CN205087141U - Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement - Google Patents
Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement Download PDFInfo
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- CN205087141U CN205087141U CN201520874129.5U CN201520874129U CN205087141U CN 205087141 U CN205087141 U CN 205087141U CN 201520874129 U CN201520874129 U CN 201520874129U CN 205087141 U CN205087141 U CN 205087141U
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Abstract
The utility model discloses an oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement, it mainly includes the rotor - control system of three sets of contrarotations, and every set of rotor - control system is coaxial, and direction of rotation is opposite, and when producing lift, the interact of its reaction torque can also play the stable and heading control effect in course. The utility model discloses the steering control problem that oil moved displacement six rotor unmanned aerial vehicle has mainly been solved, for thoroughly solve the load of many rotors and the flight time problem provides strong technical support.
Description
Technical field
The utility model relates to technical field of aerospace, particularly relates to co-axial rotor-maneuvering system that a kind of oil moves coaxial six rotor wing unmanned aerial vehicles of displacement.
Background technology
Common VUAV mainly contains the types such as oil dynamic helicopter (as shown in Figure 1), electric helicopter (as shown in Figure 2) and electronic many rotor wing unmanned aerial vehicles (as shown in Figure 4).
As Fig. 1 and Fig. 2, pure helicopter can be divided into the dynamic helicopter of oil and electric helicopter by the difference of power system, its mechanical system mainly comprises power sub-system, drive subsystem, operon system and rotor subsystem, its complicated in mechanical structure, especially drive subsystem and operon system.Drive subsystem comprises complicated enclosed gear system and sealing arrangement usually, complex structure and processing and manufacturing cost is high, and assembly technology requires high.In operon system, most important parts are auto-bank unit (as shown in Figure 3), auto-bank unit mainly comprises outer shroud (not rotating ring), inner ring (rotating ring) and oscillating bearing, complex structure and processing and manufacturing cost is high, assembly technology requires high.In general, helicopter carries out the manipulation of each passages such as total distance of rotor and feathering by 1 auto-bank unit, to realize the control of its flight, thus the coupling of its flight dynamics is serious, and manual flight control and the flight control system technical threshold of the helicopter brought are all higher.
As Fig. 4, conventional electronic many rotor wing unmanned aerial vehicles major mechanical structure is frame (or frame adds collapsible horn), and main components is battery, electricity tunes, motor, fly to control and screw propeller etc., is realized the control of aircraft by the rotating speed changing each screw propeller.Its maximum advantage is that system is simple, with low cost, manual flight control and flight control system technical threshold all lower.But due to the restriction by battery energy density, during its boat, be generally only 10-30 minute, and the mode increased when it navigates by increasing merely number of batteries can reduce its load-carrying capacity greatly.Thus, move helicopter relative to oil, electronic many rotor wing unmanned aerial vehicles (also comprising electric helicopter), its maximum problem is that duration performance is poor.
Utility model content
In order to overcome above-mentioned the deficiencies in the prior art, the utility model provides dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of a kind of oil, when it has large load, a long boat and the convenient folding advantage such as to carry, reduce buying, operation and maintenance cost and working service technical threshold simultaneously.The dynamic coaxial six rotor wing unmanned aerial vehicle rotor-maneuvering systems of displacement of one oil that the utility model provides, solve the maneuvering and control problem of dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil, provide strong technical support for thoroughly solving the load-carrying of many rotors with problem during boat.
The technical scheme that the utility model adopts is: dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of a kind of oil, mainly comprise be installed on rotor seat three cover about the laterally zygomorphic rotor-maneuvering system in face in rotor seat level, three cover rotor-maneuvering systems are coaxial, hand of rotation is contrary, while producing lift, the interaction of its reactive torque can also play coursekeeping and directional control effect.Position annexation between them is: this rotor-maneuvering system, comprise the rotor head connecting rotor shaft and oar folder, connect the oar folder of distance-variable rocker arm and blade, connect the pitch-change-link of displacement outer shroud, displacement slip ring, displacement inner ring and distance-variable rocker arm, and connect the steering wheel control operating rod of displacement outer shroud and steering wheel dish.Steering wheel connects steering wheel dish and rotor seat, the slewing maneuver of steering wheel passes on blade by steering wheel dish, steering wheel control operating rod, displacement outer shroud, displacement slip ring, displacement inner ring, pitch-change-link, distance-variable rocker arm and oar folder, thus make blade change of incidence, blade lift size changes, and achieves the manipulation of rotor.Rotor shaft is connected on rotor seat by bearing, and acting as of rotor seat supports the rotary motion of rotor system, transferring power and lift.
Advantage and effect: compared with prior art, the beneficial effects of the utility model are the maneuvering and control problems solving dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil, for when thoroughly solving the load-carrying of many rotors and navigate, problem provides strong technical support.
Accompanying drawing explanation
The dynamic helicopter exemplary block diagram of the conventional oil of Fig. 1.
The conventional electric helicopter exemplary block diagram of Fig. 2.
The conventional oil of Fig. 3 moves/electric helicopter auto-bank unit exemplary block diagram.
The conventional electronic many rotor wing unmanned aerial vehicles exemplary block diagram of Fig. 4.
The dynamic coaxial six rotor wing unmanned aerial vehicle constructionals drawing of displacement of Fig. 5 oil.
The dynamic coaxial six rotor wing unmanned aerial vehicle co-axial rotor-maneuvering systems of displacement of Fig. 6 oil.
The dynamic coaxial six rotor wing unmanned aerial vehicle fundamental diagrams of displacement of Fig. 7 oil.
Fig. 8 is appearance schematic diagram of the present invention.
In accompanying drawing, sign flag is as follows:
1-co-axial rotor-maneuvering system; 2-power system-driving system; 3-machine frame system.
4-rotor shaft; 5-rotor head; 6-oar presss from both sides; 7-blade; 8-distance-variable rocker arm; 9-pitch-change-link; 10-displacement slip ring; 11-displacement inner ring; 12-displacement outer shroud; 13-steering wheel control operating rod; 14-steering wheel dish; 15-steering wheel; 16-rotor bearing; M1, M2, M3, M4, M5, M6-rotor-maneuvering system.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described, is to be understood that preferred embodiment described herein is only for instruction and explanation of the utility model, and is not used in restriction the utility model.
See Fig. 1---Fig. 8, in order to overcome above-mentioned the deficiencies in the prior art, the utility model provides co-axial rotor-maneuvering system that a kind of oil moves coaxial six rotor wing unmanned aerial vehicles of displacement, the dynamic coaxial six rotor wing unmanned aerial vehicle rotor-maneuvering systems of displacement of one oil provided, solve the maneuvering and control problem of dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil, for when thoroughly solving the load-carrying of many rotors and navigate, problem provides strong technical support.
See Fig. 6, the co-axial rotor-maneuvering system main composition moving coaxial six rotor wing unmanned aerial vehicles of displacement relevant to the oil of the present embodiment is as follows:
Rotor head 5 connects rotor shaft 4 and oar folder 6, and oar folder 6 connects distance-variable rocker arm 8 and blade 7, and pitch-change-link 9 connects displacement outer shroud 12, displacement slip ring 10, displacement inner ring 11 and distance-variable rocker arm 8, and steering wheel control operating rod 13 connects displacement outer shroud 12 and steering wheel dish 14.Steering wheel 15 connects steering wheel dish 14 and rotor bearing 16, the slewing maneuver of steering wheel 15 passes on blade 7 by steering wheel dish 14, steering wheel control operating rod 13, displacement outer shroud 12, displacement slip ring 10, displacement inner ring 11, pitch-change-link 9, distance-variable rocker arm 8 and oar folder 6, thus make its change of incidence, lift size changes, and achieves the manipulation of rotor.Rotor shaft 4 is connected on rotor bearing 16 by bearing, the rotary motion acting as support rotor system of rotor bearing 16.
Total apart from the cooperation between handling by three cover co-axial rotor-maneuvering systems, can be formed coaxial six rotor wing unmanned aerial vehicles of the dynamic displacement of oil longitudinally, laterally, the control of four passages of total distance and driftage.
See Fig. 7, the oil of the present embodiment moves the Pattern Class of the offline mode of coaxial six rotor wing unmanned aerial vehicles of displacement and electronic coaxial six rotors of routine seemingly.
Its maneuvering and control principle is as follows:
Represent six secondary rotor-maneuvering systems with M1, M2, M3, M4, M5, M6 respectively, as shown in the figure, wherein M1-M4, M2-M5 and M3-M6 match its rotation direction respectively between two, form three pairs independently co-axial rotor-maneuvering system.
Three secondary co-axial rotor-maneuvering systems carry out total total distance manipulation defining dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil apart from increase or reduction manipulation simultaneously.
Co-axial rotor-maneuvering system M2-M5 carries out always handling apart from increasing/reducing, and co-axial rotor-maneuvering system M3-M6 carries out reverse total distance and handles, and dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil will form lateral control.
Co-axial rotor-maneuvering system M1-M4 carries out always handling apart from increasing/reducing, and co-axial rotor-maneuvering system M2-M5 and M3-M6 carries out reverse total distance and handles, and dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil will form fore-and-aft control.
M1, M2 and M3 carry out always handling apart from increasing/reducing, and total distance that M4, M5 and M6 carry out equivalent reverse is handled, and dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil will form yaw control.
The dynamic coaxial six rotor wing unmanned aerial vehicle rotor-maneuvering systems of displacement of one oil that the beneficial effects of the utility model are to provide, solve the maneuvering and control problem of dynamic coaxial six rotor wing unmanned aerial vehicles of displacement of oil, for when thoroughly solving the load-carrying of many rotors and navigate, problem provides strong technical support.
Claims (1)
1. an oil moves the co-axial rotor-maneuvering system of coaxial six rotor wing unmanned aerial vehicles of displacement, it is characterized in that: this rotor-maneuvering system comprises the rotor head connecting rotor shaft and oar folder, connect the oar folder of distance-variable rocker arm and blade, connect the pitch-change-link of displacement outer shroud, displacement slip ring, displacement inner ring and distance-variable rocker arm, and connect the steering wheel control operating rod of displacement outer shroud and steering wheel dish; Steering wheel connects steering wheel dish and rotor seat, the slewing maneuver of steering wheel passes on blade by steering wheel dish, steering wheel control operating rod, displacement outer shroud, displacement slip ring, displacement inner ring, pitch-change-link, distance-variable rocker arm and oar folder, thus make blade change of incidence, blade lift size changes, and achieves the manipulation of rotor; Rotor shaft is connected on rotor seat by bearing, and acting as of rotor seat supports the rotary motion of rotor system, transferring power and lift; Three covers are coaxial about the laterally zygomorphic rotor-maneuvering system in face in rotor seat level, and hand of rotation is contrary, and while producing lift, the interaction of its reactive torque can also play coursekeeping and directional control effect.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520874129.5U CN205087141U (en) | 2015-11-04 | 2015-11-04 | Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520874129.5U CN205087141U (en) | 2015-11-04 | 2015-11-04 | Oil moves coaxial rotor - control system of six coaxial rotor unmanned aerial vehicle of displacement |
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| CN205087141U true CN205087141U (en) | 2016-03-16 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730173A (en) * | 2016-05-06 | 2016-07-06 | 吉林大学 | Water, land, air and wall type quadruple robot |
| CN106697281A (en) * | 2017-03-09 | 2017-05-24 | 北京天宇新超航空科技有限公司 | Variable-pitch rotor wing power system module |
| CN109969388A (en) * | 2019-04-19 | 2019-07-05 | 北京海空行科技有限公司 | A kind of steerable system for coaxial unmanned helicopter |
| CN112298537A (en) * | 2020-09-23 | 2021-02-02 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
-
2015
- 2015-11-04 CN CN201520874129.5U patent/CN205087141U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730173A (en) * | 2016-05-06 | 2016-07-06 | 吉林大学 | Water, land, air and wall type quadruple robot |
| CN106697281A (en) * | 2017-03-09 | 2017-05-24 | 北京天宇新超航空科技有限公司 | Variable-pitch rotor wing power system module |
| CN109969388A (en) * | 2019-04-19 | 2019-07-05 | 北京海空行科技有限公司 | A kind of steerable system for coaxial unmanned helicopter |
| CN109969388B (en) * | 2019-04-19 | 2024-05-28 | 北京海空行科技有限公司 | Control system for coaxial unmanned helicopter |
| CN112298537A (en) * | 2020-09-23 | 2021-02-02 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
| CN112298537B (en) * | 2020-09-23 | 2022-10-11 | 海南热带海洋学院 | Direct-drive four-steering-engine double-rotor-wing longitudinal unmanned helicopter and control method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200610 Address after: Room 108, science and technology entrepreneurship research incubation complex building (Building 5), Baixia high tech Industrial Park, No. 5 Yongzhi Road, Qinhuai District, Nanjing, Jiangsu Province, 210001 Patentee after: Vito (Nanjing) Intelligent Technology Co.,Ltd. Address before: 100191, Haidian District, Xueyuan Road, Beijing No. 35, Nanjing Ning building, 14 floor Patentee before: ZHONGHAN WEITUO (BEIJING) TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220627 Address after: 402260 north section of Nanbei Avenue, Shuangfu street, Jiangjin District, Chongqing 390 Patentee after: Chongqing Camel Aviation Technology Co.,Ltd. Address before: Room 108, science and technology entrepreneurship research incubation complex building (Building 5), Nanjing Baixia high tech Industrial Park, No. 5 Yongzhi Road, Qinhuai District, Nanjing, Jiangsu 210001 Patentee before: Vito (Nanjing) Intelligent Technology Co.,Ltd. |