CN117508680A - Missile-borne coaxial unmanned aerial vehicle - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicle structural design and motion control, and particularly relates to a missile-borne coaxial unmanned aerial vehicle, which comprises a machine body and an upper foldable machine head and a lower foldable machine head; the fuselage comprises an unmanned aerial vehicle shell, an upper material bin, a lower material bin and avionics equipment; the foldable machine head comprises power equipment, a folding component, a steering engine, an inner fixing seat and an outer fixing seat. According to the invention, through a unique folding mechanism design, a coaxial unmanned aerial vehicle attitude control method is changed from hardware, and the folding parts of two steering engines replace the tilting plates of three steering engines to realize control decoupling of a rotor system; the hardware cost is reduced by reducing the number of steering engines, and meanwhile, the design of the folding mechanism is different from the prior gesture control principle of the coaxial unmanned aerial vehicle, so that the unmanned aerial vehicle is integrally tightened to meet the mechanical configuration which cannot be met by the conventional unmanned aerial vehicle and is used as a missile-borne mechanical configuration, and the folding mechanism has an creative meaning.

Description

Missile-borne coaxial unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle structural design and motion control, and particularly relates to a missile-borne coaxial unmanned aerial vehicle.

Background

In the prior art, the patrol projectile and the last sensitive projectile have the following technical problems:

1) Folding missile wing problem: the fly-round projectile is folded and arranged in order to meet the small space emission requirement of the barrel weapon.

2) Emission overload and initial speed problem: due to the size of the barrel and the limitation of the initial flying speed, the ammunition and the inertiaThe measuring unit and the on-board equipment are subjected to tens of thousands of g (g 9.8 m/s) ² ) An overload shock is emitted, which may cause initial errors of the inertial measurement unit and damage to the on-board equipment.

3) Minimum turning radius limit problem: due to the limitation of cruising speed and the limitation of the attitude angle of an projectile body in the turning process, the patrol projectile has the limitation of turning radius, and can not realize the hovering flight function.

4) Obstacle avoidance problem: in urban areas and areas where obstacles are blocked, the minimum turning radius causes that the patrol projectile is difficult to avoid the obstacles in a specific space at a certain cruising speed.

5) Problem of limited working radius: after being thrown, the non-sensitive marble ammunition can only perform characteristic comparison in a certain area to search for a target, and the problem of self-destruction of the target which cannot be detected easily occurs.

6) Short acting time problem: the powder sensitive bullet can not cruise for a long time after being thrown.

Based on this, the inventor expects to design an missile-borne coaxial unmanned aerial vehicle, which can overcome the defects.

Disclosure of Invention

The invention aims to provide a missile-borne coaxial unmanned aerial vehicle, which solves part of defects of a traditional terminal-sensitive shell of a patrol missile, can cruise for a long time like the patrol missile after being launched by a missile, has 360-degree omnidirectional turning capacity and hovering flight capacity, and can resist larger overload during launching.

In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:

the invention provides a missile-borne coaxial unmanned aerial vehicle, which comprises a machine body and an upper foldable machine head and a lower foldable machine head, wherein the upper foldable machine head is connected with the machine body;

the machine body comprises an unmanned aerial vehicle shell, an upper material bin, a lower material bin and avionics equipment, wherein the avionics equipment is arranged in a bin enclosed by the upper material bin and the lower material bin, and the upper material bin and the lower material bin are fixed on the unmanned aerial vehicle shell through fasteners;

the foldable machine head comprises power equipment, a folding member, a steering engine, an inner fixing seat and an outer fixing seat, wherein the power equipment and the steering engine are fixed on the folding member through fasteners, the folding member and the inner fixing seat are connected through a stopper screw and a bearing, and the inner fixing seat and the outer fixing seat are fixed on an unmanned aerial vehicle shell through fasteners.

Further, in the missile-borne coaxial unmanned aerial vehicle, a bearing is arranged at the joint of the folding member and the inner fixing seat.

Further, in the missile-borne coaxial unmanned aerial vehicle, the steering gear arm of the steering gear is embedded into the wall of the inner fixing seat.

Further, in the missile-borne coaxial unmanned aerial vehicle, the steering engine is driven to rotate the steering engine arm under the power, and because the weight of the inner fixed seat embedded in the steering engine arm and the weight of the machine body fixedly connected with the steering engine exceeds the tensile force generated by the steering engine, the folding member and the steering engine are influenced by reverse rotation force to deflect around the bearing.

Further, in the missile-borne coaxial unmanned aerial vehicle, the unmanned aerial vehicle shell, the upper material bin and the lower material bin are all made of light composite materials, so that the strength requirement of the missile-borne gun shooting is met.

Further, in the missile-borne coaxial unmanned aerial vehicle, the inner fixing seat, the outer fixing seat and the folding member are all made of light composite materials, so that the strength requirement of shooting during missile-borne is met.

Further, in the missile-borne coaxial unmanned aerial vehicle, the unmanned aerial vehicle structure is tightened through the foldable machine head, so that the structural strength of the unmanned aerial vehicle body is improved, and the missile-borne size requirement is met.

Further, in the missile-borne coaxial unmanned aerial vehicle, the fuselage and the foldable machine head are connected by virtue of the inner fixing seat and the outer fixing seat, the rotor wings of the two power devices are symmetrically distributed, and the aircraft body is internally provided with the flight controller, the inertial navigation system, the power system and the servo system avionics, so that the whole omnidirectional coaxial unmanned aerial vehicle can realize autonomous air flight.

Further, in the missile-borne coaxial unmanned aerial vehicle, the folding type aircraft nose can control the gesture of the unmanned aerial vehicle through the folding component, compared with a conventional coaxial unmanned helicopter, the distance between the upper rotor wing and the lower rotor wing is greatly increased, the influence of pneumatic coupling between the two rotor wings is reduced, and under the condition that the maximum lift force of a single rotor wing is unchanged, larger rolling or pitching moment relative to the gravity center of the aircraft body can be generated, and meanwhile, the pneumatic efficiency is also remarkably improved.

Further, in the missile-borne coaxial unmanned aerial vehicle, the pitching attitude of the missile-borne coaxial unmanned aerial vehicle is controlled by virtue of a folding member and a steering engine in the upper-layer foldable machine head; the roll gesture of the missile-borne coaxial unmanned aerial vehicle depends on a folding component in a lower-layer foldable machine head and steering engine control. Compared with a conventional coaxial unmanned aerial vehicle, the single aircraft nose can control the gesture change of one direction, and compared with a conventional helicopter, at least four steering engines are needed, so that the number of the steering engines is reduced, and the same gesture control effect of other helicopters is realized.

The beneficial effects of the invention are as follows:

1. according to the invention, through a unique folding mechanism design, a coaxial unmanned aerial vehicle attitude control method is changed from hardware, and the folding parts of two steering engines replace the tilting plates of three steering engines to realize control decoupling of a rotor system; the hardware cost is reduced by reducing the number of steering engines, and meanwhile, the design of the folding mechanism is different from the prior gesture control principle of the coaxial unmanned aerial vehicle, so that the unmanned aerial vehicle is integrally tightened to meet the mechanical configuration which cannot be met by the conventional unmanned aerial vehicle and is used as a missile-borne mechanical configuration, and the folding mechanism has an creative meaning.

2. The coaxial unmanned aerial vehicle designed by the invention has the motion characteristic of an unmanned helicopter when being used as ammunition, can hover at fixed points and can fly autonomously; meanwhile, the target area beyond a few kilometers or even tens kilometers can be quickly reached by means of a gun and other launching platforms, and then the gun can be unfolded to execute tasks, so that the gun has the advantages of both the fly-round bullet and the terminal-sensitive bullet.

3. The coaxial unmanned aerial vehicle designed by the invention can obtain the initial speed of about 1000m/s by means of the launching platform such as the cannon and the like, and the unmanned aerial vehicle can fly after rising to a preset airspace with the height of several kilometers, compared with the conventional unmanned aerial vehicle such as Dajiang and the like which can fly to the preset airspace after being initialized on the ground, the coaxial unmanned aerial vehicle has the rapidity from preparation to arrival; compared with the conventional unmanned aerial vehicle which consumes a large amount of electricity to reach a designated area, the unmanned aerial vehicle can reach a target area by means of the initial speed of the cannon, and the unmanned aerial vehicle has more endurance time in the target area.

4. Compared with the conventional coaxial unmanned helicopter, the coaxial unmanned helicopter designed by the invention has the advantages that the distance between two rotors is greatly increased, and under the condition of the same energy consumption, larger rolling or pitching moment relative to the gravity center of the helicopter body can be generated, so that the energy saving of the whole system in flying is facilitated, and the pneumatic efficiency is obviously improved.

5. Compared with other rotor wing patrol missiles, the coaxial unmanned helicopter designed by the invention needs to occupy the space inside the fuselage to place a plurality of horn arms, has larger utilization rate of the limited space volume inside the fuselage, and can place more large-volume task loads.

6. The coaxial unmanned helicopter body adopts an inner and outer hoop structure similar to a barrel, and solves the problem of central asymmetry of the upper rotor wing and the lower rotor wing caused by reverse torque generated by the rotor wing on the helicopter body, so that the structure is more stable during flight.

Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of the whole structure of the present invention;

FIG. 2 is a schematic top view of the overall structure of the present invention;

FIG. 3 is a schematic view of the present invention partially cut away;

FIG. 4 is a schematic view of the structure of the foldable handpiece of the present invention;

FIG. 5 is a schematic view of the structure of the fuselage of the present invention;

FIG. 6 is a schematic view of the present invention in an upload bin and avionics installation configuration thereof;

FIG. 7 is a schematic view of the present invention download bin and avionics installation structure therein;

FIG. 8 is a schematic view of the folding mechanism of the present invention;

FIG. 9 is a schematic view of the structure of the inner fixing base of the present invention;

FIG. 10 is a schematic view of a unmanned aerial vehicle of the present invention;

wherein: the device comprises 1-power equipment, 2-folding mechanisms, 3-steering engines, 4-inner fixing seats, 5-outer fixing seats, 6-unmanned aerial vehicle shells, 7-loading storage bins, 8-downloading storage bins and 9-avionics.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-10, the present embodiment provides a missile-borne coaxial unmanned aerial vehicle, which includes a fuselage and upper and lower foldable handpieces. The fuselage includes unmanned aerial vehicle shell 6, goes up material storehouse 7, lower material storehouse 8 and avionics 9, and avionics 9 installs in last material storehouse 7, the bin that lower material storehouse 8 encloses, goes up material storehouse 7 and lower material storehouse 8 and passes through the fastener to be fixed on unmanned aerial vehicle shell 6. The foldable machine head comprises power equipment 1, a folding member 2, a steering engine 3, an inner fixing seat 4 and an outer fixing seat 5, wherein the power equipment 1 and the steering engine 3 are fixed on the folding member 2 through fasteners, the folding member 2 and the inner fixing seat 4 are connected through a screw and a bearing, and the inner fixing seat 4 and the outer fixing seat 5 are fixed on an unmanned aerial vehicle shell 6 through fasteners.

In the embodiment, a bearing is arranged at the joint of the folding member 2 and the inner fixing seat 4. The steering gear arm of the steering gear 3 is embedded into the wall of the inner fixing seat 4. The steering engine 3 is driven by electricity to rotate the steering engine arm, and as the weight of the inner fixed seat 4 embedded in the steering engine arm and the body fixedly connected with the steering engine arm exceeds the tensile force which can be generated by the steering engine, the folding member 2 and the steering engine 3 are influenced by reverse rotation force to deflect around the bearing. The aircraft nose is through the folding mechanism 2 design of unique hinge structure, realizes the deflection about the aircraft nose part in order to reach unmanned aerial vehicle folding and satisfy the demand that the missile-borne shot penetrated.

In this embodiment, unmanned aerial vehicle shell 6, go up material storehouse 7 and lower material storehouse 8 and make by light combined material, satisfy the intensity demand that the cannon penetrated when the missile-borne.

In this embodiment, the inner fixing base 4, the outer fixing base 5 and the folding member 2 are made of light composite materials, so as to meet the strength requirement of shot blasting during missile-borne.

In this embodiment, tighten up unmanned aerial vehicle structure through collapsible aircraft nose, improve the structural strength of unmanned aerial vehicle organism, satisfy the size demand of missile-borne simultaneously.

In the embodiment, the fuselage and the foldable nose are connected by virtue of the inner fixing seat 4 and the outer fixing seat 5, the rotor wings of the two power devices 1 are symmetrically distributed, and the aircraft fuselage is internally provided with a flight controller, an inertial navigation system, a power system and a servo system avionics device, so that the whole omnidirectional coaxial unmanned aerial vehicle is ensured to realize autonomous air flight.

In this embodiment, the foldable nose can control the gesture of the unmanned aerial vehicle through the folding component 2, and the distance between the upper rotor wing and the lower rotor wing is greatly increased compared with a conventional coaxial unmanned helicopter, so that the influence of pneumatic coupling between the two rotor wings is reduced, and a larger rolling or pitching moment can be generated under the condition that the maximum lift force of a single rotor wing is unchanged.

In the embodiment, the pitching posture of the missile-borne coaxial unmanned aerial vehicle is controlled by virtue of a folding component 2 and a steering engine 3 in the upper-layer foldable machine head; the roll gesture of the missile-borne coaxial unmanned aerial vehicle is controlled by virtue of a folding component 2 and a steering engine 3 in the lower-layer foldable machine head. Compared with a conventional coaxial unmanned aerial vehicle, the single aircraft nose can control the gesture change of one direction, and compared with a conventional helicopter, at least four steering engines are needed, so that the number of the steering engines is reduced, and the same gesture control effect of other helicopters is realized.

In this embodiment, the unmanned aerial vehicle shell 6 adopts eight carbon fiber vertical plates to enclose into regular octagon as unmanned aerial vehicle's shell to adopt mortise and tenon structure, regard two carbon fiber transverse plates as the installation fixed plate. The structure can well bear the anti-torque moment generated by the rotation of the upper motor and the lower motor by adopting the light carbon fiber material.

In this embodiment, avionics 9 include, but are not limited to, batteries, electronic controls, flight controls, GPS, data transmission, receivers, UBECs, and the like. The battery and the electric regulator are arranged in an upper material bin 7, and the flight control, GPS, data transmission, receiver and UBEC are arranged in a lower material bin 8, and the upper and lower material bins are mechanically connected to two carbon fiber transverse plates of the unmanned aerial vehicle shell 6. The electrical wiring between avionics passes through the fixed opening of the carbon fiber transverse plate to ensure the connectivity of the unmanned aerial vehicle circuit.

In this embodiment, the coaxial drone installation is folded into a missile-borne mode as shown in fig. 10: the nose is folded to the inner fixing seat at 90 degrees, and a rotor wing part in the power equipment 1 adopts a folding rotor wing and is folded and tightened to two sides of the machine body. At this time, the unmanned aerial vehicle can be loaded into shells with different calibers for launching.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (10)

1. The utility model provides a coaxial unmanned aerial vehicle of missile-borne type which characterized in that: the missile-borne coaxial unmanned aerial vehicle comprises a machine body and an upper foldable machine head and a lower foldable machine head;

the unmanned aerial vehicle comprises an unmanned aerial vehicle shell (6), an upper material bin (7), a lower material bin (8) and avionics equipment (9), wherein the avionics equipment (9) is arranged in a bin enclosed by the upper material bin (7) and the lower material bin (8), and the upper material bin (7) and the lower material bin (8) are fixed on the unmanned aerial vehicle shell (6) through fasteners;

the foldable machine head comprises power equipment (1), a folding member (2), a steering engine (3), an inner fixing seat (4) and an outer fixing seat (5), wherein the power equipment (1) and the steering engine (3) are fixed on the folding member (2) through fasteners, the folding member (2) and the inner fixing seat (4) are connected through a stopper screw and a bearing, and the inner fixing seat (4) and the outer fixing seat (5) are fixed on an unmanned aerial vehicle shell (6) through fasteners.

2. The missile-borne coaxial unmanned aerial vehicle according to claim 1, wherein a bearing is arranged at the joint of the folding member (2) and the inner fixing seat (4).

3. The missile-borne coaxial unmanned aerial vehicle according to claim 2, wherein the steering arms of the steering engine (3) are embedded in the wall of the inner fixed seat (4).

4. The missile-borne coaxial unmanned aerial vehicle according to claim 3, wherein the steering engine (3) is driven by electricity to rotate the steering engine arm, and the folding member (2) and the steering engine (3) are influenced by reverse exertion to deflect around the bearing due to the fact that the weight of the inner fixing seat (4) embedded in the steering engine arm and the body fixedly connected with the steering engine exceeds the tensile force generated by the steering engine.

5. The missile-borne coaxial drone of claim 1, wherein: unmanned aerial vehicle shell (6), go up material storehouse (7) and lower material storehouse (8) and make by light combined material, satisfy the intensity demand that the cannon penetrated when the missile-borne.

6. The missile-borne coaxial drone of claim 1, wherein: the inner fixing seat (4), the outer fixing seat (5) and the folding member (2) are made of light composite materials, so that the strength requirement of the shot during missile-borne is met.

7. The missile-borne coaxial drone of claim 1, wherein: through collapsible aircraft nose tightens up unmanned aerial vehicle structure, improves the structural strength of unmanned aerial vehicle organism, satisfies the size demand of missile-borne simultaneously.

8. The missile-borne coaxial drone of claim 1, wherein: the aircraft body and the foldable aircraft nose are connected by virtue of the inner fixing seat (4) and the outer fixing seat (5), the rotor wings of the two power devices (1) are symmetrically distributed, and the aircraft body is internally provided with a flight controller, an inertial navigation system, a power system and a servo system avionics device, so that the whole omnidirectional coaxial unmanned aerial vehicle is ensured to realize autonomous air flight.

9. The missile-borne coaxial unmanned aerial vehicle of claim 8, wherein: the folding machine head can control the attitude of the unmanned aerial vehicle through the folding component (2).

10. The missile-borne coaxial drone of claim 9, wherein: the pitching attitude of the missile-borne coaxial unmanned aerial vehicle is controlled by virtue of a folding component (2) and a steering engine (3) in the upper-layer foldable machine head; the roll gesture of the missile-borne coaxial unmanned aerial vehicle is controlled by virtue of a folding component (2) and a steering engine (3) in a lower-layer foldable machine head.