CN115384765B - Rotor unmanned aerial vehicle driving device and assembling method thereof - Google Patents
Rotor unmanned aerial vehicle driving device and assembling method thereof Download PDFInfo
- Publication number
- CN115384765B CN115384765B CN202211341783.0A CN202211341783A CN115384765B CN 115384765 B CN115384765 B CN 115384765B CN 202211341783 A CN202211341783 A CN 202211341783A CN 115384765 B CN115384765 B CN 115384765B
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- driving motor
- blade
- mounting
- rigid reinforcing
- reinforcing sheet
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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
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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
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
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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
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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
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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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
- Y02T50/40—Weight reduction
Abstract
The invention discloses a driving device of a rotor unmanned aerial vehicle and an assembling method thereof, and the driving device comprises a rack, wherein a mounting groove for mounting a driving motor is arranged on the rack, a hemispherical base is mounted at the bottom of the driving motor, a hemispherical groove is arranged at the bottom of the mounting groove, the radius of the hemispherical groove is larger than that of the hemispherical base, the hemispherical base is movably contacted with the hemispherical groove, two mounting holes are arranged on the side wall of the mounting groove, the axial included angle of the two mounting holes is 90 degrees, a push rod is movably inserted in the mounting holes, one end of the push rod is connected with a driving end of a hydraulic cylinder, the other end of the push rod is connected with a plug through a universal joint, two jacks which are inserted and matched with the plug are arranged on the side wall of the driving motor, a limiting block is arranged on an output shaft of the driving motor, a rotor blade is connected to the limiting block in a pressing mode after being inserted on the output shaft, and the upper side of the rotor blade is fixed and limited through a nut. The invention realizes the normal use of the large-volume paddle rotorcraft in the strong wind environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a rotor unmanned aerial vehicle driving device and an assembling method thereof.
Background
Unmanned aerial vehicle is a new-type aircraft that has developed fast in recent years, relies on using a great deal of advantages such as the threshold is low, the flexibility is high, application scope is wide, and unmanned aerial vehicle is used widely in fields such as agriculture, remote sensing survey and drawing, forest fire control, video shooting. Among them, the rotor unmanned aerial vehicle is one of the most widely used unmanned aerial vehicles. In order to satisfy unmanned aerial vehicle and resist shock, carry the convenient requirement of transportation, rotor unmanned aerial vehicle's rotor blade adopts detachable mode and unmanned aerial vehicle body installation usually, and the paddle takes high tenacity's flexible material to make usually. However, in order to ensure flight stability in a strong wind environment, the size of the blades cannot be too large, which results in the influence on the dynamic performance of the unmanned rotary wing aircraft due to the limitation of the size of the blades.
Disclosure of Invention
The invention aims to solve the technical problem of providing a driving device of a rotor unmanned aerial vehicle and an assembling method thereof, which can solve the defects of the prior art and realize the normal use of a large-volume paddle rotor aircraft in a strong wind environment.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The utility model provides a rotor unmanned aerial vehicle drive arrangement, which comprises a frame, be provided with the mounting groove that is used for installing driving motor in the frame, the hemisphere base is installed to driving motor's bottom, the mounting groove bottom is provided with the hemisphere recess, the radius of hemisphere recess is greater than the radius of hemisphere base, hemisphere base and hemisphere recess movable contact, the lateral wall of mounting groove is provided with two mounting holes, the axis contained angle of two mounting holes is 90, the activity is pegged graft in the mounting hole and is had the push rod, the one end of push rod is connected with the drive end of pneumatic cylinder, the other end of push rod passes through universal joint and plug connection, be provided with two on driving motor's the lateral wall and peg graft complex jack with the plug, be provided with the stopper on driving motor's the output shaft, the crimping is on the stopper after the rotor paddle pegs graft on the output shaft, it is spacing to fix through the nut in the rotor paddle top.
Preferably, the rotor blade includes two blade roots and two tip portions, and a plurality of intermediate portions are connected in sequence ending between each set of blade roots and tip portions.
Preferably, one end of the blade root is provided with an annular part sleeved with the output shaft, one side of the annular part is provided with a limiting part, the other end of the blade root is provided with a first boss part, a first rigid reinforcing sheet is movably arranged in the blade root, and one end of the first rigid reinforcing sheet is positioned on the outer side of the side wall of the first boss part.
Preferably, one end of the middle portion is provided with a first concave portion, the other end of the middle portion is provided with a second convex portion, a second rigid reinforcing piece is movably arranged in the middle portion, one end of the second rigid reinforcing piece is located on the outer side of the side wall of the second convex portion, and the other end of the second rigid reinforcing piece is located on the inner side of the side wall of the first concave portion.
Preferably, one end of the tip part is provided with a second concave part, a third rigid reinforcing sheet is movably arranged in the tip part, and one end of the third rigid reinforcing sheet is positioned on the inner side of the side wall of the second concave part.
Preferably, the root portion and the intermediate portion, the intermediate portion and the intermediate portion, and the intermediate portion and the tip portion are fixedly connected by one screw.
Preferably, the top of the mounting groove is movably provided with a top cover, the top cover is in compression joint with the driving motor, the top surface of the top cover is provided with an annular groove, a sliding block is clamped in the annular groove in a sliding mode, the bottom surface of the blade root is provided with a through hole, a connecting rod is movably mounted in the through hole, one end of the connecting rod is hinged to the first rigid reinforcing sheet, and the other end of the connecting rod is hinged to the sliding block.
A method for assembling a driving device of a rotor unmanned aerial vehicle comprises the following steps:
A. placing a driving motor in the mounting groove, and inserting and matching a plug with a jack on the driving motor;
B. assembling a rotor blade;
C. the rotor blade that will assemble is installed on the output shaft, uses the nut to fix spacingly.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: according to the invention, by designing the driving motor installation structure capable of adjusting the direction in two dimensions, the real-time fine adjustment of the angle of the rotor blade in the flight process is realized, so that the disturbance of strong wind to the airframe is effectively counteracted by changing the direction of the driving force of the unmanned aerial vehicle. In order to solve the problem that the large-volume blade is easy to deform in strong wind, the invention designs the rigid reinforcing sheets which are in end-to-end compression joint while considering the blade disassembly function, and utilizes the centrifugal force generated by the blade to strengthen the compression joint force between adjacent rigid reinforcing pieces in the rotating process of the blade, thereby improving the torsional rigidity of the whole blade. Because the torsional rigidity of the rotor blade is improved through the rigid reinforcing piece, the number of screws for fixedly connecting the rotor blade can be reduced, and each connecting position is fixed by only one screw, so that the assembling operation process of the rotor blade is simplified, and more importantly, the torsional stress and dislocation generated on different parts of the rotor blade when a plurality of screws are sequentially rotated and fixed can be avoided. Meanwhile, a connecting rod is arranged between the first rigid reinforcing sheet and the top cover, and a pair of mutually balanced transverse acting forces are applied to the driving motor through the top cover by utilizing the centrifugal force generated in the rotating process of the rotor blade, so that the transverse stability of the driving motor is improved.
Drawings
FIG. 1 is a block diagram of one embodiment of the present invention.
FIG. 2 is a one-sided block diagram of a rotor blade according to an embodiment of the present invention.
FIG. 3 is a view showing the structure of the root of a blade according to an embodiment of the present invention.
Fig. 4 is a structural view of an intermediate portion in one embodiment of the present invention.
Fig. 5 is a block diagram of a tip portion in an embodiment of the present invention.
Fig. 6 is a partially enlarged view of an end portion of a second rigid reinforcing sheet in an embodiment of the present invention.
Detailed Description
Referring to fig. 1-6, a specific embodiment of the present invention includes a frame 1, a mounting groove 3 for mounting a driving motor 2 is disposed on the frame 1, a hemispherical base 4 is mounted at the bottom of the driving motor 2, a hemispherical groove 5 is disposed at the bottom of the mounting groove 3, the radius of the hemispherical groove 5 is greater than the radius of the hemispherical base 4, the hemispherical base 4 is in movable contact with the hemispherical groove 5, two mounting holes 6 are disposed on the side wall of the mounting groove 3, an axis included angle of the two mounting holes 6 is 90 °, a push rod 7 is movably inserted into the mounting hole 6, one end of the push rod 7 is connected with a driving end of a hydraulic cylinder 8, the other end of the push rod 7 is connected with a plug 10 through a universal joint 9, two insertion holes 11 in insertion fit with the plug 10 are disposed on the side wall of the driving motor 2, a limit block 32 is disposed on an output shaft 12 of the driving motor 2, a rotor blade 13 is pressed against the limit block 32 after being inserted into the output shaft 12, and a nut 14 is used for fixing and limiting the rotor blade 13. The rotor blade 13 includes two sets of end-to-end root portions 15, intermediate portions 17 and tip portions 16 (in other use environments, different shapes of the root portions 15 and tip portions 16 and different numbers of intermediate portions 17 may be selected). One end of the blade root part 15 is provided with an annular part 18 sleeved with the output shaft 12, one side of the annular part 18 is provided with a limiting part 19, the other end of the blade root part 15 is provided with a first bulge part 20, a first rigid reinforcing sheet 21 is movably arranged in the blade root part 15, and one end of the first rigid reinforcing sheet 21 is positioned outside the side wall of the first bulge part 20. One end of the middle part 17 is provided with a first concave part 22, the other end of the middle part 17 is provided with a second convex part 23, a second rigid reinforcing piece 24 is movably arranged in the middle part 17, one end of the second rigid reinforcing piece 24 is positioned on the outer side of the side wall of the second convex part 23, and the other end of the second rigid reinforcing piece 24 is positioned on the inner side of the side wall of the first concave part 22. One end of the tip part 16 is provided with a second concave part 25, a third rigid reinforcing sheet 26 is movably arranged in the tip part 16, and one end of the third rigid reinforcing sheet 26 is positioned on the inner side of the side wall of the second concave part 25. The root portion 15 and the intermediate portion 17 and the tip portion 16 are fixedly connected by one screw 33. The top of the mounting groove 3 is movably provided with a top cover 27, the top cover 27 is in press fit with the driving motor 2, the top surface of the top cover 27 is provided with an annular groove 28, a sliding block 29 is clamped in the annular groove 28, the bottom surface of the blade root 15 is provided with a through hole 30, a connecting rod 31 is movably arranged in the through hole 30, one end of the connecting rod 31 is hinged with the first rigid reinforcing sheet 21, and the other end of the connecting rod 31 is hinged with the sliding block 29.
Further, the end portions of the first, second, and third rigidity reinforcing pieces 21, 24, and 26 are provided with anti-slip contact portions 34, respectively. The anti-slip contact portions 34 of the adjacent rigid reinforcing plates are in contact with each other, so that the stability of crimping and fixing between the adjacent rigid reinforcing plates can be improved.
An assembly method of the driving device of the rotor wing unmanned aerial vehicle comprises the following steps:
A. placing the driving motor 2 in the mounting groove 3, inserting and matching the plug 10 with the jack 11 on the driving motor 2, and then mounting the top cover 27;
B. assembling the root portion 15, the middle portion 17 and the tip portion 16 by the cooperation of the first convex portion 20 and the first concave portion 22 or the cooperation of the second convex portion 23 and the first concave portion 22 or the cooperation of the second concave portion 25 and the second convex portion 23, and then fixedly connecting by using a screw 33;
C. the assembled rotor blade 13 is mounted on the output shaft 12, the limiting parts 19 on the two blade roots 15 are inserted into each other, the first rigid reinforcing sheet 21 is connected with the sliding block 29 by using the connecting rod 31, and the nut 14 is used for fixing and limiting.
In rotor unmanned aerial vehicle flight process, the angle that can accurate adjustment driving motor 2 through the flexible control of two pneumatic cylinders 8 to can keep the fuselage balanced when meeting with strong wind through changing rotor blade 13 angles. In the process of the rotation of the rotor blade 13, centrifugal force can cause extrusion force towards the outer side of the rotor blade 13 among the first rigid reinforcing sheet 21, the second rigid reinforcing sheet 24 and the third rigid reinforcing sheet 26, so that the compression joint firmness among different rigid reinforcing sheets is improved, and the integral torsional rigidity of the blade is improved. The centrifugal force is applied to the top cover 27 through the pair of connecting rods 31, so that the driving motor 2 receives a set of horizontal pulling forces in opposite directions, thereby improving the lateral stability of the driving motor.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "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, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a rotor unmanned aerial vehicle drive arrangement, includes frame (1), is provided with mounting groove (3) that are used for installing driving motor (2) in frame (1), its characterized in that: the bottom of the driving motor (2) is provided with a hemispherical base (4), the bottom of the mounting groove (3) is provided with a hemispherical groove (5), the radius of the hemispherical groove (5) is larger than that of the hemispherical base (4), the hemispherical base (4) is in movable contact with the hemispherical groove (5), the side wall of the mounting groove (3) is provided with two mounting holes (6), the axis included angle of the two mounting holes (6) is 90 degrees, a push rod (7) is movably inserted in the mounting hole (6), one end of the push rod (7) is connected with the driving end of a hydraulic cylinder (8), the other end of the push rod (7) is connected with a plug (10) through a universal joint (9), the side wall of the driving motor (2) is provided with two jacks (11) which are in insertion fit with the plug (10), an output shaft (12) of the driving motor (2) is provided with a limit block (32), a rotor blade (13) is inserted on the output shaft (12) and then is pressed on the limit block (32), and the upper part of the rotor blade (13) is fixed and limited through a nut (14); the rotor blade (13) comprises two blade roots (15) and two blade tips (16), and a plurality of middle parts (17) are sequentially connected between each group of blade roots (15) and each group of blade tips (16) in a ending manner; one end of the blade root (15) is provided with an annular part (18) which is sleeved with the output shaft (12), one side of the annular part (18) is provided with a limiting part (19), the other end of the blade root (15) is provided with a first bulge part (20), a first rigid reinforcing sheet (21) is movably arranged in the blade root (15), and one end of the first rigid reinforcing sheet (21) is positioned outside the side wall of the first bulge part (20); one end of the middle part (17) is provided with a first sunken part (22), the other end of the middle part (17) is provided with a second bulge part (23), a second rigid reinforcing sheet (24) is movably arranged in the middle part (17), one end of the second rigid reinforcing sheet (24) is positioned on the outer side of the side wall of the second bulge part (23), and the other end of the second rigid reinforcing sheet (24) is positioned on the inner side of the side wall of the first sunken part (22); a second concave part (25) is arranged at one end of the tip part (16), a third rigid reinforcing sheet (26) is movably arranged in the tip part (16), and one end of the third rigid reinforcing sheet (26) is positioned on the inner side of the side wall of the second concave part (25); the blade root part (15) and the middle part (17), the middle part (17) and the middle part (17), and the middle part (17) and the blade tip part (16) are fixedly connected by using a screw (33); mounting groove (3) top movable mounting has top cap (27), top cap (27) and driving motor (2) crimping cooperation, top cap (27) top surface is provided with ring channel (28), sliding joint has slider (29) in ring channel (28), blade root (15) bottom surface is provided with through-hole (30), movable mounting has connecting rod (31) in through-hole (30), the one end and the first rigidity of connecting rod (31) are strengthened piece (21) and are articulated, the other end and the slider (29) of connecting rod (31) are articulated.
2. A method of assembling a rotary-wing drone drive according to claim 1, characterized by the steps of:
A. the driving motor (2) is placed in the mounting groove (3), and a plug (10) is used for being in plug-in fit with a jack (11) on the driving motor (2);
B. assembling a rotor blade (13);
C. and (3) mounting the assembled rotor blade (13) on an output shaft (12), and fixing and limiting by using a nut (14).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310224484.7A CN116331543B (en) | 2022-10-31 | 2022-10-31 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
| CN202211341783.0A CN115384765B (en) | 2022-10-31 | 2022-10-31 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211341783.0A CN115384765B (en) | 2022-10-31 | 2022-10-31 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310224484.7A Division CN116331543B (en) | 2022-10-31 | 2022-10-31 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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| Publication Number | Publication Date |
|---|---|
| CN115384765A CN115384765A (en) | 2022-11-25 |
| CN115384765B true CN115384765B (en) | 2023-03-24 |
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| CN202211341783.0A Active CN115384765B (en) | 2022-10-31 | 2022-10-31 | Rotor unmanned aerial vehicle driving device and assembling method thereof |
| CN202310224484.7A Active CN116331543B (en) | 2022-10-31 | 2022-10-31 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310224484.7A Active CN116331543B (en) | 2022-10-31 | 2022-10-31 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116331543A (en) * | 2022-10-31 | 2023-06-27 | 四川蓉远地测科技有限公司 | Rotor blade, unmanned aerial vehicle driving device using rotor blade and assembly method of unmanned aerial vehicle driving device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115384765A (en) | 2022-11-25 |
| CN116331543B (en) | 2023-12-29 |
| CN116331543A (en) | 2023-06-27 |
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