CN113184185A - Streamlined coaxial many rotor unmanned aerial vehicle of adaptable adverse circumstances - Google Patents
Streamlined coaxial many rotor unmanned aerial vehicle of adaptable adverse circumstances Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- B64C1/0009—Aerodynamic aspects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
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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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- B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
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- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a streamline coaxial multi-rotor unmanned aerial vehicle capable of adapting to severe environments, which comprises a body module, a horn module, an upper shell module, a landing gear module and a flight control system, wherein a battery cabin, a control cabin and a load cabin are arranged inside the body module; the horn module includes brushless motor, the screw, horn quick detach end and horn, and the horn module adopts coaxial double-oar structural design, and the undercarriage module includes that the undercarriage module comprises undercarriage quick detach end, undercarriage montant, undercarriage horizontal pole jointly, and fuselage module and epitheca module draw and close the locking, present the streamlined outward appearance design of integration, are between horn module and fuselage module, undercarriage module and the fuselage module and can dismantle the connection, make unmanned aerial vehicle dismantle the installation fast. The invention has convenient assembly and disassembly, can bear resistance in severe environment and has stable operation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to a streamline coaxial multi-rotor unmanned aerial vehicle capable of adapting to severe environments.
Background
Compared with the manned aircraft, the unmanned aircraft has the advantages of small volume, low manufacturing cost, convenient use, low requirement on operational environment, stronger battlefield viability and the like, and is favored by military forces of various countries in the world. The successful development and the battlefield application of the unmanned aerial vehicle reveal a new chapter of non-contact warfare which takes long-distance attack type intelligent weapons and information weapons as the main factors.
When the unmanned aerial vehicle flies in the air, various combat missions such as detection, interference, search and calibration can be performed, but the unmanned aerial vehicle often receives resistance from the atmosphere and wind power during flying in the air, and the unmanned aerial vehicle needs to be lifted frequently, so that the requirements of the body module and the structural strength of the horn module are high.
In the prior art, in order to increase the connection robustness between the horn module and the fuselage module, the horn module and the fuselage module are integrally formed, but when the unmanned aerial vehicle is maintained and the problem is searched, the horn module needs to be detached together with the fuselage module, and the horn module is relatively fragile, so that the detachment is difficult; meanwhile, the unmanned aerial vehicle is often subjected to great resistance in the flying process, so that the stability in the flying process is poor, the stability of a captured picture in the detection is low, and the observation and analysis of ground monitoring personnel are not facilitated.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a streamline coaxial multi-rotor unmanned aerial vehicle capable of adapting to severe environments, and aims to solve the technical problems that the existing unmanned aerial vehicle is difficult to disassemble, poor in stability in the flight process and difficult to adapt to severe environments.
The technical scheme adopted by the invention for solving the technical problems is as follows: a streamline coaxial multi-rotor unmanned aerial vehicle adaptable to severe environments comprises a body module, a horn module, an upper shell module, a landing gear module and a flight control system, wherein a battery cabin, a control cabin and a load cabin are arranged inside the body module; the aircraft arm module comprises a brushless motor, a propeller, an aircraft arm quick-release end and an aircraft arm, the aircraft arm module adopts a coaxial double-propeller structure design, the aircraft arm module is used for providing power and driving the aircraft body module to fly, and the flight control system drives the aircraft arm module to generate power; the undercarriage module includes that the undercarriage module comprises undercarriage quick detach end, undercarriage montant, undercarriage horizontal pole jointly, the epitheca module includes the epitheca and sets up the RTK antenna on the epitheca, fuselage module and epitheca module draw to close the locking, present the streamlined outward appearance design of integration, be detachable connection between horn module and fuselage module, undercarriage module and the fuselage module, make unmanned aerial vehicle dismantle the installation fast.
Foretell adaptable adverse circumstances's streamlined coaxial many rotor unmanned aerial vehicle, the horn module is provided with a plurality of, a plurality of the horn module sets up along the circumference of fuselage module to two horn modules adjacent wantonly are the interval setting.
According to the streamline coaxial multi-rotor unmanned aerial vehicle suitable for severe environments, the horn module comprises a dismounting end and a power end; the aircraft is characterized in that the dismounting end and the power end are fixedly arranged, the dismounting end and the aircraft body module are fixedly arranged through threads, the power end is provided with a power assembly, and the power assembly is controlled by the flight control system to provide driving force.
The power assembly of the streamline coaxial multi-rotor unmanned aerial vehicle capable of adapting to severe environments comprises a motor and a propeller; the motor is electrically connected with the flight control system and drives the propeller to rotate to generate power.
Foretell adaptable adverse circumstances's streamlined coaxial many rotor unmanned aerial vehicle, the lower part of fuselage module is provided with the undercarriage module, the undercarriage module is used for supporting horn module and fuselage module.
The streamlined coaxial multi-rotor unmanned aerial vehicle capable of adapting to severe environments is characterized in that baffle plates are arranged among the battery cabin, the control cabin and the load cabin.
According to the streamline coaxial multi-rotor unmanned aerial vehicle suitable for severe environments, the airframes of the airframe modules and the airframe of the airframe modules are both made of carbon fiber composite materials, and the airframe is made of a mold, so that the streamline coaxial multi-rotor unmanned aerial vehicle is good in forming effect, high in smoothness and light in weight, electronic equipment inside the airframe is completely surrounded by an airframe shell, and the interference of external severe environments on the electronic equipment and control equipment is effectively avoided; the inside carbon fiber frame that adopts of fuselage strengthens, makes unmanned aerial vehicle have more the integration, and the fuselage transition adopts super large fillet transition, avoids causing the stress concentration of carbon fiber fuselage transition department, improves unmanned aerial vehicle's intensity.
Foretell adaptable adverse circumstances's streamlined coaxial many rotor unmanned aerial vehicle, the epitheca is formed by glass fiber material preparation.
The unmanned aerial vehicle system complete machine can realize no instrument quick assembly disassembly, can accomplish assembly and dismantlement within 5 minutes.
The quick assembly and disassembly process of the streamline coaxial multi-rotor unmanned aerial vehicle which can adapt to severe environments is described as follows:
the first step, opening the packing and transporting box, taking out the machine body module, and placing the machine body module upside down and back to the original taking-out position;
and secondly, taking out the landing gear module from the upper part of the packaging and transporting box, enabling the reference number of the landing gear module to correspond to the reference number of the body module, inserting the landing gear module into the body module, and finally locking the quick-release end of the landing gear. Completing the assembly of the landing gear module;
thirdly, taking out the assembled machine body module, placing the assembled machine body module on the ground, installing the horn module, selecting a thread locking mode for the quick-detaching end of the horn, aligning the horn module with the installation hole on the machine body module, and quickly aligning and inserting the horn module into the machine body module with the assistance of a foolproof design and quickly installing and locking the horn module;
and fourthly, after the horn module and the undercarriage module are sequentially installed, placing the unmanned aerial vehicle on the ground, opening the upper shell module, placing the power battery in the battery cabins on the left side and the right side, and tensioning the battery ribbon after the magic tape is adhered to the bottom of the unmanned aerial vehicle.
The unmanned aerial vehicle is convenient to assemble, all components are connected in a modularized mode, and tool-free disassembly and assembly are supported; the butt joint of the components is realized through the quick-release mounting seat by the fuselage modular structure, the horn module and the undercarriage module, quick plug installation can be realized, the assembly and the disassembly are convenient, and the transportation and the quick expansion are convenient to use and maintain.
The common frame structure of the multi-rotor unmanned aerial vehicle comprises an X-shaped frame structure and a cross-shaped frame structure, and compared with the cross-shaped frame structure, the X-shaped frame structure has the characteristics of small balance moment and more stable flight; therefore, the X-shaped body framework is adopted, the streamline coaxial multi-rotor unmanned aerial vehicle with the quick disassembly function is a four-axis eight-rotor unmanned aerial vehicle, and the driving force is generated by adjusting the rotating speed of a propeller through a flight control system; the propeller can generate thrust in the vertical direction and thrust in the horizontal direction in the rotating process, the unmanned aerial vehicle can generate self-rotating motion due to the thrust in the horizontal direction, and the self-rotating motion needs to be eliminated in the normal flying process of the unmanned aerial vehicle; in order to eliminate the self-rotation movement of the unmanned aerial vehicle, the adopted method is that the rotation directions of adjacent motors are opposite, so that the thrust in the horizontal direction generated when the motors rotate is offset, and the self-rotation is further eliminated; the motor rotation direction of "X" style of calligraphy four-axis eight rotor unmanned aerial vehicle and reference numeral are shown in figure 5.
The four-shaft eight-rotor unmanned aerial vehicle has the following four basic movement modes, and the complex flight action and flight track generated by the unmanned aerial vehicle in the flight process are basically realized according to the following four basic movements:
(1) and (3) moving up and down: when eight brushless motor output power of unmanned aerial vehicle are the same, the thrust of its screw in the horizontal direction is offset, and at this moment unmanned aerial vehicle only has the ascending thrust of vertical side, and when the thrust that the screw produced was greater than complete machine weight, the unmanned aerial vehicle chance produced vertical ascending motion, was less than then can produce vertical descending motion, and if the thrust that the screw produced equals complete machine weight, then the unmanned aerial vehicle chance is static to hover in the air.
(2) Front and back movement: when the rotating speed of the brushless motors No. 1, 2, 5 and 6 in the figure is reduced (increased) and the rotating speed of the brushless motors No. 3, 4, 7 and 8 is increased (reduced), the unmanned aerial vehicle can be forward tilted (backward tilted); the forward (rearward) tilt causes the propeller 22 to generate forward (rearward) thrust, so forward (rearward) movement of the drone can be achieved.
(3) Left and right movement: the principle is similar with the seesaw, when reducing (increase) 2, 3, 5, 8 brushless motor rotational speeds to increase (reduce) 1, 4, 6, 7 brushless motor 21's rotational speed, will make unmanned aerial vehicle produce and incline to the left (incline to the right), the fuselage inclines left (right) and causes the screw to produce the thrust left (right), consequently can realize unmanned aerial vehicle's the motion left (right).
(4) Yaw movement: yawing motion is realized according to unmanned aerial vehicle's spin principle, when reducing (increase) No. 2, 4, 5, 7 brushless motor rotational speeds to when increasing (reducing) No. 1, 3, 6, 8 brushless motor rotational speeds simultaneously, because the horizontal direction thrust size difference that adjacent brushless motor produced, can make unmanned aerial vehicle self anticlockwise (clockwise) rotate.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) the invention provides a streamline coaxial multi-rotor unmanned aerial vehicle suitable for severe environments, which comprises a body module, a horn module, a landing gear module and a flight control system, wherein the body module is connected with the horn module; the inside of the fuselage module is provided with a battery cabin, a load cabin and a flight control cabin, a flight control system is arranged in the flight control cabin, and the flight control system is used for receiving and sending instructions; the aircraft arm module is arranged along the circumferential direction of the aircraft body module and is used for providing flight power to drive the aircraft body module to suspend in the air, and the flight control system can drive the aircraft arm module to generate power; the aircraft body module is driven by the aircraft arm module to fly in the air, the flight control system can receive a control signal from the ground and drive the unmanned aerial vehicle structure to realize command operation, the flight control system is placed in the flight control cabin, and the aircraft body module has a protection effect on the flight control system, so that the damage to the flight control system caused by the severe environment of the unmanned aerial vehicle structure in the flying process is reduced; the butt joint of the components of the fuselage module, the horn module and the undercarriage module is realized through the quick-release mounting seat, so that the quick plug-in mounting can be realized, the disassembly and the assembly are convenient, and the transportation and the quick expansion in the use and maintenance process are convenient; simultaneously, fuselage module and epitheca module are drawn and are closed the locking, present the streamlined outward appearance design of integration to reduced the air resistance that this unmanned aerial vehicle structure fuselage bore at flight in-process, and made the lift that rises obtain certain improvement.
(2) In order to improve this unmanned aerial vehicle structural strength, increase capacity and aircraft stability, double-deck motor structure overall arrangement about this unmanned aerial vehicle horn module design chooses for use, choose for use coaxial design, offset the counter-torque force of motor about offsetting, through a series of flight optimal design, the power efficiency loss who ensures to bring coaxial double-oar design falls to minimumly, thereby make unmanned aerial vehicle have higher load-carrying capacity, anti-wind stability and flight security, and then make the organism can even running in adverse circumstances.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the overall structure of the unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic view of a fuselage module of the drone of the present invention;
FIG. 3 is a schematic diagram of an unmanned aerial vehicle arm module of the present invention;
figure 4 is a schematic view of an unmanned aerial vehicle landing gear module of the present invention;
fig. 5 is a schematic diagram of the rotation direction of the motor of the unmanned aerial vehicle and the reference numerals thereof.
In the figure, 1, a fuselage module, 11 a control cabin, 12, a battery cabin, 13, a load cabin, 14, the fuselage, 15, a power battery, 16, a battery ribbon, 2, an arm module, 21, a brushless motor, 22, a propeller, 23, an arm quick-release end, 24, an arm, 3, a landing gear module, 31, a landing gear quick-release end, 32, a landing gear vertical rod, 33, a landing gear cross rod, 4, an upper shell module, 41, an RTK antenna, 42, an upper shell and 5 are shown as flight control systems.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
[ example 1 ]
As shown in fig. 1, a streamlined coaxial multi-rotor unmanned aerial vehicle adaptable to severe environments comprises a fuselage module 1, a horn module 2, an undercarriage module 3, an upper shell module 4 and a flight control system 5; the horn module 2 sets up along the circumference of fuselage module 1, and horn module 2 is used for providing power, drives the posture such as the fuselage module 1 is unsettled, flies forward, turns to, and flight control system 5 can drive horn module 2 and produce power.
As shown in fig. 2, the fuselage module 1 is internally provided with a control cabin 11, a battery cabin 12 and a load cabin 13; the fuselage module 1 is mainly used for supporting, fixing and loading a flight control system 5 and a task load of the unmanned aerial vehicle, and bearing static loads and dynamic loads transmitted by all parts; the carbon fiber machine body 14 is made of composite materials through a die, the forming effect is good, the smoothness is high, the weight is light, electronic equipment in the machine body is completely surrounded by a machine body shell, and the interference of external severe environment on the electronic equipment and control equipment is effectively avoided; the interior of the unmanned aerial vehicle body 14 is reinforced by a carbon fiber frame, so that the unmanned aerial vehicle is more integrated, and the transition of the unmanned aerial vehicle body 14 adopts ultra-large fillet transition, so that the stress concentration at the transition part of the unmanned aerial vehicle body 14 is avoided, and the bearing strength of the unmanned aerial vehicle is improved; the flight control system 5 is arranged in the control cabin 8, the flight control system 5 can generate signal contact with the ground and receive an operation command according to ground operation, and meanwhile, the flight control system 5 can drive the unmanned aerial vehicle to operate according to the received command; the operation of internal electronic equipment can be realized by opening the glass fiber upper shell 42, the RTK antenna 41 is arranged in the fixed area at the top of the carbon fiber upper shell 42, the RTK antenna 41 area is formed by processing glass fibers, the shielding of the RTK signal 41 is effectively reduced, the RTK antenna 41 is higher than the carbon fiber upper shell 42, the electronic component inside the flight control system 5 is far away, and the signal interference is effectively avoided.
In order to increase the stability of the unmanned aerial vehicle structure in the air flight and reduce the air resistance borne in the air flight, the airframe module 1 and the upper shell module 4 are locked in a pulling mode to form the aerodynamic appearance of the unmanned aerial vehicle, namely the outer surfaces of the airframe module 1 and the upper shell module 4 are smooth and regular without large fluctuation or sharp edges; when the unmanned aerial vehicle structure flies in the air flow, the unmanned aerial vehicle structure mainly shows laminar flow and generates less turbulence, so that the unmanned aerial vehicle is ensured to be subjected to smaller resistance, and meanwhile, the lift force can be improved; secondly, the aerodynamic appearance and aerodynamic layout design of the unmanned aerial vehicle is developed by means of finite element analysis, flight dynamics and the like, the multi-scheme aerodynamic appearance design is completed, a three-dimensional grid model is designed according to the aerodynamic layout scheme, and a scheme with the minimum resistance is selected through finite element aerodynamic simulation; wherein, fuselage module 1 draws with epitheca module 4 to close the aerodynamic appearance that the locking formed for the structural shape of head circle tail point, is similar to the drop shape, and streamlined structure design can also increase unmanned aerial vehicle's aesthetic property in addition.
The aircraft body module 1 is driven by the horn module 2 to fly in the air, the flight control system 5 can receive a control signal from the ground and drive the unmanned aerial vehicle structure to realize command operation, the flight control system 5 is placed in the control cabin 11, and the aircraft body module 1 plays a role in protecting the flight control system 5, so that the damage to the flight control system 5 caused by the severe environment of the unmanned aerial vehicle structure in the flying process is reduced; the upper shell module 4 is convenient to disassemble and assemble, so that the circuit of the flight control system 5 can be maintained and repaired; specifically, the horn module 2 is arranged along the circumference of the fuselage module 1, and the horn module 2 is mainly used for generating lift force and driving the fuselage module 1 to fly in the air; in order to increase the lift force of this unmanned aerial vehicle structure, the quantity of horn module 2 is a plurality of, and a plurality of horn modules 2 along the circumferential direction evenly distributed of fuselage module 1, and then with the lift force homogenization that fuselage module 1 bore, guaranteed the stationarity of fuselage module 1 at the flight in-process.
As shown in fig. 3, the horn module 2 includes a brushless motor 21, a propeller 22, a horn quick-release end 23, and a carbon fiber horn 24; the power assembly comprises a propeller 22 and a brushless motor 21; the quick release member 23 and the power assembly are fixedly arranged, the quick release member 23 and the fuselage module 1 are fixedly arranged, and the power assembly is controlled by the flight control system 5 to provide driving force.
The carbon fiber horn 24 only keeps the main structure, and the T-shaped transition adopts the transition with small curvature, so that the stress concentration is reduced, and the structural strength is improved; the carbon fiber horn 24 adopts ultra-large fillet transition for transition, so that stress concentration at the transition position is avoided, and the strength of the carbon fiber horn 24 is improved; in order to meet the requirement of a large-load task of an unmanned aerial vehicle platform, the carbon fiber integrally-formed horn 24 is adopted in the specific design process, so that the rigidity, strength and stretching degree of the carbon fiber horn 24 can meet the target requirements of safe takeoff, flying and landing even if the carbon fiber horn 24 is 3 times of the takeoff weight of the existing airplane; on the premise of ensuring the structural strength of the carbon fiber horn 24, the most appropriate diameter and wall thickness of the carbon tube of the horn are designed through theoretical analysis and actually measured data verification, and an optimal scheme between weight and load is obtained; from convenient considerations such as structural strength, weight and complete machine harmony, adopt 50-32-1 gradual change carbon fiber tube to make the horn, vertical pipe is as connecting brushless motor 21 to reach minimum structural weight, reduce unnecessary weight such as molding, carbon fiber horn 24 transverse direction wall thickness 1mm, and the wall thickness of vertical direction 1.2mm, transverse and vertical direction overlap joint thickening process design.
The lower surface of the fuselage module 1 is provided with a landing gear module 3, and the landing gear module 3 is used for supporting the fuselage module 1 and the horn module 2; when placing this unmanned aerial vehicle structure subaerial, undercarriage module 3 can support subaerial to support fuselage module 1 and horn module 2, improve because of fuselage module 1 or horn module 2 direct contact to ground, with the ground condition such as the horn 24 or the power component of the fuselage 14, the carbon fiber of collision and then damage.
As shown in fig. 4, the undercarriage module 3 includes an undercarriage quick-release end 31, a carbon fiber undercarriage vertical rod 32, and a carbon fiber undercarriage cross rod 33, the undercarriage quick-release end 31 is used for being connected with the airframe module 1, and the support portion is a crescent structure and is fixedly connected with the undercarriage quick-release end 31; the undercarriage quick-release end 31 can realize quick release, so that the undercarriage module 3 is controlled to be unfolded or folded; when flying in the air, the undercarriage quick-release end 31 is in a locked state, and the carbon fiber undercarriage vertical rod 32 is abutted against the lower surface of the airframe module 1; when the landing gear needs to fall to the ground, the carbon fiber landing gear vertical rod 32 is in contact with the ground, and therefore the supporting function of the landing gear module 3 is achieved; the design of the landing gear module 3 selects a four-point type and sled type landing gear combination mode through comparison, and the landing gear has the advantages that the four-point type landing gear can land on complex ground and stably land, and has the advantage of high structural strength of an arch landing gear; meanwhile, the quick-release structure design is adopted, and the transportation and carrying are convenient. The undercarriage module 3 takes the convenience of transportation into consideration, adopts the design of quick detach structure, becomes 4 parts after the quick detach, and convenient transportation is carried.
The aircraft body module 1 is structurally provided with a quick-release mounting seat for the aircraft arm module 2 and the undercarriage module 3, the interface parts are formed by adding an aluminum alloy 7075 thick plate, the aluminum alloy 7075 belongs to special aircraft aluminum, has good comprehensive mechanical properties, large specific strength, large specific rigidity and good process plasticity, has good corrosion resistance after surface process treatment, and meets the corrosion resistance requirements in a humid and salt spray environment; the structural horn module 2 and undercarriage module 3 of being equipped with of fuselage module 1 all realize the butt joint of part through the quick detach mount pad, can realize quick plug installation, easy dismounting transports and expandes fast in the convenient to use maintenance process.
Unmanned aerial vehicle system complete machine can realize no instrument quick assembly disassembly, can accomplish assembly and dismantlement within 5 minutes, explains unmanned aerial vehicle's quick assembly disassembly process as follows:
the first step, opening the packing and transporting box, taking out the machine body module 1, and placing the machine body module 1 upside down and back to the original taking-out position;
and secondly, taking out the landing gear module 3 from the upper part of the packaging and transporting box, corresponding the reference number of the landing gear module 3 to the reference number of the airframe module 1, inserting the landing gear module 3 into the airframe module 1, and finally locking the quick-release end 31 of the landing gear. Completing the assembly of the landing gear module 3;
thirdly, taking out the assembled machine body module 1, placing the assembled machine body module on the ground, installing the machine arm module 2, aligning the machine arm module 2 to an installation hole on the machine body module 1 in a screw thread locking mode at the quick-release end 23 of the machine arm, and quickly aligning and inserting the machine arm module 2 into the machine body module 1 with the assistance of foolproof design and quickly installing and locking the machine arm module;
fourthly, after the horn module 2 and the undercarriage module 3 are sequentially installed, placing the unmanned aerial vehicle on the ground, opening the upper shell module 4, placing the power battery 15 in the battery cabins 12 on the left side and the right side, and tensioning the battery ribbon 16 after the bottom magic tapes are adhered;
the unmanned aerial vehicle is convenient to assemble, all components are connected in a modularized mode, and tool-free disassembly and assembly are supported; the butt joint of the components is realized through the quick-release mounting seat by the structure of the fuselage module 1, the horn module 2 and the undercarriage module 3, the quick plug installation can be realized, the disassembly and the assembly are convenient, and the transportation and the quick expansion are convenient to use and maintain.
The common frame structure of the multi-rotor unmanned aerial vehicle comprises an X-shaped frame structure and a cross-shaped frame structure, and compared with a cross-shaped frame structure, the X-shaped frame structure has the characteristics of small balance moment and more stable flight, so that the X-shaped frame structure is adopted, the streamline coaxial multi-rotor unmanned aerial vehicle with quick disassembly is a four-shaft eight-rotor unmanned aerial vehicle, and the driving force is generated by adjusting the rotating speed of a propeller 22 through a flight control system 5; the propeller 22 can generate thrust in the vertical direction and thrust in the horizontal direction in the rotating process, and the horizontal thrust can make the unmanned aerial vehicle generate self-rotating motion which needs to be eliminated in the normal flying process of the unmanned aerial vehicle; in order to eliminate the self-rotation movement of the unmanned aerial vehicle, the adopted method is that the rotation directions of adjacent motors are opposite, so that the thrust in the horizontal direction generated when the motors rotate is offset, and the self-rotation is further eliminated; the motor rotation direction of "X" style of calligraphy four-axis eight rotor unmanned aerial vehicle and reference numeral are shown in figure 5.
The streamline coaxial multi-rotor unmanned plane capable of adapting to severe environment has the following four basic motion modes:
(1) and (3) moving up and down: when the output power of eight brushless motors 21 of the unmanned aerial vehicle is the same, the thrust of the propellers 22 in the horizontal direction is offset, at this moment, the unmanned aerial vehicle only has the thrust in the vertical direction, when the thrust generated by the propellers 22 is greater than the weight of the whole machine, the unmanned aerial vehicle can generate vertical ascending movement and vertical descending movement if the thrust generated by the propellers 22 is less than the weight of the whole machine, and the unmanned aerial vehicle can still hover in the air if the thrust generated by the propellers 22 is equal to the weight of the whole machine.
(2) Front and back movement: when the rotating speed of the brushless motors 21 1, 2, 5 and 6 in the figure is reduced (increased) and the rotating speed of the brushless motors 21 3, 4, 7 and 8 is increased (reduced), the unmanned aerial vehicle can be forward tilted (backward tilted); the forward (rearward) tilt causes the propeller 22 to generate forward (rearward) thrust, so forward (rearward) movement of the drone can be achieved.
(3) Left and right movement: the principle is similar with the fore-and-aft movement, when reducing (increase) 2, 3, 5, 8 brushless motor 21 rotational speeds to increase (reduce) 1, 4, 6, 7 brushless motor 21's rotational speed, will make unmanned aerial vehicle produce and incline to the left (incline to the right), the fuselage inclines left (right) and causes screw 22 to produce the thrust left (right), consequently can realize unmanned aerial vehicle's the motion left (right).
(4) Yaw movement: yawing motion is realized according to unmanned aerial vehicle's spin principle, when reducing (increase) 2, 4, 5, 7 brushless motor 21 rotational speeds to when increasing (reducing) 1, 3, 6, 8 brushless motor 21 rotational speeds simultaneously, because the horizontal direction thrust size that adjacent brushless motor 21 produced is different, can make unmanned aerial vehicle self anticlockwise (clockwise) rotate.
The complex flight action and the flight track that many rotor unmanned aerial vehicle produced in flight basically all rely on above-mentioned four kinds of basic motion to realize.
[ example 2 ]
Compared with the traditional six-shaft six-propeller layout, the unmanned aerial vehicle adopts a four-shaft eight-propeller design, and the four-shaft eight-propeller unmanned aerial vehicle has higher load capacity, wind resistance stability and flight safety.
By adopting a coaxial structural design, the tensile force of the horn module 2 is larger under the same volume, and in order to facilitate the carrying and transportation of the unmanned aerial vehicle, the horn module 2 adopts a quick-release storage mode, so that the large load task requirement of an unmanned aerial vehicle platform is met, the unmanned aerial vehicle platform needs to provide enough power, and the structural strength is very high, therefore, a carbon fiber integrated forming process is adopted in the processing process to ensure the structural strength of the carbon fiber horn 24;
in the embodiment, a simulation coaxial test platform is built, two brushless motors 21 are horizontally aligned, tension data under the conditions of different distances, different rotating speeds and different voltages are simulated, data deviation between the simulation coaxial test platform and a single brushless motor 21 is analyzed through computer comparison, and the force effect loss condition is analyzed; the interference condition of the horizontal mass-alignment brushless motor 21 in the working state is analyzed by using aerodynamic simulation software, the lower paddle is always in the incoming flow of the upper paddle, and the attack angle of the airfoil of the wing section is reduced, so that the resistance is reduced, but the lift force is insufficient.
The coaxial double-propeller is characterized in that two brushless motors 21 are arranged on the same carbon fiber machine arm 24 up and down, and two same steering brushless motors 21 are additionally needed to counteract the counter-torque force generated in the process that the brushless motors 21 push the propeller 22; in the power effect test report of the coaxial brushless motor 21, it is shown that the farther the propellers 22 of the two brushless motors 21 are away from each other, the smaller the power effect loss is, the higher the power effect is, and the distance between the two brushless motors 21 in the optimal ideal state is infinite, so that the upper and lower brushless motors 21 can be ensured not to generate interference in the operation process; however, in practice, the larger the distance between the upper and lower brushless motors 21 is, the larger the fixed end of the brushless motor 21 is, the weight increases linearly, as shown in the data values in table 1 below, the effect of reducing the influence of the two propellers starts to appear when the pitch between the two propellers is larger than 280mm, the lift force of the lower propeller is reduced, the torque value is also reduced, the distance is far enough to make the resistance value of the two propellers approach, and considering the actual use condition and the comprehensive efficiency loss, when the distance between the upper and lower brushless motors 21 is one third of the pitch, the effective value of the motor force and the weight of the motor base reach an optimal combination relationship.
The unmanned aerial vehicle gives full play to the advantages of a four-axis eight-propeller technical system, and simultaneously ensures that the force effect loss caused by the design of coaxial double propellers is minimized by performing a series of flight optimization designs such as customized propellers 22 and fluid simulation analysis, so that the performance almost similar to that of the unmanned aerial vehicle with non-coaxial propellers is achieved.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
TABLE 1 analysis of optimum distance for coaxial power test tooling of unmanned aerial vehicle
Claims (9)
1. The utility model provides a many rotor unmanned aerial vehicle of streamlined coaxial of adaptable adverse circumstances, includes fuselage module (1), horn module (2), epitheca module (4), undercarriage module (3) and flight control system (5), its characterized in that: the aircraft is characterized in that a battery cabin (12), a control cabin (11) and a load cabin (13) are arranged inside the aircraft body module (1), the flight control system (5) is arranged in the control cabin (11), the horn module (2) comprises a brushless motor (21), a propeller (22), a horn quick-release end (23) and a horn (24), the horn module (2) adopts a four-axis eight-propeller and coaxial double-propeller structural design, and the flight control system (5) drives the horn module (2) to generate power; landing gear module (3) comprises undercarriage quick detach end (31), undercarriage montant (32), undercarriage horizontal pole (33) jointly, epitheca module (4) include epitheca (42) and set up RTK antenna (41) on epitheca (42), fuselage module (1) and epitheca module (4) draw and close the locking, present the streamlined outward appearance design of integration, be the quick detach between horn module (2) and fuselage module (1), undercarriage module (3) and fuselage module (1) and be connected.
2. The streamlined coaxial multi-rotor unmanned aerial vehicle adaptable to severe environment of claim 1, wherein the horn module (2) is provided in a plurality, the plurality of horn modules (2) are arranged along the circumference of the fuselage module (1), and any two adjacent horn modules (2) are arranged at intervals.
3. A streamlined coaxial multi-rotor drone adaptable to harsh environments according to claim 1 or 2, characterized by the horn module (2) comprising a disassembly end and a power end.
4. A streamlined coaxial multi-rotor unmanned aerial vehicle adaptable to severe environments according to claim 3, wherein the detaching end and the power end are fixedly arranged, the detaching end and the fuselage module (1) are fixedly arranged through threads, the power end is provided with a power assembly, and the power assembly is controlled through the flight control system (5).
5. A streamlined, coaxial multi-rotor drone adaptable to harsh environments according to claim 4, characterized by the power assembly comprising a motor and a propeller (22); the motor is electrically connected with the flight control system (5), and the motor drives the propeller (22) to rotate to generate power.
6. A streamlined coaxial multi-rotor drone adaptable to hostile environments according to any of claims 1, 2, 4, 5, characterized in that the lower part of said fuselage module (1) is provided with landing gear modules (3), said landing gear modules (3) supporting said horn module (2) and fuselage module (1).
7. The streamlined coaxial multi-rotor unmanned aerial vehicle adaptable to severe environments of claim 6, wherein the support portion of the landing gear module (3) is configured as a crescent structure, and the support portion is fixedly connected with the landing gear quick-release end (31); the landing gear quick-release end (31) controls the landing gear module (3) to be unfolded or folded; when the aircraft flies in the air, the undercarriage quick-release end (31) is in a locking state, and the carbon fiber undercarriage vertical rod (32) is abutted against the lower surface of the aircraft body module (1); when landing is required, the carbon fiber landing gear vertical rod (32) is in contact with the ground.
8. A streamlined coaxial multi-rotor drone adaptable to harsh environments according to claim 7, characterized in that between the control pod (11), battery pod (12), load pod (13) there are baffles.
9. The streamlined coaxial multi-rotor unmanned aerial vehicle adaptable to severe environment of claim 8, wherein the horn (24) of the horn module (2) and the fuselage (14) of the fuselage module (1) are both made of carbon fiber material, the upper shell (42) is made of glass fiber material, and the aerodynamic shape formed by pulling and locking the fuselage module (1) and the upper shell module (4) is in a structural shape of a round head and a sharp tail.
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