CN111846252A - Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing - Google Patents
Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing Download PDFInfo
- Publication number
- CN111846252A CN111846252A CN201910326933.2A CN201910326933A CN111846252A CN 111846252 A CN111846252 A CN 111846252A CN 201910326933 A CN201910326933 A CN 201910326933A CN 111846252 A CN111846252 A CN 111846252A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- rotor
- transmission mechanism
- gear
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000007704 transition Effects 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 4
- 230000001808 coupling effect Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Gear Transmission (AREA)
- Toys (AREA)
Abstract
A differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle belongs to the technical field of unmanned aerial vehicles. The invention relates to a differential speed gear train mechanism capable of being timely adjusted for a direct-drive multi-rotor unmanned aerial vehicle, which comprises an engine (or a motor), a differential transmission mechanism and a propeller (or a rotor); the power output shaft of the engine (or the motor) is connected with the power input shaft of the differential transmission mechanism, and the power output shaft of the differential transmission mechanism is connected with the propeller (or the rotor wing) in a one-way or fixed mode, so that the pitching, rolling, yawing and other movements of the unmanned aerial vehicle can be realized under the condition that the rotating speed of the engine (or the motor) is not changed. The invention effectively solves the problem that the rotating speeds of a plurality of engines of the existing direct-drive multi-rotor unmanned aerial vehicle are difficult to keep consistent, greatly reduces the influence of the coupling property of position change and posture change in an under-actuated system of the unmanned aerial vehicle on a control structure, ensures more accurate control, and improves the flexibility and the wind disturbance resistance of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to an unmanned aerial vehicle gear train mechanism, in particular to a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles.
Background
Compared with other unmanned aerial vehicles, the multi-rotor unmanned aerial vehicle has the advantage of being extremely thick, and compared with a fixed-wing aircraft, the multi-rotor unmanned aerial vehicle has the characteristics of being capable of taking off and landing vertically and hovering at a fixed point; compared with a single-rotor helicopter, the multi-rotor unmanned aerial vehicle has no tail rotor device, and has the advantages of simple structure, high safety, low use cost and the like. Its a great deal of advantage makes many rotor unmanned aerial vehicle obtain extensive application.
At present, many kinds of representative products have been released in many rotor unmanned aerial vehicle field, however more problem still exists in its stability and reliability, and this is also the key direction of rotor unmanned aerial vehicle performance optimization and promotion. The main-stream rotorcraft mainly adopts a four-rotor configuration, a control system mostly uses cascade PID controllers neglecting a coupling effect, each operating shaft can have as many as 6 PID controllers connected in series and a plurality of feedforward controllers connected in parallel, spatial six-degree-of-freedom motion is realized through distribution of control quantity, and the structure of the controller needs a large amount of parameter adjustment work and depends too much on experience.
The mainstream four rotor unmanned aerial vehicle input control quantity's figure is less than the figure of output control quantity, is an under-actuated system, and its position change has stronger coupling with the attitude change, and the coupling item between different operation axles has been neglected to current control structure, and when operation axle unites the maneuver, the interference that the inter-axle coupling arouses has reduced control accuracy, has restricted the flexibility of many rotors, and its maneuverability receives great restriction. Meanwhile, the yaw moment is not controlled sufficiently due to the fact that the reaction torque is adopted for course control, and the wind disturbance resistance of the system is weak.
Disclosure of Invention
The invention aims to provide a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle, and solves the problems that the rotation speed of each rotor of the existing oil-driven multi-rotor unmanned aerial vehicle is difficult to regulate and consistency is difficult to guarantee. The gear train has the advantages of simple structure, accurate control, high reliability and stability and the like.
The purpose of the invention is realized by the following technical scheme:
a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle mainly comprises an engine or a motor, a differential transmission mechanism and a propeller or a rotor blade; the method is characterized in that: the power output shaft of the engine or the motor is connected with the power input shaft of the differential transmission mechanism, and the power output shaft of the differential transmission mechanism is rotatably provided with a propeller or a rotor blade.
The differential transmission mechanism comprises a gear box body, a bevel gear, a worm wheel, a worm and a speed regulating motor; the bevel gear consists of an input bevel gear, two transition bevel gears and an output bevel gear. The power output shaft of the engine or the motor is connected with the power input shaft of the input bevel gear, the power input shaft of the input bevel gear is rotationally connected with the gearbox body, the input bevel gear is simultaneously meshed with two transition bevel gears, the two transition bevel gears are rotationally connected with the gearbox body through respective gear shafts, the two transition bevel gears are simultaneously meshed with the output bevel gear, the power output shaft of the output bevel gear is rotationally connected with the gearbox body, and the output bevel gear is rotationally connected with the worm; the worm wheel is fixedly connected with the box body; the power output shaft of the output bevel gear is fixedly or unidirectionally connected with a propeller or a rotor blade, the worm gear is meshed with a worm, and one end of the worm is connected with the output shaft of the speed regulating motor. The differential transmission mechanism is arranged in the box body of the differential transmission mechanism.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the propellers or rotor blades can reach the rotating speed required by flight through the differential gear train mechanism capable of timely regulating the speed, and the rotating speeds of the propellers or rotor blades are consistent when the unmanned aerial vehicle vertically moves (i.e. takes off, lands and hovers); when the movement with other degrees of freedom such as pitching, rolling, yawing and the like is required, the movement can be realized without changing the rotating speed of the engine or the motor. The problem of the rotational speed when effectively having solved current many rotor unmanned aerial vehicle that directly drives there is engine direct drive screw or rotor blade be difficult to keep unanimous is solved, greatly reduced unmanned aerial vehicle's the underactuated system in the position change and the gesture change have stronger coupling nature to control structure's influence for control is more accurate, improves unmanned aerial vehicle's flexibility and anti-wind ability of disturbing.
The attached figure 1 of the specification is a schematic front view of the whole structure of the invention, and the names and the labels of the parts are a propeller or a rotor blade 1, a differential transmission mechanism 2, a worm 3, a gear box 4, an input bevel gear 5, an engine or a motor 6, a worm gear 7, a speed regulating motor 8, a transition bevel gear 9, an output bevel gear 10 and a differential transmission mechanism box 11.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
The first embodiment is as follows: as shown in fig. 1, the present embodiment discloses a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle, which comprises an engine or motor 6, a differential transmission mechanism 2 and a propeller or rotor blade 1; the power output shaft of the engine or the motor 6 is connected with the power input shaft of the differential transmission mechanism 2, and the power output shaft of the differential transmission mechanism 2 is fixedly or unidirectionally provided with a propeller or a rotor blade 1.
The second embodiment is as follows: as shown in fig. 1, in a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle according to a first embodiment, the differential transmission mechanism 2 includes a gear box 4, bevel gears 5, 9, 10, a worm wheel 7, a worm 3, and a speed regulation motor 8; the four bevel gears consist of an input bevel gear 5, two transition bevel gears 9 and an output bevel gear 10; the power output shaft of the engine or the motor 6 is connected with the power input shaft of the input bevel gear 5, and the power input shaft of the input bevel gear 5 is rotationally connected with the gear box body 4; the input bevel gear 5 is meshed with two transition bevel gears 9 at the same time, the two transition bevel gears 9 are rotationally connected with the gear box body 4 through respective gear shafts, and the two transition bevel gears 9 are meshed with the output bevel gear 10 at the same time.
The third concrete implementation mode: as shown in fig. 1, in a differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle according to a first embodiment, a power output shaft of an output bevel gear 10 is rotatably connected with a gear box 4, and the output bevel gear 10 is rotatably connected with a worm 7; the worm wheel 7 is fixedly connected with the box body 4; the power output shaft of the output bevel gear 10 is fixedly or unidirectionally connected with the propeller or the rotor blade 1, the worm wheel 7 is meshed with the worm 3, and one end of the worm 3 is connected with the output shaft of the speed regulating motor 8. The differential transmission mechanism 2 is arranged in the differential transmission mechanism case 11.
The working principle is as follows: the engine or the motor 6 transmits power to the propeller or the rotor blade 1 through a set of differential transmission mechanism 2, and the rotating speed of the propeller or the rotor blade 1 is equal to the synthesis of the rotating speed of the engine or the motor 6 and the rotating speed of the worm wheel 7.
Claims (3)
1. A differential gear train mechanism for timely speed regulation of a multi-rotor unmanned aerial vehicle comprises an engine or a motor (6), a differential transmission mechanism (2) and a propeller or a rotor (1); the method is characterized in that: the power output shaft of the engine or the motor (6) is connected with the power input shaft of the differential transmission mechanism (2), and the power output shaft of the differential transmission mechanism (2) is unidirectionally or fixedly provided with a propeller or a rotor wing (1).
2. The timely speed-regulating differential gear train mechanism of multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: the differential transmission mechanism (2) comprises a gear box body (4), bevel gears (5, 9 and 10), a worm wheel (7), a worm (3) and a speed regulating motor (8); the bevel gear consists of an input bevel gear (5), two transition bevel gears (9) and an output bevel gear (10); a power output shaft of the engine or the motor (6) is connected with a power input shaft of the input bevel gear (5), and the power input shaft of the input bevel gear (5) is rotationally connected with the gear box body (4); the input bevel gear (5) is meshed with the two transition bevel gears (9) at the same time, the two transition bevel gears (9) are rotationally connected with the gear box body (4) through respective gear shafts, and the two transition bevel gears (9) are meshed with the output bevel gear (10) at the same time.
3. The timely speed-regulating differential gear train mechanism of multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: the power output shaft of the output bevel gear (10) is rotationally connected with the gear box body (4), and the output bevel gear (10) is rotationally connected with the worm (7); the worm wheel (7) is fixedly connected with the box body (4); a power output shaft of the output bevel gear (10) is fixedly or unidirectionally connected with the propeller or the rotor (1), the worm wheel (7) is meshed with the worm (3), and one end of the worm (3) is connected with an output shaft of the speed regulating motor (8); the differential transmission mechanism (2) is arranged in the differential transmission mechanism box body (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326933.2A CN111846252A (en) | 2019-04-25 | 2019-04-25 | Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326933.2A CN111846252A (en) | 2019-04-25 | 2019-04-25 | Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111846252A true CN111846252A (en) | 2020-10-30 |
Family
ID=72952007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326933.2A Pending CN111846252A (en) | 2019-04-25 | 2019-04-25 | Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111846252A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235142A (en) * | 2016-03-28 | 2017-10-10 | 冯江 | The oil of vertical engine center driving moves many rotor agricultural spray aircraft of differential speed type |
| CN107235143A (en) * | 2016-03-28 | 2017-10-10 | 冯江 | The many rotor agricultural spray aircraft of the dynamic planetary gear train differential speed type of oil |
| CN207997982U (en) * | 2018-03-15 | 2018-10-23 | 中国人民解放军国防科技大学 | Screw mechanism and VTOL fixed wing unmanned aerial vehicle vert |
| CN211844922U (en) * | 2019-04-25 | 2020-11-03 | 黑龙江翼飞科技有限公司 | Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing |
-
2019
- 2019-04-25 CN CN201910326933.2A patent/CN111846252A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235142A (en) * | 2016-03-28 | 2017-10-10 | 冯江 | The oil of vertical engine center driving moves many rotor agricultural spray aircraft of differential speed type |
| CN107235143A (en) * | 2016-03-28 | 2017-10-10 | 冯江 | The many rotor agricultural spray aircraft of the dynamic planetary gear train differential speed type of oil |
| CN207997982U (en) * | 2018-03-15 | 2018-10-23 | 中国人民解放军国防科技大学 | Screw mechanism and VTOL fixed wing unmanned aerial vehicle vert |
| CN211844922U (en) * | 2019-04-25 | 2020-11-03 | 黑龙江翼飞科技有限公司 | Differential gear train mechanism of many rotor unmanned aerial vehicle in good time speed governing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7267300B2 (en) | Aircraft capable of vertical and short take-off and landing | |
| CN106927030B (en) | Oil-electricity hybrid power multi-rotor aircraft and flight control method thereof | |
| CN101801785B (en) | Long range fast hybrid helicopter | |
| CN102358420B (en) | Attitude transforming aircraft | |
| RU2445236C2 (en) | High-speed long-range hybrid helicopter with optimised rotor | |
| CN105539833A (en) | Fixed-wing multi-shaft aircraft | |
| CN104176247A (en) | Four-rotor unmanned aerial vehicle with engine for directly driving rotor | |
| CN106585976A (en) | Aircraft layout of tilt rotors/lift fan during high-speed long endurance | |
| CN103991539A (en) | Device for driving multiple rotors of airplane | |
| CN204916182U (en) | High -speed vertical take -off and landing aircraft | |
| CN205022862U (en) | Power device and fixed wing aircraft with mechanism of verting | |
| CN103395492B (en) | A kind of unpowered short take-off and landing (STOL) unmanned plane turning rotor | |
| CN106927036A (en) | A kind of dynamic four rotor wing unmanned aerial vehicles at a high speed of folding combined type oil | |
| CN201712787U (en) | Electric tilt rotor unmanned aircraft | |
| CN102514712A (en) | Vertical take-off and landing aircraft | |
| CN103010463A (en) | High-speed coaxial tilting double-rotor-wing flying wing machine | |
| CN102490897B (en) | Multi-driving embedded rotor manned helicopter | |
| CN108313285A (en) | Propeller tilting mechanism | |
| CN105966609B (en) | A kind of heavy autogyro hybrid power richochet system with variable-distance teetering rotor head | |
| CN103832584B (en) | A kind of with fixed wing, collapsible empennage to switch rotor aircraft | |
| CN203094440U (en) | Non-coaxial multi-rotor wing air vehicle | |
| CN203255354U (en) | Plant-protecting unmanned helicopter with double-layer propellers | |
| CN109455295B (en) | Rotor control device and rotor craft | |
| CN107380428A (en) | Dish-style rotor craft | |
| CN205221109U (en) | Multiaxis manned vehicle |
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 |