CN111409819A - Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof - Google Patents

Abstract

The invention relates to a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle comprises a main shaft, an upper rotor component, a lower rotor component and a variable-pitch component, wherein the upper rotor component, the lower rotor component and the variable-pitch component are respectively connected to the main shaft; the upper rotor wing assembly comprises an upper rotor wing variable-pitch structure and an upper rotor wing connecting piece, and the upper rotor wing variable-pitch structure is connected with the upper rotor wing connecting piece; the lower rotor wing assembly comprises a lower rotor wing variable pitch structure and a lower rotor wing connecting piece, and the lower rotor wing variable pitch structure is connected with the lower rotor wing connecting piece; the variable pitch assembly comprises a power source group, a synchronous structure and a push rod, the power source group is connected with the push rod, the push rod is connected with the upper rotor wing variable pitch structure, and the upper rotor wing variable pitch structure is connected with the lower rotor wing variable pitch structure through the synchronous structure. The invention realizes double-layer variable pitch without independently adopting steering engine control, reduces the number of the steering engines, can reduce the design weight of the airplane body, and improves the flying efficiency and the wind resistance effect.

Description

Double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and control method thereof

Technical Field

The invention relates to an unmanned aerial vehicle, in particular to a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof.

Background

The small coaxial dual-rotor unmanned aerial vehicle is an unmanned aerial vehicle which is flexible in maneuvering, small in size and hovering at a fixed point, and can take off and land vertically and also can take off and land by being held in a hand. The unmanned aerial vehicle has the advantages of compact structure, higher stability and higher operation and hovering efficiency, and has wider application prospect in the aspects of military individual carrying investigation, civil aviation shooting, air surveillance and the like.

However, existing coaxial dual-rotor drones typically employ both fully-differential and semi-differential rotor pitch mechanisms. At full differential displacement in-process, need upper and lower two-layer displacement structure exclusive use steering wheel control to realize stabilizing flight, lead to increasing flight control system complexity, structural design is comparatively complicated, steering wheel increase increases unmanned aerial vehicle self structural system weight simultaneously, increase consumption idle power, greatly reduced unmanned aerial vehicle wind resistance and can not carry heavier load, adopt half differential displacement mechanism individual layer displacement control promptly, this structure is not good although structural complexity reduces but unmanned aerial vehicle flight attitude control stability, wind resistance and fixed point hover effect are unsatisfactory.

Therefore, a new unmanned aerial vehicle is needed to be designed, double-layer pitch changing is achieved without independently adopting steering engine control, the number of steering engines is reduced, the design weight of a machine body can be reduced, and the flying efficiency and the wind resistance effect are improved.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle and a control method thereof.

In order to achieve the purpose, the invention adopts the following technical scheme: the double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle comprises a main shaft, an upper rotor assembly, a lower rotor assembly and a variable-pitch assembly, wherein the upper rotor assembly, the lower rotor assembly and the variable-pitch assembly are respectively connected to the main shaft; the upper rotor wing assembly comprises an upper rotor wing variable-pitch structure and an upper rotor wing connecting piece, and the upper rotor wing variable-pitch structure is connected with the upper rotor wing connecting piece; the lower rotor wing assembly comprises a lower rotor wing variable pitch structure and a lower rotor wing connecting piece, and the lower rotor wing variable pitch structure is connected with the lower rotor wing connecting piece; the variable pitch subassembly includes power source group, synchronization structure and push rod, power source group with the push rod is connected, the push rod with go up the rotor variable pitch structural connection, go up the rotor variable pitch structure with connect through synchronization structure between the lower rotor variable pitch structure.

The further technical scheme is as follows: the upper rotor wing pitch-variable structure comprises an upper pitch-variable bracket, an upper pitch-variable push rod, an upward inclined rotary table, an upper rotary inclined rotary table and an upper movable disc, the upper pitch-variable bracket is connected with the main shaft through a bearing, and the upper rotor wing connecting piece is connected with the upper pitch-variable bracket; the upper tilting turntable is connected with the upper variable pitch bracket, and the upper rotating tilting turntable is connected outside the upper tilting turntable; the upper moving disc is connected to the lower part of the upper rotating and inclining disc and is respectively connected with the synchronous structure and the push rod; the upper rotating inclined rotary disc is connected with the upper rotary wing connecting piece through the upper variable-pitch push rod.

The further technical scheme is as follows: the upper pitch-variable support is provided with a bearing hole, the inner side of the upper inclined rotary table is connected with a first positioning pin, the first positioning pin is inserted into the bearing hole, and the upper movable disc is connected below the upper rotary inclined rotary table through a bearing.

The further technical scheme is as follows: and an upper positioning screw and an upper ball head are arranged on the outer wall of the upper moving disk, and the upper positioning screw and the upper ball head are respectively connected with the synchronous structure.

The further technical scheme is as follows: the lower rotor wing variable pitch structure comprises a lower variable pitch bracket, a lower variable pitch push rod, a lower inclined rotary table, a lower rotary inclined rotary table and a lower movable table, the lower variable pitch bracket is connected with the main shaft through a bearing, and the lower rotor wing connecting piece is connected with the lower variable pitch bracket; the lower inclined rotary table is connected with the lower variable pitch bracket, and the lower rotary inclined rotary table is connected outside the lower inclined rotary table; the lower movable disc is connected below the lower rotating and inclining rotary disc and is connected with the synchronous structure; the lower rotating inclined rotary disc is connected with the lower rotor wing connecting piece through the lower variable pitch push rod.

The further technical scheme is as follows: and a lower positioning screw and a lower ball head are arranged on the outer wall of the lower movable disc, and the lower positioning screw and the lower ball head are respectively connected with the synchronous structure.

The further technical scheme is as follows: the synchronous structure comprises a synchronous push rod and a limiting support, the limiting support is connected with the main shaft, the upper end of the synchronous push rod is connected with the upper ball head, the lower end of the synchronous push rod is connected with the lower ball head, the limiting support is provided with an upper limiting groove and a lower limiting groove, the upper positioning screw rod is inserted in the upper limiting groove, and the lower positioning screw rod is inserted in the lower limiting groove.

The further technical scheme is as follows: the power source group comprises two rolling steering engines and two pitching steering engines, the rolling steering engines are connected with one of the push rods through first swing arms, and the pitching steering engines are connected with the other push rods through second swing arms.

The further technical scheme is as follows: the outer end of the upper rotor wing connecting piece is connected with an upper rotor wing through a sizing clamp; the outer end of the lower rotor wing connecting piece is connected with a lower rotor wing through a lower slurry clamp.

The invention also provides a control method of the double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, which comprises the following steps:

the power source group outputs power for changing the rolling direction and the pitching direction, the push rod is driven to move, the push rod drives the upper rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, and the synchronous structure drives the lower rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, so that the upper rotor connecting piece and the lower rotor connecting piece are synchronously pitch-changed.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the upper rotor wing assembly, the lower rotor wing assembly and the variable pitch assembly are arranged, the power source group in the variable pitch assembly outputs variable pitch power, the variable pitch power acts on the upper rotor wing variable pitch structure through the push rod, the upper rotor wing is driven to carry out variable pitch, and the lower rotor wing variable pitch structure is driven by the upper rotor wing variable pitch structure through the synchronous structure to carry out synchronous variable pitch, so that double-layer variable pitch is realized without independently adopting steering engine control, the number of steering engines is reduced, the design weight of a machine body can be reduced, and the flying efficiency and the wind resistance effect are improved.

The invention is further described below with reference to the accompanying drawings and specific embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic perspective view (with the outer shell removed) of a double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of an upper rotor assembly, a lower rotor assembly and a pitch assembly according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of an upper rotor assembly, a lower rotor assembly, and a pitch assembly according to an embodiment of the present invention (with the upper rotor and the lower rotor removed);

FIG. 5 is a schematic perspective view of an upper rotor assembly according to an embodiment of the present invention;

FIG. 6 is a schematic exploded view of an upper rotor assembly according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a lower rotor assembly according to an embodiment of the present invention;

FIG. 8 is a schematic exploded view of a lower rotor assembly according to an embodiment of the present invention;

fig. 9 is a schematic perspective view of a pitch-changing assembly according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

According to the specific embodiment shown in fig. 1-9, the double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle provided by the embodiment can be applied to a double-layer variable-pitch coaxial aircraft, the double-layer variable pitch is realized without independently adopting steering engine control, the number of steering engines is reduced, the design weight of a machine body can be reduced, and the flying efficiency and the wind resistance effect are improved.

Referring to fig. 1, the dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle includes a main shaft 60, an upper rotor assembly, a lower rotor assembly and a variable-pitch assembly, wherein the upper rotor assembly, the lower rotor assembly and the variable-pitch assembly are respectively connected to the main shaft 60; the upper rotor wing assembly comprises an upper rotor wing variable pitch structure and an upper rotor wing connecting piece 22, and the upper rotor wing variable pitch structure is connected with the upper rotor wing connecting piece 22; the lower rotor wing assembly comprises a lower rotor wing variable pitch structure and a lower rotor wing connecting piece 32, and the lower rotor wing variable pitch structure is connected with the lower rotor wing connecting piece 32; the variable pitch assembly comprises a power source group, a synchronous structure and a push rod 47, the power source group is connected with the push rod 47, the push rod 47 is connected with the upper rotor wing variable pitch structure, and the upper rotor wing variable pitch structure is connected with the lower rotor wing variable pitch structure through the synchronous structure.

In the present embodiment, the upper rotor assembly is located above the pitch assembly, the lower rotor assembly is located below the pitch assembly, and the upper rotor assembly and the lower rotor assembly are installed in opposite directions.

The power for changing the pitching and rolling directions of the attitude of the unmanned aerial vehicle is provided by the power source group, and acts on the upper rotor pitch structure after passing through the push rod 47, so that the upper rotor connecting piece 22 connected with the upper rotor pitch structure changes the pitching and rolling directions, and the upper rotor connecting piece 22 is connected with the upper rotor 20, thereby changing the pitching and rolling directions of the upper rotor 20.

In an embodiment, referring to fig. 2, the dual-layer synchronous variable-pitch coaxial rotary-wing drone further includes a housing 10, a main support 12, and a power device component 11, where the power device component 11 includes a rechargeable battery for supplying power and a battery support; the main shaft 60 is connected to the upper side of the main frame 12, the power unit 11 is connected to the lower side of the main frame 12, and the upper rotor assembly, the lower rotor assembly, the pitch assembly, the main frame 12 and the power unit 11 are respectively disposed inside the housing 10.

In an embodiment, referring to fig. 3 to 5, the upper rotor pitch structure includes an upper pitch bracket 21, an upper pitch push rod 26, an upper tilt rotor 27, an upper tilt rotor 23, and an upper rotor 24, the upper pitch bracket 21 is connected to the main shaft 60 through a bearing, and the upper pitch bracket 21 is connected to the upper rotor connecting member 22; the upper tilting turntable 27 is connected with the upper pitch-changing bracket 21, and the upper rotating tilting turntable 23 is connected outside the upper tilting turntable 27; the upper movable disc 24 is connected below the upper rotating and inclining disc 23, and the upper movable disc 24 is respectively connected with the synchronous structure and the push rod 47; the upper rotating tilting disk 23 is connected with the upper rotor wing connecting piece 22 through an upper distance-changing push rod 26.

Specifically, a first ball 221 is disposed on the upper rotor connecting member 22, a second ball 232 is disposed on an outer side wall of the upper rotating-tilting disk 23, an upper end of the upper variable-pitch push rod 26 is connected to the first ball 221, a lower end of the upper variable-pitch push rod 26 is connected to the second ball 232, a connecting block 241 is disposed on an outer side wall of the upper moving disk 24, and an upper end of the push rod 47 is connected to the connecting block 241.

Specifically, the upper pitch bracket 21 is hollow, the main shaft 60 is inserted into the upper pitch bracket 21, and a bearing is connected between an outer side wall of the main shaft 60 and an inner side wall of the upper pitch bracket 21, so that the entire upper rotor pitch structure can rotate along the main shaft 60, and the upper rotor connecting member 22 can also rotate along the main shaft 60.

In addition, the above upper rotor pitch structure further includes an upper rotor motor 25, a stator of the upper rotor motor 25 is connected to the main shaft 60, a rotor of the upper rotor motor 25 is connected to the upper rotor pitch structure, specifically, the rotor of the upper rotor motor 25 is connected to the upper pitch bracket 21, and the upper rotor motor 25 is connected to the upper end of the main shaft 60, and the upper rotor motor 25 provides power to rotate the upper rotor 20 along the main shaft 60 to perform ascent and descent of the drone.

In one embodiment, referring to fig. 6, upper rotor attachment 22 is attached to upper bearing hole of upper pitch bracket 21 by a set screw pin, such that rotation of upper pitch bracket 21 drives rotation of upper rotor attachment 22.

In one embodiment, referring to fig. 6, the upper pitch-changing bracket 21 is provided with a bearing hole, the inner side of the tilt-up rotating disc 27 is connected with a first positioning pin, the first positioning pin is inserted into the bearing hole, and the upper rotating disc 24 is connected below the tilt-up rotating disc 23 through a bearing.

The tilting dial 27 is connected with the bearing hole of the upper pitch bracket 21 through a first positioning pin to realize the fixed connection of the tilting dial 27 and the upper pitch bracket 21, and when the upper pitch bracket 21 rotates along the main shaft 60, the tilting dial 27 can also rotate along with the upper pitch bracket 21.

In one embodiment, referring to fig. 6, the upper tilting disk 23 is connected to the upper tilting disk 27 through a positioning threaded pin, so that the upper tilting disk 27 is fixedly connected to the upper tilting disk 23, and when the upper tilting disk 27 rotates along the main shaft 60, the upper tilting disk 23 also rotates.

In addition, the lower end of the upper rotating and tilting disk 23 extends downward to form an upper connecting disk 231, the upper moving disk 24 is connected with the upper connecting disk 231, and a bearing is connected between the upper moving disk 24 and the upper connecting disk 231, so that the upper connecting disk 231 is driven to rotate when the upper rotating and tilting disk 23 rotates along the main shaft 60, the upper moving disk 24 is prevented from rotating, and the upper moving disk 24 is prevented from standing still, so that the synchronous pitch-changing failure is avoided due to the rotation in the pitch-changing process.

In an embodiment, referring to fig. 6, the outer wall of the upper movable disk 24 is provided with an upper positioning screw 243 and an upper ball 242, and the upper positioning screw 243 and the upper ball 242 are respectively connected to the synchronizing structure. When the power source group acts on the upper ball head 242 through the push rod 47, and then the drive takes place the displacement of every single move and roll direction to the upper movable disk 24, that is to say when needing to go up rotor 20 and carry out the displacement, upper movable disk 24 can drive upper connection pad 231 and take place the displacement, and then drive upper rotating tilting disk 23 displacement by upper connection pad 231, upper rotating tilting disk 23 drives upper tilting disk 27 and carries out the displacement, act on upper rotor connecting piece 22 through upper displacement push rod 26, thereby reach the purpose of upper rotor 20 displacement, and after the synchronization structure, lower rotor displacement structure also can be along with taking place the displacement, and last set screw 243 then can be spacing to upper movable disk 24, avoid upper movable disk 24 to carry out high-speed rotation along with the rotation of upper connection pad 231.

In an embodiment, referring to fig. 3, 4, and 7 to 8, the lower rotor pitch structure includes a lower pitch bracket 31, a lower pitch push rod 36, a lower tilting turntable 37, a lower tilting turntable 33, and a lower moving disk 34, the lower pitch bracket 31 is connected to the main shaft 60 through a bearing, and the lower pitch bracket 31 is connected to the lower rotor connector 32; the lower inclined turntable 37 is connected with the lower variable pitch bracket 31, and the lower rotating inclined turntable 33 is connected outside the lower inclined turntable 37; the lower movable disc 34 is connected below the lower rotating tilting disc 33, and the lower movable disc 34 is connected with the synchronous structure; the lower swivel tilt disc 33 is connected to the lower rotor attachment 32 by a lower pitch horn 36.

Specifically, the lower pitch bracket 31 is hollow, the main shaft 60 is inserted into the lower pitch bracket 31, and a bearing is connected between an outer side wall of the main shaft 60 and an inner side wall of the lower pitch bracket 31, so that the entire lower rotor pitch structure can rotate along the main shaft 60, and the lower rotor connector 32 can also rotate along the main shaft 60.

In addition, the lower rotor pitch structure further includes a lower rotor motor 35, a stator of the lower rotor motor 35 is connected to the main shaft 60, a rotor of the lower rotor motor 35 is connected to the lower rotor pitch structure, specifically, the rotor of the lower rotor motor 35 is connected to the lower pitch bracket 31, and the lower rotor motor 35 is connected to the upper end of the main shaft 60, and power is provided through the lower rotor motor 35, so that the lower rotor 30 rotates along the main shaft 60 to ascend and descend the drone.

In one embodiment, referring to fig. 8, lower rotor attachment 32 is attached to lower bearing hole of lower pitch bracket 31 by a set screw pin, such that rotation of lower pitch bracket 31 drives rotation of lower rotor attachment 32.

In an embodiment, referring to fig. 8, the lower pitch-variable bracket 31 is provided with an upper bearing hole, the inner side of the lower tilting plate 37 is connected with a second positioning pin, the second positioning pin is inserted into the upper bearing hole, and the lower moving plate 34 is connected above the lower rotating tilting plate 33 through a bearing.

The lower inclined rotary table 37 is connected with the upper bearing hole of the lower variable-pitch bracket 31 through a second positioning pin so as to realize the fixed connection of the lower inclined rotary table 37 and the lower variable-pitch bracket 31, and when the lower variable-pitch bracket 31 rotates along the main shaft 60, the lower inclined rotary table 37 can also rotate along with the lower variable-pitch bracket 31.

In an embodiment, referring to fig. 8, the lower rotating-tilting disk 33 is connected to the lower rotating-tilting disk 37 through a positioning threaded pin, so that the lower rotating-tilting disk 37 is fixedly connected to the lower rotating-tilting disk 33, and when the lower rotating-tilting disk 37 rotates along the main shaft 60, the lower rotating-tilting disk 33 also rotates.

In addition, the upper end of the lower tilting disk 33 extends upwards to form a lower connecting disk 331, the lower disk 34 is connected with the lower connecting disk 331, and a bearing is connected between the lower disk 34 and the lower connecting disk 331, so that the lower disk 34 can be prevented from rotating due to the rotation of the lower connecting disk 331 driven by the lower tilting disk 33 rotating along the main shaft 60, and the lower disk 34 is prevented from being stationary due to the rotation in the pitch changing process and the failure of synchronous pitch changing.

In an embodiment, referring to fig. 8, a lower positioning screw 343 and a lower ball 342 are disposed on an outer wall of the lower movable plate 34, and the lower positioning screw 343 and the lower ball 342 are respectively connected to the synchronizing structure.

When the power source group acts on the upper ball head 242 through the push rod 47 to further drive the upper rotor disc 24 to generate pitch variation in pitching and rolling directions, that is, when the upper rotor 20 is required to perform pitch variation, the upper rotor disc 24 drives the upper connecting disc 231 to generate pitch variation, and then the upper connecting disc 231 drives the upper tilting disc 23 to generate pitch variation, the upper tilting disc 23 drives the upper tilting disc 27 to generate pitch variation, and acts on the upper rotor connecting piece 22 through the upper pitch variation push rod 26, so as to achieve the purpose of pitch variation of the upper rotor 20, and after the synchronous structure, acts on the lower ball head 342 to further drive the lower rotor disc 34 to generate pitch variation in pitching and rolling directions, the lower rotor disc 34 drives the lower connecting disc 331 to generate pitch variation, and then the lower connecting disc 331 drives the lower tilting disc 33 to generate pitch variation, and the lower tilting disc 33 drives the lower tilting disc 37 to generate pitch variation, and acts on the lower rotor connecting piece 32 through the lower pitch variation push rod 36, thereby achieving the purpose of distance changing of the lower rotor 30.

In an embodiment, referring to fig. 9, the above-mentioned synchronizing structure includes a synchronizing push rod 40 and a limiting bracket 41, the limiting bracket 41 is connected to the main shaft 60, the upper end of the synchronizing push rod 40 is connected to the upper ball head 242, the lower end of the synchronizing push rod 40 is connected to the lower ball head 342, the limiting bracket 41 is provided with an upper limiting groove 411 and a lower limiting groove 412, the upper positioning screw 243 is inserted into the upper limiting groove 411, and the lower positioning screw 343 is inserted into the lower limiting groove 412. The synchronous pitch-changing operation of the upper rotor 20 and the lower rotor 30 is realized by two groups of synchronous push rods 40. The matching relationship between the limiting bracket 41 and the lower positioning screw 343 and the upper positioning screw 243 makes the upper rotor disc 24 and the lower rotor disc 34 not rotate along with the high-speed rotation of the upper rotor wing pitch structure and the lower rotor wing pitch structure in the pitch changing process, so as to improve the accuracy of the whole synchronous pitch changing.

In an embodiment, the power source set includes two push rods 47, the roll steering gear 43 is connected to one of the push rods 47 through a first swing arm 44, and the pitch steering gear 42 is connected to the other push rod 47 through a second swing arm.

The roll steering engine 43 and the pitch steering engine 42 are respectively connected with the main shaft 60 through a steering engine mounting seat 45, in addition, the limiting support 41 is connected with the steering engine mounting seat 45, in addition, the outer end of the steering engine mounting seat 45 is also connected with a mounting support 46, and the mounting support 46 is connected with the inner side wall of the shell 10.

In one embodiment, referring to fig. 3-8, the outer end of the upper rotor attachment member 22 is connected to the upper rotor 20 by a sizing clip 50; the outer end of the lower rotor attachment 32 is connected to the lower rotor 30 by a lower paddle clip 70.

The upper sizing clip 50 is connected with the outer end of the upper rotor wing connecting piece 22 through a pin shaft so as to realize the downward folding of the upper rotor wing 20; the lower grout clip 70 is pin-connected to the outer end of the lower rotor attachment 32 to enable the downward folding of the lower rotor 30. The upper rotor wing 20 and the lower rotor wing 30 are opened when the unmanned aerial vehicle flies, and the housing 10 can be held by hand to take off and land; when the upper rotor 20 and the lower rotor 30 are folded to the blades and tightly attached to the housing 10, the whole unmanned aerial vehicle is in a cylindrical structure, and is convenient to carry and transport.

In one embodiment, the upper and lower rotary wing motors 25 and 35 are both unidirectional rotary motors. Wherein the upper rotor 20 is a forward rotor, and the lower rotor 30 is a reverse rotor.

In addition, the shell 10 is also internally connected with an electric regulation module, a flight control module, a power battery, a receiver power conversion module and a cable; the upper end of the shell 10 is also connected with a GPS antenna to prevent magnetic field interference.

The unmanned aerial vehicle working process is at first supplied power by power battery and is given each to fly to control the module and go up electricity, drives rotor motor 25 and lower rotor motor 35 on, drives the electric motor rotor through the magnetic induction principle and rotates to drive rotor 20 and lower rotor 30 and rotate. When the unmanned aerial vehicle needs to change the posture and the position, the flight control module sends out an instruction to drive, so that the output shafts of the roll steering engine 43 and the pitch steering engine 42 slightly rotate to generate different swing angles, the swing of the roll steering engine 43 and the pitch steering engine 42 is transmitted to the corresponding swing arms and acts on the upper movable disk 24 through the push rod 47, the upper movable disk 24 drives the upper connecting disk 231 to perform distance change, the upper connecting disk 231 drives the upper rotating tilting disk 23 to perform distance change, the upper rotating tilting disk 23 drives the upper tilting disk 27 to perform distance change, the upper rotating disk 24 acts on the upper rotor connecting piece 22 through the upper distance change push rod 26, the purpose of distance change of the upper rotor 20 is achieved, and after the synchronous structure, the upper ball head 342 acts on the lower ball head to drive the lower movable disk 34 to perform distance change in the pitch and roll directions, the lower movable disk 34 drives the lower connecting disk 331 to perform distance change, and the lower connecting disk 331 drives the lower, and lower rotation tilting dial 33 drives down tilting dial 37 and takes place the displacement, and act on rotor connecting piece 32 down through displacement push rod 36 down, thereby reach the purpose of rotor 30 displacement down, make upper rotor displacement structure when the pivoted, produce one along the periodic displacement of upper tilting dial 27 direction of rotation, lower rotor displacement structure is when the pivoted, produce one along the periodic displacement of down tilting dial 37 direction of rotation, and then control unmanned aerial vehicle's roll and every single move, change unmanned aerial vehicle flight direction.

The structural design of upper and lower layer synchronous displacement is adopted, and independent displacement control is not needed, so that the number of steering engines is small, the change of the rolling posture and the pitching posture of the unmanned aerial vehicle can be realized only by the drive control of two steering engines, and meanwhile, the number of the steering engines is small, the design weight of the aircraft body can be saved, and the flying efficiency and the wind resistance effect are greatly improved. The structure of synchronous displacement makes the displacement structure of upper and lower rotor 30 can not produce scattered flow and torrent phenomenon when the paddle of rotor rotates at a high speed and produces, has guaranteed unmanned aerial vehicle flight stability more, accomplishes that the high accuracy fixed point hovers.

Foretell coaxial rotor unmanned aerial vehicle of double-deck synchronous displacement, through setting up the rotor subassembly, lower rotor subassembly and displacement subassembly, the power of the output displacement of power source group in the displacement subassembly, act on the last rotor displacement structure after through push rod 47, rotor 20 carries out the displacement in the drive, and carry out synchronous displacement by rotor displacement structure under the synchronous structure is driven by last rotor displacement structure, realize that double-deck displacement need not to adopt steering wheel control alone, reduce steering wheel quantity, can alleviate fuselage design weight, improve flight efficiency and anti-wind effect.

In one embodiment, a method for controlling a dual-layer synchronous variable-pitch coaxial rotary-wing drone is also provided, including:

the power source group outputs power for changing the rolling direction and the pitching direction, drives the push rod 47 to move, drives the upper rotor pitch structure to rotate in the rolling direction and the pitching direction by the push rod 47, and drives the lower rotor pitch structure to rotate in the rolling direction and the pitching direction by the synchronization structure, so that the upper rotor connecting piece 22 and the lower rotor connecting piece 32 are synchronously pitch-changed.

It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the control method for the double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle may refer to the corresponding description in the embodiment of the double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, and for convenience and brevity of description, no further description is given here.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims (10)

1. The double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle is characterized by comprising a main shaft, an upper rotor assembly, a lower rotor assembly and a variable-pitch assembly, wherein the upper rotor assembly, the lower rotor assembly and the variable-pitch assembly are respectively connected to the main shaft; the upper rotor wing assembly comprises an upper rotor wing variable-pitch structure and an upper rotor wing connecting piece, and the upper rotor wing variable-pitch structure is connected with the upper rotor wing connecting piece; the lower rotor wing assembly comprises a lower rotor wing variable pitch structure and a lower rotor wing connecting piece, and the lower rotor wing variable pitch structure is connected with the lower rotor wing connecting piece; the variable pitch subassembly includes power source group, synchronization structure and push rod, power source group with the push rod is connected, the push rod with go up the rotor variable pitch structural connection, go up the rotor variable pitch structure with connect through synchronization structure between the lower rotor variable pitch structure.

2. The dual-layer synchronous pitch coaxial rotor unmanned aerial vehicle of claim 1, wherein the upper rotor pitch structure comprises an upper pitch bracket, an upper pitch push rod, an upper tilt dial, and an upper rotor disk, the upper pitch bracket is connected to the mast via a bearing, and the upper rotor disk is connected to the upper pitch bracket; the upper tilting turntable is connected with the upper variable pitch bracket, and the upper rotating tilting turntable is connected outside the upper tilting turntable; the upper moving disc is connected to the lower part of the upper rotating and inclining disc and is respectively connected with the synchronous structure and the push rod; the upper rotating inclined rotary disc is connected with the upper rotary wing connecting piece through the upper variable-pitch push rod.

3. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 2, wherein the upper pitch bracket is provided with a bearing hole, a first positioning pin is connected to the inner side of the upper tilting disk, the first positioning pin is inserted into the bearing hole, and the upper moving disk is connected to the lower part of the upper tilting disk through a bearing.

4. The double-deck synchronous pitch coaxial rotor unmanned aerial vehicle of claim 2, wherein an upper positioning screw and an upper ball head are arranged on the outer wall of the upper moving disk, and the upper positioning screw and the upper ball head are respectively connected with the synchronous structure.

5. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle of claim 4, wherein the lower rotor pitch structure comprises a lower pitch bracket, a lower pitch push rod, a lower inclined rotating disc, a lower rotating inclined rotating disc and a lower moving disc, the lower pitch bracket is connected with the main shaft through a bearing, and the lower rotor connecting piece is connected with the lower pitch bracket; the lower inclined rotary table is connected with the lower variable pitch bracket, and the lower rotary inclined rotary table is connected outside the lower inclined rotary table; the lower movable disc is connected below the lower rotating and inclining rotary disc and is connected with the synchronous structure; the lower rotating inclined rotary disc is connected with the lower rotor wing connecting piece through the lower variable pitch push rod.

6. The double-deck synchronous pitch coaxial rotor unmanned aerial vehicle of claim 5, wherein the outer wall of the lower rotor disc is provided with a lower positioning screw and a lower ball head, and the lower positioning screw and the lower ball head are respectively connected with the synchronizing structure.

7. The dual-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 6, wherein the synchronizing structure comprises a synchronizing push rod and a limiting bracket, the limiting bracket is connected with the main shaft, the upper end of the synchronizing push rod is connected with the upper ball head, the lower end of the synchronizing push rod is connected with the lower ball head, the limiting bracket is provided with an upper limiting groove and a lower limiting groove, the upper positioning screw rod is inserted into the upper limiting groove, and the lower positioning screw rod is inserted into the lower limiting groove.

8. The double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle as claimed in claim 1, wherein the power source set comprises two rolling steering engines and two pitching steering engines, the rolling steering engines are connected with one of the push rods through first swing arms, and the pitching steering engines are connected with the other push rod through second swing arms.

9. The dual-layer synchronous pitch coaxial rotor unmanned aerial vehicle of claim 5, wherein the outer end of the upper rotor attachment member is connected to the upper rotor via a sizing clip; the outer end of the lower rotor wing connecting piece is connected with a lower rotor wing through a lower slurry clamp.

10. Control method of double-layer synchronous variable-pitch coaxial rotor unmanned aerial vehicle, comprising:

the power source group outputs power for changing the rolling direction and the pitching direction, the push rod is driven to move, the push rod drives the upper rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, and the synchronous structure drives the lower rotor pitch structure to perform pitch change in the rolling direction and the pitching direction, so that the upper rotor connecting piece and the lower rotor connecting piece are synchronously pitch-changed.

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