CN113148128B - Motor inversion half-duct multi-rotor unmanned aerial vehicle - Google Patents
Motor inversion half-duct multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN113148128B CN113148128B CN202110503651.2A CN202110503651A CN113148128B CN 113148128 B CN113148128 B CN 113148128B CN 202110503651 A CN202110503651 A CN 202110503651A CN 113148128 B CN113148128 B CN 113148128B
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- 238000013016 damping Methods 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000035939 shock Effects 0.000 abstract description 11
- 230000003139 buffering effect Effects 0.000 description 6
- 239000006185 dispersion Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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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
- 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
- B64D27/40—Arrangements for mounting power plants in aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Air-Flow Control Members (AREA)
- Duct Arrangements (AREA)
Abstract
A motor inverted semi-duct multi-rotor unmanned aerial vehicle relates to the technical field of aircrafts. The invention comprises a top plate and a bottom plate which are arranged in parallel, wherein at least four groups of mutually matched circular holes for blade rotation airflow circulation are longitudinally arranged on the top plate and the bottom plate, a plurality of cross beams are uniformly arranged in each circular hole on the top plate, the cross beams in each circular hole are intersected at the right center of the circular hole, a motor is arranged in each circular hole, the upper end part of the motor is connected with the right center of the circular hole, and the lower end part of the motor is provided with a blade; a semi-duct is clamped between each group of circular holes between the top plate and the bottom plate, and a plurality of fixing columns are arranged on the periphery of each semi-duct; the height of each semi-duct is the distance between the upper surface of the top end of the blade and the upper surface of the bottom plate; the lower part of the bottom plate is provided with a plurality of shock absorbing brackets. According to the invention, the motor is inversely installed, the circular hole on the bottom plate is a cavity, no cross beam is blocked, the system efficiency is high, and the endurance time is longer.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to the technical field of a motor inverted half-duct multi-rotor unmanned aerial vehicle.
Background
The multi-rotor unmanned aerial vehicle is a special unmanned helicopter with two or more rotor shafts. The rotor is driven by the rotation of a motor on each shaft, so that the lifting thrust is generated. The total distance of the rotor wings is fixed, and the size of single-shaft propelling force can be changed by changing the relative rotating speeds among different rotor wings, so that the running track of the aircraft is controlled. The multi-rotor unmanned plane has strong operability, can vertically take off and land and hover, freely realizes hover and free movement in a space, and has great flexibility. The method is mainly applicable to low-altitude, low-speed and vertical take-off, landing and hovering task types.
Four-axis aircrafts are more common, and are also called four-rotor aircrafts, four-rotor helicopters, namely four-axis and four-rotor for short. The four-axis aircraft is a multi-rotor aircraft. The four propellers of the four-axis aircraft are all simple mechanisms with directly connected motors, and the cross-shaped layout allows the aircraft to obtain the force of rotating the aircraft body by changing the rotation speed of the motors, so that the self posture of the aircraft is adjusted. In recent years, due to the development of micro-electro-mechanical control technology, stable four-axis aircrafts are widely focused, and the application prospect is quite considerable.
The motors and the paddles of the existing multi-rotor unmanned aerial vehicle are generally arranged towards the upper direction, on one hand, the paddles are lack of protection, and particularly, the requirements on the attitude of the aircraft in the landing process are higher; secondly, the paddles are positioned at the upper part of the fuselage, so that downward airflow generated during take-off is prevented from being blocked by the fuselage components, the horn for extending the paddles is longer, the structure is complex, and the air flight attitude is inconvenient to control; thirdly, in order to provide better power support for the aircraft during take-off and landing, the battery is larger in output quantity during initial stage operation, so that the endurance time of the aircraft is greatly reduced.
Disclosure of Invention
The invention aims to provide a motor inverted semi-duct multi-rotor unmanned aerial vehicle, which is characterized in that a motor is installed in an inverted mode, a round hole on a bottom plate is a cavity, no cross beam is blocked, the system efficiency is high, and the duration time is longer.
A motor inverted semi-duct multi-rotor unmanned aerial vehicle comprises a top plate and a bottom plate which are arranged in parallel, wherein at least four groups of mutually matched circular holes for rotating air flow of paddles are longitudinally formed in the top plate and the bottom plate, a plurality of cross beams are uniformly arranged in each circular hole on the top plate, the cross beams in each circular hole are intersected at the right center of the circular hole, a motor is arranged in each circular hole, the upper end part of the motor is connected with the right center of the circular hole, and paddles are arranged at the lower end part of the motor;
a semi-duct is clamped between each group of circular holes between the top plate and the bottom plate, a plurality of fixing columns are arranged on the periphery of each semi-duct, and two ends of each fixing column in the length direction are respectively connected with the top plate and the bottom plate; the height of each half duct is the distance between the upper surface of the top end of the blade and the upper surface of the bottom plate;
the lower part of the bottom plate is provided with a plurality of damping brackets; each damping bracket is respectively connected with the top plate and the bottom plate through a supporting rod;
the upper end face of the top plate is respectively provided with an aircraft control circuit board and a damping plate, and the lower end face of the top plate is provided with an electronic speed regulator connected with a motor; the battery is arranged on the upper end face of the bottom plate, and the optical flow sensor is arranged on the lower end face of the bottom plate.
Preferably, the inner diameter of each half-duct of the present invention is equal to the inner diameter of the circular hole.
Preferably, the longitudinal section of each half duct is trapezoid, and the included angle between the outer edge line of the half duct and the vertical direction is alpha, and the included angle is between-60 degrees and 60 degrees. The downward direction of the airflow can be further corrected through the aerodynamic principle, the downward airflow can be more concentrated, and the efficiency is higher.
Preferably, the side wall of each half duct is a curved surface, and the radian of the curve is between 0 and pi radians. The air friction is reduced, and the gas efficiency is improved.
Preferably, the upper surface of the blade tip of the present invention is on the same horizontal plane as the upper surface of the half duct.
Preferably, each shock absorption bracket comprises a U-shaped elastic piece, a sleeve cushion and a supporting rod, wherein the sleeve cushion is sleeved on the U-shaped elastic piece, and the supporting rods are respectively arranged at the tail ends of the U-shaped elastic pieces. The shock absorber support that sets up carries out shock attenuation buffering through sleeve cushion deformation on the one hand, and the deformation of on the other hand U-shaped shell fragment also plays shock attenuation buffering's effect.
Preferably, the longitudinal inner side of the sleeve cushion facing the bottom plate is on the same plane with the longitudinal inner side of the half duct. The air flow on the air outlet holes is prevented from being blocked, the air flow dispersion and loss are reduced, and the system efficiency is further improved.
Preferably, the included angle between the U-shaped elastic sheet and the supporting rod is 90 degrees.
Preferably, the number of beams of the present invention is at least 3. The purpose of setting to 3 crossbeams is because 3 crossbeams can let the motor high-speed rotation rock and deformation less with respect to the roof to improve the stability of system.
Preferably, the fixing columns of the present invention are at least 3 uniformly arranged.
Compared with the prior art, the invention has the following advantages:
1. the conventional aircraft motors are all installed in a positive way, namely: the motor is arranged on the bottom plate of the aircraft, and the beam is arranged on the bottom plate, so that the air flow can be blocked by the beam when flowing downwards, and the efficiency is low. According to the invention, the motor is inversely installed, the circular hole on the bottom plate is a cavity, no cross beam is blocked, the system efficiency is high, and the endurance time is longer.
2. The invention adopts the half duct instead of the full duct, on one hand, the invention corrects the downward circulation of the air flow, and the air flow is not dispersed, thereby improving the efficiency. On the other hand, the upper surface of the semi-duct circumference is horizontally aligned with the upper surface of the top end of the blade, so that the air inlet flow of the blade can be sourced from all directions, the air inlet flow range is wider, the air flow noise is smaller, and the system efficiency and the endurance time are further improved.
3. The semi-culvert can be arranged in a trapezoid shape, the projection of the inner wall of the culvert in the vertical direction is oblique, the inner wall is oblique, the diameters of the upper circle and the lower circle are different, the included angle between the outer edge line of the culvert and the vertical direction is alpha, and the range of alpha is between-60 degrees and 60 degrees. When the diameter of the upper circle is larger than that of the lower circle, the angle is positive, and the half duct is in a bell mouth structure, and the large bell mouth faces upwards; when the diameter of the upper circle is smaller than that of the lower circle, the angle is negative, and the half duct is still in a horn mouth structure, and the large horn mouth faces downwards; when the diameter of the upper circle is equal to that of the lower circle, the angle is zero, the half duct is rectangular, the projection of the inner wall of the duct in the vertical direction is a vertical line, the inner wall of the duct is a vertical line, and the half duct is of a straight cylinder structure. The downward direction of the airflow can be further corrected through the aerodynamic principle, the downward airflow can be more concentrated, and the efficiency is higher.
4. The projection of the inner wall of the duct of the half duct in the vertical direction is a curve, the inner wall is a curved surface, the diameters of the upper circle and the lower circle are different, the radian of the curve is between 0 and pi radian, the air friction can be further reduced, and the gas efficiency is improved.
5. The damping support provided by the invention has the advantages that on one hand, the damping support is used for damping and buffering through the deformation of the sleeve cushion, and on the other hand, the deformation of the U-shaped elastic sheet also has the damping and buffering effect. And the U-shaped elastic sheet can enable the position of the damping bracket to deviate from the outer edge of the circular hole, so that the air flow on the air outlet hole is prevented from being blocked, the air flow dispersion and loss are reduced, and the system efficiency is further improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a side view of the assembled invention.
Fig. 3 is a bottom view of fig. 2.
Fig. 4 is a top view of fig. 2.
Fig. 5 is a schematic view of the structure of the base plate 1 of the present invention.
Fig. 6 is a schematic view of the structure of the top plate 2 of the present invention.
Fig. 7a is a schematic diagram of an assembled structure of the U-shaped spring 6 and the support rod 11 according to the present invention.
Fig. 7b is a schematic diagram of an assembled structure of the U-shaped spring 6 and the sleeve cushion 7.
Fig. 8a is a schematic view of the position between the U-shaped spring 6 and the support rod 11 in a normal state.
Fig. 8b is a schematic view of the position between the U-shaped spring 6 and the support rod 11 after being stressed.
Fig. 9 is a schematic view of the structure of the half duct 12 of the present invention.
FIG. 10 is a schematic view of a semi-ducted, paddle position separation of the present invention.
FIG. 11 is a block diagram of the semi-ducted, blade position mounting of the present invention.
FIG. 12 is a schematic view of a half-duct bevel angle according to the present invention.
Wherein: 1. the device comprises a bottom plate, 2, a top plate, 3, a motor, 4, paddles, 5, an electronic speed regulator, 6, a U-shaped elastic sheet, 7, a sleeve cushion, 8, an optical flow sensor, 9, a circular hole, 10, a cross beam, 11, a support rod, 12, a half duct, 13, a fixed column, 14, a half duct circumferential upper surface, 15, a damping plate, 16, an aircraft control circuit board, 17, a battery, 18 and a paddle top upper surface.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings:
as shown in fig. 1-12, the motor inverted half-duct multi-rotor unmanned aerial vehicle comprises a top plate 2 and a bottom plate 1 which are arranged in parallel, wherein at least four groups of mutually matched circular holes for blade rotation airflow are longitudinally formed in the top plate 2 and the bottom plate 1, a plurality of cross beams are uniformly arranged in each circular hole on the top plate 2, the cross beams in each circular hole are intersected at the right center of the circular hole, a motor 3 is arranged in each circular hole, the upper end part of the motor 3 is connected with the right center of the circular hole, and blades 4 are arranged at the lower end part of the motor 3;
a half duct 12 is clamped between each group of circular holes between the top plate 2 and the bottom plate 1, a plurality of fixing columns 13 are arranged on the periphery of each half duct 12, and two ends of each fixing column in the length direction are respectively connected with the top plate 2 and the bottom plate 1; the height of each half duct 12 is the distance between the upper surface 18 of the blade tip of the blade 4 and the upper surface of the bottom plate 1;
the lower part of the bottom plate 1 is provided with a plurality of damping brackets; each damping bracket is respectively connected with the top plate 2 and the bottom plate 1 through a supporting rod 11;
an aircraft control circuit board 16 and a damping plate 15 are respectively arranged on the upper end surface of the top plate 2, and an electronic speed regulator 5 connected with the motor 3 is arranged on the lower end surface of the top plate 2; a battery 17 is arranged on the upper end surface of the base plate 1, and an optical flow sensor 8 is arranged on the lower end surface of the base plate 1.
According to the motor-inverted half-duct multi-rotor unmanned aerial vehicle, four circular holes are formed in the bottom plate 1 of the unmanned aerial vehicle for blade rotation airflow to circulate. The top plate 2 of the aircraft is also provided with 4 circular holes which are opposite to the circular holes on the bottom plate 1. On each circular hole of the top plate 2, n cross beams 10 are provided, and the cross beams 10 intersect at the center of the circular hole. The motor 3 is installed in the center, and n is set to 3 in this embodiment in order to reduce vibration caused by high-speed rotation of the motor 3. The motor 3 is mounted upside down on the bottom of the top plate 2, and the paddle 4 is also mounted upside down on the shaft of the motor 3.
As shown in fig. 1, 2, 7a and 7b, the invention is provided with a damping bracket on the bottom plate 1, and the damping bracket is composed of a U-shaped spring plate 6, a sleeve cushion 7 and a supporting rod 11. The sleeve cushion 7 is sleeved on the U-shaped spring plate 6, and the assembly view is shown in fig. 7 b. The damping effect comprises two aspects: when the aircraft lands, the sleeve cushion 7 firstly contacts the ground, so that the sleeve cushion 7 plays a role in damping; the U-shaped shrapnel 6 is connected with the bracing piece 11 perpendicularly, and after the sleeve cushion 7 touches ground and takes place deformation when the aircraft descends, U-shaped shrapnel 6 also begins to take place deformation, namely: θ is changed from 90 degrees to less than 90 degrees as shown in fig. 8a and 8 b. The U-shaped spring plate 6 also plays a role of shock absorption and buffering. Through the damping effect, the aircraft can not impact the ground violently to cause equipment damage during landing. The purpose of the U-shaped spring 6 is yet another aspect: when the shock absorbing support is installed on the bottom plate 1, the position of the shock absorbing support just deviates from the outer side of the edge of the circular hole 9, so that air flow blown out of the circular hole 9 is prevented from being blocked, resistance is reduced, and system efficiency is improved, as shown in fig. 1, 2, 3 and 4.
A semi-duct 12 is arranged on the circular hole 9 of the bottom plate 1. The bottom of the half duct 12 is mounted on the circular hole 9 of the bottom plate 1, coaxially with the circular hole 9. M fixing columns 13 are arranged on the outer side of the circumference of the half duct 12 and used for fixing the half duct. To ensure stability, m is taken to be 4 in this embodiment. The duct height h of the half duct 12 is smaller than the distance between the bottom plate 1 and the top plate 2, i.e.: less than the length of the support bar 11. When the half duct 12 is installed, the blade tip upper surface 18 is aligned exactly horizontally with the half duct circumferential upper surface 14, as shown in fig. 10, 11. The beneficial effects that design brought like this are: the arrangement of the half duct can enable the air flow generated by the rotation of the blade 4 to flow towards the lower side under the action of the half duct, so that the air flow dispersion is reduced, and the efficiency is improved. On the other hand, half ducts are provided instead of full ducts, because a greater range of inlet flow to the blades 4 is ensured. The purpose of having the blade tip upper surface 18 aligned exactly horizontally with the half-duct circumferential upper surface 14 is to reduce drag on the flow of inlet air through the blade, to provide a wider range of inlet air flow, and to provide lower noise in the flow. The problems of low efficiency and large airflow noise of the existing full-duct aircraft are solved.
And (3) circuit connection: the battery 17 is connected with the aircraft control circuit board 16, the electronic governor 5 and the optical flow sensor 8. The aircraft control circuit board 16 is connected with the electronic speed regulator 5 and the optical flow sensor 8, and the electronic speed regulator 5 is connected with the motor 3.
The conventional aircraft motors are all installed in a positive way, namely: the motor is arranged on the bottom plate of the aircraft, and the beam is arranged on the bottom plate, so that the air flow can be blocked by the beam when flowing downwards, and the efficiency is low. The motor is inversely installed, the round hole on the bottom plate is a cavity, no cross beam is used for blocking, the system efficiency is high, and the endurance time is longer.
The invention adopts the half duct instead of the full duct, on one hand, the invention corrects the downward circulation of the air flow, and the air flow is not dispersed, thereby improving the efficiency. On the other hand, the upper surface of the semi-duct circumference is horizontally aligned with the upper surface of the top end of the blade, so that the air inlet flow of the blade can be sourced from all directions, the air inlet flow range is wider, the air flow noise is smaller, and the system efficiency and the endurance time are further improved. If the system is a full duct, the air inlet flow of the blade is blocked by the upper cross beam of the top plate, so that the system efficiency is low and the endurance time is short.
The half-duct structure of the invention comprises the following forms:
(1) The semi-duct is arranged in a straight cylinder shape, namely the diameter of the upper circle and the diameter of the lower circle of the duct are the same.
(2) The longitudinal section of the half duct is arranged in a trapezoid shape, the projection of the inner wall of the duct in the vertical direction is oblique, the inner wall is oblique, and the diameters of the upper circle and the lower circle are different, as shown in fig. 12. The included angle between the outer edge of the duct and the vertical direction is alpha, the range of alpha is between-60 degrees and 60 degrees, the angle is positive when the upper circle diameter is larger than the lower circle diameter, and the angle is negative when the upper circle diameter is smaller than the lower circle diameter, and in the embodiment, alpha is set to be 5 degrees. The aim of the arrangement can further correct the downward direction of the air flow through the aerodynamic principle, and the downward air flow can be more concentrated and the efficiency is higher.
(3) The projection of the inner wall of the half duct in the vertical direction is a curve, the inner wall is a curved surface, the diameters of the upper circle and the lower circle are different, as shown in fig. 10 and 11, the radian of the curve is between 0 and pi radians, and the radian is set to be 0.1 in the embodiment. The purpose of this arrangement can further reduce air friction and improve gas efficiency.
As shown in fig. 7a, 7b, 8a and 8b, the shock absorbing bracket of the invention absorbs shock by deforming the sleeve cushion on one hand, and the deformation of the U-shaped spring plate also plays a role in shock absorbing and buffering on the other hand, and as can be seen from the figures, θ changes from 90 degrees at the initial position to an acute angle. And the U-shaped elastic sheet can enable the position of the damping bracket to deviate from the outer edge of the circular hole, so that the air flow on the air outlet hole is prevented from being blocked, the air flow dispersion and loss are reduced, and the system efficiency is further improved.
As shown in fig. 3 and 4, the purpose of the present invention is to provide three beams, because the three beams can make the motor rotate at high speed and shake and deform less relative to the top plate, so as to improve the stability of the system.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (10)
1. The motor inverted semi-duct multi-rotor unmanned aerial vehicle is characterized by comprising a top plate (2) and a bottom plate (1) which are arranged in parallel, wherein at least four groups of mutually matched circular holes for blade rotation airflow circulation are longitudinally formed in the top plate (2) and the bottom plate (1), a plurality of cross beams are uniformly arranged in each circular hole on the top plate (2), the cross beams in each circular hole are intersected at the right center of the circular hole, a motor (3) is arranged in each circular hole, the upper end part of the motor (3) is connected with the right center of the circular hole, and blades (4) are arranged at the lower end part of the motor (3);
a semi-duct (12) is clamped between each group of circular holes between the top plate (2) and the bottom plate (1), a plurality of fixing columns (13) are arranged on the periphery of each semi-duct (12), and two ends of each fixing column in the length direction are respectively connected with the top plate (2) and the bottom plate (1); the height of each half duct (12) is the distance between the upper surface (18) of the blade tip of the blade (4) and the upper surface of the base plate (1);
the lower part of the bottom plate (1) is provided with a plurality of damping brackets; each damping bracket is respectively connected with the top plate (2) and the bottom plate (1) through a supporting rod (11);
an aircraft control circuit board (16) and a damping plate (15) are respectively arranged on the upper end surface of the top plate (2), and an electronic speed regulator (5) connected with the motor (3) is arranged on the lower end surface of the top plate (2); a battery (17) is arranged on the upper end face of the bottom plate (1), and an optical flow sensor (8) is arranged on the lower end face of the bottom plate (1).
2. The electric motor inverted half-duct multi-rotor unmanned aerial vehicle of claim 1, wherein the inside diameter of each half-duct (12) is equal to the inside diameter of a circular hole.
3. The motor-inverted half-duct multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the longitudinal section of each half-duct (12) is trapezoidal, and the angle between the outer edge of the half-duct (12) and the vertical direction is alpha, and alpha is between-60 degrees and 60 degrees.
4. The motor-inverted half-duct multi-rotor unmanned aerial vehicle of claim 1, wherein the side wall of each half-duct (12) is curved, and the curvature is between 0 and pi radians.
5. The motor-inverted half-duct multi-rotor unmanned aerial vehicle of claim 1, wherein the blade tip upper surface (18) is on the same horizontal plane as the half-duct upper surface (14).
6. The motor-inverted half-duct multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein each shock-absorbing bracket comprises a U-shaped spring plate (6), a sleeve cushion (7) and a supporting rod (11), the sleeve cushion (7) is sleeved on the U-shaped spring plate (6), and the supporting rods (11) are respectively arranged at the tail ends of the U-shaped spring plates (6).
7. The motor-inverted half-duct multi-rotor unmanned aerial vehicle as claimed in claim 6, wherein the longitudinal inner side of the sleeve cushion (7) facing the bottom plate (1) is on the same plane as the longitudinal inner side of the half-duct (12).
8. The motor-inverted half-duct multi-rotor unmanned aerial vehicle as claimed in claim 6, wherein the angle between the U-shaped spring plate (6) and the support rod (11) is 90 degrees.
9. The motor inverted half-duct multi-rotor unmanned aerial vehicle of claim 1, wherein said cross members are at least 3.
10. The electric motor inverted half-duct multi-rotor unmanned aerial vehicle according to claim 1, characterized in that said fixed columns (13) are at least 3 uniformly arranged.
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| CN202110503651.2A CN113148128B (en) | 2021-05-10 | 2021-05-10 | Motor inversion half-duct multi-rotor unmanned aerial vehicle |
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| CN202110503651.2A CN113148128B (en) | 2021-05-10 | 2021-05-10 | Motor inversion half-duct multi-rotor unmanned aerial vehicle |
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| CN113148128B true CN113148128B (en) | 2023-11-21 |
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Application publication date: 20210723 Assignee: Nanjing Jinxi Yunchuang Technology Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001815 Denomination of invention: A Motor Inverted Half Channel Multi rotor Unmanned Aerial Vehicle Granted publication date: 20231121 License type: Common License Record date: 20240204 Application publication date: 20210723 Assignee: Nanjing Dingbo controller Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001812 Denomination of invention: A Motor Inverted Half Channel Multi rotor Unmanned Aerial Vehicle Granted publication date: 20231121 License type: Common License Record date: 20240204 |
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