CN111332462B - Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle - Google Patents
Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111332462B CN111332462B CN202010114038.7A CN202010114038A CN111332462B CN 111332462 B CN111332462 B CN 111332462B CN 202010114038 A CN202010114038 A CN 202010114038A CN 111332462 B CN111332462 B CN 111332462B
- Authority
- CN
- China
- Prior art keywords
- rotor
- steering engine
- ring
- hinge
- rotor wing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000008859 change Effects 0.000 claims abstract description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000000737 periodic effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 7
- 230000009977 dual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 241000626238 Cepora Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
The invention relates to a portable small-sized cylinder type coaxial reverse-propeller three-blade rotary wing type unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. According to the invention, the steering engine disc and the steering engine connecting rod are driven to rotate through the rotation of the steering engine, so that the inclination direction of the inclined disc device is changed, the inclined disc device can incline around the central spherical hinge to generate an inclination angle, thereby realizing the free control of the plane of the inclined disc device, the change of the plane of the inclined disc device brings the change of the plane inclination of the upper rotor wing, the direction of the lifting surface of the upper rotor wing is changed, and the flying of an aircraft in all directions is realized. The set of control mechanism is not complex, and realizes the control of the coaxial reverse-propeller three-blade rotor structure, and because the steering engine controls the plane inclination angle of the tilting disk device, the control system is easier to design than other similar aircrafts. On the premise of realizing the functions and exerting the advantages of the coaxial counter-rotating unmanned aerial vehicle, the invention can overcome the complex structure of the conventional coaxial counter-rotating unmanned aerial vehicle and reduce the design difficulty of the control system of the coaxial counter-rotating unmanned aerial vehicle.
Description
Technical Field
The invention relates to a portable small-sized cylinder type coaxial reverse-propeller three-blade rotary wing type unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles.
Background
The portable small-sized cylinder type coaxial anti-propeller three-blade rotary wing type unmanned aerial vehicle is an unmanned aerial vehicle which has small volume, high maneuvering flexibility, capability of taking off and landing vertically and hovering at fixed points, and the unmanned aerial vehicle has the advantages of compact structure, high stability, high manipulation and hovering efficiency, capability of tightly attaching to the outer wall of the unmanned aerial vehicle after blades are folded, cylindrical appearance structure, portability and launching, and good general universality in the aspects of military and civilian use.
At present, small coaxial reverse-propeller unmanned aerial vehicles are also under study, such as coaxial rotor helicopters of research teams of Beijing aerospace university, which are developed based on the movement characteristics of gulls. The operating mechanism of the helicopter is complex, the operation principle is the same as that of a helicopter, but the helicopter does not contain a tail rotor and has a spherical body, and the body in the shape is very unfavorable for the flexibility of the aircraft. (Chenming, Xuguanfeng, Zhangiei. helicopter transmission system and rotor system Key technologies [ J ] aeronautical manufacturing technologies, 2010(16):32-37.)
However, the existing coaxial counter-rotating unmanned aerial vehicle has fewer types and relatively low maturity, and compared with other types of aircrafts, the existing coaxial counter-rotating unmanned aerial vehicle has the defects of immature structural design and attitude control technology and narrow application range, mainly because the aircrafts require a complicated fuselage mechanism and have high design difficulty of a control system, and the two factors are the primary reasons for limiting the development of the coaxial double-rotor aircraft.
Disclosure of Invention
The invention aims to solve the problem that the existing small coaxial counter-propeller unmanned aerial vehicle is complex in structure, and provides a portable small cylindrical coaxial counter-propeller three-blade rotary wing type unmanned aerial vehicle; the unmanned aerial vehicle overcomes the complex structure of the conventional coaxial counter-rotating unmanned aerial vehicle on the premise of realizing the functions of the coaxial counter-rotating unmanned aerial vehicle and exerting the advantages of the coaxial counter-rotating unmanned aerial vehicle, and the design difficulty of a control system of the unmanned aerial vehicle is reduced.
The purpose of the invention is realized by the following technical scheme.
A portable small-size cylinder coaxial anti-oar three-blade rotor type unmanned aerial vehicle includes: the device comprises a middle shaft, a rotor wing device, a load cylinder, an outer rotor driving motor and an operating mechanism;
the rotor device includes: the device comprises a paddle, an upper rotor motor rotor, a boss, a shimmy hinge, a flapping hinge and a lower rotor motor rotor; the boss, the flapping hinge, the shimmy hinge and the blade which are fixed on the rotor shell of the upper rotor motor are sequentially connected; the pendulum vibration hinge takes the swinging hinge as a fulcrum to realize up-and-down swinging; the flapping hinge can rotate along the connecting position with the boss;
the operating mechanism includes: the device comprises a tilting disc device, a steering engine chassis, a steering engine turntable, a steering engine connecting rod, a rotor wing connecting rod, a small spherical hinge ball head, a small spherical hinge shell, a central spherical hinge, a spherical hinge shell, a fixed ring inner ring, a rotating ring outer ring and a bearing;
the tilting disk device consists of a central spherical hinge, a spherical hinge shell, a fixed ring inner ring, a rotating ring outer ring and a bearing; the spherical hinge shell can rotate around to realize small-angle rotation of the spherical hinge shell; the inner ring of the fixed ring is fixed on the outer side of the spherical hinge shell; the outer ring of the bearing and the outer ring of the rotating ring are fixedly arranged; the inner ring of the bearing is fixedly connected with the inner ring of the fixed ring, so that the purpose that the inner ring of the fixed ring does not rotate but the outer ring of the rotating ring rotates is achieved; one end of the rotor wing connecting rod is arranged on a flapping hinge of the rotor wing device through a small spherical hinge ball head and a small spherical hinge shell; the other end of the rotor wing connecting rod is movably connected to the outer side of the outer ring of the rotating ring, and the inclination angle of the tilting disk device can be transmitted to the blades of the upper rotor wing, so that the attack angle of the blades in the rotating process is changed, and the purpose of periodic pitch changing is achieved; one end of the steering engine connecting rod is movably connected to the outer side of the inner ring of the fixing ring; the other end of the tilting tray device is connected with a steering engine turntable through a spherical hinge, the small-angle rotation of the steering engine turntable is driven through the rotation angle output by the steering engine, and the rotation is transmitted to the inner ring of the fixing ring of the tilting tray device through a steering engine connecting rod, so that the tilting tray device is inclined at a small angle; the steering engine chassis is fixedly arranged on the middle shaft; the steering engine is arranged on the steering engine chassis; the rotating shaft of the steering engine is connected with the steering engine turntable;
an operating mechanism is arranged between the upper rotor wing device and the lower rotor wing device, and outer rotor driving motors are respectively arranged on the outer sides of the upper rotor wing device and the lower rotor wing device; the middle shaft penetrates through the device and then is fixedly connected with the load cylinder, the stator part of the outer rotor driving motor is fixed on the middle shaft, and the outer rotor part is connected with the paddle through the connecting piece so as to drive the paddle to rotate.
The working process is as follows:
when the vertical movement is needed, the flight control system sends a signal to enable the upper and lower driving motors to drive the upper and lower rotors to rotate, and the size of the lift force is controlled by controlling the rotating speed of the rotors, so that the vertical take-off and landing of the aircraft are realized, a stator of the driving motor is fixed on the central shaft, and the rotors are directly connected with the paddle part through hinges, so that the kinetic energy generated by the motors can be more effectively transmitted to the rotors and further converted into the lift force of the aircraft; when the advancing direction of the aircraft needs to be changed, the flight control system sends an instruction to drive the steering engine to rotate, so that the steering engine turntable is driven to rotate, then the inner ring of the fixing ring of the tilting disk device tilts and generates a tilt angle through the transmission of the steering engine connecting rod, the tilting disk device rotates obliquely around the central spherical hinge and is transmitted to the upper rotor wing device through the outer ring of the rotating ring and the rotor wing connecting rod, so that the upper rotor wing device forms periodic variable distance in the rotating direction during rotation, the lifting force direction acting on the aircraft rotor wing device is changed, the attitude of the aircraft can be changed in time, meanwhile, the attack angle of the blades can be changed through the connecting rod, the controllable attack angle of the blades of the upper rotor wing is realized, and the maneuvering performance of the aircraft is enhanced; when the aircraft is not needed, the blades can be folded along a transverse shaft to form a cylindrical structural appearance, and the aircraft is compact in structure and convenient to store.
Advantageous effects
1. The portable small-sized cylinder type coaxial counter-rotating three-blade rotary wing type unmanned aerial vehicle is novel in structure and reasonable in design, the steering engine disc and the steering engine connecting rod are driven to rotate through rotation of the steering engine, the inclination direction of the inclined disc device is further changed, the inclined disc device can incline around the central spherical hinge to generate an inclination angle, so that free control of the plane of the inclined disc device can be achieved, the change of the plane of the inclined disc device brings the change of the plane inclination of the upper rotor, the direction of the lifting surface of the upper rotor is changed, and flying of an aircraft in all directions is achieved. The control mechanism is not complex, the control of the coaxial double-rotor structure is realized, and the steering engine controls the plane inclination angle of the tilting disk device, so that the control mechanism is easier to design than other similar aircrafts when a control system is designed.
2. The steering wheel disc can bear larger torque output by the steering engine, the disc-shaped structure is not easy to deform in a rod-shaped structure, the structure is more reliable, and the control torque generated by the steering engine can be more effectively output.
3. The outer rotor of the motor is directly connected with the device, so that energy loss in the transmission processes of gear transmission and the like is avoided, and the time delay of the control of the rotating speed of the rotor wing is reduced, thereby improving the maneuvering performance of the aircraft.
Drawings
FIG. 1 is a general schematic view of a coaxial dual rotor aircraft;
FIG. 2 is a partial schematic view of a coaxial dual rotor aircraft steering mechanism;
FIG. 3 is a schematic structural view of a coaxial dual rotor aircraft swashplate assembly;
FIG. 4 is a schematic cross-sectional view of a coaxial dual rotor aircraft swashplate arrangement;
FIG. 5 is a schematic view of a rotor assembly of a coaxial twin-rotor aircraft;
FIG. 6 is a schematic view of a lower rotor assembly of a coaxial dual rotor aircraft;
FIG. 7 is a schematic view of a coaxial dual rotor aircraft rotor linkage configuration;
figure 8 is a cross-sectional view of a coaxial twin rotor aircraft.
The three-dimensional space-saving type wind power generator comprises a central shaft 1, a rotor wing 2, a load cylinder 3, an outer rotor 4, an operating mechanism 5, a tilting disk 6, a steering engine chassis 7, a steering engine turntable 8, a steering engine 9, a steering engine connecting rod 10, a rotor wing connecting rod 11, a small spherical hinge ball 12, a small spherical hinge shell 13, a central spherical hinge 14, a spherical hinge shell 15, a fixed ring inner ring 16, a rotating ring outer ring 17, a bearing 18, a blade 19, an upper rotor wing motor rotor 20, a boss 21, a swinging hinge 22, a swinging hinge 23 and a lower rotor wing motor rotor 24.
Detailed Description
The following detailed description of the present invention will be given by way of various structural diagrams of an aircraft, while helping those skilled in the relevant art to understand the present invention more deeply.
Example 1
The structure of the invention shown in fig. 1 is a portable small-sized cylinder type coaxial reverse-propeller three-blade rotary wing unmanned aerial vehicle. The rotary-wing aircraft comprises a central shaft 1, a rotor wing device 2, a load cylinder 3, a driving motor 4, a transmission device 5 and the like. Rotor device 2 includes upper rotor device and lower rotor device, and the paddle is connected with the outer rotor of motor through shimmy hinge 22, wave hinge 23 and boss 21, can realize the folding of paddle through waving the connection of hinge 23 department, conveniently accomodate and carry. The upper rotor wing device and the lower rotor wing device are mirror images and are turned upside down, the rotor wing device 2 is connected with the motor rotor through a boss 21 on the motor outer rotor, and the operating mechanism 5 and other parts are installed on the middle shaft 1 through screws or in a matching mode. The load cylinder 3 is internally provided with a battery, a flight control circuit board, an electric wire, a load module and the like and is responsible for energy supply and flight control of the aircraft, and the electric wire is connected with the steering engine 9 and the driving motor 4 at each position on the central shaft 1 through a hollow pipeline of the carbon fiber tube of the central shaft 1.
As shown in fig. 2, the partial schematic view of the control mechanism 5 of the barrel type coaxial reverse-propeller three-blade rotary wing type unmanned aerial vehicle is shown, and the control mechanism 5 comprises parts such as a steering engine chassis 7, a steering engine turntable 8, a steering engine 9, a steering engine connecting rod 10 and the like. The number of the steering engines 9 is three, the structures of the steering engines are completely the same, the steering engines are distributed circumferentially at an angle of 120 degrees, a plurality of threaded holes are formed in a steering engine chassis 7, the steering engines 9 are fixed on the steering engine chassis 7 through the threaded holes, and the steering engine chassis 7 is correspondingly fixed at the upper part of the carbon fiber tube; the steering engine 9 is connected with the tilting tray device 6 through a steering engine turntable 8 and a steering engine connecting rod 10, the tilting tray device 6 is provided with three small brackets extending outwards, and a small ball hinged head 12 is connected with the tilting tray device 6 through a rotor wing connecting rod 11; the rotor wing connecting rod 11 comprises a smooth sliding rod and a small ball hinged shell 13, the steering engine rotary table 8 is directly fixedly connected to the steering engine 9 through a counter bore, the steering engine rotary table 8 is also provided with a threaded hole, the small ball head is connected with the steering engine connecting rod 10 through the threaded hole, and two ends of the rotor wing connecting rod 11 are respectively connected with the small ball head on the tilting plate device 6 and the small ball head on the flapping hinge 23. The tilting disk device 6 is connected with the upper rotor wing device through a rotor wing connecting rod 11, and when the tilting disk device 6 rotates at any angle, the upper rotor wing can form periodic variable distance of corresponding angle in the rotating process, so that lift force in different directions is generated.
Fig. 3 is a schematic structural view of a tilt disk device 6 of a barrel type coaxial reverse-propeller three-blade rotary wing type unmanned aerial vehicle; the tilting disk device 6 is composed of a central spherical hinge 14, a spherical hinge housing 15, a fixed ring inner ring 16, a rotating ring outer ring 17 and a bearing 18. The central spherical hinge 14 is fixedly connected to the middle shaft 1, the inner spherical surface of the spherical hinge housing 15 is matched with the outer side of the central spherical hinge 14 in a spherical rotation mode, the fixed ring inner ring 16 is tightly attached to the outer cylindrical surface of the spherical hinge housing 15 and fastened together through bolts, the outer side of the fixed ring inner ring 16 is fixed together with the inner ring of the bearing 18 in an interference fit mode, and the outer ring of the bearing 18 is fixed together with the inner side of the rotating ring outer ring 17 in an interference fit mode. When the fixed ring inner ring 16 is affected by the operating force generated by the steering engine 9 and transmitted through the steering engine turntable 8 and the steering engine connecting rod 10, the fixed connection component of the fixed ring inner ring 16 and the spherical hinge housing 15 can rotate around the outer surface of the central spherical hinge 14 in a spherical rotation mode at a small angle, then the bearing 18, the rotating ring outer ring 17 and the fixed ring inner ring 16 are driven to incline at the same angle, and due to the inclination of the rotating ring outer ring 17, the attack angle of the upper rotor blade connected with the rotating ring outer ring 17 can be changed, so that the upper rotor 2 is subjected to periodic pitch variation in the rotating process.
Fig. 4 is a schematic cross-sectional view of a tilt disk device 6 of a barrel type coaxial counter-propeller three-blade rotary wing unmanned aerial vehicle.
Fig. 5 shows a schematic structural diagram of a rotor device of a cylindrical coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle. The upper rotor device comprises three blades and a blade connecting structure, the blade connecting structure (shown in figure 7) comprises a shimmy hinge 22 and a flapping hinge 23, the blade connecting structure is connected with a rotor of the rotor motor through a boss 21 on the rotor motor rotor, and is connected with a rotating ring outer ring 17 on the lower inclined swash plate device 6 through a structure of a small ball hinge ball head 12, a small ball hinge shell 13 and a rotor connecting rod 11.
Fig. 6 shows a schematic structural diagram of a lower rotor device of a barrel type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle. The lower rotor device comprises three blades and a blade connecting structure, the blade connecting structure (shown in figure 7) comprises a shimmy hinge 22 and a flapping hinge 23, and the blade connecting structure is connected with the rotor of the rotor through a boss 21 on the rotor motor rotor.
Fig. 7 is a schematic view of a blade connection structure of a rotor of a barrel type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle. The paddle connecting structures of the upper rotor and the lower rotor are both of the structure. When the paddle is in the rotation process, the paddle 19 can wave and shimmy under the influence of driving force and air resistance, the connection of the flapping hinges 23 can meet the free motion of up-down flapping of the paddle, the connection of the shimmy hinges 22 can meet the free motion of front-back shimmy of the paddle 19, the left side of the flapping hinges 23 of the paddle mechanism is of a round bar type structure and penetrates through and is fastened on a cylindrical hole of the boss 21, and therefore the paddle mechanism can rotate around the boss 21 to adjust the initial paddle attack angle.
Fig. 8 shows an overall sectional view of a barrel type coaxial reverse-propeller three-blade rotary wing unmanned aerial vehicle. The steering engine comprises a middle shaft 1, a steering engine 9, a central spherical hinge 14, a load cylinder 3 and the like, wherein the central spherical hinge 14 is fixed at the middle section of the middle shaft 1, a steering engine turntable 8 is fixed above an upper rotor wing structure and a lower rotor wing structure of the middle shaft 1, and the load cylinder 3 is fixed at the lowest part of the middle shaft 1.
In order to overcome the defects of complex structure, difficult control and the like of a coaxial reverse-propeller rotor type unmanned aerial vehicle, the invention provides a unique control mechanism 5 and a rotor device 2, wherein the main body of the control mechanism 5 is composed of steering gears 9 and a tilting disk device 6, the three steering gears 9 are mutually fixed on a steering gear chassis 7 in an angle of 120 degrees, the steering gears 9 are connected with the tilting disk device 6 through steering gear turntables 8 and steering gear connecting rods 10, the steering gears 9 drive the steering gear turntables 8 to rotate so as to drive the steering gear connecting rods 10 to move up and down, and the tilting disk device 6 can also follow the steering gear connecting rods 10 to rotate in an inclined mode. The tilting disk device 6 is connected with the middle shaft 1 through a spherical hinge, any rotation angle of the three steering engines corresponds to the unique and fixed orientation of the normal direction of the tilting disk device 6, and in conclusion, the steering engines 9 can control the normal direction of the tilting disk device 6 to face any direction in a cone with a certain angle.
The upper rotor structure is connected with a rotating ring outer ring 17 of the tilting disk device through a rotor connecting rod 11, and a bearing 18 between the rotating ring outer ring 17 and a fixed ring inner ring 16 can ensure free rotation of the rotating ring outer ring 17 and enable the plane tilt angles of the rotating ring outer ring 17 and the fixed ring inner ring to be consistent. When the tilting disk device 6 tilts, the rotor wing connecting rod 11 can be driven to change the pitch of the three blades of the upper rotor wing, so that the periodic variable pitch is generated, and the movement direction of the whole machine body is further changed. The tilting steering of the tilting tray device 6 is freely controlled by three steering engines 9, and the orientation of the lifting surface can be freely controlled by controlling the rotation of the three steering engines 9.
The blades of the lower rotor structure can not change the attack angle, each blade is connected with the outer rotor 24 of the motor through the shimmy hinge 22, the flapping hinge 23 and the boss 21, and when the outer rotor 24 of the driving motor rotates, the lower rotor structure can be driven to rotate to generate lift force.
In conclusion, compared with other coaxial reverse-propeller rotor type unmanned aerial vehicles, the small-sized cylindrical coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle has the advantages that devices such as a sleeve, a coupler, an anti-torsion piece and a gear transmission are omitted, and the structure is simple; the common coaxial counter-rotating rotor type unmanned aerial vehicle controls the tilting disk device 6 to have two steering directions of 120 degrees, and the invention directly controls the attack angle and the periodic variable pitch of the upper rotor blade through the rotation of the outer ring 17 of the rotating ring of the tilting disk device 6, so that the control of the aircraft is relatively direct and simple, a lot of conversion is omitted, and the steps are simplified.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (1)
1. The utility model provides a coaxial anti-three leaf rotor formula unmanned aerial vehicle of oar of portable small-size cylinder which characterized in that: the method comprises the following steps: the rotary-wing aircraft comprises a middle shaft (1), a rotor wing device (2), a load cylinder (3), an outer rotor driving motor (4) and an operating mechanism (5);
the rotor device (2) comprises: the device comprises a blade (19), an upper rotor (20), a boss (21), a shimmy hinge (22), a flapping hinge (23) and a lower rotor (24); a boss (21), a flapping hinge (23), a shimmy hinge (22) and a blade (19) which are fixed on the rotor shell of the upper rotor motor are connected in sequence; the pendulum vibration hinge (22) takes the swinging hinge (23) as a fulcrum to realize up-and-down swinging; the flapping hinge (23) can rotate along the connecting position with the boss (21);
the operating mechanism (5) comprises: the device comprises a tilting disc device (6), a steering engine chassis (7), a steering engine turntable (8), a steering engine (9), a steering engine connecting rod (10), a rotor wing connecting rod (11), a small ball hinge head (12), a small ball hinge shell (13), a central ball hinge (14), a ball hinge shell (15), a fixed ring inner ring (16), a rotating ring outer ring (17) and a bearing (18);
the tilting disk device (6) consists of a central spherical hinge (14), a spherical hinge shell (15), a fixed ring inner ring (16), a rotating ring outer ring (17) and a bearing (18); the spherical hinge shell (15) can rotate around the central spherical hinge (14) so as to realize small-angle rotation of the spherical hinge shell (15); the inner ring (16) of the fixed ring is fixed on the outer side of the spherical hinge shell (15); the outer ring of the bearing (18) and the outer ring (17) of the rotating ring are fixedly arranged; the inner ring of the bearing (18) is fixedly connected with the inner ring (16) of the fixed ring, so that the purpose that the inner ring (16) of the fixed ring does not rotate but the outer ring (17) of the rotating ring rotates is achieved; one end of the rotor wing connecting rod (11) is arranged on a flapping hinge (23) of the rotor wing device (2) through a small spherical hinge ball head (12) and a small spherical hinge shell (13); the other end of the rotor wing connecting rod (11) is movably connected to the outer side of the outer ring (17) of the rotating ring, and the inclination angle of the inclined disc device (6) can be transmitted to the blades of the upper rotor wing, so that the attack angle of the blades in the rotating process is changed, and the purpose of periodic pitch change is achieved; one end of the steering engine connecting rod (10) is movably connected to the outer side of the inner ring (16) of the fixed ring; the other end of the tilting tray device is connected with a steering engine turntable (8) through a spherical hinge, a small-angle rotation of the steering engine turntable (8) is driven through a rotation angle output by a steering engine (9), and the rotation is transmitted to a fixed ring inner ring (16) of the tilting tray device (6) through a steering engine connecting rod (10), so that the tilting tray device (6) is tilted at a small angle; the steering engine chassis (7) is fixedly arranged on the middle shaft (1); the steering engine (9) is arranged on the steering engine chassis (7); the rotating shaft of the steering engine (9) is connected with the steering engine turntable (8);
an operating mechanism (5) is arranged between the upper rotor wing device and the lower rotor wing device, and outer rotor driving motors are respectively arranged on the outer sides of the upper rotor wing device and the lower rotor wing device; the middle shaft (1) penetrates through the two rotor wing devices and the tilting disk device and then is fixedly connected with the load cylinder, a stator part of the outer rotor driving motor is fixed on the middle shaft (1), and the outer rotor part is connected with the paddle through a connecting piece so as to drive the paddle to rotate;
a flight control instruction sent by a flight control system positioned in a load cylinder (3) is transmitted to an outer rotor driving motor (4) through a middle shaft lead, so that an upper rotor motor rotor (20) and a lower rotor motor rotor (24) of the driving motor directly drive a rotor wing device to rotate, when the vertical movement is required, the flight control system sends a signal to enable the upper driving motor and the lower driving motor to drive an upper rotor wing and a lower rotor wing to rotate, the rotating speed of the upper driving motor and the lower driving motor is controlled to control the size of generated lift force, so that the vertical take-off and landing of the aircraft are realized, a stator of the driving motor is fixed on a middle shaft, and the rotor is directly connected with a blade part through a hinge, so that the kinetic energy generated by the motors can be more effectively transmitted to the rotor wings and further converted into the lift force of the aircraft; when the advancing direction of the aircraft needs to be changed, the flight control system sends an instruction to drive a steering engine (9) to rotate, so that a steering engine turntable (8) is driven to rotate, then a fixed ring inner ring (16) of the tilting disk device (6) tilts and generates a tilt angle through transmission of a steering engine connecting rod (10), the tilting disk device (6) tilts and rotates around a central spherical hinge (14) and is transmitted to the upper rotor wing device through a rotating ring outer ring (17) and a rotor wing connecting rod (11), so that the upper rotor wing device forms periodic variable distance in the rotating direction when rotating, the lifting force direction acting on the aircraft rotor wing device is changed, the attitude of the aircraft is changed in time, meanwhile, the attack angle of the blades can be changed through the rotor wing connecting rod (11), the control of the attack angle of the blades of the upper rotor wing is realized, and the maneuvering performance of the aircraft is enhanced; when the aircraft is not needed, the blades are folded along the transverse shaft to form a cylindrical structural appearance, the structure is compact, and the storage is convenient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114038.7A CN111332462B (en) | 2020-02-24 | 2020-02-24 | Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114038.7A CN111332462B (en) | 2020-02-24 | 2020-02-24 | Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111332462A CN111332462A (en) | 2020-06-26 |
| CN111332462B true CN111332462B (en) | 2021-08-03 |
Family
ID=71175775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010114038.7A Active CN111332462B (en) | 2020-02-24 | 2020-02-24 | Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111332462B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113184167B (en) * | 2021-05-24 | 2022-08-02 | 北京航空航天大学 | Coaxial equidirectional propeller with variable phase difference |
| CN113306713B (en) * | 2021-06-29 | 2022-06-14 | 哈尔滨工业大学 | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft |
| CN113371210B (en) * | 2021-07-28 | 2022-11-11 | 宁波阿瑞斯自动化技术有限公司 | Unmanned aerial vehicle torque arm rotor mechanism |
| CN113562171B (en) * | 2021-09-10 | 2024-03-05 | 陕西蓝悦无人机技术有限公司 | Folding helicopter rotor system and support-free light unmanned aerial vehicle |
| CN113815851A (en) * | 2021-10-28 | 2021-12-21 | 湖南韬讯航空科技有限公司 | Rotor wing direction-changing propelling device, helicopter and control method |
| CN114465065B (en) * | 2022-01-06 | 2023-11-03 | 广东汇天航空航天科技有限公司 | Aircraft main shaft slip ring device, aircraft rotor system and aircraft |
| CN116142509B (en) * | 2023-04-19 | 2023-06-23 | 北京瀚科智翔科技发展有限公司 | Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting |
Family Cites Families (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3884025B2 (en) * | 2004-03-31 | 2007-02-21 | 長崎県 | Pitch angle variable mechanism of counter-rotating wing and flying device having counter-rotating wing equipped with the mechanism |
| ES2504167T3 (en) * | 2004-04-14 | 2014-10-08 | Paul E. Arlton | Rotating wings vehicle |
| CN201472667U (en) * | 2009-07-31 | 2010-05-19 | 余宁晖 | Dual pitch main rotor structure of helicopter |
| CN104210655A (en) * | 2014-09-03 | 2014-12-17 | 西北农林科技大学 | Double-rotor-wing unmanned plane |
| CN104608918A (en) * | 2015-01-21 | 2015-05-13 | 西北农林科技大学 | Control mechanism of small double-rotor unmanned aerial vehicle and mounting structure of control mechanism |
| CN104859854B (en) * | 2015-04-16 | 2017-01-25 | 北京航空航天大学 | Heavy-load low-structure-complexity double-coaxial-twin-rotor unmanned aerial vehicle |
| CN105667778B (en) * | 2016-04-06 | 2018-06-12 | 江富余 | Propeller aircraft helicopter |
| 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 |
| CN106184735B (en) * | 2016-08-23 | 2018-10-12 | 湖南省库塔科技有限公司 | Helicopter and its rotor driver |
| CN106167092B (en) * | 2016-08-23 | 2018-10-12 | 湖南省库塔科技有限公司 | A kind of coaxal helicopter and its rotor system |
| CN107672793B (en) * | 2017-08-25 | 2021-02-26 | 珠海磐磊智能科技有限公司 | Rotor wing device, aircraft and flight control method of aircraft |
| CN108032992A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | Agricultural unmanned plane blade pitch control mechanism |
| CN208086009U (en) * | 2018-03-27 | 2018-11-13 | 佛山科学技术学院 | A kind of titling coaxial bispin wing aircraft |
| CN108557070B (en) * | 2018-04-12 | 2019-05-03 | 北京理工大学 | A kind of small-sized coaxial dual-rotor helicopter |
| CN109466747A (en) * | 2018-11-06 | 2019-03-15 | 珠海隆华直升机科技有限公司 | Helicopter Main paddle displacement drive system and helicopter |
| CN209467318U (en) * | 2018-11-06 | 2019-10-08 | 珠海隆华直升机科技有限公司 | The enhanced high stability blade assembly of helicopter and helicopter |
| CN209479977U (en) * | 2018-11-30 | 2019-10-11 | 南京航空航天大学 | A kind of seesaw type unmanned plane rotor structure |
| CN110001949A (en) * | 2019-03-13 | 2019-07-12 | 陈铭 | A kind of compound rotation unmanned helicopter of close coupled type |
| CN110155309A (en) * | 2019-07-03 | 2019-08-23 | 南京航空航天大学 | A kind of control method for the rotor and its pitch that variable speed drives |
| CN110626495A (en) * | 2019-08-30 | 2019-12-31 | 祖亚军 | Small coaxial double-rotor type unmanned aerial vehicle |
| CN110816814A (en) * | 2019-12-09 | 2020-02-21 | 北京海空行科技有限公司 | Coaxial helicopter control-transmission system based on single automatic inclinator |
-
2020
- 2020-02-24 CN CN202010114038.7A patent/CN111332462B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111332462A (en) | 2020-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111332462B (en) | Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle | |
| CN108545178B (en) | Coaxial double-rotor unmanned aerial vehicle based on vector mechanism | |
| CN107140198B (en) | Nacelle structure of double coaxial tilting rotor unmanned aerial vehicle | |
| GB2588478A (en) | A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof | |
| CN208360495U (en) | Coaxial double-rotary wing unmanned plane based on vector mechanism | |
| CN110294114B (en) | Gesture control system of coaxial double-oar aircraft | |
| CN112591083A (en) | Folding collection rectification structure of paddle | |
| CN113460298A (en) | Motor tilting mechanism and tilting rotor aerocar | |
| CN111516866A (en) | Single-drive tilting dual-rotor aircraft | |
| CN107215458B (en) | Electric double coaxial tilting rotor craft | |
| CN107031835B (en) | Rotor unmanned aerial vehicle becomes oar radius variable pitch device | |
| CN212605803U (en) | Composite attitude stable type coaxial double-propeller rotor aircraft | |
| CN111559496A (en) | Small coaxial dual-rotor unmanned aerial vehicle | |
| CN111452949A (en) | Arm folding and rotating device for multi-gyroplane | |
| CN111301663A (en) | Arm folding and rotating device for multi-gyroplane | |
| CN110683041A (en) | Disc-shaped aircraft | |
| CN112046745B (en) | Portable modularization unmanned aerial vehicle platform | |
| CN109250095A (en) | A kind of VTOL fixed wing aircraft | |
| CN212047876U (en) | Single-shaft double-propeller unmanned aerial vehicle | |
| CN110712738A (en) | Civil light aircraft | |
| CN109250083A (en) | Fixed-wing and more rotor integral type aircrafts | |
| RU2799627C2 (en) | Rotor wing aircraft with improved propulsion system | |
| CN219821753U (en) | Coaxial three-rotor aircraft lifting system | |
| CN216943541U (en) | Double-steering-engine electric coaxial unmanned helicopter control mechanism | |
| CN216916275U (en) | Top direct-drive rotor wing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |