CN113443132B - Miniature longitudinal reverse dual-rotor aircraft - Google Patents
Miniature longitudinal reverse dual-rotor aircraft Download PDFInfo
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- CN113443132B CN113443132B CN202110864045.3A CN202110864045A CN113443132B CN 113443132 B CN113443132 B CN 113443132B CN 202110864045 A CN202110864045 A CN 202110864045A CN 113443132 B CN113443132 B CN 113443132B
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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
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/72—Means acting on blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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Abstract
The invention provides a micro-column reversal double-rotor aircraft, which comprises a main board, a control system, a battery, a first aircraft driving mechanism, a second aircraft driving mechanism and a bracket, wherein the main board is provided with a first rotor and a second rotor; the first aircraft driving mechanism, the second aircraft driving mechanism, the control system and the battery are all arranged on the main board; the bracket is arranged at the bottom end of the main board; the first aircraft driving mechanism is used for providing lift force for the aircraft and providing torsional moment for the aircraft; the second aircraft driving mechanism is used for providing lift force for the aircraft and controlling the yaw angle of the aircraft. The invention designs a novel aircraft control mode: only two highly integrated aircraft driving mechanisms are used as the drivers of the aircraft, and the two drivers are reduced in structure compared with the current mainstream technology by matching with a passive hinge structure and a fixed connecting piece for attitude control, so that the weight of the aircraft is reduced, the complex mechanical structure of the tilting disk is avoided, and the production cost of the miniature aircraft is reduced.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a micro tandem reversal dual-rotor aircraft, and particularly relates to a micro tandem reversal dual-rotor helicopter which only uses two direct current brushless motors as drivers and controls the posture of a propeller blade by matching with an adjusting propeller blade attack angle of a passive hinge.
Background
Small unmanned aerial vehicles are becoming increasingly popular, particularly rotary wing aircraft that can hover in three dimensions. The rotor type unmanned aerial vehicle has wide application, including environmental monitoring, plant protection, mine detection, article transportation and the like. For the tandem contra-rotating twin-rotor helicopter, two rotors are arranged in tandem, and a rear propeller is higher than a front propeller, so that the compactness of the helicopter is further improved. Both propellers of such helicopters provide lift and typically use the front rotor to generate flight thrust, which in turn adjusts the orientation of the aircraft in roll and pitch. Among them, the CH-47 transport helicopter developed by boeing company in the united states is one of the helicopters in service in the U.S. military, which has the highest load capacity. Attitude control of such helicopters is typically achieved on the propeller by a technique known as cyclic control, i.e. as the blades rotate, the pitch angle of the blades varies periodically with the swashplate, thereby providing torque in different directions. This cyclic control is usually achieved by a mechanical structure known as swashplate, the first swashplate in use in helicopters in the world was developed by the american engineer west costas in 1939, and has developed over the years to date. Because the tilting disk structure of the rotary wing aircraft needs additional steering engines and complex mechanical structures, the load of the robot is increased, and the complexity and the manufacturing difficulty of the robot are greatly increased.
In order to solve the problem, charles s of Draper Laboratory of Cambridge MA university proposes methods such as piezoelectric driver control to realize a micro tilt-free-disk coaxial contra-rotating helicopter. James Paulos and Mark Yim of Pennsylvania university propose a control method of an electronic tilting tray of a helicopter matched with a passive hinge. However, for the tandem contra-rotating twin-rotor helicopter, there is no solution for reducing the total driver number of the aircraft and the controllability of the aircraft can be maintained, and the related research is still in the preliminary stage.
Patent document CN110092000a discloses a full-electric tilt rotor unmanned aerial vehicle, which comprises a vehicle body, a front beam, a rear beam and an oil-driven engine, wherein the front beam and the rear beam are respectively configured at the front middle part and the rear part of the vehicle body, the oil-driven engine is installed in the vehicle body, and two sides of the front beam are respectively provided with a tilt rotor blade; the power motor and the tilting motor are both arranged at the end part of the front beam. This scheme adopts the motor that verts to drive the paddle and verts, and the structure is still more complicated, and weight is still heavier.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a miniature longitudinal-row reverse-rotation dual-rotor aircraft.
The invention provides a micro-column reversal double-rotor aircraft which comprises a main board, a control system, a battery, a first aircraft driving mechanism, a second aircraft driving mechanism and a bracket, wherein the main board is connected with the control system;
the first aircraft driving mechanism, the second aircraft driving mechanism, the control system and the battery are all arranged on the main board; the bracket is arranged at the bottom end of the main board;
the battery is used for providing power supply; (ii) a
The first aircraft driving mechanism and the second aircraft driving mechanism are electrically connected with the control system;
the first aircraft driving mechanism is used for providing lift force for the aircraft and providing torsional moment for the aircraft;
the second aircraft driving mechanism is used for providing lift force for the aircraft and controlling the yaw angle of the aircraft.
Preferably, the main board is provided with a first mounting position and one or more second mounting positions;
the control system and the battery are respectively arranged on the first installation position and the second installation position.
Preferably, the first aircraft drive mechanism comprises a first motor, a passive hinge structure, a first motor support frame and a plurality of first propeller blades;
the first motor is arranged on the first motor support frame, an output shaft of the first motor is connected with the passive hinge structure, and the first propeller blades are all arranged on the passive hinge structure;
the first motor support frame is directly or indirectly arranged on the main board.
Preferably, the first aircraft drive mechanism further comprises a first integrated circuit;
the control system and the first motor are electrically connected with the first integrated circuit.
Preferably, the passive hinge structure comprises a first motor output shaft connection and a plurality of movable wing connections;
the first motor output shaft connecting piece is connected with an output shaft of the first motor;
the number of the first propeller blades is matched with that of the movable wing connectors, and the first propeller blades are arranged on the movable wing connectors in a one-to-one mode;
the movable wing connecting pieces are distributed along the circumferential direction of the first motor output shaft connecting piece, and the movable wing connecting pieces are rotatably connected with the first motor output shaft connecting piece;
the rotating shafts of the movable wing connecting piece and the first motor output shaft connecting piece are not parallel to and perpendicular to the output shaft of the first motor.
Preferably, the second aircraft drive mechanism comprises a second motor, a fixed connector, a second motor support frame and a plurality of second propeller blades;
the second motor is connected with the plurality of second propeller blades through the fixed connecting piece, and the plurality of second propeller blades are distributed along the circumferential direction of the fixed connecting piece;
the second motor is arranged on the second motor support frame;
the second motor support frame is directly or indirectly arranged on the main board.
Preferably, the second aircraft drive mechanism further comprises a second integrated circuit;
the control system and the second motor are electrically connected with the second integrated circuit.
Preferably, the first integrated circuit comprises a motor driving module, a sensing module and a motor control module.
Preferably, the second integrated circuit comprises a motor driving module, a sensing module and a motor control module.
Preferably, the main plate is made of a carbon fiber material.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention does not use a tilting disk structure or a steering engine to adjust the attitude of the aircraft, so that the aircraft has the characteristics of light weight, small volume, long service life, low cost and suitability for complex environment work.
2. According to the invention, the first integrated circuit and the second integrated circuit are both arranged on the mainboard through the supporting columns to form a multilayer structure. The design of the multilayer structure reduces the weight of the aircraft, increases the gravity center range of the aircraft, and bears the possible collision in the flight process, so that the aircraft can adapt to the work in the severe environment.
3. The invention designs a novel aircraft control mode: only two highly integrated aircraft driving mechanisms are used as drivers of the aircraft, and the passive hinge structure and the fixed connecting piece are matched for attitude control, so that compared with the structure of four rotors or a structure of two rotors and two steering engines in the current mainstream technology, two drivers are omitted, the weight of the aircraft is reduced, the complex mechanical structure of a tilting disk is avoided, and the production cost of the miniature aircraft is reduced;
4. the shape design of the main board can be matched with the mounting positions of the control system, the first aircraft driving mechanism of the battery and the second aircraft driving mechanism, the maximum lift force of the motor is exerted, the gravity center range of the machine body is expanded, and the stability and the load capacity of the aircraft are improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic side view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic axial view of a first aircraft drive mechanism according to the present invention;
FIG. 4 is a schematic front view of a first aircraft drive mechanism according to the present invention;
FIG. 5 is a schematic axial view of a second aircraft drive mechanism according to the present invention;
FIG. 6 is a schematic front view of a second aircraft drive mechanism according to the present invention;
FIG. 7 is a schematic axial view of the passive hinge structure of the present invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
The invention provides a micro tandem reversal double-rotor aircraft which comprises a main board 4, a control system 6, a battery 5, a first aircraft driving mechanism, a second aircraft driving mechanism and a bracket 1.
The battery 5 is used to provide power to other components in the micro-tandem counter-rotating twin-rotor aircraft.
As shown in fig. 1, the first aircraft driving mechanism and the second aircraft driving mechanism are both highly integrated structures, and the first aircraft driving mechanism, the second aircraft driving mechanism, the control system 6 and the battery 5 are all installed on the main board 4; the first aircraft driving mechanism and the second aircraft driving mechanism are respectively installed at two ends of the main board 4, and the support 1 is installed at the bottom end of the main board 4; the aircraft makes use of the support 1 for parking operations.
The first aircraft driving mechanism and the second aircraft driving mechanism are electrically connected with the control system 6; the attitude stability and the flight state of the aircraft can be controlled by controlling the first aircraft driving mechanism and the second aircraft driving mechanism through the control system.
The first aircraft driving mechanism bears normal operation, falling and the like of the aircraft, and is used for providing lift force for the aircraft and providing torsion moment for the aircraft;
the second aircraft driving mechanism can bear normal operation, fall and the like of the aircraft, and is used for providing lift force for the aircraft and controlling the yaw angle of the aircraft.
As shown in fig. 1 and 2, the main board 4 is provided with a first mounting location and one or more second mounting locations; the control system 6 and the battery 5 are respectively installed on the first installation position and the second installation position. In a preferred embodiment, the first and second mounting locations are formed by punching holes in the main board 4, and the first and second aircraft driving mechanisms are mounted on the main board 4 by engaging with the supporting posts 11 through the holes. The shape design of mainboard 4 is concerned with the component distribution and the flight stability of aircraft to can be according to control system 6, the whole focus scope of aircraft is adjusted to the mounted position of the first aircraft actuating mechanism of battery 5 and second aircraft actuating mechanism, improves the stability of aircraft.
As shown in fig. 1, 2, 3 and 4, the first aircraft drive mechanism comprises a first motor 9, a passive hinge structure 2, a first motor support frame 3 and a plurality of first propeller blades 8; the first motor 9 is installed on the first motor support frame 3, and the first motor support frame 3 is directly or indirectly installed on the main board 4. The output shaft of the first motor is connected with the passive hinge structure 2, and the first propeller blades 8 are all installed on the passive hinge structure 2.
The passive hinge structure 2 is a specially designed wing-motor connecting part and can be manufactured in a 3D printing mode, and the passive hinge structure has the functions of adjusting the acceleration and deceleration rotation of the first motor 9 rotating in a single circle, and changing the attack angle of the first propeller blade 8 by using the passive hinge structure 2 so as to provide torsional moment for an aircraft. As shown in fig. 7, the passive hinge structure 2 includes a first motor output shaft connection 15 and a plurality of movable wing connections 14; the first motor output shaft connecting piece 15 is connected with the output shaft of the first motor 9; the number of the first propeller blades 8 is matched with that of the movable wing connectors 14, and the first propeller blades 8 are one-to-one installed on the movable wing connectors 14; the movable wing connectors 14 are distributed along the circumference of the first motor output shaft connector 15, and the movable wing connectors 14 are rotatably connected with the first motor output shaft connector 15; the axes of rotation of the movable wing connection 14 and the first motor output shaft connection 15 are not parallel and perpendicular to the output shaft of the first motor 9. In a preferred embodiment, the first motor output shaft connection 15 and the movable wing connection 14 are connected in a pin connection. The passive hinge structure 2 is closely matched with an output shaft of the first motor 9, and the relative angle between the movable wing connecting piece 14 and the first motor output shaft connecting piece 15 in the passive hinge structure 2 is changed by controlling the acceleration and deceleration movement of the first motor 9 within a circle of rotation, so that the attack angle of the propeller blades is changed, and further, the torque force rotating in different directions is realized.
The first aircraft drive mechanism further comprises a first integrated circuit 7; the control system 6 and the first motor 9 are both electrically connected with the first integrated circuit 7. The first integrated circuit 7 comprises a motor driving module, a sensing module and a motor control module and is of a PCB structure.
As shown in fig. 1, 2, 3 and 4, in a preferred embodiment, the first motor 9 is a dc brushless motor, and the first motor support frame 3 has a specific shape and size and is manufactured by a 3D printing method; the first motor support frame 3 is provided with four low support columns 17 formed by 3D printing; the first integrated circuit 7 is provided with a mounting hole, the low support column 17 penetrates through the mounting hole to realize the connection between the first motor support frame 3 and the first integrated circuit 7, and finally the low support column 17 is mounted on the main board 4 by screws. The mounting method of the integrated circuit includes the steps that the first motor 9 is mounted on the first motor support frame 3, the lower support columns 17 on the first motor support frame 3 penetrate through the mounting holes, screws are sleeved in the four lower support columns 17 respectively, the lengths of the screws are larger than those of the lower support columns 17, the lower support columns 17 are connected with the main board 4 through the screws, and limiting structures can be further arranged on the four lower support columns 17 and used for limiting positions of the first integrated circuit 7 on the four lower support columns 17.
The second aircraft driving mechanism comprises a second motor 11, a fixed connecting piece 10, a second motor supporting frame 12 and a plurality of second propeller blades 13; the second motor 11 is a brushless dc motor; the second motor support 12 has a specific shape and size and is manufactured by a 3D printing method; the second motor 11 is connected with the plurality of second propeller blades 13 through the fixed connector 10, and the plurality of second propeller blades 13 are distributed along the circumferential direction of the fixed connector 10;
as shown in fig. 1, 2, 5 and 6, the second motor 11 is mounted on the second motor support bracket 12. The second motor support bracket 12 is directly or indirectly mounted on the main board 4. The second aircraft drive mechanism further comprises a second integrated circuit 16; the second integrated circuit 16 includes a motor driving module, a sensing module, and a motor control module, and is of a PCB structure. The control system 6 and the second motor 11 are both electrically connected to the second integrated circuit 16. The fixed connecting piece 10 is a specially designed wing-motor connecting piece, has a specific shape and size, and is manufactured in a 3D printing mode; the fixed connecting piece 10 is closely matched with a motor output shaft of the second motor 11, and the fixed connecting piece 10 is used for directly transmitting the rotation of the motor output shaft to the second propeller blades 13 so that the second propeller blades 13 rotate along with the output shaft of the second motor 11. The rear lift and the yaw angle of the aircraft are controlled by controlling the rotation speed of the second motor 11.
As shown in fig. 1, 2, 5 and 6, in a preferred embodiment, the second motor 11 is first mounted on the second motor support 12, and the second motor support 12 has four lower support columns 17 formed by 3D printing; the second integrated circuit 16 has a mounting hole; the lower support column 17 of the second motor support frame 12 passes through the mounting hole of the second integrated circuit 16 to connect the second motor support frame 12 and the second integrated circuit 16. Then, a low support column 17 on the second motor support frame 12 is arranged on a connecting frame 18 with a high support column through a screw; finally, the connecting bracket 18 is mounted on the main board 4 by screws. The connecting frame 18 may be manufactured by 3D printing.
The control system 6 is a flight control system combining aircraft power management, attitude sensors, an attitude processor and a communication module, and in a preferred embodiment, the control system 6 is installed on the main board 4 through four low support columns 17 formed by 3D printing and screws.
In a preferred embodiment, the first motor 9 and the second motor 11 both adopt Lang Yu X2206, KV1500 dc brushless motors; the first propeller blade 8 and the second propeller blade 13 are all universal helicopter blades made of ABS (acrylonitrile butadiene styrene), and have the size of 8.5cm long and 2.3cm wide; the number of the batteries 5 is 2, and a Grignard 2S lithium battery with the discharge rate of 450mAh of 75C is adopted to respectively supply power to the front motor and the rear motor. The main plate 4 is made of a carbon fiber material.
The working principle of the invention is as follows:
the lift force of the aircraft can be controlled by controlling the average rotating speed of the first motor 9 and the second motor 11; the yaw angle and the pitch angle of the aircraft can be controlled by controlling the rotation differential speed of the first motor 9 and the second motor 11; by controlling the rotation acceleration and deceleration movement of the first motor 9 in a single period, the passive hinge structure 2 swings in a control mode, and the roll angle and the pitch angle of the aircraft are controlled.
The invention adopts only two direct current brushless motors of the first motor 9 and the second motor 11 as the actuators of the aircraft without additionally using steering engines to adjust the attitude of the aircraft. The flight lift force and the attitude control of the aircraft can be completed through the control coordination of the first motor 9 and the second motor 11. Therefore, the aircraft has the characteristics of light weight, small volume, low cost and the like.
In the invention, the first integrated circuit 7 and the second integrated circuit 16 are both mounted on the main board 4 through supporting pillars to form a multilayer structure. The design of multilayer structure has alleviateed aircraft weight, increases aircraft focus scope, has born the collision that the flight process probably met, makes the aircraft can adapt to work under the adverse circumstances.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. A micro-column reversal dual-rotor aircraft is characterized by comprising a main board (4), a control system (6), a battery (5), a first aircraft driving mechanism, a second aircraft driving mechanism and a bracket (1);
the first aircraft driving mechanism, the second aircraft driving mechanism, the control system (6) and the battery (5) are all arranged on the main board (4); the bracket (1) is arranged at the bottom end of the main board (4);
the battery (5) is used for providing power supply;
the first aircraft driving mechanism and the second aircraft driving mechanism are electrically connected with the control system (6);
the first aircraft driving mechanism is used for providing lift force for the aircraft and providing torsional moment for the aircraft;
the second aircraft driving mechanism is used for providing lift force for the aircraft and controlling the yaw angle of the aircraft;
the first aircraft driving mechanism comprises a first motor (9), a passive hinge structure (2), a first motor supporting frame (3) and a plurality of first propeller blades (8);
the first motor (9) is installed on the first motor support frame (3), an output shaft of the first motor is connected with the passive hinge structure (2), and the first propeller blades (8) are installed on the passive hinge structure (2);
the first motor support frame (3) is directly or indirectly arranged on the main board (4);
the first aircraft drive mechanism further comprises a first integrated circuit (7);
the control system (6) and the first motor (9) are both electrically connected with the first integrated circuit (7);
the second aircraft driving mechanism comprises a second motor (11), a fixed connecting piece (10), a second motor supporting frame (12) and a plurality of second propeller blades (13);
the second motor (11) is connected with the second propeller blades (13) through the fixed connecting piece (10), and the second propeller blades (13) are distributed along the circumferential direction of the fixed connecting piece (10);
the second motor (11) is arranged on the second motor support frame (12);
the second motor support frame (12) is directly or indirectly arranged on the main board (4);
the second aircraft drive mechanism further comprises a second integrated circuit (16);
the control system (6) and the second motor (11) are both electrically connected with the second integrated circuit (16);
the passive hinge structure (2) comprises a first motor output shaft connection (15) and a plurality of movable wing connections (14);
the first motor output shaft connecting piece (15) is connected with an output shaft of the first motor (9);
the number of the first propeller blades (8) and the number of the movable wing connectors (14) are matched, and the first propeller blades (8) are arranged on the movable wing connectors (14) in a one-to-one manner;
the movable wing connecting pieces (14) are distributed along the circumferential direction of the first motor output shaft connecting piece (15), and the movable wing connecting pieces (14) are rotatably connected with the first motor output shaft connecting piece (15);
the rotating shafts of the movable wing connecting piece (14) and the first motor output shaft connecting piece (15) are not parallel to and perpendicular to the output shaft of the first motor (9).
2. The micro-tandem counter-rotating twin-rotor aircraft according to claim 1, characterized in that a first mounting location and one or more second mounting locations are provided on the main board (4);
the control system (6) and the battery (5) are respectively installed on the first installation position and the second installation position.
3. The micro-tandem counter-rotating twin-rotor aircraft according to claim 1, characterized in that the first integrated circuit (7) comprises a motor drive module, a sensing module, a motor control module.
4. The micro-tandem counter-rotating twin-rotor aircraft according to claim 1, wherein the second integrated circuit (16) comprises a motor drive module, a sensing module, and a motor control module.
5. Micro-tandem counter-rotating twin-rotor aircraft according to claim 1, characterized in that said main board (4) is made of carbon fiber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110864045.3A CN113443132B (en) | 2021-07-29 | 2021-07-29 | Miniature longitudinal reverse dual-rotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110864045.3A CN113443132B (en) | 2021-07-29 | 2021-07-29 | Miniature longitudinal reverse dual-rotor aircraft |
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| CN113443132B true CN113443132B (en) | 2023-01-31 |
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| US11292598B2 (en) * | 2015-12-08 | 2022-04-05 | Mark Bradford FOLEY | Handheld aircraft with adjustable components |
| CN106927030B (en) * | 2017-03-15 | 2023-04-07 | 西北工业大学 | Oil-electricity hybrid power multi-rotor aircraft and flight control method thereof |
| CN106892106A (en) * | 2017-04-06 | 2017-06-27 | 重庆鸿动翼科技有限公司 | Electromagnetic Drive tandem wing aerodynamic vehicle |
| EP3656669B1 (en) * | 2018-11-26 | 2021-01-13 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A vertical take-off and landing multirotor aircraft with at least eight thrust producing units |
| CN212172525U (en) * | 2019-11-29 | 2020-12-18 | 彩虹无人机科技有限公司 | Foldable unmanned aerial vehicle transmission system |
| CN112298537B (en) * | 2020-09-23 | 2022-10-11 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
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| CN112027072A (en) * | 2019-06-04 | 2020-12-04 | 范磊 | Combined type tilting power longitudinal wing-changing counter-speed rotor aircraft |
| CN112591083A (en) * | 2020-12-25 | 2021-04-02 | 中国直升机设计研究所 | Folding collection rectification structure of paddle |
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