CN111559496A - Small coaxial dual-rotor unmanned aerial vehicle - Google Patents
Small coaxial dual-rotor unmanned aerial vehicle Download PDFInfo
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- CN111559496A CN111559496A CN202010447307.1A CN202010447307A CN111559496A CN 111559496 A CN111559496 A CN 111559496A CN 202010447307 A CN202010447307 A CN 202010447307A CN 111559496 A CN111559496 A CN 111559496A
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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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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Abstract
The invention discloses a small coaxial double-rotor unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises a vehicle body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module; the machine body comprises a shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other and are used for offsetting the rotational inertia; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the variable pitch function is realized. The small coaxial dual-rotor unmanned aerial vehicle provided by the invention has the advantages that the structure of the small coaxial unmanned aerial vehicle is simplified through the excellent structural design, the reliability is high, the cruising ability and the maneuvering performance of the coaxial dual-rotor unmanned aerial vehicle are enhanced, and the remote point operation requirement can be met.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a small coaxial double-rotor unmanned aerial vehicle.
Background
Nowadays, unmanned aerial vehicle technology develops at a rapid pace, and is widely applied to various industries and fields. The unmanned aerial vehicle has the characteristics of stable flight, portability, large flight range, moderate endurance and the like, and meets the special requirements of various industries. To different application scenes and application fields, many different types have been developed for unmanned aerial vehicles, and the most widely used are multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles and coaxial unmanned aerial vehicles.
At present, the miniaturization and the quick response flight of the aircraft are an important direction for the development of the unmanned aerial vehicle. In military and civilian field, ordinary unmanned aerial vehicle is when taking off, and most take off time is long, has defects such as take off speed is slow, continuation of the journey mileage is not enough, can't satisfy unmanned aerial vehicle remote point operation. Therefore, in order to realize remote target point operation, long-time takeoff and lifting are needed, long-distance back-and-forth flight reaches a specified place for a long time, and the endurance mileage needs to be increased, which is not beneficial to the miniaturization of the unmanned aerial vehicle. On this basis, compare in many rotors and fixed wing aircraft, coaxial pair rotor has the folding characteristics of rotor, realizes the miniaturization target more easily.
Disclosure of Invention
The invention aims to provide a small coaxial double-rotor unmanned aerial vehicle, which has the advantages that the structure of the small coaxial unmanned aerial vehicle is simplified through an excellent structural design, the reliability is high, and the requirement of remote point operation can be met.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a small coaxial double-rotor unmanned aerial vehicle which comprises a body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module, wherein the upper rotor mechanism is arranged on the body; the machine body comprises a machine shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other, so that the rotating inertia is counteracted mutually; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the function of variable pitch is realized.
Optionally, the casing is a bullet-shaped casing, the bullet-shaped casing includes a bullet-shaped head, a bullet-shaped middle part, a bullet-shaped lower part and a bullet-shaped base, and the bullet-shaped lower part is mounted on the bullet-shaped base.
Optionally, the upper rotor mechanism comprises an upper rotor mounting base and an upper rotor blade joint mounted at the top of the upper rotor mounting base, a pair of left rotors are hinged to the upper rotor blade joint, and the upper rotor mounting base is connected with the motor unit module through a power transmission assembly.
Optionally, the lower rotor mechanism includes a lower rotor mounting seat, a lower rotor frame sleeved on the top of the lower rotor mounting seat, and a pair of right rotors, the right rotors are hinged to two ends of the lower rotor frame through lower rotor blade joints, and the lower rotor mounting seat is connected with the motor unit module through a power transmission assembly.
Optionally, the motor group module is installed between the upper rotor mechanism and the lower rotor mechanism, and includes a GPS, a flight control board connected with the GPS signal, a motor frame installed on the central shaft, and two motors installed in opposite directions, where the GPS is fixed to the top of the central shaft, and the motors are fixed to the motor frame through a motor cover plate; go up rotor mount pad bottom with rotor gear wheel and lower rotor gear wheel are installed respectively to lower rotor mount pad top, two the output of motor respectively through the pinion with go up the rotor gear wheel with lower rotor gear wheel meshes and connects.
Optionally, frame joints are hinged to two sides of the lower rotor frame, the frame joints are connected with the top of a fisheye joint through a first ball joint, the fisheye joint is connected to the central shaft, and the bottom of the fisheye joint is connected with the steering engine module through a second ball joint; the steering engine module drives the second ball joint to sequentially link the fisheye joint and the first ball joint, so that the lower rotor frame is inclined, and the variable-pitch function is realized.
Optionally, the fisheye joint includes an inner bearing sleeve and an outer bearing sleeve connected to the inner bearing sleeve, the first ball joint is connected to the inner bearing sleeve, and the second ball joint is connected to the outer bearing sleeve; and the outer bearing sleeve is also provided with a swash plate clamping seat.
Optionally, a position occupying piece is connected between the lower rotor wing mounting seat and the fisheye joint; the placeholder is connected to the central shaft.
Optionally, the steering engine module comprises a steering engine, a steering engine connecting frame, a steering engine base and a steering engine arm; the steering engine seat is connected to the central shaft; one end of the steering engine connecting frame is provided with the steering engine, and the other end of the steering engine connecting frame is fixed on the steering engine base; the rudder horn is fastened on the output shaft of the steering engine; the bottom of the steering engine is connected with a steering engine mounting plate, and a chart transmitter is fixed on the steering engine mounting plate; and a plurality of supporting aluminum columns are supported between the rudder engine base and the steering engine mounting plate.
Optionally, the bullet-shaped base is a circular base, and a plurality of slots are arranged on the circular base at intervals and used for guiding airflow and providing lift force after ejection and emission.
Compared with the prior art, the invention has the following technical effects:
the small coaxial dual-rotor unmanned aerial vehicle provided by the invention has few driving elements, greatly simplifies the structure, has compact structure and small longitudinal size, improves the reliability, and can meet the operation requirement of remote points; the missile can be matched with an unmanned aerial vehicle catapult for use in appearance design, and can be carried for complex terrain operation; simultaneously, the light weight design of optimization has strengthened coaxial two rotor unmanned aerial vehicle's duration and mobility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used 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 inventive exercise.
Figure 1 is a front view of a small coaxial dual rotor drone of the present invention;
figure 2 is a side view of a removed portion of the small coaxial twin rotor drone of the present invention;
figure 3 is a front view of the small coaxial twin rotor drone of the present invention with portions removed;
figure 4 is an exploded perspective view of the small coaxial dual rotor drone of the present invention;
figure 5 is an isometric view of a removed portion of the small coaxial twin rotor drone of the present invention;
FIG. 6 is an enlarged partial schematic view at A of FIG. 5;
fig. 7 is a schematic view of the lower rotor profile deployment of the small coaxial dual rotor drone of the present invention;
fig. 8 is a schematic view of the deployment of the upper rotor profile of the small coaxial dual rotor drone of the present invention;
figure 9 is a moment diagram of the small coaxial dual rotor drone of the present invention;
FIG. 10-1 is a schematic view of the vertical motion maneuver of the small coaxial dual rotor drone of the present invention;
fig. 10-2 is a schematic view of the longitudinal motion maneuver of the small coaxial dual rotor drone of the present invention;
fig. 10-3 are schematic diagrams of the lateral motion maneuver of the small coaxial dual rotor drone of the present invention;
10-4 are schematic views of the course motion maneuver of the small coaxial dual rotor drone of the present invention;
wherein the reference numerals are: 101. the steering engine comprises a bullet-shaped head part 102, a bullet-shaped middle part 103, a bullet-shaped base 104, a bullet-shaped lower part 105, a central shaft 110, an upper rotor mechanism 111, a left rotor 112, an upper rotor blade joint 113, an upper rotor mounting seat 114, an upper rotor big gear 115, a flight control plate 120, a motor set module 121, a motor 122, a motor frame 123, a motor cover plate 124, a GPS 125, a pinion gear 126, a frame joint 130, a lower rotor mechanism 131, a lower rotor big gear 132, a lower rotor mounting seat 133, a lower rotor frame 134, a lower rotor blade joint 1351, a first ball joint 1352, a second ball joint 136, an occupation part 137, an inner bearing sleeve 138, an outer bearing sleeve 139, a right rotor 140, a steering engine module 141, a steering engine base 142, a steering engine 143, a steering engine arm 144, a steering engine connecting frame 145, a steering engine mounting plate 146, a supporting aluminum column, 147. fig. 148 swash plate holder 149 battery.
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 order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
as shown in fig. 1-8, the present embodiment provides a small coaxial dual rotor drone, comprising:
the aircraft comprises a body, a rotor mounting seat 113 and a rotor, wherein the body comprises a bullet-shaped head part 101, and the bullet-shaped head part 101 is connected with the upper rotor mounting seat 113 and rotates together with the upper rotor mounting seat; the elastic middle part 102 is fastened on the motor cover plate 123 through bolts, the elastic base 103 is fastened and connected with the steering engine mounting plate 145, and the elastic lower part 104 is connected on the steering engine base 103 in a molded manner.
The upper rotor wing mechanism 110 is characterized in that a left rotor wing 111 is connected to an upper rotor wing paddle joint 112 through a pin shaft and can rotate, the upper rotor wing paddle joint 112 is connected to an upper rotor wing mounting base 113 through bolts, the bolts form hinge connection, and an upper rotor wing large gear 114 is fastened to the upper rotor wing mounting base 113 through bolts.
The motor set module 120, wherein, the GPS 124 is fastened to the top end of the central shaft 105, the bottom hole of the motor 121 is connected to the motor cover plate 123, the motor cover plate 123 is fixed to the motor frame 122, the side hole of the motor frame 122 is fastened to the central shaft 105, and the pinion 125 is fastened to the output shaft of the motor 121.
A lower rotor mechanism 130, wherein a lower rotor bull gear 131 is bolted on the lower rotor mounting base 132 to realize force transmission; lower rotor mount 132 is bearing-connected to central shaft 105; a T-shaped hole is formed in the middle of the lower rotor frame 133, the lower rotor frame can be connected to the lower rotor mounting seat 132, the side face of the lower rotor frame is empty, and the lower rotor frame 133 can be connected with the lower rotor mounting seat 132 through a connecting bolt; one end of the occupying part 136 is connected with the lower rotor wing mounting seat 132, and the other end is connected with a fisheye joint (namely a fisheye bearing), and the fisheye joint is connected on the central shaft 105; the right rotor 139 is connected to the lower rotor blade joint 134 through a pin shaft and can rotate freely; a lower rotor blade joint 134 is connected to one diagonal of the lower rotor frame 133 in four directions, and a frame joint 126 is connected to the other diagonal; the frame joint 126 is connected with a first ball joint 1351; the inner bearing sleeve 137 is in bearing connection with an outer bearing ring of the fisheye bearing, and the outer circumference of the outer bearing ring is connected with a bearing and is in matching connection with an outer bearing sleeve 138; the inner bearing sleeve 137 is connected with the lower rotor frame 133 through a first ball joint 1351, and the outer bearing sleeve 138 is connected with the steering engine module 140 through a second ball joint 1352.
The steering engine module 140 is connected with the steering engine connecting frame 144 through a steering engine 142 through bolts; the steering engine connecting frame 144 is fastened on the steering engine mounting plate 145, and a drawing transmission 147 is fixed on the steering engine mounting plate 145; the steering engine arm 143 is fastened on an output shaft of the steering engine 142, the steering engine arm 143 is hinged to the second bulb power unit 1352, the center of the steering engine seat 141 is connected to the central shaft 105, and holes are formed in the side faces of the steering engine seat and fastened through bolts; four supporting aluminum columns 146 are connected between the rudder engine base 141 and the rudder engine mounting plate 145; a battery 149 for powering the steering engine 142 is also included.
The upper rotor mechanism 110 and the lower rotor mechanism 130 have different rotation directions, and the rotational inertia is offset; the upper rotor mechanism 110 is fixed and rotating, and the lower rotor mechanism 130 can realize pitch variation. The steering engine 142 drives the second ball joint 1352 to link with the outer bearing sleeve 138, and the outer bearing sleeve 138 and the inner bearing sleeve 137 realize rotation and fixed separation; the inner bearing sleeve 137 is connected with the fisheye bearing, and the rudder arm 143 drives the outer bearing sleeve 138 and the inner bearing sleeve 137 to incline; the inner bearing sleeve 137 is obliquely linked with the second ball joint 1351, and the lower rotor frame 133 is obliquely linked to realize the function of changing the pitch.
In this embodiment, as shown in fig. 3, the elastic base 103 is designed to be round and slot, and can guide airflow to provide lift force after being ejected.
In this embodiment, two motors 121 in the motor group module 120 are arranged in opposite directions, and the motors 121 drive the pinions 125 to drive the upper wing mechanism 110 to rotate through the transmission of the upper wing gearwheel 114, wherein the rotation direction of the upper wing mechanism 110 is counterclockwise; the lower rotor mechanism 130 is driven to rotate by the lower rotor bull gear 131, wherein the rotating direction of the lower rotor mechanism 130 is clockwise; because the blades of the upper rotor mechanism 110 are left rotors 111 and the blades of the lower rotor mechanism 130 are right rotors, lift is generated together. The rotary wing aircraft hooks rotate in different directions, so that the rotary inertia of the whole aircraft can be maintained, the aircraft can hover, and the hovering rotation is avoided.
The coaxial unmanned aerial vehicle operates on the following principle:
as shown in fig. 9, a coaxial drone has six degrees of freedom in air, i.e., movement along the X, Y, Z axis and rotation about the X, Y, Z axis, motion along the X, Y, Z axis referred to as longitudinal movement, lateral movement, and vertical movement, respectively, and rotation about the X, Y, Z axis referred to as roll, pitch, and yaw, respectively.
If the flying state of the unmanned aerial vehicle is changed, the change is realized by changing 3 forces along the direction of the X, Y, Z axis and 3 moments around the axis X, Y, Z. Since the longitudinal movement and pitch, lateral movement and roll of the drone are not independent of each other, there are 4 movements:
1) the unmanned aerial vehicle vertically moves, the total distance between the upper rotor wing and the lower rotor wing is adjusted to be increased or decreased, so that the tension of the rotor wings is changed, and the unmanned aerial vehicle is controlled to lift or hover; the vertical motion maneuver is illustrated in FIG. 10-1;
2) the tilting disk tilts forwards and backwards, the longitudinal tilt angle of the rotor wing is changed to change the direction of tension, and additional longitudinal force is generated to control the unmanned aerial vehicle to move forwards or backwards; the longitudinal movement maneuver is illustrated in FIG. 10-2;
3) the transverse movement is realized by tilting the tilting disk left and right, changing the transverse tilt angle of the rotor wing to change the direction of the pulling force and generating additional transverse force; the lateral motion maneuver is illustrated in FIG. 10-3;
4) the course moves, and the course of the unmanned aerial vehicle is changed by controlling the torque difference of the upper rotor and the lower rotor; the heading motion maneuver is shown in FIG. 10-4.
The above 4 motion maneuvers are implemented by 3 maneuvers, namely collective maneuver, cyclic maneuver and heading maneuver:
(1) the collective pitch control is to change the collective pitch of the upper rotor and the lower rotor so as to change the magnitude of the tension of the rotors;
(2) cyclic pitch control is to tilt the swashplate in different directions, resulting in the rotating rotor to tilt, i.e. to change the direction of the rotor pull, causing the drone to move in that direction;
(3) course control is to change the reaction torque of the upper rotor and the lower rotor, so that the moment formed by the upper rotor and the lower rotor to the vertical shaft of the coaxial unmanned aerial vehicle is unbalanced, and the unmanned aerial vehicle can rotate around the vertical shaft, so that the course of the unmanned aerial vehicle is changed.
The present embodiment will be specifically described below with reference to the above-described operation principle.
The steering engine 142 drives to change the rotating plane of the lower rotor mechanism 130 and change the angle between the lower rotor mechanism and the upper rotor mechanism 110; when the two steering engines 142 are driven, the steering engine arms 143 rotate around the steering engine shafts; one end of the rudder horn 143 is fixed on the output shaft of the steering engine 142, one end is hinged with the second ball joint 1352, the outer bearing bush 138 is not rotated in a fixed posture when flying, and the inner bearing bush 137 is rotated together with the lower rotor frame 133; the swash plate clamping seat 148 is provided with a long slotted hole, the bolt is connected with the outer bearing sleeve 138, and the outer bearing sleeve 138 and the inner bearing sleeve 137 are connected with the central shaft 105 through a fisheye bearing; the steering engine 142 drives the second ball joint 1352 and the outer bearing sleeve 138 to realize the deviation in the direction of the swash plate clamping seat 148; the inner bearing sleeve 137 shifts to drive the first ball joint 1351, and the other end of the first ball joint 1351 is connected with the frame joint 126 on the lower rotor frame 133; the lower rotor wing frame 133 and the lower rotor wing mounting base 132 are provided with holes for connection, and when the lower rotor wing mounting base 132 drives the lower rotor wing frame 133 to rotate, the lower rotor wing frame 133 can deviate around the holes, so that the rotation plane angle of the lower rotor wing frame 133 is changed; the angle of the rotating sheet of the right rotor 139 is changed, so that the rotating distances between the lower rotor mechanism 130 and the upper rotor mechanism 110 are changed, and the function of changing the distance is realized.
The aircraft structure of the embodiment can be placed in a certain ejection launching device, after launching, the left rotary wing 111 and the right rotary wing 139 are converged at the lower part of the bullet-shaped shell, when the GPS 124 detects feedback position information to the flight control panel 115 and reaches a specified place, the paddle joint rotates under the action of inertia, the right rotary wing 139 and the left rotary wing 111 are unfolded, and at the moment, the motor 121 drives the aircraft structure to realize hovering. Wherein the flight control panel 115 is disposed within the bullet-shaped base 103.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A small coaxial dual-rotor unmanned aerial vehicle is characterized by comprising a vehicle body, an upper rotor mechanism, a lower rotor mechanism, a motor set module and a steering engine module; the machine body comprises a machine shell and a central shaft, and the upper rotor mechanism, the lower rotor mechanism and the steering engine module are sequentially arranged on the central shaft; the motor set module is used for rotating the upper rotor mechanism and the lower rotor mechanism, and the rotating directions of the upper rotor mechanism and the lower rotor mechanism are opposite to each other, so that the rotating inertia is counteracted mutually; the fixed shaft of the upper rotor mechanism rotates, the lower rotor mechanism is in linkage connection with the steering engine module, and the steering engine module can drive and change the rotating plane of the lower rotor mechanism, so that an included angle is formed between the lower rotor mechanism and the upper rotor mechanism, and the function of variable pitch is realized.
2. A small coaxial dual rotor drone according to claim 1, wherein the housing is a bullet-shaped shell comprising a bullet-shaped head, a bullet-shaped middle section, a bullet-shaped lower section and a bullet-shaped base on which the bullet-shaped lower section is mounted.
3. A small coaxial dual rotor drone according to claim 1, wherein the upper rotor mechanism includes an upper rotor mount and an upper rotor blade joint mounted on top of the upper rotor mount, the upper rotor blade joint having a pair of left rotors articulated thereon, the upper rotor mount being connected to the motor block module by a power transmission assembly.
4. A small coaxial dual rotor drone according to claim 3, wherein the lower rotor mechanism comprises a lower rotor mount, a lower rotor frame nested on top of the lower rotor mount, and a pair of right rotors hinged at both ends of the lower rotor frame by lower rotor blade joints, the lower rotor mount being connected to the motor assembly module by a power transmission assembly.
5. The small coaxial dual-rotor unmanned aerial vehicle of claim 4, wherein the motor group module is mounted between the upper rotor mechanism and the lower rotor mechanism and comprises a GPS, a flight control board connected with the GPS signal, a motor frame mounted on the central shaft, and two oppositely mounted motors, wherein the GPS is fixed on the top of the central shaft, and the motors are fixed on the motor frame through a motor cover plate; go up rotor mount pad bottom with rotor gear wheel and lower rotor gear wheel are installed respectively to lower rotor mount pad top, two the output of motor respectively through the pinion with go up the rotor gear wheel with lower rotor gear wheel meshes and connects.
6. The small coaxial dual-rotor unmanned aerial vehicle of claim 4, wherein frame joints are hinged to two sides of the lower rotor frame, the frame joints are connected with the top of a fisheye joint through a first ball joint, the fisheye joint is connected to the central shaft, and the bottom of the fisheye joint is connected with the steering engine module through a second ball joint; the steering engine module drives the second ball joint to sequentially link the fisheye joint and the first ball joint, so that the lower rotor frame is inclined, and the variable-pitch function is realized.
7. A small coaxial dual rotor drone according to claim 6, wherein the fisheye joint comprises an inner bearing housing and an outer bearing housing bearing-connected to the inner bearing housing, the first ball joint being connected to the inner bearing housing and the second ball joint being connected to the outer bearing housing; and the outer bearing sleeve is also provided with a swash plate clamping seat.
8. A small coaxial dual rotor unmanned aerial vehicle according to claim 6, wherein a capture is connected between the lower rotor mount and the fisheye joint; the placeholder is connected to the central shaft.
9. A small coaxial dual rotor unmanned aerial vehicle according to claim 1, wherein the steering engine module comprises a steering engine, a steering engine link, a steering engine mount, and a steering engine arm; the steering engine seat is connected to the central shaft; one end of the steering engine connecting frame is provided with the steering engine, and the other end of the steering engine connecting frame is fixed on the steering engine base; the rudder horn is fastened on the output shaft of the steering engine; the bottom of the steering engine is connected with a steering engine mounting plate, and a chart transmitter is fixed on the steering engine mounting plate; and a plurality of supporting aluminum columns are supported between the rudder engine base and the steering engine mounting plate.
10. A small coaxial dual rotor unmanned aerial vehicle according to claim 2, wherein the bullet-shaped base is a circular base, and a plurality of slots are spaced on the circular base for guiding airflow and providing lift force after launch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010447307.1A CN111559496A (en) | 2020-05-25 | 2020-05-25 | Small coaxial dual-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010447307.1A CN111559496A (en) | 2020-05-25 | 2020-05-25 | Small coaxial dual-rotor unmanned aerial vehicle |
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|---|---|---|---|---|
| CN113306713A (en) * | 2021-06-29 | 2021-08-27 | 哈尔滨工业大学 | Coaxial dual-rotor unmanned aerial vehicle based on parallelogram control rotor shaft |
| 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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