CN113942635A

CN113942635A - Coaxial unmanned aerial vehicle

Info

Publication number: CN113942635A
Application number: CN202111558110.6A
Authority: CN
Inventors: 伍勇
Original assignee: Shenzhen Apex Uav Co ltd
Current assignee: Shenzhen Apex Uav Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-01-18

Abstract

The invention discloses a coaxial unmanned aerial vehicle, which comprises a coaxial tube, an upper rotor wing module, a lower rotor wing module, a power supply module and a plurality of data modules, wherein the upper rotor wing module comprises an upper rotor wing assembly and an upper motor, and the lower rotor wing module comprises a lower rotor wing assembly and a lower motor; the coaxial unmanned aerial vehicle further comprises a PCB, wherein a plate body of the PCB is in a long strip shape and penetrates through the coaxial tube, a first terminal socket, a first positive electrode pad and a first negative electrode pad are arranged at one end, close to the upper rotary wing module, of the plate body, the positive electrode of the upper motor is welded on the first positive electrode pad, the negative electrode of the upper motor is welded on the first negative electrode pad, and the data module positioned at the upper part is plugged into the first terminal socket; the other end of the board body is provided with a second terminal row socket, a second positive electrode pad and a second negative electrode pad, the positive electrode of the lower motor is welded on the second positive electrode pad, the negative electrode of the lower motor is welded on the second negative electrode pad, and the data module located at the lower part is plugged into the second terminal row socket.

Description

Coaxial unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a coaxial unmanned aerial vehicle.

Background

The coaxial dual-rotor unmanned aerial vehicle has smaller volume compared with a single-rotor helicopter because the coaxial dual-rotor unmanned aerial vehicle does not need a tail rotor to provide balance torque; compared with a multi-rotor aircraft, the multi-rotor aircraft has a small size and a high energy utilization rate, and therefore the multi-rotor aircraft increasingly occupies an important position in various application fields such as aerial photography and aerial monitoring.

Structurally, the coaxial dual-rotor helicopter has an upper rotor and a lower rotor, namely an upper rotor and a lower rotor, which rotate around the same axis in a forward and reverse direction. The two pairs of rotors are completely the same and are arranged on the same coaxial tube one above the other, and a certain distance is reserved between the two pairs of rotors. The two rotors rotate in opposite directions, so that their reaction torques can be cancelled out, and a tail rotor is not required to be installed. Generally, the heading control of the coaxial dual-rotor helicopter is completed by means of differential change of the collective pitch of the upper rotor and the lower rotor.

However, the coaxial unmanned aerial vehicle is more compact in structure and small in size, so that the line arrangement is compact and concentrated, and the threading is troublesome during assembly. For example, in a coaxial tube with a diameter of more than 200 mm, at least 10 signal wires and at least two thick power wires need to be passed through, the signal wires are thin and are not easy to pass through the long coaxial tube, and the power wires are easy to be clamped in the coaxial tube due to the thick coaxial tube.

Disclosure of Invention

Therefore, the invention aims to solve the technical problem of how to optimize the line connection of the coaxial unmanned aerial vehicle.

In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:

a coaxial drone comprising a coaxial tube, an upper rotor module, a lower rotor module, a power module, and a plurality of data modules, the upper rotor module comprising an upper rotor assembly mated with the coaxial tube and an upper motor connected with the upper rotor assembly, the lower rotor module comprising a lower rotor assembly mated with the coaxial tube and a lower motor connected with the lower rotor assembly, the lower rotor assembly located directly below the upper rotor assembly; the coaxial unmanned aerial vehicle is characterized by further comprising a PCB, wherein a plate body of the PCB is in a long strip shape and penetrates through the coaxial tube, one end, close to the upper rotor module, of the plate body is provided with a first terminal row plug, a first positive electrode pad and a first negative electrode pad, a conducting wire of the upper motor is connected with the first positive electrode pad and the first negative electrode pad in a welding mode, and part of the data module is located on the upper portion of the PCB and is inserted and connected with the first terminal row plug; a second terminal socket, a second positive electrode pad and a second negative electrode pad are arranged at one end, far away from the upper rotor wing module, of the plate body, a conducting wire of the lower motor is connected with the second positive electrode pad and the second negative electrode pad in a welding mode, and part of the data module is located on the lower portion of the PCB and is in plug connection with the second terminal socket; and the plate body is also provided with a power supply positive electrode bonding pad and a power supply negative electrode bonding pad which are connected with the power supply.

Preferably, the upper rotor wing module further comprises an upper steering engine connected with the upper rotor wing assembly, the lower rotor wing module further comprises a lower steering engine connected with the lower rotor wing assembly, and steering engine interfaces are arranged on the plate body at positions corresponding to the upper steering engine and the lower steering engine and used for the upper steering engine and the lower steering engine to be connected in an inserting mode.

Preferably, the number of upper steering wheel is 2, the number of lower part steering wheel is 2, be provided with 4 on the plate body steering wheel interface, wherein 2 the steering wheel interface is located plate body length direction upper intermediate position and with the upper portion steering wheel is connected, 2 in addition the steering wheel interface is located the plate body is kept away from the one end of upper rotor module and with the lower part steering wheel is connected.

Preferably, the power module is located the below of lower rotor module, the positive pad of power with the negative pad of power set up in the plate body is kept away from the one end of going up rotor module.

Preferably, the second positive electrode bonding pad, the second negative electrode bonding pad, the power supply positive electrode bonding pad and the power supply negative electrode bonding pad are arranged on the board body in a rectangular array.

Preferably, first positive pad with the positive pad of second passes through printed wiring in the PCB board is connected, first negative pole pad with the negative pad of second passes through printed wiring in the PCB board is connected, the PCB board still includes anodal wire and negative pole wire, anodal wire electricity is connected first positive pad with the positive pad of second, negative pole wire electricity is connected first negative pad with the negative pad of second.

Preferably, the first positive electrode pad, the first negative electrode pad, the second positive electrode pad and the second negative electrode pad all penetrate through the plate body, and the positive electrode lead and the negative electrode lead are respectively located on two opposite sides of the plate body.

Preferably, the PCB further includes a binding band that binds the positive electrode lead and the negative electrode lead to the board body.

Preferably, the data module includes a communication module, a GPS module, and a plurality of sensors.

Preferably, the upper motor is detachably mounted on the coaxial tube and located below the upper rotary wing assembly; the lower motor is detachably mounted on the coaxial tube and is located below the lower rotor assembly.

In the above-mentioned scheme of this application, because coaxial unmanned aerial vehicle still includes the PCB board, the plate body of PCB board is rectangular form and makes the PCB board can pass coaxial unmanned aerial vehicle's coaxial pipe easily. During assembly, the original numerous signal wires of the data module only need to be plugged into the first terminal row plug and the second terminal row plug in a flat cable mode, and do not need to penetrate through the coaxial tube. The power line and the motor line are also directly welded on the welding disc arranged on the plate body, and do not need to penetrate through the coaxial tube, so that the whole circuit installation operation is greatly simplified, and the production efficiency is improved. When needing the maintenance, can pull out the terminal at any time and pull out and insert or weld the power cord, it is very convenient too.

Drawings

Fig. 1 is a schematic structural diagram of a coaxial drone according to an embodiment of the present application;

FIG. 2 is a schematic front view of a PCB board according to an embodiment of the present application;

FIG. 3 is a view of area A of FIG. 2;

fig. 4 is a schematic diagram of a back surface of a PCB board in an embodiment of the present application.

The reference numbers illustrate:

10-PCB (printed Circuit Board), 20-shell, 21-coaxial tube, 30-upper rotor wing module, 31-upper rotor wing assembly, 32-upper motor, 33-upper steering engine, 40-lower rotor wing module, 41-lower rotor wing assembly, 42-lower motor, 43-lower steering engine, 50-power supply module and 60-landing gear;

100-plate body, 111-first positive electrode bonding pad, 112-first negative electrode bonding pad, 113-first terminal socket, 121-second positive electrode bonding pad, 122-second negative electrode bonding pad, 123-second terminal socket, 131-power supply positive electrode bonding pad, 132-power supply negative electrode bonding pad, 133-steering engine interface, 134-positive electrode lead and 135-negative electrode lead.

Detailed Description

The technical scheme of the invention is further elaborated by combining the drawings and the specific embodiments in the specification. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the following description, reference is made to the expression "some embodiments" which describe a subset of all possible embodiments, but it should be understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

It will also be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "inner," "outer," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 4, the present application provides a coaxial drone, which includes a housing 20, an upper rotor module 30, a lower rotor module 40, a power module 50, and a plurality of data modules, wherein the lower rotor module 40 is located below the upper rotor module 30, a coaxial tube 21 is disposed in the housing 20, the upper rotor module 30 includes an upper rotor assembly 31 cooperating with the coaxial tube 21 and an upper motor 32 connected to the upper rotor assembly 31, and the lower rotor module 40 includes a lower rotor assembly 41 cooperating with the coaxial tube 21 and a lower motor 42 connected to the lower rotor assembly 41; the upper motor 32 drives the upper rotor assembly 31 to rotate, and the lower motor 42 drives the lower rotor assembly 41 to rotate, wherein the upper rotor assembly 31 and the lower rotor assembly 41 rotate in opposite directions to counteract the torque.

In addition, coaxial unmanned aerial vehicle still includes PCB board 10, and the plate body 100 of PCB board 10 is rectangular form and passes coaxial pipe 21, because the plate body 100 of PCB board 10 is rectangular form makes PCB board 10 can pass coaxial pipe 21 of coaxial unmanned aerial vehicle easily, and after the assembly, one end of PCB board 10 is close to last rotor module 30, and the other end is close to lower rotor module 40. A first terminal extension socket 113, a first positive electrode pad 111 and a first negative electrode pad 112 are arranged at one end of the plate body 100 close to the upper rotor module 30, the positive electrode of the upper motor 32 is welded on the first positive electrode pad 111, the negative electrode of the upper motor 32 is welded on the first negative electrode pad 112, and the data modules positioned at the upper part are all plugged into the first terminal extension socket 113; a second terminal socket 123, a second positive electrode pad 121 and a second negative electrode pad 122 are arranged at one end of the plate body 100, which is far away from the upper rotor module 30, the positive electrode of the lower motor 42 is welded on the second positive electrode pad 121, the negative electrode of the lower motor 42 is welded on the second negative electrode pad 122, and the data modules positioned at the lower part are all plugged into the second terminal socket 123; the board body 100 is further provided with a positive power supply pad 131 connected to a positive electrode of a power supply, and a negative power supply pad 132 connected to a negative electrode of the power supply.

Wherein the data modules include a communication module, a GPS module, and a plurality of sensors, with a portion of the data modules being proximate the upper rotor module 30 and another portion of the data modules being proximate the lower rotor module 40. The first terminal extension 113 and the second terminal extension 123 are used to connect data signals. The signal lines of the upper sensors, communication modules, etc. are inserted into the first terminal row 113 together in the form of a flat cable, and the signal lines of the lower sensors, communication modules, etc. are inserted into the second terminal row 123 together in the form of a flat cable.

Wherein, power module 50 is used for supplying power for unmanned aerial vehicle, and PCB board 10 is provided with the anodal pad 131 of power and is used for the welding source anodal, and power negative pole pad 132 is used for the welding source negative pole. The power source positive electrode pad 131 and the power source negative electrode pad 132 are disposed at appropriate positions on the board body 100 according to the installation position of the power source.

In the above scheme of this application, because coaxial unmanned aerial vehicle still includes PCB board 10, the plate body 100 of PCB board 10 is rectangular form and makes PCB board 10 can pass coaxial pipe 21 of coaxial unmanned aerial vehicle easily. During assembly, the plurality of signal lines of the data module need only be plugged into the first terminal row insert 113 and the second terminal row insert 123 in a flat cable manner, and do not need to pass through the coaxial tube 21. The power line and the motor line are also directly welded on the welding disc arranged on the plate body 100 without penetrating through the coaxial tube 21, so that the whole circuit installation operation is greatly simplified, and the production efficiency is improved. When needing the maintenance, can pull out the terminal at any time and pull out and insert or weld the power cord, it is very convenient too.

As a preferred embodiment of the present invention, the upper rotor module 30 further includes an upper steering engine 33 connected to the upper rotor assembly 31, the lower rotor module 40 further includes a lower steering engine 43 connected to the lower rotor assembly 41, and steering engine interfaces 133 are respectively disposed on the plate body 100 at positions corresponding to the upper steering engine 33 and the lower steering engine 43, so that the upper steering engine 33 and the lower steering engine 43 can be plugged into each other. The upper steering engine 33 is positioned below the upper rotor assembly 31 and used for adjusting the posture of the upper rotor assembly 31; the lower steering gear 43 is located below the lower rotor assembly 41 and is used for adjusting the posture of the lower rotor assembly 41. Further, the number of upper steering engines 33 is 2 and is close to the middle position of plate body 100, and the number of lower steering engines 43 is 2 equally, is provided with 4 steering engine interfaces 133 on plate body 100, for the convenience of pegging graft, wherein 2 steering engine interfaces 133 are located the middle position on plate body 100 length direction, and 2 steering engine interfaces 133 are located the one end that upper rotor module 30 was kept away from to plate body 100 in addition.

Preferably, power module 50 is located below lower rotor module 40, and positive power pad 131 and negative power pad 132 are disposed on an end of plate 100 remote from upper rotor module 30. The power module 50 is located below the lower rotor module 40 to help balance the center of gravity, and the positive power pad 131 and the negative power pad 132 are disposed at an end of the plate 100 remote from the upper rotor module 30 to facilitate welding with the power module 50. Further, the second positive electrode pad 121, the second negative electrode pad 122, the power positive electrode pad 131 and the power negative electrode pad 132 are arranged on the board body 100 in a rectangular array, which facilitates welding together while ensuring an attractive appearance. The positive power supply land 131 and the negative power supply land 132 are located at the lowermost end of the board body 100, apart from the first terminal row insert 113 with respect to the second terminal row insert 123.

As a preferred embodiment of the present invention, the first positive electrode pad 111 and the second positive electrode pad 121 are electrically connected through a printed wiring in the PCB board 10, and the first negative electrode pad 112 and the second negative electrode pad 122 are electrically connected through a printed wiring in the PCB board 10. The PCB board 10 further includes a positive wire 134 and a negative wire 135, the positive wire 134 connects the first positive pad 111 and the second positive pad 121, and the negative wire 135 connects the first negative pad 112 and the second negative pad 122. In this embodiment, the first positive electrode pad 111 is connected to the second positive electrode pad 121, and the first negative electrode pad 112 is connected to the second negative electrode pad 122, and the external lead and the internal path of the PCB 10 are simultaneously operated by the additional positive electrode lead 134 and the additional negative electrode lead 135, so that the amount of power supplied is increased, and the PCB 10 is prevented from being burned out due to an excessive motor current. In addition, the positive and

negative wires

134 and 135 can also play a role of safety, and when the PCB board 10 is internally broken, the positive and

negative wires

134 and 135 can also ensure the circuit to be conducted. Further, the first positive pad 111, the first negative pad 112, the second positive pad 121, and the second negative pad 122 all penetrate through the board body 100, and the positive lead 134 and the negative lead 135 are respectively located at two opposite sides of the board body 100. The positive lead 134 and the negative lead 135 are respectively located on different sides of the plate body 100, so as to effectively prevent the positive and negative electrodes from being connected to each other and from short-circuiting.

As an alternative embodiment of the present invention, the PCB panel 10 further includes a binding band that binds the positive and

negative leads

134 and 135 to the panel body 100. The binding band, which may be an adhesive tape or a leather ring, secures the positive and

negative leads

134 and 135 to the plate body 100, more conveniently passing through the coaxial tube 21.

Preferably, the upper motor 32 is detachably mounted on the coaxial tube 21, and is located below the upper rotary wing assembly 31; the lower motor 42 is removably mounted to the coaxial tube 21 and is located below the lower rotor assembly 41. Specifically, the upper motor 32 includes a mating upper rotor that is rotatable relative to an upper stator to which the upper rotor assembly 31 is secured and an upper stator that is removably secured to the coaxial tube 21. The lower motor 42 works the same. The bottom of the housing 20 is also provided with a landing gear 60, the landing gear 60 being constituted by 3 rods that are rotatable relative to the housing 20.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. The scope of the invention is to be determined by the scope of the appended claims.

Claims

1. A coaxial drone comprising a coaxial tube, an upper rotor module, a lower rotor module, a power module, and a plurality of data modules, the upper rotor module comprising an upper rotor assembly mated with the coaxial tube and an upper motor connected with the upper rotor assembly, the lower rotor module comprising a lower rotor assembly mated with the coaxial tube and a lower motor connected with the lower rotor assembly, the lower rotor assembly located directly below the upper rotor assembly; the coaxial unmanned aerial vehicle is characterized by further comprising a PCB, wherein a plate body of the PCB is in a long strip shape and penetrates through the coaxial tube, one end, close to the upper rotor module, of the plate body is provided with a first terminal row plug, a first positive electrode pad and a first negative electrode pad, a conducting wire of the upper motor is connected with the first positive electrode pad and the first negative electrode pad in a welding mode, and part of the data module is located on the upper portion of the PCB and is inserted and connected with the first terminal row plug; a second terminal socket, a second positive electrode pad and a second negative electrode pad are arranged at one end, far away from the upper rotor wing module, of the plate body, a conducting wire of the lower motor is connected with the second positive electrode pad and the second negative electrode pad in a welding mode, and part of the data module is located on the lower portion of the PCB and is in plug connection with the second terminal socket; and the plate body is also provided with a power supply positive electrode bonding pad and a power supply negative electrode bonding pad which are connected with the power supply.

2. The coaxial unmanned aerial vehicle of claim 1, wherein the upper rotor module further comprises an upper steering engine connected to the upper rotor assembly, the lower rotor module further comprises a lower steering engine connected to the lower rotor assembly, and steering engine interfaces are provided on the plate body at positions corresponding to the upper steering engine and the lower steering engine for the upper steering engine and the lower steering engine to be plugged in.

3. The coaxial unmanned aerial vehicle of claim 2, wherein the number of upper steering engines is 2, the number of lower steering engines is 2, 4 steering engine interfaces are arranged on the plate body, 2 steering engine interfaces are located in the middle of the plate body in the length direction and connected with the upper steering engines, and the other 2 steering engine interfaces are located at one end, far away from the upper rotor module, of the plate body and connected with the lower steering engines.

4. The coaxial drone of claim 1, wherein the power module is located below the lower rotor module, the positive power pad and the negative power pad being disposed at an end of the plate distal from the upper rotor module.

5. The coaxial drone of claim 4, wherein the second positive pad, the second negative pad, the positive power pad, and the negative power pad are in a rectangular array on the board body.

6. The coaxial drone of any one of claims 1 to 5, wherein the first positive pad and the second positive pad are electrically connected by printed wiring within the PCB board, the first negative pad and the second negative pad are electrically connected by printed wiring within the PCB board, the PCB board further comprising a positive wire and a negative wire, the positive wire electrically connecting the first positive pad and the second positive pad, the negative wire electrically connecting the first negative pad and the second negative pad.

7. The coaxial drone of claim 6, wherein the first positive pad, the first negative pad, the second positive pad, and the second negative pad all penetrate the board body, the positive wire and the negative wire being located on opposite sides of the board body, respectively.

8. The coaxial drone of claim 6, wherein the PCB board further comprises a tie-down strap that ties the positive lead and the negative lead to the board body.

9. The coaxial drone of any one of claims 1 to 5, wherein the data module comprises a communication module, a GPS module, and a plurality of sensors.

10. The coaxial drone of any one of claims 1 to 5, wherein the upper motor is removably mounted on the coaxial tube and located below the upper rotor assembly; the lower motor is detachably mounted on the coaxial tube and is located below the lower rotor assembly.