CN112319786A - Multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle - Google Patents
Multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle Download PDFInfo
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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
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- 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
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
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Abstract
The invention provides a multi-axis coaxial double-propeller multi-rotor unmanned aerial vehicle, which comprises: the aircraft comprises a machine frame cabin, a pluggable machine arm, an undercarriage, a propeller protection device, a power device and an electric control system. The eight pluggable machine arms are circumferentially arrayed on the horizontal plane of the cabin, and the tail end of each machine arm is connected with two coaxial brushless motors through a motor base with a mounting angle to drive the two propellers to rotate in opposite directions. The undercarriage is of a pair of steel structures, and the propeller protection device is a hollow cone arranged below the lower-layer motor. The technology of the invention can be applied to manned multi-rotor or heavy-load multi-rotor unmanned aerial vehicles, has the advantages of simple structure, low manufacturing cost, small size, easy transportation, heavy load, rollover prevention and strong redundancy, can normally fly when a plurality of motor propellers fail, and ensures the life safety of the multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle and passengers.
Description
Technical Field
The invention relates to a manned unmanned aerial vehicle, in particular to a multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle.
Background
In recent years, with the rapid development of motor technology, battery technology and new material technology, the multi-rotor unmanned aerial vehicle is continuously developed towards the directions of heavy load, long endurance, safety and intelligence, and the design and development of the heavy load multi-rotor unmanned aerial vehicle and even the manned multi-rotor unmanned aerial vehicle become possible. The manned multi-rotor unmanned aerial vehicle can be applied to scenes such as tourism, entertainment and sightseeing, emergency medical service, fire fighting, express logistics, power grid maintenance, pipeline inspection, pesticide spraying and the like; and military war scenes such as offshore personnel material transportation, maritime operations and the like.
At present, manned multi-rotor unmanned aerial vehicle and big many rotor unmanned aerial vehicle of load have the size huge, aerodynamic resistance is big, driftage manipulation performance subalternation problem, also lack the consideration to factors such as the many rotor unmanned aerial vehicle of manned and big many rotor unmanned aerial vehicle of load side wind descends and easily turns on one's side, the screw or motor easily crash after becoming invalid and probably threaten passenger life safety.
Disclosure of Invention
In view of the above, the invention designs a manned multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle, which has the advantages of flexible control, simple structure and the like of multi-rotor unmanned aerial vehicles, and simultaneously adopts a coaxial double-propeller technology to reduce the overall size of the unmanned aerial vehicle so as to reduce aerodynamic resistance, improve load carrying capacity so as to meet manned demands, optimize the structure so as to ensure the efficiency and safety of the unmanned aerial vehicle, and avoid the problems of rollover of the manned multi-rotor unmanned aerial vehicle, crash of the unmanned aerial vehicle with failed motor propellers and the like. The specific scheme is as follows:
a multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle comprises a rack cabin and a plurality of groups of rotor wing mechanisms symmetrically arranged on the left side and the right side of the rack cabin, wherein each rotor wing mechanism is connected with the rack cabin through a horn, each rotor wing mechanism comprises a motor mounting seat fixedly connected with the horn, each motor mounting seat is of a hollow structure, and one end of each motor mounting seat is provided with a sleeve connected with the horn;
the upper side and the lower side of the motor mounting seat are respectively provided with a driving motor, the steering directions of the upper driving motor and the lower driving motor are opposite, and an output shaft of the driving motor is provided with a propeller;
two driving motors of each rotor wing mechanism are obliquely and symmetrically arranged at the upper side and the lower side of the motor mounting seat in an up-and-down manner, the included angle between the output shaft of each driving motor and the vertical plane where the axis of the driving motor is connected with the aircraft arm is alpha, wherein,
in the two adjacent front and back rotor wing mechanisms on the same side of the machine frame cabin, the tail ends of the output shafts of the upper and lower two driving motors of one rotor wing mechanism incline to the front side of the machine frame cabin, the tail ends of the output shafts of the upper and lower two driving motors of the other rotor wing mechanism incline to the back side of the machine frame cabin, the turning directions of the driving motors on the upper sides of the first and second rotor wing mechanisms are opposite, and
in a pair of left and right rotor mechanisms close to the front side or the rear side of the machine frame cabin, the tail ends of output shafts of driving motors of the pair of rotor mechanisms are inclined towards the front side or the rear end of the machine frame cabin.
Furthermore, 4 groups of rotor wing mechanisms are arranged on the left side and the right side of the machine frame cabin.
Further, the included angle alpha is 2-10 degrees.
Further, the included angle α is 4 °.
Further, the horn is a carbon fiber composite round tube, and the housing of the machine frame cabin and the propeller are made of carbon fiber composite materials;
and a steel undercarriage is arranged at the bottom of the engine frame cabin.
Furthermore, a plurality of regular hexagon socket joints are arranged on two sides of the machine frame cabin, and a regular hexagon hollow metal socket joint capable of being inserted into the regular hexagon socket joints is fixed at one end of the machine arm;
the regular hexagon socket and the sleeve are both provided with locking mechanisms.
Further, the propeller protection device is arranged in the center of the lower propeller of each group of rotor wing mechanisms and is a hollow conical cylinder which is coaxial with the lower driving motor and extends downwards, and the conical cylinders of each group of rotor wing mechanisms are the same in length.
Further, the motor mounting seat is a hollow rectangular metal frame body.
Furthermore, the included angles between two adjacent machine arms on the same side of the machine frame cabin are different from each other.
Further, the driving motor is a brushless motor.
Compared with the prior art, the invention has the beneficial effects that:
1. by adopting the layout of multiple shafts and double propellers, the load-carrying capacity of the unmanned aerial vehicle is greatly improved under the condition that the overall size of the multi-rotor unmanned aerial vehicle is not increased. And the windward area of the unmanned aerial vehicle is reduced, the air resistance borne by the unmanned aerial vehicle is reduced, and the flying speed is increased.
2. And a multi-shaft coaxial double-paddle layout is adopted, so that the control and power redundancy are strong. Under the condition of dismantling a plurality of propellers at random, the multi-rotor unmanned aerial vehicle with multiple coaxial double propellers of multiple shafts still can be kept stable, self-rotation cannot occur, operating torque in pitching and rolling directions is achieved, and the multi-rotor unmanned aerial vehicle with the multiple coaxial double propellers of multiple shafts can be guaranteed to be emergently and safely forced to land.
3. The machine frame cabin is positioned on the same horizontal plane with the motor and the propeller, so that the efficiency is improved, and the safety risk caused by the overhead arrangement of the machine frame cabin is avoided, or the air flow of the propeller is interfered and the efficiency is reduced due to the underneath arrangement of the machine frame cabin.
4. Can peg graft the horn has been designed, under non-user state such as unmanned aerial vehicle transportation, can dismantle the horn, further reduces unmanned aerial vehicle's size, reduces unmanned aerial vehicle's occupation of land space.
5. The steel anti-rollover landing gear is designed, the contact area with the ground is large, and the manned multi-rotor unmanned aerial vehicle is not prone to toppling during landing.
6. Designed screw protection device, also can not incline, can not harm the screw when guaranteeing the unmanned aerial vehicle fuselage slope, safer.
7. Designed along the motor cabinet of horn axle slope, guaranteed that manned many rotor unmanned aerial vehicle has stronger driftage moment, promoted the flexibility that unmanned aerial vehicle controlled by a wide margin.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.
Fig. 1 is an embodiment of an eight-axis coaxial twin-propeller multi-rotor drone provided by the present invention;
FIG. 2 is a fragmentary view of FIG. 1 showing a schematic view of the horn and cockpit connection;
FIG. 3 is a perspective view of the first rotor mechanism (A rotor mechanism) and its horn in the forward left of the cockpit in FIG. 1;
FIG. 4 is a perspective view of the second rotor (B rotor) and its horn on the left side of the cockpit in FIG. 1;
figure 5 is a perspective view of a rotor mechanism corresponding to figure 3;
figure 6 is a cross-sectional view of the arm of the a rotor mechanism as viewed from the axial direction toward the cockpit;
figure 7 is a cross-sectional view of the horn of the B rotor mechanism as viewed from the axial direction toward the cockpit;
figure 8 is a schematic illustration of a rotation direction corresponding to 8 of the rotor mechanisms of figure 1;
figure 9 shows a schematic view of the thrust direction generated by two propellers in a rotor mechanism a, exploded in the horizontal and vertical directions respectively;
fig. 10 is a schematic diagram showing the horizontal component of thrust generated by two propellers in the rotor mechanism a, and the horizontal component of thrust is offset with respect to clockwise and counterclockwise yaw moments generated by the unmanned aerial vehicle;
FIG. 11 is a schematic diagram showing thrust generated by the rotor mechanism A when the two propellers are not rotating at the same speed and the forces resolved in the horizontal and vertical directions respectively;
fig. 12 shows a schematic diagram of the yaw moment generated by the unmanned aerial vehicle due to different horizontal component forces of thrust generated when the rotation speeds of the two propellers of the rotor a mechanism are different, so that the unmanned aerial vehicle makes yaw motion.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
The invention provides a multi-axis coaxial double-propeller multi-rotor unmanned aerial vehicle, which consists of a rack cabin 1 and a plurality of groups of rotor wing mechanisms symmetrically arranged on two sides of the rack cabin 1, wherein each rotor wing mechanism is connected with the rack cabin 1 through a horn 2, each rotor wing mechanism comprises a motor mounting seat 5 fixedly connected with the horn 2, the motor mounting seat 5 is of a hollow structure, and one end of the motor mounting seat 5 is provided with a sleeve 6 connected with the horn 2;
a driving motor is arranged on the upper side and the lower side of the motor mounting seat 5, the steering directions of the upper driving motor and the lower driving motor are opposite, and a propeller is arranged on an output shaft of the driving motor; two driving motors of each rotor mechanism are inclined and are symmetrically arranged at the upper side and the lower side of a motor mounting seat 5 up and down, the included angle between the output shafts of the driving motors and the vertical plane where the axes of a connecting machine arm 2 are located is alpha, wherein, in any two adjacent front and back rotor mechanisms at the same side of a rack cabin 1, the tail ends of the output shafts of the upper and lower driving motors of one rotor mechanism are inclined towards the front side of the rack cabin 1, the tail ends of the output shafts of the upper and lower driving motors of the other rotor mechanism are inclined towards the back side of the rack cabin 1, the turning directions of the driving motors on the upper sides of the first and second rotor mechanisms are opposite, and in a pair of left and right rotor mechanisms close to the front side or the back side of the rack cabin 1, the tail ends of the output shafts of the driving motors of the pair.
With reference to fig. 1 and 7, the left and right sides of the cabin of the rack 1 are respectively provided with 4 groups of rotor wing mechanisms, the four groups of left rotor wing mechanisms are sequentially provided with a rotor wing mechanism a, a rotor wing mechanism B, a rotor wing mechanism C and a rotor wing mechanism D from front to back, and the four groups of right rotor wing mechanisms are sequentially provided with a rotor wing mechanism H, a rotor wing mechanism G, a rotor wing mechanism F and a rotor wing mechanism E from front to back. The four groups of rotor mechanisms on the left side are respectively represented as A1, B1, C1 and D1 on the upper propeller, and respectively represented as A2, B2, C2 and D2 on the lower propeller in the order from front to back; the H, G, F, E four sets of rotor mechanisms on the right side are counted from front to back, the upper propellers are respectively represented as H1, G1, F1, E1, and the lower propellers are respectively represented as H2, G2, F2, E2, wherein the rotation directions of the upper propellers are indicated by solid bold lines and the rotation directions of the lower propellers are indicated by hollow lines in order to better distinguish the upper and lower propellers in fig. 8. Fig. 3-4 show perspective views of two rotor mechanisms AB, with upper rotor a1 of rotor mechanism a being rotated by drive motor A3 and lower rotor a2 being rotated by drive motor a 4; the upper propeller B1 of the rotor mechanism B is driven to rotate by a drive motor B3, and the lower propeller B2 is driven to rotate by a drive motor B4.
Referring to fig. 1 as an example, two rotor mechanisms AB on the left side of the aircraft cabin 1 are described as an example: the tail end of a motor output shaft of the rotor wing mechanism A inclines towards the front side direction of the rack cabin 1, and the motor output shaft of the rotor wing mechanism B inclines towards the rear side direction of the tail end rack cabin 1. In a pair of rotor wing mechanisms A and H at the front side of the machine frame cabin 1, the tail ends of motor output shafts of the rotor wing mechanism A and the rotor wing mechanism H are inclined towards the front side direction of the machine frame cabin 1; correspondingly, in a pair of rotor mechanisms D and E at the rear side of the machine frame cabin 1, the tail ends of motor output shafts of the rotor mechanisms D and E are inclined towards the direction of the rear side of the machine frame cabin 1.
It should be noted that the upper and lower motors of each set of rotor mechanism are connected to the electronic speed regulators through dedicated silica gel wires, and all the electronic speed regulators are connected to the battery through dedicated silica gel wires. On the wire that electronic governor and battery link to each other, use banana head plug connector to quick assembly disassembly silica gel line when dismouting horn 2.
The control logic of the present invention is further described below:
in the art, the propeller reaction torque is interpreted as: the rotor gives the air with the reaction torque (or the moment of torsion), and the air must be in the same time with the reaction torque that the size is equal, opposite direction act on the rotor (or the reaction torque) to transmit this reaction torque to the unmanned aerial vehicle organism through the rotor again. That is to say the screw of clockwise rotation, can give unmanned aerial vehicle a anticlockwise pivoted moment of torsion. The number of the propellers of the unmanned aerial vehicle is generally even, so that the number of the positive and negative propellers is equal, the rotating speeds of all the propellers are equal in the hovering state, and the reaction torques of the propellers can be mutually offset.
The two motors on the same rotor wing mechanism have opposite rotating directions, so that the efficiency loss of about 20 percent is only caused, and the load capacity can be improved under the condition of not increasing the whole size of the unmanned aerial vehicle. In addition, the propeller of the invention is divided into a positive propeller and a negative propeller: in fig. 1 and 7, propellers H2, G1, F2, E1, D2, C1, B2 and a1 rotate counterclockwise to generate lift force, and are positive propellers, which generate lift force and generate counter torque for clockwise rotation of the unmanned aerial vehicle; the propellers H1, G2, F1, E2, D1, C2, B1 and A2 rotate clockwise to generate lift force, and are counter propellers which can generate counter torque for the unmanned aerial vehicle to rotate anticlockwise while generating the lift force.
Fig. 6 and 7 are views of the rotor mechanism a and the rotor mechanism B respectively looking into the rack cabin 1 along the axial direction of the horn 2, and the installation angle formed by the installation angle of the motor and the vertical direction is about 4 degrees, so that the propeller tilts in different directions. The screw of slope installation can produce a horizontal component, and the torque that horizontal component produced unmanned aerial vehicle is unanimous with the anti-turn round direction that its rotation produced, consequently, can play the effect that increases unmanned aerial vehicle driftage moment, lets unmanned aerial vehicle have more driftage maneuverability. Therefore, the inclination directions of all the positive propellers are required to be leftward, and the clockwise control moment of the unmanned aerial vehicle is increased; the inclination direction of the counter-propeller is towards the right, and the counter-clockwise control moment of the unmanned aerial vehicle is increased. Specifically, in a view looking inward along boom 2, in fig. 1 and 7, motor output shafts of A, C, G, E propellers are both inclined forward and motor output shafts of B, D, H, F propellers are both inclined rearward, thus causing planes of propellers H2, G1, F2, E1, D2, C1, B2, a1 to be inclined to the left (considered as propeller front side downward inclination), and conversely planes of propellers H1, G2, F1, E2, D1, C2, B1, a2 to be inclined to the right (considered as propeller rear side downward inclination). The eight-axis coaxial double-propeller unmanned aerial vehicle achieves forward and backward flight, roll movement and change of course angles of the aircraft in a mode of changing the motor rotating speed of each group of rotor wing mechanisms. In fig. 1, the control logic and the motion effect of the unmanned aerial vehicle in each direction are as follows:
1) for the unmanned aerial vehicle altitude rise, all driving motors increase the rotational speed simultaneously.
2) For unmanned aerial vehicle altitude descent, all driving motors reduce the rotational speed simultaneously.
3) To unmanned aerial vehicle pitching motion forward, two pairs of rotor mechanism motor speed reduce about the unmanned aerial vehicle front side, and two pairs of rotor mechanism motor speed increase about the rear side, rotor mechanism A promptly, rotor mechanism B, rotor mechanism H, rotor mechanism G motor speed reduce, and rotor mechanism F, rotor mechanism E, rotor mechanism C, rotor mechanism D motor speed increase.
4) To unmanned aerial vehicle pitching motion backward, two pairs of rotor mechanism motor speed increases about the unmanned aerial vehicle front side, and two pairs of rotor mechanism motor speed decreases about the rear side, rotor mechanism A promptly, rotor mechanism B, rotor mechanism H, rotor mechanism G motor speed increase, and rotor mechanism F, rotor mechanism E, rotor mechanism C, rotor mechanism D motor speed decrease.
5) To unmanned aerial vehicle roll motion left, rotor mechanism H, rotor mechanism G, rotor mechanism F, the increase of rotor mechanism E rotational speed on unmanned aerial vehicle right side, left rotor mechanism A of unmanned aerial vehicle, rotor mechanism B, rotor mechanism C, rotor mechanism D rotational speed reduce.
6) To unmanned aerial vehicle roll motion right, rotor mechanism H, rotor mechanism G, rotor mechanism F, the rotor mechanism E rotational speed on unmanned aerial vehicle right side reduce, and the left rotor mechanism A of unmanned aerial vehicle, rotor mechanism B, rotor mechanism C, the increase of rotor mechanism D rotational speed.
7) For the counterclockwise yaw movement of the unmanned aerial vehicle, the motor rotating speeds of the propeller H2, the propeller G1, the propeller F2, the propeller E1, the propeller D2, the propeller C1, the propeller B2 and the propeller A1 are reduced, and the counter torque generated by the unmanned aerial vehicle in the clockwise direction is reduced; in addition, the motor rotating speeds of the propeller H1, the propeller G2, the propeller F1, the propeller E2, the propeller D1, the propeller C2, the propeller B1 and the propeller A2 are increased, and the counter-clockwise counter-torque generated by the unmanned aerial vehicle is increased, so that the unmanned aerial vehicle does counter-clockwise yaw motion.
8) For the clockwise yaw motion of the unmanned aerial vehicle, the motor rotating speeds of the propeller H2, the propeller G1, the propeller F2, the propeller E1, the propeller D2, the propeller C1, the propeller B2 and the propeller A1 are increased, and the counter torque generated by the unmanned aerial vehicle in the clockwise direction is increased; and the motor rotating speeds of the propeller H1, the propeller G2, the propeller F1, the propeller E2, the propeller D1, the propeller C2, the propeller B1 and the propeller A2 are reduced, and the counter-clockwise counter-torque generated by the unmanned aerial vehicle is reduced, so that the unmanned aerial vehicle does clockwise yaw motion.
In an alternative embodiment, the number of the rotor mechanisms on each side of the cabin 1 is even, and preferably, 4 sets of rotor mechanisms are arranged on the left side and the right side of the cabin 1, so that an eight-axis coaxial double-propeller multi-rotor unmanned aerial vehicle is formed.
Considering the relation between the size of the unmanned aerial vehicle and the maneuverability, the acceleration of the unmanned aerial vehicle is irrelevant to the size of the unmanned aerial vehicle, and the angular acceleration is inversely proportional to the radius of the body of the unmanned aerial vehicle, namely the larger the size of the unmanned aerial vehicle is, the smaller the yaw angular acceleration is. Therefore, the unmanned aerial vehicle is large in size, the unmanned aerial vehicle is controlled to yaw only by the aid of the reaction torque of the propellers, and yaw control performance is poor. To solve this problem, the motor installation angle needs to be designed. In an alternative embodiment of the invention, the angle α (which may be considered as the motor mounting angle) is 2-10 °. Further preferably, the included angle α is 4 °. In the invention, the motor installation angle alpha is 4 degrees, the left motor and the right motor are provided with opposite propellers, thereby ensuring that the thrust generated by the propellers mainly balances gravity along the vertical direction and also ensuring that enough horizontal direction component force is generated. Therefore, when the unmanned aerial vehicle does not yaw, the horizontal component forces generated by the two coaxial motors can be mutually offset, and the unmanned aerial vehicle cannot spin; when the unmanned aerial vehicle does the action of yawing, one of them motor rotational speed increase, horizontal component increase, another motor rotational speed reduces, horizontal component reduces, can provide a yawing moment for manned many rotor unmanned aerial vehicle, increases unmanned aerial vehicle's driftage manipulation performance.
As shown in fig. 9-10, taking the a rotor mechanism as an example: a1 is a propeller rotating anticlockwise and can provide moment for the unmanned aerial vehicle to rotate clockwise; a2 is a propeller rotating clockwise and can give a moment to the unmanned aerial vehicle to rotate anticlockwise. Looking inward along the horn, A1 is angled to the left and A2 is angled to the right. The thrust generated by the propeller can be resolved both horizontally and vertically. In the top view of fig. 10, the horizontal component force 1 generates a clockwise moment on the drone. The horizontal component force 2 generates a moment in the counterclockwise direction for the unmanned aerial vehicle.
Therefore, the motor mounting angle brings extra increased moment to the motor propeller, and the yaw motion of the unmanned aerial vehicle can be better controlled through the rotating speed. As in fig. 11-12, during the yaw movement, the rotation speed of propellers a1, B2, C1, D2, E1, F2, G1, H2 increases; the rotating speeds of the propellers A2, B1, C2, D1, E2, F1, G2 and H1 are reduced, and the unmanned aerial vehicle does clockwise yaw motion.
In an alternative embodiment, the horn 2 is a carbon fiber composite round tube, and the housing of the machine frame cabin 1 and the propeller are made of carbon fiber composite. The screw is major diameter carbon fiber screw, has higher intensity, less quality and inertia to manned many rotor unmanned aerial vehicle can realize self attitude control through the motor speed governing.
A steel undercarriage 3 is arranged at the bottom of the machine frame cabin 1, and preferably, the undercarriage 3 is made of steel and has the function of absorbing impact vibration. The area enclosed by the undercarriage 3 is large, and the unmanned aerial vehicle is not easy to tip over when taking off or landing in a side flight mode.
In an alternative embodiment, a plurality of regular hexagon sockets 11 are disposed on both sides of the rack cabin 1, and a regular hexagon hollow metal socket 21 that can be inserted into the regular hexagon socket 11 is fixed at one end of the horn 2, as shown in fig. 2. The regular hexagon socket 11 and the sleeve 6 are both provided with locking mechanisms, as shown in fig. 5, the side wall of the sleeve 6 is provided with an axial opening, the side walls of the sleeve 6 at the upper side and the lower side of the opening are welded with screw locking blocks, and the sleeve and the horn are tightly fixed through bolts.
In an alternative embodiment, as shown in fig. 3-4, a propeller protector 4 is disposed centrally on the lower propeller of each set of rotor mechanisms, and propeller protector 4 is a hollow conical cylinder extending coaxially and downwardly from the lower drive motor, wherein the conical cylinders of each set of rotor mechanisms are the same length. Preferably, the higher metal material of specific strength should be selected for use to screw protection device 4, and should have good axiality with motor, screw pivot during the installation, prevents to produce vibration, influences the coaxial many rotor unmanned aerial vehicle normal flight of double-oar of multiaxis. When many rotor unmanned aerial vehicle fuselages of manned incline, the screw protection device 4 of installation under the motor can be preferred and the ground point contact, plays the effect of support, has avoided the screw to beat ground, receives the condition emergence of damage, plays the effect of protection screw and passenger.
In an alternative embodiment, the motor mounting base 5 is a hollow rectangular metal frame, as shown in fig. 5, for reducing weight.
In an alternative embodiment, the angles between two adjacent horn arms 2 on the same side of the rack cabin 1 are different from each other, that is, the angle between the horn arms of the rotor mechanisms a and B, the angle between the horn arms of the rotor mechanisms B and C, and the angle between the horn arms of the rotor mechanisms C and D are different from each other. In an alternative embodiment, the drive motor is a brushless motor.
The fuselage of the manned multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle is made of carbon fiber composite materials, so that the weight of the unmanned aerial vehicle is greatly reduced; the tail end of the arm 2 is provided with a plurality of pairs of motors which rotate in opposite directions, and the rotation can provide a vertical upward lifting force for the unmanned aerial vehicle, so that the load-bearing performance of the unmanned aerial vehicle is improved under the condition that the overall size of the unmanned aerial vehicle is not increased; the brushless motor has a certain installation angle, so that the brushless motor can generate component force in the horizontal direction, the torque generated by the component force on the unmanned aerial vehicle is consistent with the direction of reaction torque generated by rotation of the propeller, the yaw control moment of the unmanned aerial vehicle is increased, and the yaw control performance of the unmanned aerial vehicle is improved; a propeller protection device 4 is arranged below the lower-layer motor and the propeller, so that when the body of the unmanned aerial vehicle inclines, the propeller protection device 4 is preferentially contacted with the ground to form a new support plane, and the unmanned aerial vehicle is prevented from overturning and damaging the propeller; the undercarriage 3 of high toughness can absorb the energy when unmanned aerial vehicle descends, reduce the impact, guarantee passenger's safety.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (10)
1. A multi-shaft coaxial double-propeller multi-rotor unmanned aerial vehicle comprises a rack cabin and a plurality of groups of rotor wing mechanisms symmetrically arranged on the left side and the right side of the rack cabin, and each rotor wing mechanism is connected with the rack cabin through a horn;
the upper side and the lower side of the motor mounting seat are respectively provided with a driving motor, the steering directions of the upper driving motor and the lower driving motor are opposite, and an output shaft of the driving motor is provided with a propeller;
two driving motors of each rotor wing mechanism are obliquely and symmetrically arranged at the upper side and the lower side of the motor mounting seat in an up-and-down manner, the included angle between the output shaft of each driving motor and the vertical plane where the axis of the driving motor is connected with the aircraft arm is alpha, wherein,
in the two adjacent front and back rotor wing mechanisms on the same side of the machine frame cabin, the tail ends of the output shafts of the upper and lower two driving motors of one rotor wing mechanism incline to the front side of the machine frame cabin, the tail ends of the output shafts of the upper and lower two driving motors of the other rotor wing mechanism incline to the back side of the machine frame cabin, the turning directions of the driving motors on the upper sides of the first and second rotor wing mechanisms are opposite, and
in a pair of left and right rotor mechanisms close to the front side or the rear side of the machine frame cabin, the tail ends of output shafts of driving motors of the pair of rotor mechanisms are inclined towards the front side or the rear end of the machine frame cabin.
The tail end of the output shaft of the lower driving motor of the rotor mechanism on one side inclines to the front side of the machine frame cabin, and the tail end of the output shaft of the upper driving motor of the rotor mechanism on the other side inclines to the front side of the machine frame cabin.
2. A multi-axis co-axial, twin-paddle, multi-rotor drone according to claim 1, wherein 4 sets of rotor mechanisms are provided on each of the left and right sides of the cockpit.
3. A multi-axis co-axial, twin-paddle, multi-rotor drone according to claim 2, characterised in that said angle α is between 2 ° and 10 °.
4. A multi-axis co-axial, twin-paddle, multi-rotor drone according to claim 3, characterised in that said angle α is 4 °.
5. The multi-axis coaxial twin-paddle multi-rotor drone of claim 1, wherein the horn is a carbon fiber composite round tube, the frame cockpit housing and propellers are carbon fiber composite;
and a steel undercarriage is arranged at the bottom of the engine frame cabin.
6. The multi-axis coaxial double-propeller multi-rotor unmanned aerial vehicle as claimed in claim 5, wherein a plurality of regular hexagonal sockets are arranged on both sides of the cabin, and a regular hexagonal hollow metal socket which can be inserted into the regular hexagonal sockets is fixed at one end of the horn;
the regular hexagon socket and the sleeve are both provided with locking mechanisms.
7. A multi-axis coaxial twin-paddle multi-rotor drone according to claim 1, wherein the lower propeller center of each set of rotor mechanisms is provided with a propeller guard which is a hollow conical cylinder extending coaxially and downwardly from the lower drive motor output shaft, wherein the conical cylinders of each set of rotor mechanisms are the same length.
8. The multi-axis coaxial twin-paddle multi-rotor drone of claim 1, wherein the motor mount is a hollowed rectangular metal frame.
9. The multi-axis coaxial twin-paddle multi-rotor drone of claim 1, wherein the angles between two adjacent arms on the same side of the airframe cabin are different from each other.
10. A multi-axis co-axial, twin-paddle, multi-rotor drone according to claim 1, wherein the drive motors are brushless motors.
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| CN112319786B (en) | 2022-06-28 |
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