, a first boss is arranged on the first bearing mounting base, and the first bearing is fixed on the first boss;
the second rotating body includes:
the second coil iron core is bonded on the peripheral part of the motor stator;
the second rotor comprises a second inner circle structure and a second outer circle structure, the second inner circle structure and the second outer circle structure are coaxially distributed and fixedly connected through a plurality of second connecting arms, a plurality of second mounting holes used for mounting the second rotor wing group are formed in the second inner circle structure, and a heat dissipation hole is formed in a gap between any two second connecting arms and used for dissipating heat; the central part of the second inner circle structure is provided with the second rotating hole;
the second magnet is uniformly stuck on the inner wall of the second outer circular structure;
the second bearing mounting base is fixed on the second inner circle structure, a second boss is arranged on the second bearing mounting base, and the second bearing is fixed on the second boss.
2. The apparatus of claim 1, wherein the first rotor set comprises:
two first rotors;
the first connecting seat is provided with a first threaded hole, the first connecting seat is sleeved on the central fixed shaft, and the first connecting seat is fixed on the first inner circle structure through a plurality of first mounting holes;
the first rotor wing folding mechanisms are fixedly connected with the first connecting seats, and the two first rotor wings are symmetrically fixed on two sides of the first rotor wing folding mechanisms so as to respectively perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction through the first rotor wing folding mechanisms; the first rotor folding mechanism includes:
each first paddle clamp comprises a first parallel arm, a second parallel arm, a first pin shaft and a first convex arm, the first parallel arm is provided with a first connecting hole, the second parallel arm is provided with a second connecting hole, the first convex arm is provided with a third connecting hole, the first parallel arm and the second parallel arm are fixed on the first convex arm through respective end parts and form a groove structure with the first convex arm, so that any one first rotor wing is arranged in the corresponding groove structure through the end part of the first rotor wing, and sequentially penetrates through the first connecting hole, the end part of the first rotor wing and the second connecting hole through the first pin shaft to connect any one first rotor wing with the corresponding first paddle clamp pin shaft;
the first propeller hub comprises two first concave arms and a first connecting ring, the two first concave arms are symmetrically fixed on two sides of the first connecting ring, each first concave arm corresponds to one first convex arm and is connected with the corresponding first convex arm through the third connecting hole pin shaft, a second threaded hole corresponding to the first threaded hole is formed in the first connecting ring, the first connecting ring is sleeved on the first connecting seat, and a first screw sequentially penetrates through the first threaded hole and the second threaded hole to enable the first connecting ring to be in threaded connection with the first connecting seat.
3. The apparatus of claim 2, wherein the second rotor set comprises:
two second rotors;
the second connecting seat is provided with a fourth connecting hole, the second connecting seat is sleeved on the central fixed shaft, and the second connecting seat is fixed on the second inner circle structure through a plurality of second mounting holes;
the two second rotors are symmetrically fixed on two sides of the second rotor folding mechanism so as to respectively perform transverse folding in the transverse direction and longitudinal folding in the longitudinal direction through the second rotor folding mechanism; the second rotor folding mechanism includes:
each second paddle clamp comprises a third parallel arm, a fourth parallel arm, a second pin shaft and a second convex arm, the third parallel arm is provided with a fifth connecting hole, the fourth parallel arm is provided with a sixth connecting hole, the second convex arm is provided with a seventh connecting hole, the third parallel arm and the fourth parallel arm are fixed on the second convex arm through respective end parts and form a groove structure with the second convex arm, so that any one second rotor wing is arranged in the corresponding groove structure through the end part of the second rotor wing, and sequentially penetrates through the fifth connecting hole, the end part of the second rotor wing and the sixth connecting hole through the second pin shaft to connect any one second rotor wing with the corresponding second paddle clamp pin shaft;
the second propeller hub comprises two second concave arms, a second connecting ring, a connecting shaft and two force guide arms for conducting driving force, the two second concave arms are symmetrically fixed on the two transverse sides of the second connecting ring, each second concave arm is correspondingly connected with one second convex arm through a seventh connecting hole pin shaft, an eighth connecting hole corresponding to the fourth connecting hole is formed in the second connecting ring, the second connecting ring is sleeved on the second connecting seat, and the connecting shaft sequentially penetrates through the eighth connecting hole and the fourth connecting hole to rotatably connect the second connecting ring and the second connecting seat; the two guide force arms are symmetrically fixed on two longitudinal sides of the second connecting ring and are respectively movably connected with the variable-pitch assembly, so that the two guide force arms are driven by the variable-pitch assembly to drive the second connecting ring to rotate around the connecting shaft.
4. The apparatus of claim 3, wherein the pitch assembly comprises:
one end of the first driving rod is movably connected with one guide arm in the second hub, one end of the second driving rod is movably connected with the other guide arm in the second hub,
the center part of the driving disc is of a hollow structure, so that the driving disc is sleeved on the fixed end of the central fixed shaft through the hollow structure, and the other end of the first driving rod and the other end of the second driving rod are respectively movably connected with the driving disc;
one end of the third driving rod is movably connected with the driving disc, and one end of the fourth driving rod is movably connected with the driving disc;
the first steering engine is fixed on the load bin body and is movably connected with the other end of the third driving rod through the first steering engine arm;
the second steering engine is fixed on the load bin body and is movably connected with the other end of the fourth driving rod through the second steering engine arm.
5. The apparatus of claim 4, wherein the drive plate comprises:
a third bearing;
the bearing groove is sleeved on the fixed end of the central fixed shaft, the third bearing is installed on the bearing groove, and the other end of the first driving rod and the other end of the second driving rod are respectively movably connected with the bearing groove;
the fourth bearing is arranged on the fourth bearing installation seat, and the third bearing and the fourth bearing are in interference fit together; one end of the third driving rod is movably connected with the fourth bearing mounting seat, and one end of the fourth driving rod is movably connected with the fourth bearing mounting seat.
6. The device of claim 5, wherein the loading cartridge body comprises:
the first cover body is sleeved at the peripheral parts of the first steering engine and the second steering engine so as to envelop the first steering engine and the second steering engine inside the first cover body;
the first bin body is connected with the first cover body in a buckling mode, a first partition plate is arranged between the first bin body and the first cover body, and a flight control module is arranged in the first bin body;
the second cabin body is connected with the first cabin body in a buckling mode, a second partition plate is arranged between the second cabin body and the first cabin body, and a navigation module is arranged in the second cabin body;
the third bin body is connected with the second bin body in a buckling mode, a third partition plate is arranged between the third bin body and the second bin body, and a power supply module is arranged in the second bin body;
the third cabin body is fixedly connected with the undercarriage, and the first partition plate, the second partition plate and the third partition plate are parallel to each other.
7. The apparatus of claim 6, wherein the landing gear comprises:
the rack body is of a circular structure and is fixedly connected with the third bin body;
the first foot rest, the second foot rest and the third foot rest are respectively and movably connected with the frame body, so that the first foot rest, the second foot rest and the third foot rest can rotate relative to the frame body.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| PT3218263T (en) * | 2014-11-10 | 2022-05-16 | Ascent Aerosystems Inc | Unmanned flying device |
| CN111003170B (en) * | 2019-12-24 | 2021-09-28 | 湖南韬讯航空科技有限公司 | Self-adaptive unfolding coaxial rotor system |
| WO2022133132A2 (en) * | 2020-12-16 | 2022-06-23 | Dash Systems, Inc. | Autorotating payload delivery device |
| CN113942635A (en) * | 2021-12-20 | 2022-01-18 | 深圳市高端无人机有限公司 | Coaxial unmanned aerial vehicle |
| GB2618781A (en) * | 2022-05-12 | 2023-11-22 | Overwerx Ltd | Unmanned aerial vehicle |
| AT526183A1 (en) * | 2022-06-13 | 2023-12-15 | Andreas Desch Dipl Ing | DRONE |
| CN115367145A (en) * | 2022-08-26 | 2022-11-22 | 哈尔滨工业大学 | Electromagnetic drive attitude-adjusting coaxial Mars aircraft |
| CN115535228A (en) * | 2022-11-01 | 2022-12-30 | 苏州览众科技有限公司 | Coaxial double-rotor unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8167233B2 (en) * | 2007-12-21 | 2012-05-01 | Avx Aircraft Company | Coaxial rotor aircraft |
| US10703475B2 (en) * | 2016-04-25 | 2020-07-07 | Uvionix Aerospace Corporation | Unmanned aerial vehicle |
| CN106428542B (en) * | 2016-08-16 | 2018-11-06 | 南京韬讯航空科技有限公司 | A kind of coaxal helicopter operating mechanism |
| CN106347649B (en) * | 2016-09-28 | 2019-04-26 | 深圳一电航空技术有限公司 | Blade connector and coaxial double-oar structure and unmanned plane |
| CN108275264A (en) * | 2018-03-05 | 2018-07-13 | 南京韬讯航空科技有限公司 | A kind of foldable coaxial dual-rotor helicopter and its control method |
| CN108551278B (en) * | 2018-03-06 | 2024-04-30 | 南京航空航天大学 | Patch type abnormal-direction rotating double-rotor ultrasonic motor |
| CN108557070B (en) * | 2018-04-12 | 2019-05-03 | 北京理工大学 | A kind of small-sized coaxial dual-rotor helicopter |
| CN109747817A (en) * | 2019-03-11 | 2019-05-14 | 王继华 | A kind of no empennage vector coaxal helicopter design |
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