CN112340000A

CN112340000A - Electric coaxial multi-rotor helicopter based on contra-rotating dual-rotor motor

Info

Publication number: CN112340000A
Application number: CN201910723139.1A
Authority: CN
Inventors: 虞一扬
Original assignee: Guanyue Aviation Technology Hangzhou Co ltd
Current assignee: Guanyue Aviation Technology Hangzhou Co ltd
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2021-02-09

Abstract

The invention discloses an electric coaxial multi-rotor helicopter based on a contra-rotating dual-rotor motor, which comprises a helicopter body; a main rotor system, located centrally above the fuselage, comprising coaxial upper and lower rotors, a counter-rotating dual-rotor motor disposed between the upper and lower rotors for effecting coaxial, counter-directional, constant speed rotation of the upper and lower rotors; the main rotor system is used for providing main flight power for the helicopter; the auxiliary rotor system is positioned below the main rotor system and comprises four control rotors, and the four control rotors are uniformly distributed at four corners of the fuselage, which are at a certain distance from the center of gravity of the fuselage; the auxiliary rotor system provides attitude control for the helicopter. The invention has the advantages of simple structure, strong cruising ability, less power consumption, low manufacturing and using cost and the like.

Description

Electric coaxial multi-rotor helicopter based on contra-rotating dual-rotor motor

Technical Field

The invention relates to the technical field of aircraft design and manufacture, in particular to an electric coaxial multi-rotor helicopter based on a contra-rotating dual-rotor motor.

Background

The existing electric helicopter generally directly uses an electric motor to simply replace an engine as a power source, and the control mode of the electric helicopter is not changed, so the defects of complex structure, high energy consumption, poor cruising ability and the like still exist. Meanwhile, the multi-rotor aircraft can also be regarded as a multi-rotor helicopter, but the rotors of the multi-rotor aircraft can interfere with each other, so that the more the rotors are, the lower the efficiency is.

Therefore, how to overcome the above technical defects of the existing electric multi-rotor helicopters is one direction that needs to be researched by those skilled in the art.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.

Therefore, the invention aims to provide an electric coaxial multi-rotor helicopter based on a counter-rotating dual-rotor motor, which specifically adopts the following technical scheme: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

a body;

a main rotor system positioned centrally above the fuselage and secured to the fuselage by fasteners, the main rotor system including coaxial upper and lower rotors, a counter-rotating dual-rotor motor disposed between the upper and lower rotors for effecting coaxial, counter-directional, constant velocity rotation of the upper and lower rotors; the main rotor system is used for providing main flight power for the helicopter;

the auxiliary rotor wing system is positioned below the main rotor wing system and comprises four control rotor wings, and the four control rotor wings are uniformly distributed on four corners of the fuselage, which are away from the center of gravity of the fuselage by a certain distance, by taking the center of gravity of the fuselage as a center; the auxiliary rotor system provides attitude control for the helicopter.

The invention takes a contra-rotating dual-rotor motor as a core, drives two groups of contra-rotating upper rotors and lower rotors to rotate at a constant speed, works in a working mode of coaxial dual rotors, and is also used as an important component of a main rotor system to provide main flight power for a helicopter. The invention also simultaneously arranges four control rotors, and adjusts the attitude of the aircraft body in a control mode similar to that of a multi-rotor aircraft so as to achieve the aim of controlling the flight direction.

On the basis of the technical scheme, the invention can be improved as follows:

preferably, the distances between the four control rotors and the center of gravity of the fuselage are equal to ensure the stability of the center of gravity of the helicopter, and the distances can be designed according to actual conditions so as to generate enough lever effect to control the flight attitude of the helicopter.

Preferably, a motor shaft of the counter-rotating dual-rotor motor extends downwards and is fixed on the frame at the bottom of the machine body through the fastening piece.

Preferably, the counter-rotating dual-rotor motor is a high-power motor, and the control rotor is controlled by a low-power motor.

Preferably, the propellers adopted by the upper rotor and the lower rotor are long propellers, and the propellers adopted by the control rotor are short propellers.

In the present invention, the main rotor system is equipped with a powerful motor and a long propeller so that it provides sufficient power for the helicopter to ascend and descend. The auxiliary rotor system is provided with a low-power motor and shorter propellers, and the control rotors are placed at four corners with a certain distance from the center of gravity of the helicopter body, so that the helicopter has the advantages of flexibility in control and precision in flight attitude control.

Preferably, the counter-rotating dual-rotor motor is a dual-rotor brushless dc motor.

The double-rotor brushless direct current motor is a double-rotor brushless direct current motor with a specific structure and comprises a synchronizing mechanism, a driving mechanism, an upper rotor and a lower rotor.

The synchronous mechanism comprises an interchange coaxial bracket, two linkage gears and at least one (generally two) synchronous gear; the linkage gear and the synchronous gear are respectively fixed on vertically crossed shafts of the overpass coaxial bracket through bearings, the linkage gear is arranged at the upper and lower positions of the vertical shaft, and the synchronous gear is arranged at the left and right positions of the horizontal shaft; the linkage gear and the synchronous gear are tightly meshed to form a transmission structure.

All gears in the synchronous mechanism are conical gears.

The driving mechanism comprises a stator winding, a permanent magnet and a stator bracket.

The stator winding in the driving mechanism is divided into a plurality of single bodies which are respectively fixed on the stator bracket.

The permanent magnets are arranged on the upper rotor and the lower rotor, and the positions of the permanent magnets correspond to the stator windings.

The stator winding in the driving mechanism is positioned between the permanent magnets of the upper rotor and the lower rotor.

The stator windings are arranged in a ring shape, and the central radius of the stator windings is the same as that of the permanent magnets arranged in the upper rotor and the lower rotor; two magnetic poles of the stator winding are respectively opposite to the permanent magnets on the upper rotor and the lower rotor.

The stator support is provided with three Hall sensors which can be distributed at 120 degrees or 60 degrees, and the output of the Hall sensors is connected to a rotating speed controller. In some occasions with low requirements on stability, a Hall sensor can be omitted, and a corresponding Hall-free rotating speed controller is adopted to control the rotation of the motor.

The upper rotor and the lower rotor are tightly connected with the synchronous mechanism into a whole and are part of the driving mechanism.

The upper rotor and the lower rotor are respectively and tightly connected with two linkage gears in the synchronous mechanism through fasteners.

The permanent magnets and the stator winding between the upper rotor and the lower rotor jointly form a driving mechanism; the permanent magnets arranged on the upper rotor and the lower rotor are identical in number and position and are in mirror symmetry.

The overpass coaxial bracket and the stator bracket are tightly connected into a whole through a fastener.

The dual-rotor brushless direct current motor needs to be matched with a corresponding BLDC controller for use.

The upper rotor and the lower rotor are defined according to the position of the double-rotor brushless direct current motor when the double-rotor brushless direct current motor is used for driving the double rotors to generate lift force, the upper rotor is used for driving the rotors at the upper position, and the lower rotor is used for driving the rotors below. When the dual-rotor brushless dc motor is used to generate a horizontal propulsion force, the upper rotor is actually a front rotor, and the lower rotor may be referred to as a rear rotor. However, for convenience, no matter what the dual-rotor brushless dc motor is used, it is generally referred to as an upper rotor and a lower rotor, and the horizontal and vertical directions mentioned herein are also defined according to the spatial coordinates.

The double-rotor brushless direct current motor mainly enables the upper rotor and the lower rotor to rotate oppositely at a constant speed through a synchronizing mechanism, achieves the purpose of simultaneously driving the two rotors by using one set of stator winding, and has the advantages of light weight and high efficiency. The double-rotor brushless direct current motor is very suitable for being applied to the multi-rotor helicopter, can replace a common brushless direct current motor, only one double-rotor brushless direct current motor is needed to simultaneously drive two propellers, and higher thrust can be obtained at the same rotating speed or the same thrust can be obtained at lower rotating speed, so that the multi-rotor helicopter has longer endurance time or higher load capacity,

through the technical scheme, compared with the prior art, the invention discloses an electric coaxial multi-rotor helicopter based on a counter-rotating dual-rotor motor, which has the following beneficial effects:

1. the helicopter adopts the specific dual-rotor brushless direct current motor to replace a common brushless direct current motor to serve as a main power system of the helicopter, so that the structure of the coaxial dual-rotor helicopter is simplified, the cost is reduced, the coaxial dual-rotor helicopter is easier to control, and the helicopter has longer endurance time and larger load capacity.

2. This helicopter has configured four control rotors simultaneously, and four control rotors are similar to many gyroplanes' control mode, adjust the gesture of fuselage to reach the purpose of control flight direction.

3. This helicopter is through adopting five-axis structural design to the position of rational design main power system and attitude control system for this aircraft has not only had longer time of endurance, bigger load-carrying capacity, has had the easy nimble adjustment of gesture simultaneously, is difficult for taking place the crash, multiple advantages such as security is strong.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a front view of one embodiment of the present invention.

Figure 2 is a top view of one embodiment of the present invention.

Fig. 3 is an overall structural view of a double-rotor brushless dc motor according to the present invention;

FIG. 4 is a schematic view of the operation of a dual rotor brushless DC motor according to the present invention;

FIG. 5 is a top view of an upper stator frame of a dual rotor BLDC motor according to the present invention;

FIG. 6 is a side view of an upper stator frame of a dual rotor BLDC motor according to the present invention;

FIG. 7 is a view showing the upper and lower rotor structures of the dual-rotor brushless DC motor according to the present invention;

wherein, in the figure,

1-fuselage, 11-frame, 12-fastener; 2-main rotor system, 21-upper rotor, 22-lower rotor, 23-double rotor brushless dc motor; 3-auxiliary rotor system, 31-control rotor.

101-interchange coaxial support, 102-linkage gear, 103-synchronous gear, 104-bearing, 201-stator winding, 202-permanent magnet, 203-stator support, 301-upper rotor and 302-lower rotor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center of gravity", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

an electric coaxial multi-rotor helicopter based on a counter-rotating dual-rotor motor according to an embodiment of the present invention is described in detail below with reference to fig. 1-2.

As shown in fig. 1-2, an embodiment of the present invention discloses an electric coaxial multi-rotor helicopter based on a counter-rotating dual-rotor motor, which specifically includes:

a body 1;

the main rotor system 2 is positioned in the upper middle position of the fuselage 1 and is fixed with the fuselage 1 through a fastener 12, and the main rotor system 2 comprises an upper rotor 21 and a lower rotor 22 which are coaxial and a counter-rotating dual-rotor motor which is arranged between the upper rotor 21 and the lower rotor 22 and is used for enabling the upper rotor 21 and the lower rotor 22 to realize coaxial reverse constant-speed rotation; the main rotor system 2 is used for providing main flight power for the helicopter;

the auxiliary rotor system 3 is positioned below the main rotor system 2, the auxiliary rotor system 3 comprises four control rotors 31, and the four control rotors 31 are uniformly distributed on four corners of the fuselage 1 away from the center of gravity of the fuselage 1 by a certain distance by taking the center of gravity of the fuselage 1 as a center; the secondary rotor system 3 provides attitude control for the helicopter. The distances from the four control rotors 31 to the center of gravity of the fuselage 1 need to be determined comprehensively by combining the weight, the size and other factors of the helicopter, so that the four control rotors 31 can generate enough lever effect to control the flight attitude of the helicopter.

In order to further optimize the technical scheme of the above embodiment, the distances between the four control rotors 31 and the center of gravity of the helicopter body 1 are all equal, so that the center of gravity of the helicopter is ensured to be stable, and the attitude of the helicopter can be adjusted more effectively.

In order to further optimize the technical solution of the above embodiment, the motor shaft of the dual-rotor motor extends downward and is fixed on the frame 11 at the bottom of the fuselage 1 by the fastener 12, ensuring that the dual-rotor motor and the upper rotor 21 and the lower rotor 22 are firmly fixed.

In order to further optimize the technical scheme of the above embodiment, the contra-rotating dual-rotor motor is a high-power motor, and the control rotor 31 is controlled by a low-power motor. Meanwhile, the propellers used by the upper rotor 21 and the lower rotor 22 are long propellers, and the propellers used by the control rotor 31 are short propellers. The high-power counter-rotating double-rotor motor and the upper rotor 21 and the lower rotor 22 with longer propellers work together to generate enough power. The small power motor works in cooperation with the control rotor 31 having a shorter propeller, and is sufficient to adjust the attitude of the helicopter to control the flight direction.

In order to further optimize the technical solution of the above embodiment, the counter-rotating dual-rotor motor is a dual-rotor brushless dc motor 23.

The counter-rotating double-rotor motor used in the present invention is a double-rotor brushless dc motor 23 of a specific structure, which includes a synchronizing mechanism, a driving mechanism, an upper rotor, and a lower rotor, the synchronizing mechanism including a flyover coaxial bracket, two linked gears, and at least one (generally two) synchronizing gear; the linkage gear and the synchronous gear are respectively fixed on vertically crossed shafts of the overpass coaxial bracket through bearings, the linkage gear is arranged at the upper and lower positions of the vertical shaft, and the synchronous gear is arranged at the left and right positions of the horizontal shaft; the linkage gear and the synchronous gear are tightly meshed to form a transmission structure.

The double-rotor brushless direct current motor 23 mainly makes the upper rotor and the lower rotor counter-rotate at a constant speed through a synchronizing mechanism, realizes the purpose of simultaneously driving the two rotors by using one set of stator winding, and has the advantages of light weight and high efficiency. Moreover, the dual-rotor brushless dc motor 23 is applied to the multi-rotor helicopter of the present invention, and can replace the ordinary brushless dc motor, and only one dual-rotor brushless dc motor 23 is needed to drive two propellers simultaneously, so as to obtain a greater thrust at the same rotation speed, or achieve the same thrust at a lower rotation speed, thereby enabling the multi-rotor helicopter to have a longer endurance time or a greater load-carrying capacity, and the more specific structural and functional descriptions thereof refer to the following description and the drawings of fig. 3 to 7 of the specification.

A dual-rotor brushless DC motor comprises a synchronous mechanism, a driving mechanism, an upper rotor and a lower rotor.

The figure shows a dual rotor brushless dc motor with 24 slots and 28 poles.

As shown in the attached drawings, 28 magnetic poles are respectively arranged on an upper rotor and a lower rotor of the double-rotor brushless direct current motor, the upper rotor and the lower rotor are connected with two linkage gears of a synchronous mechanism by fasteners, the linkage gears and the two synchronous gears are fixed on a grade separation coaxial bracket through bearings, and the linkage gears and the synchronous gears are tightly meshed to rotate at equal proportional speed; due to the existence of the synchronous mechanism, the upper rotor and the lower rotor can only rotate in opposite directions at the same speed, which is very important and is one of the key technologies that the double-rotor brushless direct current motor can normally work.

The driving mechanism shown in the drawing is a 24-slot stator winding, each slot is provided with an independent magnetic core and a coil wound on the magnetic core, the stator winding is fixed on a stator support with 24 slot positions, and the 24-slot electronic winding and 28 magnetic poles in the upper rotor and the lower rotor jointly form the driving mechanism, so that the purpose of converting electric energy into mechanical energy is achieved, and the double-rotor brushless direct current motor can rotate and output power outwards.

All the gears in the synchronizing mechanism shown in the drawings are bevel gears, in this embodiment spiral bevel gears are used, which although being expensive to manufacture, are effective and have low noise.

Three Hall sensors are arranged on the stator bracket, and the sensors can be distributed at 120 degrees or 60 degrees; the output of the hall sensor is connected to a rotational speed controller. The Hall sensor is arranged to better control the rotation of the motor, so that the rotation of the motor is more stable; in some occasions with low requirements on stability, a Hall sensor can be omitted, and a corresponding Hall-free rotating speed controller is adopted to control the rotation of the motor.

The number of the permanent magnets arranged on the upper rotor and the lower rotor shown in the drawing is 28, the upper rotor and the lower rotor are in mirror symmetry, and the upper rotor and the lower rotor can be interchanged during use without influencing the use.

The stator winding is arranged between the permanent magnets of the upper rotor and the lower rotor.

The operation principle of the dual-rotor brushless dc motor is briefly described in the attached fig. 4, and it is obvious that the dual-rotor brushless dc motor is used with a corresponding BLDC controller.

The overpass coaxial bracket and the stator bracket are connected into a whole by a fastener so as to ensure the normal operation of the double-rotor brushless direct current motor.

The invention relates to a coaxial dual-rotor helicopter driven by a dual-rotor brushless direct current motor 23, which has simpler structure and simpler control compared with the existing coaxial dual-rotor helicopter and provides a feasible path for a helicopter to enter an electric/hybrid power era. On the basis of designing a set of main rotor system, the helicopter is a five-axis helicopter, the main rotor system provides main flight power for the helicopter, and the auxiliary rotor system mainly adjusts the posture of a fuselage to achieve the aim of controlling the flight direction.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electronic coaxial many rotor helicopters based on to changeing birotor motor, its characterized in that includes:

a fuselage (1);

a main rotor system (2), said main rotor system (2) being located in a central position above said fuselage (1) and being fixed to said fuselage (1) by fasteners, said main rotor system (2) comprising an upper rotor (21) and a lower rotor (22) which are coaxial, a counter-rotating dual rotor motor interposed between said upper rotor (21) and said lower rotor (22) for enabling coaxial, counter-rotating constant speed rotation of said upper rotor (21) and said lower rotor (22); the main rotor system (2) is used for providing main flight power for the helicopter;

the auxiliary rotor system (3) is positioned below the main rotor system (2), the auxiliary rotor system (3) comprises four control rotors (31), and the four control rotors (31) are uniformly distributed on four corners of the fuselage (1) which are away from the center of gravity of the fuselage (1) by a certain distance by taking the center of gravity of the fuselage (1) as a center; and the auxiliary rotor system (3) provides attitude control for the helicopter.

2. Electric coaxial multi-rotor helicopter based on a contra-rotating birotor motor according to claim 1, characterized in that the distances between the four control rotors (31) and the centre of gravity of the fuselage (1) are all equal.

3. The electric coaxial multi-rotor helicopter based on contra-rotating double-rotor motor according to claim 1, characterized in that the motor shaft of the contra-rotating double-rotor motor extends downwards and is fixed on the frame (11) at the bottom of the fuselage (1) by the fasteners.

4. The electric coaxial multi-rotor helicopter based on contra-rotating dual-rotor motors according to claim 1, characterized in that the contra-rotating dual-rotor motors are high-power motors, and the control rotors (31) are controlled with low-power motors.

5. The helicopter according to claim 1, characterized in that the propellers used by the upper rotor (21) and the lower rotor (22) are long propellers and the propellers used by the control rotor (31) are short propellers.

6. The electric coaxial multi-rotor helicopter based on contra-rotating dual-rotor motor according to any of claims 1-5, characterized in that the contra-rotating dual-rotor motor is a dual-rotor brushless DC motor (23).