CN113443151A

CN113443151A - Rotary wheel type unmanned aerial vehicle

Info

Publication number: CN113443151A
Application number: CN202110862308.7A
Authority: CN
Inventors: 黄佳林; 陈立新
Original assignee: Hangzhou Modern Ship Design Research Co ltd; Zhejiang Fengshen Marine Engineering Technology Co ltd
Current assignee: Hangzhou Modern Ship Design Research Co ltd; Zhejiang Fengshen Marine Engineering Technology Co ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2021-09-28

Abstract

The invention relates to a rotary wheel type unmanned aerial vehicle, which comprises a vehicle body and a power device assembled on the vehicle body, wherein the power device comprises one or more rotary wheel assemblies; when a rotary wheel component is adopted, the rotary wheel component can be arranged at a position above the gravity center of the machine body, so that the machine body is always kept in a natural balance state; when a plurality of rotary wheel assemblies are arranged, the rotary wheel assemblies can be symmetrically arranged on two sides of the machine body, so that the machine body keeps dynamic balance; the rotary wheel assembly is simple in structure, the plurality of rotary wing pieces are output by the driving motor through the rotary wheel assembly, and compared with the existing design, the rotary inertia of a power part is reduced, the structural strength and the rigidity are improved, and the reliability is improved; safety is increased over prior designs.

Description

Rotary wheel type unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of aviation unmanned aerial vehicles, and particularly relates to a rotary wheel type unmanned aerial vehicle.

Background

Unmanned vehicles can fly in a remote control mode or fly autonomously, have the advantages of light weight, small size, good maneuvering characteristics, no limitation of physiological constraints of operators and flying environment and the like, and are widely applied to the fields of aerial photography, express delivery, post-disaster search and rescue, data acquisition, police force, city management, agriculture, geology, meteorology, electric power, express delivery, surveying and mapping, plant protection, pesticide spraying, surveying and mapping, line patrol and the like.

The existing unmanned aerial vehicle can be mainly divided into an unmanned fixed wing aircraft, an unmanned multi-rotor aircraft and the like from the technical point of view.

The unmanned fixed wing aircraft has the advantages of high flying speed, long endurance and low energy consumption, but needs a certain length of a sliding runway when taking off and landing, has poor maneuverability in the air, and cannot finish maneuvering actions such as low-speed flying, hovering and the like.

The unmanned multi-rotor aircraft can take off and land vertically, can fly and hover at low speed in the air, has small turning radius and better maneuverability, but has the defects of low flying speed, small endurance and high energy consumption.

Aiming at the problems of the existing unmanned aerial vehicle, the invention provides a novel rotary wheel type unmanned aerial vehicle technical scheme, the unmanned aerial vehicle can finish various maneuvering actions such as vertical take-off and landing, hovering, in-situ turning, rolling, turning and the like, and has the advantages of high navigational speed, long range and low energy consumption.

Disclosure of Invention

The invention aims to overcome the defects in the prior unmanned aerial vehicle technology and provides the unmanned aerial vehicle which has stronger maneuverability and flexible turnover and can fly in any attitude in the air.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a rotary-wheel type unmanned aerial vehicle with fixed wings and a power device assembled on the vehicle body comprise one (group) or a plurality of (group) rotary-wheel assemblies. When one (group) of rotary wheel assemblies are adopted, the rotary wheel assemblies can be arranged at the position above the gravity center of the machine body, so that the machine body is always kept in a natural balance state. When a plurality of (group) spinning wheel assemblies are installed, the spinning wheel assemblies can be symmetrically installed on two sides of the machine body, so that the machine body keeps dynamic balance.

As a preferred aspect of the present invention, the rotary wheel is a rotary wing type omnidirectional propeller, and the rotary wheel assembly includes a driving motor, a hollow rotary shaft, two or more wings, a wing rotation transmission mechanism, and a wing angle controller. The working principle of the rotary wing type omnidirectional propeller is as follows: the rotating disc is fixed on the hollow rotating shaft and driven by the motor to rotate, the fins are connected to the periphery of the rotating disc in a rotating mode, a fin rotating transmission mechanism is arranged in the rotating disc, and the fin angle controller penetrates through the hollow rotating shaft to control the fin rotating transmission mechanism to enable the fins to be in different angles at different positions. When the wing pieces revolve along with the rotating disc, the wing pieces are controlled by the rotary transmission mechanism to rotate, and at the moment, each wing piece can generate thrust in the same direction under the influence of aerodynamic force. When the angle controller changes the angle of the wing through the wing rotation transmission mechanism, the thrust direction is changed, so that the unmanned aerial vehicle is provided with the power for flying in any direction: when the gyrocompass thrust is downward, the unmanned aerial vehicle can take off vertically (including hovering); when the rotary wheel generates horizontal thrust, the unmanned aerial vehicle can fly horizontally; when horizontal thrust difference is generated between the left rotary wheel and the right rotary wheel, the unmanned aerial vehicle can carry out rotary flight (including in-situ rotation); when the left and right spinning wheels generate vertical thrust difference, the unmanned aerial vehicle can be laterally turned (including lateral in-situ turning); when the front rear rotating wheel generates a vertical thrust difference, the unmanned aerial vehicle can complete front and rear overturning actions (including in-situ overturning); when all the rotary wheel assemblies generate thrust difference change, the unmanned aerial vehicle can complete various complex actions; … … and so on. When the unmanned aerial vehicle flies horizontally, the fixed wings bear most or all of the weight of the unmanned aerial vehicle, so that the power consumed by flying the unmanned aerial vehicle is greatly reduced.

As a preferable scheme of the invention, fixed wings are arranged on two sides of the machine body, and the rotary wheels can be arranged corresponding to the fixed wings.

In a preferred embodiment of the present invention, the fixed wing has a wing-like cross section, and the wing chord length is arranged along the length direction of the fuselage.

As a preferable scheme of the invention, the other end of the rotary wheel is provided with a fixed baffle plate to reduce the end part of the rotary wing in the air from flowing around and improve the lift force. A gap is reserved between the baffle and the end part of the rotary wing piece.

As a preferable scheme of the invention, a tail wing is fixedly arranged at the top end of the tail part of the machine body.

In a preferable scheme of the invention, one or a pair of balance wheels are arranged at the tail part of the fuselage.

In a preferred embodiment of the present invention, the balance wheel is a rotary wing type omni-directional propeller.

As a preferable scheme of the present invention, the number of the rotor blades is four, and the four rotor blades are equidistantly arranged on the rotor.

The invention has the beneficial effects that:

1. the invention has simple structure and ingenious design, and the thrust direction of the arranged rotary wheel can be changed by 360 degrees. The unmanned aerial vehicle can adjust the thrust direction of the rotary wheel according to the actual situation, so that the unmanned aerial vehicle can freely turn over in any direction, and is more flexible and flexible compared with the existing unmanned fixed wing aircraft and unmanned multi-rotor aircraft;

2. compared with the existing unmanned multi-rotor aircraft, the fixed wing aircraft can obviously reduce the flight energy consumption, improve the flight speed and greatly improve the endurance thereof by the aid of the lift force provided by the fixed wing in the flight process;

3. the fixed wing provided by the invention provides lift force in the flight process, so that the unmanned aerial vehicle has flight and glide capacity;

4. according to the invention, the tail wing and the balance wheel are arranged at the tail part of the unmanned aerial vehicle, so that the flight stability and maneuverability of the unmanned aerial vehicle can be improved.

Drawings

Fig. 1 is a front view of a swivel unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 2 is a top view of a spinning wheel unmanned aerial vehicle according to an embodiment of the invention.

Fig. 3 is a side view of a spinning wheel unmanned aerial vehicle according to an embodiment of the invention.

Fig. 4 is a front view of a vertical take-off and landing rotary-wheel type unmanned aerial vehicle according to an embodiment of the invention.

Fig. 5 is a front view of the horizontal advance of the rotary-wheel type unmanned aerial vehicle according to the embodiment of the invention.

Fig. 6 is a front view of the swivel unmanned aerial vehicle according to the embodiment of the invention, which is horizontally retracted.

Fig. 7 is a front view of the front turn of the body of the swivel unmanned aerial vehicle according to the embodiment of the invention.

Fig. 8 is a front view of the swivel unmanned aerial vehicle in a rear-turning mode according to the embodiment of the invention.

Fig. 9 is a front view of the front right oblique flying of the body of the rotary-wheel type unmanned aerial vehicle according to the embodiment of the invention.

Fig. 10 is a front view of the swivel unmanned aerial vehicle fuselage rotated to the left according to the embodiment of the invention.

Fig. 11 is a front view of a spinning-wheel unmanned aerial vehicle fuselage rolling to the right according to an embodiment of the invention.

Fig. 12 is a front view of the front left oblique flight of the body of the swivel unmanned aerial vehicle according to the embodiment of the invention.

Fig. 13 is a schematic structural diagram of a spinning roller assembly according to an embodiment of the present invention.

Reference numbers in the figures: rotor angle controller 2, hollow rotating shaft 3, rotating disc 4, base 5, rotor control gear 6, fuselage 31, power device 32, controlling means 33, fixed wing 34, baffle 36, fin 37, location chamber 38, stabilizer wheel 39, gyro wheel assembly 40, driving motor 41, rotor 42.

Detailed Description

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

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

Example (b):

as shown in fig. 1-3, the present embodiment provides an unmanned aerial vehicle, which can be used for flying in the air, hovering, or taking off or landing on land.

The unmanned aerial vehicle comprises a fuselage 31 and a power device 32 assembled on the fuselage 31, wherein the power device 32 comprises two rotary wheel assemblies 40, and the two rotary wheel assemblies 40 are symmetrically arranged on two sides of the fuselage 31; make this unmanned aerial vehicle can fly at aerial arbitrary gesture.

Specifically, the two rotary wheel assemblies 40 can be symmetrically and horizontally arranged on two sides of the machine body 31; the rotary wheel assemblies 40 can also be obliquely and symmetrically arranged at the two sides of the machine body 31; the wheel assembly 40 can rotate by a predetermined angle with respect to the body 31 under the control of the control device 33.

A control device 33 is further arranged in the fuselage 31, and the control device 33 can control a plurality of rotor blades 42 to rotate in a vertical plane, a horizontal plane and a three-dimensional space relative to the fuselage 31, so as to provide power for the unmanned aerial vehicle to sail on the ground in all directions; the power device 32 is electrically connected with the control device 33, the control device 33 is used for providing advancing power for the unmanned aerial vehicle, and the control device 33 is used for controlling the unmanned aerial vehicle to execute instructions such as flying, taking off or landing.

As shown in fig. 13, the rotary wheel assembly 40 in the present embodiment is a straight-wing omnidirectional propeller, specifically, the rotary wheel assembly 40 includes a driving motor 41, a hollow rotary shaft 3, a rotary disk 4, a plurality of rotary wing pieces 42, and a rotor angle controller 2;

the whole rotary wheel assembly 40 is assembled on the base 5, a plurality of rotary wing pieces 42 are rotatably connected around the rotary disc 4, and the rotary disc 4 is fixed on the hollow rotary shaft 3 and is driven to rotate by the driving motor 41; a rotor control gear 6 is connected between the plurality of rotor blades 42 and the rotary disk 4, and the rotor blades 42 revolve with the rotary disk 4 and are controlled to rotate by the rotor angle controller 2. Each rotor blade 42 generates thrust in one direction as rotor blades 42 rotate with disk 4. When rotor angle controller 2 changes rotor angle, thrust direction changes rapidly thereupon to provide the power of arbitrary direction flight for unmanned vehicles: when the spinning wheel assembly 40 is pushed downward, the unmanned aerial vehicle can take off vertically (including hovering); when the rotary wheel assembly 40 generates horizontal thrust, the unmanned aerial vehicle can fly horizontally; when the left and right spinning wheel assemblies 40 generate horizontal thrust difference, the unmanned aerial vehicle can carry out rotary flight (including in-situ rotation); when the front rear rotating wheel assembly 40 generates a vertical thrust difference, the unmanned aerial vehicle can complete front and rear overturning actions (including in-situ overturning); when all the rotary wheel assemblies 40 generate thrust difference changes, the unmanned aerial vehicle can complete various complex actions; … … and so on. When the unmanned aerial vehicle flies horizontally, the fixed-wing device bears most or all of the weight of the unmanned aerial vehicle, so that the power consumed by flying the unmanned aerial vehicle is greatly reduced.

Starting and stable operation of the propeller: the output shaft of the drive motor 41 is rotated at a nominal rotational speed by the rotary disk 4. Therefore, under the condition that the input rotating speed of the propeller is not changed, the thrust is increased from zero to the maximum, the unmanned aerial vehicle is pushed to run at the maximum speed, and the auxiliary power does not consume energy when the propeller runs stably.

The rotary wheel assembly is arranged on two sides of the machine body, the rotary wheel assemblies are arranged on two sides of the middle of the machine body, and the driving motor outputs a plurality of rotary wing pieces, so that the rotary inertia of a power part is reduced compared with the existing design, the structural strength and the rigidity are improved, and the reliability is improved; safety is increased over prior designs.

In this embodiment, four rotary wing panels 42 are arranged on the rotary disk of the straight wing omnidirectional propeller at equal intervals; according to the rotating wheel assembly 40, the direction of the rotating wing piece can rotate 360 degrees, so that the rotating direction of the rotating wing piece can be adjusted according to the actual use condition, the unmanned aerial vehicle can freely turn over in a vertical plane, on a horizontal plane and in a wide application range.

Fixed wings 34 are arranged on two sides of the fuselage 31; the rotary wheel assembly 40 is arranged corresponding to the fixed wing 34; specifically, in this embodiment, the end of the fixed wing is connected with the baffle 36, and a gap is left between the baffle 36 and the end of the rotary wing 42; by providing the fixed wing 34, wing strength and stiffness are significantly improved, wherein the fixed wing 34 bears a bending moment of a portion of the fuselage in addition to providing a portion of lift, the size and weight of the fuselage may be reduced.

Specifically, the outer end face of the baffle 36 and the outer end face of the fixed wing 34 are on the same plane; the integral aesthetic degree is improved.

The section of the fixed wing 34 is in the shape of an airplane wing, and the length of the airplane wing is distributed along the length direction of the airplane body; its structural design is ingenious, can provide bigger lift, reduces induced resistance, improves the ability of gliding.

The top end of the tail part of the fuselage 31 is fixedly provided with an empennage 37, and the empennage 37 is of a V-shaped structure; a positioning cavity 38 is formed at the tail part of the machine body 31, a balance wheel 39 is arranged in the positioning cavity 38, and the balance wheel 39 is arranged corresponding to the tail wing 37; the invention can adjust the stability of the whole machine body by arranging the balance wheel and the tail wing at the tail part of the machine body.

The balance wheel 39 and the rotary wheel assembly 40 are straight wing omnidirectional propellers; can utilize aerodynamic through the rotation of rotor plate like this for whole unmanned aerial vehicle takes off more conveniently, and mobility is strong, and the upset is nimble.

As shown in fig. 4 and 7, a front view of the vertical take-off and landing of the unmanned aerial vehicle provided by the embodiment is shown; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the control device 33 controls the anticlockwise rotation, the rightmost rotor wing piece 42 is vertically arranged with the machine body 31, the leftmost rotor wing piece 42 is horizontally arranged with the machine body 31, and the two rotor wing pieces 42 at the upper end and the lower end are symmetrically arranged with the machine body 31 at an inclination angle of 45 degrees.

The rotor blades on the balance wheel 39 located at the aft portion of the fuselage rotate in the same direction as the rotor blades of the rotor assembly 40, wherein the balance wheel 39 is controlled to rotate clockwise by the control device 33.

As shown in fig. 5, a front view of the unmanned aerial vehicle horizontally advancing is provided for the present embodiment; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the control device 33 controls the anticlockwise rotation, the rotary wing pieces 42 at the uppermost end are horizontally arranged with the machine body 31, the rotary wing pieces 42 at the lowermost end are vertically arranged with the machine body 31, and the two rotary wing pieces 42 at the left end and the right end are symmetrically arranged with the machine body 31 at an inclined angle of 45 degrees.

The rotor blades on the balance wheel 39 located at the tail of the fuselage rotate in the same direction as the rotor blades of the rotor assembly 40, wherein the balance wheel 39 is controlled to rotate counterclockwise by the control device 33.

As shown in fig. 6, a front view of the horizontal retreat of the unmanned aerial vehicle provided in the present embodiment; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the clockwise rotation is controlled by the control device 33, the rotor wing pieces 42 at the uppermost end are horizontally arranged with the machine body 31, the rotor wing pieces 42 at the lowermost end are vertically arranged with the machine body 31, and the two rotor wing pieces 42 at the left and right ends are symmetrically arranged with the machine body 31 at an inclined angle of 45 degrees.

7-8, a front view of the front and rear fuselage flips of the swivel unmanned aerial vehicle provided for this embodiment; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the control device 33 controls the anticlockwise rotation, the rotary wing pieces 42 at the uppermost end are horizontally arranged with the machine body 31, the rotary wing pieces 42 at the lowermost end are vertically arranged with the machine body 31, and the two rotary wing pieces 42 at the left end and the right end are symmetrically arranged with the machine body 31 at an inclined angle of 45 degrees.

FIG. 9 is a front view of the front right oblique flying of the unmanned aerial vehicle body of the rotary wheel type according to the embodiment of the invention; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the control device 33 controls the anticlockwise rotation, the rotary wing panel 42 at the lower left corner is horizontally arranged with the machine body 31, the rotary wing panel 42 at the upper right corner is vertically arranged with the machine body 31, the rotary wing panel 42 at the upper left corner and the machine body 31 form an inclined angle of 45 degrees, the rotary wing panel 42 at the lower right corner and the machine body 31 form an inclined angle of 135 degrees, and the rotary wing panel 42 at the upper left corner and the rotary wing panel 42 at the lower right corner are vertically arranged.

Fig. 10-11 are front views of a spinning-wheel unmanned aerial vehicle fuselage rotated to the left and rolled to the right according to an embodiment of the invention.

FIG. 12 is a front view of a swivel unmanned aerial vehicle in accordance with an embodiment of the present invention, shown in a tilted left-front view; as can be seen in the figures, the four rotor blades 42 of the rotor assembly 40; the control device 33 controls the anticlockwise rotation, the rotary wing panel 42 at the upper left corner is horizontally arranged with the machine body 31, the rotary wing panel 42 at the lower right corner is vertically arranged with the machine body 31, the rotary wing panel 42 at the lower left corner and the machine body 31 form an inclined angle of 45 degrees, the rotary wing panel 42 at the upper right corner and the machine body 31 form an inclined angle of 135 degrees, and the rotary wing panel 42 at the lower left corner and the rotary wing panel 42 at the upper right corner are vertically arranged.

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

Although the reference numerals in the figures are used more here: rotor angle controller 2, hollow rotating shaft 3, rotating disc 4, base 5, rotor control gear 6, fuselage 31, power device 32, control device 33, fixed wing 34, baffle 36, tail wing 37, positioning cavity 38, balance wheel 39, rotating wheel assembly 40, driving motor 41, rotating wing panel 42, etc., but does not exclude the possibility of using other terms; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims

1. The utility model provides a rotary wheel formula unmanned vehicles which characterized in that: the power device (32) is assembled on the machine body (31), and the power device (32) comprises one or more rotary wheel assemblies (40); when a rotary wheel assembly (40) is adopted, the rotary wheel assembly can be arranged at a position above the gravity center of the machine body (31), so that the machine body is always kept in a natural balance state; when a plurality of rotary wheel assemblies (40) are arranged, the rotary wheel assemblies can be symmetrically arranged on two sides of the machine body, so that the machine body keeps dynamic balance.

2. The rotary wheel type unmanned aerial vehicle of claim 1, wherein the rotary wheel assembly (40) comprises a driving motor (41) and a plurality of rotary wing pieces (42), the plurality of rotary wing pieces (42) are rotatably connected to one end of the corresponding driving motor (41) and extend in a direction away from the driving motor (41), a control device (33) is further arranged in the body (31), and the control device (33) can control the plurality of rotary wing pieces (42) to rotate in a vertical plane and a horizontal plane relative to the body (31) for providing power for the aircraft to sail in all directions on the ground.

3. A spinning-wheel unmanned aerial vehicle according to claim 2, characterized in that fixed wings (34) are mounted on both sides of the fuselage (31); the rotary wheel assembly (40) is arranged corresponding to the fixed wing (34).

4. A rotary wheeled unmanned aerial vehicle as claimed in claim 3, wherein the fixed wing section is in the form of an airfoil with a chord length running along the length of the airfoil.

5. A spinning wheel unmanned aerial vehicle according to claim 4, characterized in that, baffle (36) is connected to the stationary vane tip, and a clearance is left between baffle (36) and rotor blade (42) tip.

6. A spinning wheel unmanned aerial vehicle according to claim 5, characterized in that the outer end face of baffle (36) is coplanar with the outer end face of the stationary wing.

7. A spinning-wheel unmanned aerial vehicle according to claim 6, characterized in that the tail (37) is fixed at the top end of the tail of the fuselage (31).

8. A spinning-wheel unmanned aerial vehicle according to claim 7, characterized in that the tail of fuselage (31) is formed with a positioning cavity (38), and one or a pair of balance wheels (39) are installed in positioning cavity (38).

9. A rotary-wheeled unmanned aerial vehicle according to claim 8, wherein said balance wheel (39) and rotary-wheel assembly (40) is a rotary-wing omni-directional thruster.

10. A rotary-wheeled unmanned aerial vehicle according to claim 9, wherein the rotary-wing panels (42) are provided in four, equally spaced relationship on the rotating disc of the straight-wing omni-directional propeller.