CN115520378A

CN115520378A - Double-folding compact layout coaxial double-rotor aircraft

Info

Publication number: CN115520378A
Application number: CN202211400328.3A
Authority: CN
Inventors: 李毅波; 林李李; 刘彪; 杨永文; 胡天赟; 王志刚
Original assignee: Shenyang Aircraft Design Institute Yangzhou Collaborative Innovation Research Institute Co ltd
Current assignee: Shenyang Aircraft Design Institute Yangzhou Collaborative Innovation Research Institute Co ltd
Priority date: 2022-11-08
Filing date: 2022-11-08
Publication date: 2022-12-27

Abstract

A double-folding compact layout coaxial double-rotor aircraft belongs to the technical field of unmanned aerial vehicles. An upper rotor wing and a lower rotor wing in the power module are driven by an upper motor and a lower motor to rotate around the hollow spindle to provide lift force for the aircraft, the upper rotor wing and the lower rotor wing can be folded downwards in a storage state to reduce the volume, the lower rotor wing is connected with the variable pitch mechanism, and the control module drives the variable pitch mechanism to operate the lower rotor wing to realize the transverse and longitudinal control of the aircraft; the control module comprises a flight control module, a steering engine, a data chain and the like; the battery compartment of the energy module is flexibly installed according to the flight mode; the load module is used for installing various detection devices according to the flight mode and the task requirement; the landing gear is located at the lowest part of the machine body and can be folded upwards to reduce the storage size during storage. The aircraft realizes the switching of a standard mode, a long endurance mode and a maneuvering mode through the flexible configuration of the upper battery compartment, the lower battery compartment and the load module, and expands the application range of an aircraft platform; by providing a double-folding modular layout design, the storage and transportation costs of a coaxial double-rotor aircraft are reduced.

Description

Double-folding compact layout coaxial double-rotor aircraft

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a double-folding compact layout coaxial double-rotor aircraft.

Background

Unmanned aerial vehicle refers to unmanned aerial vehicle operated by radio remote control equipment and self-contained program control device. The machine is not provided with a cockpit, but is provided with an autopilot, a program control device, an information acquisition device and other equipment. The personnel on the ground, on a naval vessel or at a mother aircraft remote control station carry out tracking, positioning, remote control, remote measurement and digital transmission on the personnel through equipment such as a radar and the like. The airplane can take off like a common unmanned aerial vehicle or launch and lift off by a boosting rocket under the radio remote control, and can also be thrown into the air by a mother airplane for flying. Unmanned aerial vehicles are often used for inspection of power transmission lines in mountainous areas and across large rivers, and for inspection of power transmission lines during ice disasters, flood disasters, earthquakes, landslides, and nights. Has the advantages of low cost, wide application range, convenient use and the like.

Coaxial twin rotor unmanned aerial vehicle is the aircraft that provides lift through two pairs of rotors of just reversing around same axis. Compared with the traditional single-rotor helicopter, the tail rotor for balancing the reactive torque is cancelled, and the heading is controlled through the reactive torque difference of the upper rotor and the lower rotor, so that the energy utilization efficiency is improved. Traditional components such as two rotor unmanned aerial vehicle undercarriage rotors, the size is big, and the fragile is unfavorable for the storage transportation. Meanwhile, the traditional coaxial dual-rotor unmanned aerial vehicle is limited in arrangement, and a single platform can only execute a single task, so that the application of the coaxial dual-rotor unmanned aerial vehicle is limited undoubtedly.

Disclosure of Invention

In view of the above technical problems in the prior art, the present invention aims to provide a coaxial dual-rotor aircraft with a double-folding compact layout. The problem that the storage is difficult to store and transport is solved by adopting a double-folding layout scheme of the rotor wing and the undercarriage. Through adopting the modular design, multiple flight mode that sets up solves the single problem of traditional coaxial dual rotor aircraft task mode.

The technical scheme of the invention is as follows:

the aircraft comprises: the device comprises a power module, a control module, an energy module, a load module and an undercarriage.

Wherein:

the power module comprises an upper rotor wing, a lower rotor wing, an upper motor, a lower motor, a variable pitch mechanism and a hollow spindle, wherein the upper rotor wing is fixed on the upper motor, the lower rotor wing is fixed on the lower motor, the upper rotor wing and the lower rotor wing are connected through the hollow spindle, the upper rotor wing and the lower rotor wing are respectively driven by the upper motor and the lower motor to rotate around the hollow spindle to provide lift force for the aircraft, the upper rotor wing and the lower rotor wing can be folded downwards in a storage state to reduce the volume, the lower rotor wing is connected with the variable pitch mechanism, and the control module drives the variable pitch mechanism to operate the lower rotor wing to realize the transverse and longitudinal control of the aircraft;

the control module mainly comprises a flight control module, a steering engine, a data chain, a navigation device and the like;

the energy module is divided into an upper energy bin and a lower energy bin, the upper energy bin is fixed above the upper rotor via the hollow main shaft, the lower energy bin is fixed below the control module, and the upper energy bin and the lower energy bin can be flexibly installed according to task requirements;

the load module can be used for installing various detection devices according to task requirements;

the landing gear is located at the lowest part of the machine body and can be folded upwards to reduce the storage size during storage.

Optionally, the upper energy bin and the lower energy bin are an upper battery bin and a lower battery bin, respectively. The upper battery compartment and the lower battery compartment are designed in a modularized manner and can be exchanged with each other. The battery compartment includes: the battery cell adopts a lithium ion cylindrical battery, and a plurality of lithium ion cylindrical batteries are connected in series for power supply; the storehouse body of energy modular structure, the storehouse body of energy modular structure adopt 3D to print the disposable printing of technology and take shape, and the design has the electricity core to place screens, general mechanical interface, general power supply interface, the general interface that charges above. The operations of quick replacement, charging and the like of the battery compartment can be realized.

Optionally, the upper rotor blade and the hub may be connected by a hub connector, so that the upper rotor blade is folded down against the airframe to reduce the size of the aircraft; the lower rotor blade and the hub can be connected through the hub connecting piece, so that the lower rotor blade is folded downwards and is tightly attached to the aircraft body to reduce the size of the aircraft;

alternatively, the landing gear may be folded up against the airframe by a connection to the airframe to reduce the size of the aircraft.

Optionally, the aircraft adopts a modular design, the mounting of the battery bin and the task load can be selected according to the task requirement, and the switching among a standard mode, a long endurance mode and a maneuvering mode is realized.

The invention has the beneficial effects that: the aircraft realizes the switching of a standard mode, a long endurance mode and a maneuvering mode through the flexible configuration of the upper battery compartment, the lower battery compartment and the load module, and expands the application range of the aircraft platform; by providing a double fold modular layout design, the storage and transportation costs of a coaxial dual rotor aircraft are reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 schematically illustrates a front view of a dual-fold compact layout coaxial dual-rotor aircraft according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a standard mode of the dual fold compact layout coaxial dual rotor aircraft of FIG. 1;

FIG. 3 is a schematic double-folded rear perspective view of the double-folded compact layout coaxial twin-rotor aircraft of FIG. 1;

figure 4 schematically illustrates a perspective view of the dual fold compact layout coaxial twin rotor aircraft of figure 1 in long endurance mode;

FIG. 5 is a perspective view of the dual fold compact layout coaxial dual rotor aircraft of FIG. 1 in a high maneuver mode;

figure 6 schematically illustrates a front view of the internal structure of the coaxial twin rotor aircraft in the double folded compact layout of figure 1;

figure 7 is a perspective view schematically illustrating the double-folded compact layout coaxial twin-rotor aircraft of figure 1;

figure 8 is a schematic perspective view of the double-folded compact layout coaxial dual-rotor aircraft battery compartment of figure 1;

FIG. 9 is a perspective view of the dual fold compact layout coaxial dual rotor aircraft power module of FIG. 1;

figure 10 is a perspective view of the dual fold compact layout coaxial dual rotor aircraft control module of figure 1;

figure 11 is a perspective view schematically illustrating the deployed state of the rotor links on the dual-folding compact layout coaxial dual-rotor aircraft of figure 1;

FIG. 12 is a schematic perspective view of the upper rotor attachment folded state of the dual-fold compact layout coaxial dual-rotor aircraft of FIG. 1;

in the figure: 1, arranging a battery cabin; 2, a power module; 3, a control module; 4, a battery cabin is arranged; 5, a load module; 6, an undercarriage; 7 lithium ion battery cell; 8, an upper rotor wing; 9, mounting a motor; 10 lower motor; 11 a lower rotor; 12 a pitch change mechanism; 13 balancing charging connector; 14 a power supply connector; 15, a hollow main shaft; 16 upper rotor hub; 17 upper rotor wing connecting piece; 18 upper rotor blades; 19 upper and lower motor fixing parts; 20 lower rotor hub; 21 lower rotor blades; 22 lower rotor attachment; 23 radial spherical plain bearings; 24 a variable pitch tie rod; 25 steering engines; 26 rocker arms; 27 an electronic governor; 28 data chain; 29 flight control; wing connector bolts are screwed 30.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the following detailed description of the present invention will be made with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 12, a double-folding compact layout coaxial dual-rotor aircraft according to an embodiment of the invention is shown, wherein the aircraft comprises:

the upper battery compartment 1 comprises a lithium ion battery cell 7, a power supply connector 14, a balance charging connector 13 and a shell. A plurality of lithium ion battery electric cores 7 are arranged in the shell in parallel and are connected in series through nickel strips, and positive and negative electrode interfaces at two ends are connected with a power supply connector 14 to realize power supply of the aircraft platform. In addition, a lead is led out from the negative electrode of each lithium ion battery cell 7 to the balanced charging joint 13, so that the balanced charging of each lithium ion battery cell of the battery bin is facilitated.

The power module 2 mainly comprises an upper rotor 8, an upper motor 9, a lower motor 10, a lower rotor 11, a variable pitch mechanism 12, a hollow spindle 15, upper and lower motor fixing pieces 19, a lower rotor hub 20, lower rotor blades 21 and a lower rotor connecting piece 22; the pitch mechanism 12 includes a pitch link 24 and a radial spherical bearing 23. The upper rotor 8 comprises an upper rotor hub 16, an upper rotor connector 17 and upper rotor blades 18; the lower rotor 11 includes a lower rotor hub 20, a lower rotor blade 21, and a lower rotor attachment 22.

Each component of the power module 2 and the control module 3 is connected as a power module main body through a hollow main shaft 15, an upper motor 9 passes through the hollow main shaft 15 and is fixed at the upper end of an upper motor fixing piece 19 and a lower motor fixing piece 19, an upper rotor wing hub 16 is fixed at the upper motor 9 through bolts, one end of an upper rotor wing connecting piece 17 is fixed at the upper rotor wing hub 16, the other end of the upper rotor wing connecting piece 17 is fixed at the upper rotor wing blade 18, and the upper rotor wing blade 18 can be folded downwards by 90 degrees relative to the upper rotor wing hub 16 through the upper rotor wing connecting piece bolts 30 through the upper rotor wing connecting piece 17. The lower motor 10 is fixed to the lower end of the upper and lower motor fixing member 19 through the hollow main shaft 15, the lower rotor hub 20 is connected to the lower motor 10 through a bolt, the lower rotor connector 22 has one end fixed to the lower rotor hub 20 and the other end fixed to the lower rotor blade 21, and the lower rotor blade 21 can be folded downward by 90 ° with respect to the lower rotor hub 20 through the lower rotor connector bolt by the lower rotor connector 22. The pitch-varying mechanism 12 is installed below the lower rotor hub 20, one end of a pitch-varying pull rod 24 is connected with the radial spherical plain bearing 23, the other end of the pitch-varying pull rod is connected with the rocker 26, the pitch-varying control input is obtained from the rocker 26 through the pitch-varying pull rod 24, the torsion angle of the radial spherical plain bearing 23 is changed through the pitch-varying pull rod 24, then the lower rotor hub 20 is driven to realize the pitch-varying control of the lower rotor blade 21, and the transverse direction and the longitudinal direction of the aircraft are controlled.

The control module 3 mainly comprises a steering engine pull rod, an electronic speed regulator 27, a data chain 28 and a flight control 29; the steering engine pull rod comprises a steering engine 25 and a rocker 26. The steering engine 25 is arranged below the pitch-changing mechanism 12 and is connected with the rocker 26; the swing arm 26 can be controlled to swing after receiving an operation electric signal transmitted by the flight control 29, the swing arm 26 is connected with the pitch-variable pull rod 24, and the pitch-variable pull rod 24 can be pulled to realize the transverse and longitudinal control of the aircraft; the electronic speed regulator 27 is arranged below the steering engine 25, the upper battery compartment 1 and the lower battery compartment 4 supply power through the lead in the hollow main shaft 15, the power is output to the upper motor 9 and the lower motor 10 through the lead in the hollow main shaft 15, and a control signal is given by the flight control 29. Flight control 29 is mounted on the lower end of electronic governor 27, and settles the control signal transmitted from data link 28 and transmits the settled control signal to steering engine 25 and electronic governor 27. The data link 28 is installed between the two electronic speed regulators 27, and after receiving the ground station operation signal, the data link 28 transmits the operation signal to the flight control 29 for control.

And the lower battery compartment 4 is arranged below the control module 3 and has the same structure as the upper battery compartment 1.

The load module 5 can be switched with the upper battery cabin 1 and the lower battery cabin 4 through different configuration schemes among a standard mode, a long endurance mode and a high maneuverability mode, and the application range of the aircraft is expanded.

The landing gear 6, with reference to fig. 3, can be folded upwards to reduce the overall space and improve portability.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. A dual-folding compact layout coaxial twin-rotor aircraft, characterized in that it comprises:

a power module, the power module comprising: the upper rotor wing, the lower rotor wing, the upper motor, the lower motor, the variable pitch mechanism and the hollow spindle; the upper motor and the lower motor are fixed on the hollow spindle together, the upper rotor wing is fixed on the upper surface of the upper motor, the lower rotor wing is fixed on the lower surface of the lower motor, the upper motor and the lower motor drive the upper rotor wing and the lower rotor wing to rotate around the hollow spindle respectively during flying, the variable-pitch mechanism is connected to the lower end of the lower rotor wing, and the lower rotor wing is controlled through a pull rod extending out of the control system; the upper rotor wing and the lower rotor wing are provided with folding mechanisms and can be folded towards the direction of the machine body so as to reduce the size of the whole machine and facilitate carrying;

a control module, the control module via the hollow main shaft of power module is fixed at the power module lower extreme, include: flight control, a steering engine and a data chain; the data chain receives a ground flight instruction, transmits the ground flight instruction to the flight control unit, and outputs the flight control unit to the steering engine, and the steering engine controls the pitch-variable mechanism through a steering engine pull rod to realize aircraft control;

the energy module comprises an upper battery compartment and a lower battery compartment, the upper battery compartment is fixed at the upper end of the upper rotor wing through the hollow main shaft of the power module, the lower battery compartment is fixed at the lower end of the control module through the hollow main shaft, and the upper battery compartment and the lower battery compartment are connected through a lead in the hollow main shaft to jointly supply energy for the aircraft;

the load module is provided with a power supply interface and a data interface, can supply power to the task load through the power supply interface by the energy module, and can connect the load to the fly-pipe system by the data interface connection control module;

the undercarriage can be folded upwards to reduce the volume of the whole machine.

2. A bi-fold compact layout coaxial dual rotor aircraft according to claim 1, wherein the upper rotor blades and the lower rotor blades are each connected to the hub by connectors by which the upper rotor blades and the lower rotor blades can be folded down for storage and transportation.

3. A dual folding compact layout coaxial dual rotor aircraft according to claim 1, wherein the landing gear is of a folding design that folds up to reduce storage space during storage and transportation.

4. A bi-fold compact layout coaxial twin rotor craft in accordance with claim 1 wherein said load module and said energy module are modular in design, and the configuration of the load and the upper and lower battery compartments can be adjusted according to mission requirements to form the following three flight modes:

standard mode: the aircraft is provided with an upper battery cabin, a lower battery cabin and module loads;

long endurance mode: the aircraft is provided with an upper battery cabin and a lower battery cabin and does not carry module loads;

a high maneuvering mode: the aircraft is configured with a battery compartment carrying modular loads.

5. A bi-fold compact layout coaxial twin rotor craft according to claim 1 wherein the lower rotor hub is connected to the hollow main shaft by means of a radial spherical bearing to enable tilting of the lower rotor hub relative to the hollow main shaft to drive pitch-varying operation of the lower rotor.