CN116142509B - Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting - Google Patents
Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting Download PDFInfo
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- CN116142509B CN116142509B CN202310418839.6A CN202310418839A CN116142509B CN 116142509 B CN116142509 B CN 116142509B CN 202310418839 A CN202310418839 A CN 202310418839A CN 116142509 B CN116142509 B CN 116142509B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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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
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
- B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
- B64C27/605—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical including swash plate, spider or cam mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention discloses a coaxial double-oar miniature variable-pitch unmanned aerial vehicle with an integrated electromechanical adjusting structure, which relates to the technical field of coaxial double-oar unmanned aerial vehicles and comprises a lower rotor wing mechanism, a supporting seat, a main structure shaft, an integrated electromechanical adjusting structure, an upper rotor wing mechanism and an upper rotor wing variable-pitch mechanism; the bottom of supporting seat is installed in the tip of coaxial double oar miniature unmanned aerial vehicle body, the top at the supporting seat is connected to the one end of main structure axle, and integral type motor electricity is transferred the structure and is transferred including integral type motor and integral type electricity. The invention integrally adopts the design thought of independent pitch variation of the upper rotor wing, designs the upper rotor wing pitch variation mechanism at the uppermost part of the coaxial double-oar miniature unmanned aerial vehicle, and greatly reduces the risk of pitching caused by the bias of lift force when the pitch variation structure flies at high speed; the upper rotor motor, the lower rotor motor and the matched electric motor are integrally designed, so that a great amount of wiring requirements of the split type motor electric motor are avoided, and the response speed of the electric motor control is faster.
Description
Technical Field
The invention relates to the technical field of coaxial double-oar unmanned aerial vehicles, in particular to a coaxial double-oar miniature variable-pitch unmanned aerial vehicle with an integrated motor electric adjusting structure.
Background
The coaxial double-oar miniature unmanned aerial vehicle has the advantages of outstanding task execution capability, low research and development cost, less consumption of resources, unmanned operation and the like, and has huge development space along with international military requirements, national security and protection technology development and business requirements in the civil field.
The coaxial double-oar miniature unmanned aerial vehicle has the advantages of small volume, light weight, good maneuverability, relatively large task load, good pneumatic layout, flexible and changeable application, low noise amount and the like.
In a specific structural design, the existing coaxial double-oar miniature unmanned aerial vehicle mostly adopts a lower rotor wing single-layer variable pitch and double-motor separation structure. The lower single-layer variable-pitch structure has the defects of insufficient maneuverability, easiness in pitching and the like when flying at high speed, the double-motor separation is not beneficial to controlling the size of the coaxial double-oar miniature unmanned aerial vehicle, the double-motor separation inevitably brings a double-electric-adjustment separated wiring structure, and the structural complexity of the coaxial double-oar miniature unmanned aerial vehicle is increased.
Disclosure of Invention
In order to solve the technical problems of narrow applicability and power consumption of unmanned aerial vehicle combination in the prior art, the invention provides a coaxial double-oar miniature variable-pitch unmanned aerial vehicle with an integrated motor electric adjustment structure. The following technical scheme is adopted:
the coaxial double-oar miniature variable-pitch unmanned aerial vehicle of the electromechanical structure of the integral type, including lower rotor mechanism, supporting seat, main structure axle, electromechanical structure of the integral type, upper rotor mechanism and upper rotor variable-pitch mechanism;
the bottom of supporting seat is installed at the tip of coaxial double-oar miniature unmanned aerial vehicle body, the top at the supporting seat is connected to the one end of main structure axle, integral type motor electricity is transferred the structure and is set up on the main structure axle, and integral type motor electricity is transferred the structure and is included integral type motor and integral type electricity, integral type motor bottom sets up first drive output, and the top sets up the second drive output, the actuation action of integral type motor is controlled to with flight control system communication connection to first drive output carries rotor mechanism down, and drives rotor mechanism down and rotate, it is hung in main structure axle tip to go up rotor mechanism through last rotor displacement mechanism, it realizes the displacement to go up rotor mechanism to go up rotor displacement mechanism, rotor mechanism rotation is gone up in the second drive output drive of integral type motor electricity is transferred the structure.
By adopting the technical scheme, the design thought of independent pitch variation of the upper rotor wing is integrally adopted, and the upper rotor wing pitch variation mechanism is designed at the uppermost part of the coaxial double-oar miniature unmanned aerial vehicle, so that the pitch variation mechanism is prevented from generating a pitching phenomenon due to lift force bias during high-speed flight; the upper rotor motor, the lower rotor motor and the matched electric tuning are integrally designed, a first driving output end is arranged on a lower rotor motor part of the integral motor and used for mounting and driving a lower rotor mechanism to rotate to provide lift force, a second driving output end is arranged on an upper rotor motor part of the integral motor and is upwards arranged, an upper rotor mechanism is mounted through an upper rotor pitch-changing mechanism and used for driving the upper rotor mechanism to rotate to provide combined lift force, and meanwhile, the upper rotor pitch-changing mechanism is used for driving the upper rotor mechanism to realize independent pitch changing, so that the phenomenon of pitching caused by lift force bias during high-speed flight is avoided, and the maneuverability of a coaxial double-oar micro unmanned aerial vehicle is improved;
the integrated design of upper rotor motor, lower rotor motor and supporting electricity are transferred reduces the size of unnecessary structure, makes its overall dimension obtain further reduction, and the mode of walking is more concentrated, accords with coaxial double oar miniature unmanned aerial vehicle's miniaturized demand of structure more.
Optionally, the integrated motor includes an upper rotor driving motor and a lower rotor driving motor;
the utility model provides a rotor of motor is adjusted to upper rotor driving motor and lower rotor driving motor, and upper rotor driving motor's lower surface and lower rotor driving motor's upper surface are equipped with the electricity between and transfer the installation space, and upper rotor driving motor is equipped with the second drive output, and lower rotor driving motor is equipped with first drive output, the integral type electricity is transferred including the electricity and is transferred the mounting panel, is gone up the rotor electricity and transferred, down the rotor electricity and is adjusted the control circuit board based on the electric of chip, the electricity is transferred the mounting panel setting and is transferred the installation space department in the electricity, and the upper surface and the lower surface of electricity is transferred the mounting panel and is equipped with the electricity respectively and transferred the mounting groove, and the middle part is equipped with the circuit board installation cavity, and electricity is transferred and set up the circuit channel in the electricity of electricity transfer mounting panel upper surface and lower surface down to transfer the electric of rotor electricity respectively, electric regulation control circuit board sets up in circuit board installation cavity department to transfer communication connection with upper rotor electricity and lower rotor electricity respectively through the wire.
Optionally, the flight control system is arranged in the coaxial double-oar miniature unmanned aerial vehicle body and is electrically connected with the electric control circuit board through a wire set.
Optionally, a wire channel is arranged inside the main structure shaft, and the wire group passes through the wire channel and is electrically connected with the electric control circuit board in a communication way.
Optionally, the wire set is a hard wire row.
Through adopting above-mentioned technical scheme, go up rotor driving motor and lower rotor driving motor and carry out integrated design, all hang on the main structure epaxial, drive respectively and go up rotor mechanism and lower rotor mechanism rotation, the part at middle part is equipped with the integral type electricity and transfers, all electric regulating device all integrate in the inner chamber that upper and lower surface and middle part set up of an electric regulating mounting panel, this kind of centralized design has reduced the structure demand of bi-motor and bi-electricity greatly, it is also more reasonable to walk the line, a large amount of wiring demands of split type electromechanical accent have been avoided, adopt the stereoplasm line to arrange to walk the line, the stereoplasm line is arranged and is passed the wire passageway of main structure epaxial inside, can not pass through the wire winding, can lug connection at the inside wire passageway of reserving of electric regulating mounting panel, be favorable to the life-span of each electric device, electric regulating control response speed is also faster.
Optionally, go up rotor mechanism and include rotor hub and a pair of rotor that goes up, go up rotor hub and include square frame portion, a pair of rotor butt joint lug and a pair of displacement butt joint lug, square frame portion suit is peripheral at the second drive output, and the front and back outside of square frame portion sets up a pair of rotor butt joint lug respectively, and the left and right sides outside sets up a pair of displacement butt joint lug respectively, and a pair of rotor that goes up is installed respectively in a pair of rotor butt joint lug department, and a pair of displacement butt joint lug is connected with the transmission of second drive output through last rotor displacement mechanism.
Through adopting above-mentioned technical scheme, go up rotor hub's of rotor mechanism function one with last rotor displacement mechanism butt joint to with second drive output transmission connection, when last rotor driving motor's drive rotates, can be driven by last rotor displacement mechanism and realize alone the displacement, thereby avoid when high-speed flight because lift biasing takes place to beat the oar phenomenon, improve coaxial double-oar miniature unmanned aerial vehicle's mobility.
Optionally, go up rotor displacement mechanism and include axle head connecting seat, universal ball bearing and swashplate mechanism, the axle head connecting seat middle part is equipped with ball butt joint hole, and the bottom of axle head connecting seat is connected at main structure axle outer wall, universal ball bearing's movable ball portion butt is at the upper surface of axle head connecting seat, sets up swashplate mechanism on universal ball bearing's the base, swashplate mechanism sets up a pair of connecting rod, and a pair of connecting rod is connected with universal ball bearing's outer wall ball respectively, and universal ball bearing's shell sets up a pair of displacement actuating lever, and a pair of displacement actuating lever is connected with a pair of displacement butt joint lug ball respectively, and swashplate mechanism realizes the independent displacement through the upper rotor mechanism of universal ball bearing drive.
Optionally, the swash plate mechanism includes a pair of connecting rod, cage steering wheel support frame, first steering wheel and second steering wheel, the bottom of cage steering wheel support frame is connected at main structure axle tip, first steering wheel is installed inside the cage steering wheel support frame to hang in with the inner wall upper surface, the output shaft passes through the connecting rod and is connected with universal ball bearing's one side outer wall ball, the lower surface at first steering wheel is installed to the second steering wheel, and the output shaft passes through another connecting rod and is connected with universal ball bearing's opposite side outer wall ball, and under the simultaneous movement of first steering wheel and second steering wheel, rotor mechanism realized alone the displacement through universal ball bearing drive.
Through adopting above-mentioned technical scheme, swash plate mechanism adopts double rudder machine to realize multi-angle displacement drive demand, and cage steering wheel support frame provides the installation position for double rudder machine, and the output of first steering wheel and second steering wheel drives universal ball bearing through a pair of connecting rod respectively and realizes the displacement adjustment, and universal ball bearing realizes alone displacement through a pair of displacement actuating lever synchronous drive rotor mechanism.
Optionally, the swash plate mechanism further comprises a guiding device, the guiding device comprises a guiding plate and a guiding rod, a slideway is arranged in the middle of the guiding plate, the guiding plate is fixedly connected to the outer wall of the cage-type steering engine supporting frame, one end of the guiding rod is connected to the outer wall of the universal ball bearing, and the other end of the guiding rod is located in the slideway in the middle of the guiding plate and moves.
By adopting the technical scheme, when the swash plate mechanism drives the universal ball bearing to deflect to realize the variable-pitch adjustment, the guide device can limit the deflection action of the universal ball bearing to be more stable.
Optionally, an expansion platform is arranged at the top of the cage-type steering engine support frame and is used for mounting a load.
By adopting the technical scheme, different connection structures can be arranged on the expansion platform, the electrical structure can be preassembled, and the expansion battery pack is in butt joint to realize the increase of the endurance mileage.
In summary, the present invention includes at least one of the following beneficial technical effects:
the invention can provide a coaxial double-oar miniature variable-pitch unmanned aerial vehicle with an integrated electromechanical adjusting structure, and the design thought of independent variable-pitch of an upper rotor wing is adopted as a whole, so that the upper rotor wing variable-pitch mechanism is designed at the uppermost part of the coaxial double-oar miniature unmanned aerial vehicle, the risk of pitching caused by lift force bias when the variable-pitch structure flies at high speed is greatly reduced, and the maneuverability of the coaxial double-oar miniature unmanned aerial vehicle is improved; the upper rotor motor, the lower rotor motor and the matched electric motor are designed in an integrated manner, so that the structural requirements of the double motors and the double electric motors are greatly reduced, a great amount of wiring requirements of the split motor electric motor are avoided, wiring is more reasonable, and the response speed of electric motor control is faster; the coaxial double-oar miniature unmanned aerial vehicle top can load and expand battery module, reaches the purpose of higher endurance.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic view of the upper hub of the present invention;
FIG. 4 is a schematic cross-sectional view of an integrated electrical regulator of the present invention;
fig. 5 is a schematic diagram of the electrical device connection principle of the present invention.
Reference numerals illustrate: 11. an integral motor; 111. an upper rotor drive motor; 112. a lower rotor drive motor; 12. integral electric tuning; 121. an electrically adjustable mounting plate; 122. electrically adjusting an upper rotor wing; 123. electrically adjusting the lower rotor wing; 124. an electrical control circuit board; 21. a hub; 211. a square frame section; 212. rotor wing butt joint lifting lugs; 213. a variable-pitch butt joint lifting lug; 23. an upper rotor; 31. a shaft end connecting seat; 32. a universal ball bearing; 321. a variable-pitch drive lever; 33. a swash plate mechanism; 331. a connecting rod; 332. cage type steering engine supporting frame; 3321. expanding a platform; 333. the first steering engine; 334. the second steering engine; 335. a guide plate; 336. a guide rod; 100. coaxial double-oar miniature unmanned aerial vehicle body; 101. a support base; 102. a main structural shaft; 103. a flight control system; 104. a wire set.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a coaxial double-oar miniature variable-pitch unmanned aerial vehicle with an integrated electromechanical adjusting structure.
Referring to fig. 1-5, the coaxial double-oar miniature displacement unmanned aerial vehicle of the electric structure of the integral type motor, including lower rotor mechanism, supporting seat 101, main structure axle 102, electric structure of the integral type, upper rotor mechanism and upper rotor displacement mechanism;
the bottom of supporting seat 101 is installed at the tip of coaxial double-oar miniature unmanned aerial vehicle body 100, the one end of main structure axle 102 is connected at the top of supporting seat 101, integral type motor electricity is transferred the structure and is set up on main structure axle 102, integral type motor electricity is transferred the structure and is transferred 12 including integral type motor 11 and integral type electricity, integral type motor 11 bottom sets up first drive output, the top sets up the second drive output, integral type electricity is transferred 12 and is controlled the actuation of integral type motor 11, and with flight control system 103 communication connection, first drive output carries rotor mechanism down, and rotor mechanism rotates down in the drive, go up rotor mechanism and hang in main structure axle 102 tip through last rotor displacement mechanism, it realizes the displacement to go up rotor mechanism to be used for driving rotor mechanism, rotor mechanism rotation is gone up in the second drive output drive of integral type motor electricity is transferred the structure.
The design idea of independent pitch variation of the upper rotor wing is integrally adopted, and the upper rotor wing pitch variation mechanism is designed at the uppermost part of the coaxial double-oar miniature unmanned aerial vehicle, so that the pitch variation mechanism is prevented from generating a pitching phenomenon due to lift force bias during high-speed flight; the upper rotor motor, the lower rotor motor and the matched electric tuning are integrally designed, a first driving output end is arranged on a lower rotor motor part of the integral motor 11 and used for mounting and driving a lower rotor mechanism to rotate to provide lift force, a second driving output end is arranged on an upper rotor motor part of the integral motor 11 and is upwards arranged, an upper rotor mechanism is mounted through an upper rotor pitch-changing mechanism and used for driving the upper rotor mechanism to rotate to provide combined lift force, and meanwhile, the upper rotor pitch-changing mechanism is used for driving the upper rotor mechanism to realize independent pitch changing, so that the phenomenon of pitching caused by lift force bias during high-speed flight is avoided, and the maneuverability of the coaxial double-oar miniature unmanned aerial vehicle is improved;
the integrated design of upper rotor motor, lower rotor motor and supporting electricity are transferred reduces the size of unnecessary structure, makes its overall dimension obtain further reduction, and the mode of walking is more concentrated, accords with coaxial double oar miniature unmanned aerial vehicle's miniaturized demand of structure more.
The integrated motor 11 includes an upper rotor driving motor 111 and a lower rotor driving motor 112;
the upper rotor driving motor 111 and the lower rotor driving motor 112 are respectively mounted on the main structure shaft 102, an electric adjustment installation space is arranged between the lower surface of the upper rotor driving motor 111 and the upper surface of the lower rotor driving motor 112, the upper rotor driving motor 111 is provided with a second driving output end, the lower rotor driving motor 112 is provided with a first driving output end, the integrated electric adjustment 12 comprises an electric adjustment installation plate 121, an upper rotor electric adjustment 122, a lower rotor electric adjustment 123 and an electric adjustment control circuit board 124 based on a chip, the electric adjustment installation plate 121 is arranged at the electric adjustment installation space, an electric adjustment installation groove is respectively arranged on the upper surface and the lower surface of the electric adjustment installation plate 121, a circuit board installation cavity is arranged in the middle of the electric adjustment installation plate, a circuit channel is arranged between the electric adjustment installation groove and the circuit board installation cavity, the upper rotor electric adjustment 122 and the lower rotor electric adjustment 123 are respectively arranged at the electric adjustment installation groove of the upper surface and the lower surface of the electric adjustment installation plate 121, and the electric adjustment control circuit board 124 are respectively arranged at the circuit board installation cavity and are respectively in communication connection with the upper rotor electric adjustment 122 and the lower rotor electric adjustment 123 through wires.
The flight control system 103 is disposed inside the coaxial double-paddle micro-unmanned aerial vehicle body 100 and is electrically connected in communication with the electric control circuit board 124 through the wire set 104.
The main structural shaft 102 has a wire passage therein through which the wire set 104 passes in communication with an electrical control circuit board 124.
The conductor set 104 is a hard wire row.
The upper rotor driving motor 111 and the lower rotor driving motor 112 are integrally designed and are all mounted on the main structure shaft 102, the upper rotor mechanism and the lower rotor mechanism are respectively driven to rotate, the integral electric tuning 12 is arranged in the middle part, all electric tuning devices are integrated in the inner cavities formed in the upper surface, the lower surface and the middle part of the electric tuning mounting plate 121, the centralized design greatly reduces the structural requirements of double motors and double electric tuning, the wiring is more reasonable, a large amount of wiring requirements of the split type electric tuning are avoided, a hard wire row is adopted for wiring, the hard wire row passes through a wire guide channel inside the main structure shaft 102 and can be directly connected with the wire guide channel reserved inside the electric tuning mounting plate 121 without winding, the service life of each electric device is facilitated, and the response speed of the electric tuning is also faster.
The upper rotor mechanism comprises an upper rotor hub 21 and a pair of upper rotors 23, the upper rotor hub 21 comprises a square frame portion 211, a pair of rotor butt-joint lifting lugs 212 and a pair of pitch-changing butt-joint lifting lugs 213, the square frame portion 211 is sleeved on the periphery of the second driving output end, the front side and the rear side of the square frame portion 211 are respectively provided with the pair of rotor butt-joint lifting lugs 212, the left side and the right side of the square frame portion 211 are respectively provided with the pair of pitch-changing butt-joint lifting lugs 213, the pair of upper rotors 23 are respectively installed at the pair of rotor butt-joint lifting lugs 212, and the pair of pitch-changing butt-joint lifting lugs 213 are in transmission connection with the second driving output end through the upper rotor pitch-changing mechanism.
The upper rotor hub 21 of the upper rotor mechanism is in butt joint with the upper rotor pitch-changing mechanism, so that the upper rotor hub is in transmission connection with the second driving output end, and can be driven by the upper rotor pitch-changing mechanism to realize independent pitch change while being driven by the upper rotor driving motor 111, thereby avoiding the occurrence of a pitching phenomenon due to lift force bias during high-speed flight and improving the maneuverability of the coaxial double-oar miniature unmanned aerial vehicle.
The upper rotor wing distance-changing mechanism comprises a shaft end connecting seat 31, a universal ball bearing 32 and a swash plate mechanism 33, wherein a ball butt joint hole is formed in the middle of the shaft end connecting seat 31, the bottom of the shaft end connecting seat 31 is connected to the outer wall of a main structure shaft 102, a movable ball part of the universal ball bearing 32 is abutted to the upper surface of the shaft end connecting seat 31, the swash plate mechanism 33 is arranged on a base of the universal ball bearing 32, the swash plate mechanism 33 is provided with a pair of connecting rods 331, the pair of connecting rods 331 are respectively connected with the outer wall balls of the universal ball bearing 32, a pair of distance-changing driving rods 321 are respectively connected with a pair of distance-changing butt joint lifting lugs 213 in a ball mode, and the swash plate mechanism 33 drives the upper rotor wing mechanism to realize independent distance changing through the universal ball bearing 32.
The swash plate mechanism 33 includes a pair of connecting rod 331, cage steering wheel support frame 332, first steering wheel 333 and second steering wheel 334, the bottom of cage steering wheel support frame 332 is connected at main structure axle 102 tip, first steering wheel 333 is installed inside cage steering wheel support frame 332, and hang at the upper surface with the inner wall, the output shaft passes through connecting rod 331 and is connected with the outer wall ball of one side of universal ball bearing 32, the lower surface at first steering wheel 333 is installed to the second steering wheel 334, the output shaft passes through another connecting rod 331 and is connected with the outer wall ball of the opposite side of universal ball bearing 32, under the simultaneous action of first steering wheel 333 and second steering wheel 334, realize alone the displacement through the upper rotor mechanism of universal ball bearing 32 drive.
The swash plate mechanism 33 adopts two steering engines to realize the displacement drive demand of multi-angle, and cage steering engine support frame 332 provides the installation position for two steering engines, and the universal ball bearing 32 of drive is realized the displacement adjustment through a pair of connecting rod 331 respectively to the output of first steering engine 333 and second steering engine 334, flies accuse system 103 and is connected with first steering engine 333 and second steering engine 334 control respectively to carry out the displacement control through the action of control first steering engine 333 and second steering engine 334, universal ball bearing 32 realizes alone the displacement through a pair of displacement actuating lever 321 synchronous drive rotor mechanism.
The swash plate mechanism 33 further comprises a guide device, the guide device comprises a guide plate 335 and a guide rod 336, a slide way is arranged in the middle of the guide plate 335, the guide plate 335 is fixedly connected to the outer wall of the cage steering engine supporting frame 332, one end of the guide rod 336 is connected to the outer wall of the universal ball bearing 32, and the other end of the guide rod 336 is located in the slide way in the middle of the guide plate 335 and moves.
When the swash plate mechanism 33 drives the ball bearings 32 to deflect to realize the pitch adjustment, the guide device can restrict the deflection movement of the ball bearings 32 to be more stable.
The top of cage steering engine support frame 332 is equipped with expands platform 3321, expands platform 3321 and is used for the load of hanging.
Different connection structures can be arranged on the expansion platform 3321, electric structures can be preloaded, and the docking expansion battery pack can achieve the increase of the endurance mileage.
The implementation principle of the coaxial double-oar miniature variable-pitch unmanned aerial vehicle of the electromechanical structure of the embodiment of the invention is that:
under a specific coaxial double-oar miniature displacement unmanned aerial vehicle application scenario, under the setting of the flight procedure of setting or remote control signal, flight control system 103 controls the unmanned high-speed of coaxial double-oar miniature displacement to fly to the mission place, if the meteorological condition is relatively poor in the flight process, there is stronger transverse wind in the flight speed, specifically, when the wind direction is opposite with the flight direction, and the wind speed reaches 5m/s, or the wind speed is anyway, when the wind speed reaches 7m/s, flight control system 103 controls first steering engine 333 and second steering engine 334 respectively and acts to realize the independent displacement of upper rotor mechanism, change the angle of upper rotor mechanism and wind direction, thereby avoid the upper rotor mechanism to take place under the influence of wind and uncontrollable deflection between the lower rotor and cause the risk of pitching.
The expanding platform 3321 is preloaded with an electrical structure, and the docking of the expanding battery pack achieves the increase of the endurance mileage.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (7)
1. Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting, its characterized in that: comprises a lower rotor wing mechanism, a supporting seat (101), a main structure shaft (102), an integrated motor electric adjusting structure, an upper rotor wing mechanism and an upper rotor wing distance changing mechanism;
the bottom of the supporting seat (101) is arranged at the end part of the coaxial double-oar miniature unmanned aerial vehicle body (100), one end of the main structure shaft (102) is connected to the top of the supporting seat (101), the integrated motor electric adjustment structure is arranged on the end part of the main structure shaft (102) and comprises an integrated motor (11) and an integrated electric adjustment (12), a first driving output end is arranged at the bottom of the integrated motor (11), a second driving output end is arranged at the top of the integrated motor (11), the integrated electric adjustment (12) controls the execution action of the integrated motor (11) and is in communication connection with the flight control system (103), the first driving output end is used for mounting a lower rotor mechanism and driving the lower rotor mechanism to rotate, the upper rotor mechanism is hung on the end part of the main structure shaft (102) through an upper rotor distance changing mechanism, and the second driving output end of the integrated motor electric adjustment structure is used for driving the upper rotor mechanism to rotate;
the integrated motor (11) comprises an upper rotor driving motor (111) and a lower rotor driving motor (112);
the upper rotor driving motor (111) and the lower rotor driving motor (112) are respectively hung on the main structure shaft (102), an electric regulating installation space is arranged between the lower surface of the upper rotor driving motor (111) and the upper surface of the lower rotor driving motor (112), the upper rotor driving motor (111) is provided with a second driving output end, the lower rotor driving motor (112) is provided with a first driving output end, the integrated electric regulating device (12) comprises an electric regulating installation plate (121), an upper rotor electric regulating device (122), a lower rotor electric regulating device (123) and an electric regulating control circuit board (124) based on a chip, the electric regulating installation plate (121) is arranged at the electric regulating installation space, the upper surface and the lower surface of the electric regulating installation plate (121) are respectively provided with an electric regulating installation groove, a circuit board installation cavity is arranged in the middle, a circuit channel is arranged between the electric regulating installation groove and the circuit board installation cavity, the upper rotor electric regulating device (122) and the lower rotor electric regulating device (123) are respectively arranged at the electric regulating installation grooves of the upper surface and the lower surface of the electric regulating device (121), and the electric regulating device (124) are respectively connected with the electric regulating device (122) through leads;
the upper rotor wing mechanism comprises an upper rotor wing hub (21) and a pair of upper rotor wings (23), the upper rotor wing hub (21) comprises a square frame part (211), a pair of rotor wing butt joint lifting lugs (212) and a pair of variable-pitch butt joint lifting lugs (213), the square frame part (211) is sleeved on the periphery of the second driving output end, the front side, the rear side and the outer side of the square frame part (211) are respectively provided with a pair of rotor wing butt joint lifting lugs (212), the left side and the right side of the square frame part are respectively provided with a pair of variable-pitch butt joint lifting lugs (213), the pair of upper rotor wings (23) are respectively arranged at the pair of rotor wing butt joint lifting lugs (212), and the pair of variable-pitch butt joint lifting lugs (213) are in transmission connection with the second driving output end through the upper rotor wing variable-pitch mechanism;
the upper rotor wing pitch-changing mechanism comprises a shaft end connecting seat (31), a universal ball bearing (32) and a swash plate mechanism (33), wherein a ball butt joint hole is formed in the middle of the shaft end connecting seat (31), the bottom of the shaft end connecting seat (31) is connected to the outer wall of a main structure shaft (102), a movable ball part of the universal ball bearing (32) is abutted to the upper surface of the shaft end connecting seat (31), the swash plate mechanism (33) is arranged on a base of the universal ball bearing (32), the swash plate mechanism (33) is provided with a pair of connecting rods (331), the pair of connecting rods (331) are respectively connected with the outer wall balls of the universal ball bearing (32), a pair of pitch-changing driving rods (321) are respectively connected with a pair of pitch-changing butt joint lifting lugs (213) in a ball mode, and the swash plate mechanism (33) drives the upper rotor wing mechanism through the universal ball bearing (32) to realize independent pitch changing.
2. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electrical adjustment structure of claim 1, wherein: the flight control system (103) is arranged in the coaxial double-oar miniature unmanned aerial vehicle body (100) and is electrically connected with the electric control circuit board (124) through the wire set (104).
3. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electric motor tuning structure of claim 2, wherein: the main structure shaft (102) is internally provided with a wire channel, and the wire group (104) passes through the wire channel and is electrically connected with the electric control circuit board (124) in a communication way.
4. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electrical tuning structure of claim 3, wherein: the conductor set (104) is a hard wire row.
5. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electrical adjustment structure of claim 1, wherein: the upper rotor mechanism comprises an upper rotor hub (21) and a pair of upper rotors (23), the upper rotor hub (21) comprises a square frame portion (211), a pair of rotary wing butt joint lifting lugs (212) and a pair of variable-pitch butt joint lifting lugs (213), the square frame portion (211) is sleeved on the periphery of a second driving output end, a pair of rotary wing butt joint lifting lugs (212) are respectively arranged on the front side and the rear side of the square frame portion (211), a pair of variable-pitch butt joint lifting lugs (213) are respectively arranged on the left side and the right side, the pair of upper rotors (23) are respectively arranged at the pair of rotary wing butt joint lifting lugs (212), and the pair of variable-pitch butt joint lifting lugs (213) are in transmission connection with the second driving output end through the upper rotor wing variable-pitch mechanism.
6. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electrical adjustment structure of claim 1, wherein: the swash plate mechanism (33) further comprises a guide device, the guide device comprises a guide plate (335) and a guide rod (336), a slide way is arranged in the middle of the guide plate (335), the guide plate (335) is fixedly connected to the outer wall of the cage-type steering engine supporting frame (332), one end of the guide rod (336) is connected to the outer wall of the universal ball bearing (32), and the other end of the guide rod is located in the slide way in the middle of the guide plate (335) for moving.
7. The coaxial double-paddle micro pitch-changing unmanned aerial vehicle of the integrated electrical adjustment structure of claim 6, wherein: an expansion platform (3321) is arranged at the top of the cage-type steering engine supporting frame (332), and the expansion platform (3321) is used for mounting a load.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310418839.6A CN116142509B (en) | 2023-04-19 | 2023-04-19 | Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310418839.6A CN116142509B (en) | 2023-04-19 | 2023-04-19 | Coaxial double-oar miniature displacement unmanned aerial vehicle of integral type electricity structure of adjusting |
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| CN116142509B true CN116142509B (en) | 2023-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106081094B (en) * | 2016-08-16 | 2018-01-23 | 葛讯 | A kind of coaxal helicopter |
| CN110626495A (en) * | 2019-08-30 | 2019-12-31 | 祖亚军 | Small coaxial double-rotor type unmanned aerial vehicle |
| CN211281442U (en) * | 2019-12-09 | 2020-08-18 | 北京海空行科技有限公司 | Coaxial helicopter control-transmission system based on single automatic inclinator |
| CN110979651B (en) * | 2019-12-24 | 2021-04-13 | 苏州韬讯航空科技有限公司 | Coaxial helicopter and control method |
| CN111332462B (en) * | 2020-02-24 | 2021-08-03 | 北京理工大学 | Portable small-sized cylinder type coaxial reverse-propeller three-blade rotor type unmanned aerial vehicle |
| CN214296456U (en) * | 2020-12-23 | 2021-09-28 | 航天神舟飞行器有限公司 | Micro-miniature coaxial double-propeller unmanned aerial vehicle |
| CN115303478A (en) * | 2022-08-17 | 2022-11-08 | 零重力南京航空科技有限公司 | Coaxial unmanned aerial vehicle |
| CN115520378A (en) * | 2022-11-08 | 2022-12-27 | 沈阳飞机设计研究所扬州协同创新研究院有限公司 | Double-folding compact layout coaxial double-rotor aircraft |
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