CN205916329U - Coaxial double -oar unmanned vehicles - Google Patents
Coaxial double -oar unmanned vehicles Download PDFInfo
- Publication number
- CN205916329U CN205916329U CN201620479949.9U CN201620479949U CN205916329U CN 205916329 U CN205916329 U CN 205916329U CN 201620479949 U CN201620479949 U CN 201620479949U CN 205916329 U CN205916329 U CN 205916329U
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- China
- Prior art keywords
- oar
- coaxial double
- motor
- flight
- gesture stability
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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 utility model relates to a coaxial double -oar unmanned vehicles, one kind concretely relates to use coaxial double -oar brushless motor as the drive, through airfoil slope change of flight gesture, can carry out the VTOL, hover and the small -size unmanned vehicles of " perpendicular flight ". Including screw, coaxial double -oar motor, the attitude control subassembly cabin body, steering wheel, connecting rod, airfoil, electronic equipment cabin, FPV equipment compartment, protection casing and undercarriage, wholly be vertical distribution. Coaxial double -oar motor drives lift and the inside moment of torsion of offsetting that the screw provided the vertical direction, makes the aircraft realize the VTOL and the action of hovering. Each organizes the steering wheel can pass through connecting rod area movable vane face, makes it around strengthening the stock slope, and the air current that the motor produced acts on the airfoil of slope, can make the flight gesture of aircraft change, and then realizes the skew and deflect. The utility model discloses simple structure easily controls, and the space that occupies during flight is littleer, more adapts to the flight of indoor and little space.
Description
Technical field
This utility model is related to coaxial double-oar unmanned vehicle and in particular to one kind is used coaxial double-oar brushless electric machine conduct
Drive, change of flight attitude is tilted by aerofoil, the miniature self-service flight of VTOL, hovering and " vertical flight " can be carried out
Device.
Background technology
In current model plane and SUAV field, have the machine of VTOL, hovering and " vertical flight " function
Type is mainly multi-rotor aerocraft and helicopter flight device, and both aircraft all pass through to adjust the control to aircraft for the rotor realization
System, often haves the shortcomings that certain:
1st, multi-rotor aerocraft needs to install multigroup motor and electron speed regulator additional so that manufacturing cost is higher, winged control program
Complicated；Due to multiple rotors in approximately the same plane layout, it is relatively huge to easily cause volume, and is easily damaged；
2nd, single-rotor helicopter needs complicated frame for movement to ensure operating, and main rotor rotating speed is fast, scope is big, dangerous
High；
3rd, coaxial double-oar helicopter is in order to ensure, between rotor and rotor, not collide between rotor and the gimbal lever, past
Toward needing to make between rotor and rotor, between rotor and the gimbal lever, keep certain distance, in turn result in whole machine higher, the structure of height
The utilization rate in space is low；Elongated quill reliability is poor, and processing request is higher.
Some also can accomplish hovering and " vertical flight " with the fixed-wing unmanned plane of VTOL in the VTOL stage,
But its main flying method is still basically perpendicular to horizontal plane and provides pulling force, wing substantially parallel for being transformed into rotor face after lift-off
In horizontal plane and provide lift fixed-wing " horizontal flight " mode.This type is in VTOL stage and " horizontal flight "
When carrying out transition between the stage, generally require the control of complexity.
For offsetting the moment of torsion that single rotor wing rotation produces, a lot of unmanned planes arrange that two independent, rotating speed is identical, steering is contrary
Motor, but two individual motor to tail layout when, respective propeller relative distance is farther out although circumferencial direction can be offset
Moment of torsion, but the stability of impact radial direction, are connected or during to first layout using head and the tail, can affect position and the electricity of aircraft center of gravity again
The installation on road.
Coaxial double-oar brushless electric machine (also referred to as anti-twisted force motor, to rotating motor, hereinafter referred to as coaxial double-oar motor) will be by will
Two motors are combined into one, and on the premise of not affecting position of centre of gravity and circuit installation, make two rotor faces as close as possible,
Omnidirectional's offset torque.
Meanwhile, fancy aerobatic fixed-wing model plane can be carried out constantly develop, such as navigate in f3a, f3d and f3p etc.
In mould event, by vertical for fixed wing airplane pull-up and keep hover loop wheel machine action become based on stunt, winged handss
The floating state that aircraft keeps relative stability in the air can be made by controlling aileron, elevator and the rudder of aircraft, or even
Realize rotor face to be basically parallel to horizontal plane and lift is provided, fuselage axis is basically perpendicular to horizontal plane and realizes driftage, deflection
" vertical flight " of action.
The aircraft of this utility model patent application is to be used coaxial double-oar brushless electric machine as driving, is tilted by aerofoil
Change of flight attitude, can carry out the aircraft of VTOL, hovering and " vertical flight ", with previously described various aircraft
Different.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the utility model proposes a kind of coaxial double-oar unmanned vehicle.
The scheme that this utility model is adopted by its technical problem of solution is:
Described coaxial double-oar unmanned vehicle, main inclusion coaxial double-oar electric machine assembly, gesture stability assembly, electronics set
Standby cabin, fpv equipment compartment, protective cover and undercarriage, wherein said coaxial double-oar electric machine assembly includes coaxial double-oar motor and one
To propeller；Described gesture stability assembly includes gesture stability assembly nacelle and multigroup steering wheel, pull bar, aerofoil, described
Aerofoil is below coaxial double-oar motor helical oar, and is distributed in fuselage surrounding, and the airflow function that coaxial double-oar motor produces is in the wing
Face；Described electronics bay is used for carrying electron speed regulator, gyroscope, flies the electronic devices such as control and model plane lithium battery；Described
Fpv equipment compartment can be used for carrying aerial camera, head and figure and pass the fpv equipment such as transmitting terminal, this bay section can select to carry or
Do not carry.
Its feature is, using coaxial double-oar motor as power, is rotated backward by motor constant speed, from internal-neutralized torsion
Square simultaneously provides lift upwards.Rotor face does not produce the change in angle with fuselage, and airscrew pitch does not change, and motor turns
Speed change only affects aircraft lift change and lifting attitude；
Its feature is also embodied in, and is provided with gesture stability assembly below coaxial double-oar motor, by controlling the steering wheel push-and-pull wing
Face, makes aerofoil occur, and then realizes the control to attitude of flight vehicle.In flight course, aerofoil is served only for controlling attitude,
Lift or bearing load are not provided；
Its feature is also embodied in, and main equipment and bay section, below coaxial double-oar electrical axis, are integrally in vertical distribution, weight
The heart is in below coaxial double-oar motor all the time, is basically parallel to horizontal plane, fuselage axis using rotor face substantially vertical during flight
" vertical flight " mode in horizontal plane；
Its feature is also embodied in, and for adapting to the flight of different situations, each assembly and bay section can be dismantled, gesture stability assembly
Especially can be embodied in adjustment position so that " coaxial double-oar motor-gesture stability assembly-electronics bay-fpv equipment compartment is (or not
Carry this bay section) " when being attached, coaxial double-oar electric machine assembly and gesture stability assembly realize close coupled collocation, with " coaxial
When double oars motor-electronic equipment-gesture stability assembly cabin-fpv equipment compartment (or not carrying this bay section) " are attached, coaxial double
Long distance coupling collocation realized by oar electric machine assembly and gesture stability assembly.When arranging in pairs or groups using close coupled, protective cover can be installed,
Coaxial double-oar electric machine assembly and gesture stability assembly all can be enclosed from side and block by described protective cover, prevent propeller
Hurt sb.'s feelings, when using long distance coupling collocation, undercarriage can be installed；
Its feature is also embodied in, and gesture stability assembly can be using " the two panels aileron+two similar to fancy stunt fixed-wing
The design of 6 aerofoils of piece elevator+two panels rudder ", it would however also be possible to employ the aerofoil design of 3 or 4 aerofoil mixing controls.
The good effect that this utility model brings is:
1st, more adapt to indoor and little space flight: due to using vertical arrangement and " vertical flight " mode, and using coaxial
Double oar motors, in the projection of horizontal plane, this utility model compares that other kinds of aircraft is less, the space taking during flight is more
Little, flight speed is slow, and possesses hovering ability, so being more suitable for environment and flight in other less spaces indoors；
2nd, structure is simplified: by avoiding adopting the gimbal lever, the complex structure such as spider or have setting of high-precision requirement
Meter, using the design of steering wheel push-and-pull aerofoil, makes structure be simplified, production cost is reduced, also improves reliability simultaneously；
3rd, it is easily manipulated: because rudder face is less, this utility model flight attitude amplitude of variation is little, flight attitude pace of change
Slowly, reduce the difficulty of manipulation.When arranging in pairs or groups using close coupled, protective cover can be installed additional, safety is higher；
4th, the center of gravity of this utility model is all the time immediately below coaxial double-oar electrical axis, possess from structure certain from
Steady ability；
5th, by using coaxial double-oar motor, flight can be made more steady with internal-neutralized moment of torsion.
Brief description
Fig. 1 adopts coaxial double-oar unmanned vehicle when four aerofoil designs, close coupled collocation, dismounting protective cover overall
Schematic diagram；
Fig. 2 adopts four aerofoil designs, close coupled collocation, overall equipped with coaxial double-oar unmanned vehicle during protective cover
Schematic diagram；
Fig. 3 adopts four aerofoil designs, long distance coupling to arrange in pairs or groups, equipped with coaxial double-oar unmanned vehicle during auxiliary landing gear
Overall schematic；
Fig. 4 gesture stability component detail schematic diagram；
Fig. 5 adopts coaxial double-oar unmanned vehicle when three aerofoil designs, long distance coupling collocation, dismounting auxiliary landing gear
Schematic top plan view；
Fig. 6 adopts coaxial double-oar unmanned vehicle when six aerofoil designs, long distance coupling collocation, dismounting auxiliary landing gear
Schematic top plan view.
In figure, 1-1,1-2. propeller, 2. coaxial double-oar motor, 3. gesture stability assembly nacelle, 4. steering wheel, 5. connecting rod,
6. aerofoil, 7. electronics bay, 8.fpv equipment compartment, 9. protective cover, 10. undercarriage.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the utility model is described in further detail:
A kind of coaxial double-oar unmanned vehicle includes a pair of propeller 1-1 and 1-2, coaxial double-oar motor 2, gesture stability group
Part nacelle 3, steering wheel 4, connecting rod 5, aerofoil 6, electronics bay 7, fpv equipment compartment 8, protective cover 9 and undercarriage 10.
A pair of described propeller refers to the contrary model plane/unmanned plane propeller of a pair of pitch.
Described coaxial double-oar motor refers to a kind of identical by two rotating speeds, the contrary outer rotor brushless motor combination of steering
Drive mechanism.
The side wall of described gesture stability assembly nacelle is provided with multiple grooves that can install steering wheel, and nacelle middle and lower part sets
It is equipped with the reinforcement stock of many protrusion nacelle.
Described aerofoil is provided with rudder foot, and has through hole.
Described electronics bay can provide electric power for aircraft, and the flight attitude of aircraft is controlled.
Described fpv equipment compartment is used for carrying the equipment such as fpv camera, head and figure biography.
Concrete structure of the present utility model is:
When being arranged in pairs or groups using close coupled, a pair of propeller is installed on coaxial double-oar motor, coaxial double-oar motor lower end with
Gesture stability assembly nacelle connects, and each groove of gesture stability assembly cabin body sidewall is respectively mounted steering wheel, gesture stability assembly cabin
Each reinforcement stock of body inserts each aerofoil through hole respectively, makes it possible to around reinforcement stock rotation, each group steering wheel and corresponding aerofoil
Connected by connecting rod, the reinforcement stock projection of gesture stability assembly is connected with protective cover, gesture stability combines nacelle lower end
It is sequentially connected electronics bay and fpv equipment compartment.
When using long distance coupling collocation when, a pair of propeller is installed on coaxial double-oar motor, coaxial double-oar motor lower end according to
Secondary connection electronics bay and gesture stability assembly nacelle, each groove of gesture stability assembly cabin body sidewall is respectively mounted steering wheel,
Each reinforcement stock of gesture stability assembly nacelle inserts each aerofoil through hole respectively, makes it possible to around reinforcement stock rotation, each group rudder
Machine and corresponding aerofoil are connected by connecting rod, and the reinforcement stock projection of gesture stability assembly is connected with undercarriage, attitude control
System combination nacelle lower end connects fpv equipment compartment.
Specific implementation process of the present utility model is:
Coaxial double-oar motor drive propeller generation air-flow downwards, and the lift of vertical direction is provided, make aircraft
Realize VTOL and hovering action.Coaxial double-oar motor makes a pair of contrary propeller constant speed of pitch rotate backward, and inside is supported
Disappear moment of torsion it is ensured that flies stablizes.
Steering wheel can drive aerofoil by connecting rod, is allowed to around strengthening stock inclination certain angle, coaxial double-oar motor produces
Airflow function in tilt aerofoil, the flight attitude of aircraft can be made to change.Need to carry out going off course when aircraft, partially
Turn or during the action such as mobile, each group steering wheel drives aerofoil to rotate respectively, form combined effect, so realize aircraft skew,
The action such as deflect and move.
Claims (6)
1. a kind of coaxial double-oar unmanned vehicle, is characterized in that: includes coaxial double-oar electric machine assembly, gesture stability group in structure
Part, electronics bay, fpv equipment compartment, protective cover and undercarriage；Wherein said coaxial double-oar electric machine assembly includes coaxial double-oar
Motor and a pair of propeller；Described gesture stability assembly includes gesture stability assembly nacelle and multigroup steering wheel, pull bar, the wing
Face, described aerofoil is below coaxial double-oar motor helical oar, and is distributed in fuselage surrounding, the air-flow that coaxial double-oar motor produces
Act on rudder face；Described electronics bay is used for carrying electron speed regulator, gyroscope, model plane lithium battery and flies control electronics device
Part；Described fpv equipment compartment can be used for carrying aerial camera, head and figure biography transmitting terminal.
2. a kind of coaxial double-oar unmanned vehicle according to claim 1 it is characterised in that: using coaxial double-oar motor make
For power, rotated backward by motor constant speed, from internal-neutralized moment of torsion and provide lift upwards.
3. a kind of coaxial double-oar unmanned vehicle according to claim 1 it is characterised in that: set below coaxial double-oar motor
It is equipped with gesture stability assembly, by controlling steering wheel push-and-pull aerofoil, make aerofoil occur, and then realize the control to attitude of flight vehicle
System；In flight course, aerofoil is served only for controlling attitude, does not provide lift or bearing load.
4. a kind of coaxial double-oar unmanned vehicle according to claim 1 it is characterised in that: main equipment and bay section are altogether
Below the double oar electrical axis of axle, integrally it is in vertical distribution, center of gravity is in below coaxial double-oar motor all the time, using " vertical during flight
Fly nonstop to row " mode.
5. a kind of coaxial double-oar unmanned vehicle according to claim 1 it is characterised in that: each assembly and bay section can be torn open
Unload, gesture stability assembly can especially be embodied in coaxial double-oar electric machine assembly and gesture stability assembly has " low coverage coupling with adjustment position
Close " and " long distance coupling " two kinds of collocation modes.
6. a kind of coaxial double-oar unmanned vehicle according to claim 1 it is characterised in that: the aerofoil of gesture stability assembly
Quantity has 3,4 or 6 three kinds collocation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620479949.9U CN205916329U (en) | 2016-05-25 | 2016-05-25 | Coaxial double -oar unmanned vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620479949.9U CN205916329U (en) | 2016-05-25 | 2016-05-25 | Coaxial double -oar unmanned vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205916329U true CN205916329U (en) | 2017-02-01 |
Family
ID=57877084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620479949.9U Expired - Fee Related CN205916329U (en) | 2016-05-25 | 2016-05-25 | Coaxial double -oar unmanned vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205916329U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965923A (en) * | 2017-04-01 | 2017-07-21 | 苏州科伊嘉航空科技有限公司 | Driven helicopter |
| CN108045565A (en) * | 2018-01-15 | 2018-05-18 | 天津大学 | A kind of single shaft aircraft |
| CN108423167A (en) * | 2018-05-14 | 2018-08-21 | 南方科技大学 | A kind of double control system aircraft |
| CN109305346A (en) * | 2018-11-27 | 2019-02-05 | 歌尔股份有限公司 | A kind of unmanned plane during flying device |
| CN109383759A (en) * | 2018-11-05 | 2019-02-26 | 南方科技大学 | A kind of aircraft adjusting flight attitude based on rudder face |
| CN109808876A (en) * | 2019-03-26 | 2019-05-28 | 河南谷翼自动化科技有限公司 | A kind of coaxial double-vane aircraft |
| CN110294114A (en) * | 2019-05-07 | 2019-10-01 | 前海微蜂创联科技(深圳)合伙企业(有限合伙) | A kind of attitude control system of coaxial double-oar aircraft |
| CN111572801A (en) * | 2020-05-29 | 2020-08-25 | 中南大学 | Small-size coaxial aircraft jettison device |
| CN112623209A (en) * | 2020-12-31 | 2021-04-09 | 上海海洋大学 | Novel major-minor dual-rotor aircraft |
-
2016
- 2016-05-25 CN CN201620479949.9U patent/CN205916329U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965923A (en) * | 2017-04-01 | 2017-07-21 | 苏州科伊嘉航空科技有限公司 | Driven helicopter |
| CN108045565A (en) * | 2018-01-15 | 2018-05-18 | 天津大学 | A kind of single shaft aircraft |
| CN108423167A (en) * | 2018-05-14 | 2018-08-21 | 南方科技大学 | A kind of double control system aircraft |
| CN108423167B (en) * | 2018-05-14 | 2024-02-27 | 南方科技大学 | Dual control system aircraft |
| CN109383759B (en) * | 2018-11-05 | 2023-08-22 | 南方科技大学 | Aircraft capable of adjusting flight attitude based on control surface |
| CN109383759A (en) * | 2018-11-05 | 2019-02-26 | 南方科技大学 | A kind of aircraft adjusting flight attitude based on rudder face |
| CN109305346A (en) * | 2018-11-27 | 2019-02-05 | 歌尔股份有限公司 | A kind of unmanned plane during flying device |
| CN109808876A (en) * | 2019-03-26 | 2019-05-28 | 河南谷翼自动化科技有限公司 | A kind of coaxial double-vane aircraft |
| CN109808876B (en) * | 2019-03-26 | 2023-09-19 | 河南谷翼自动化科技有限公司 | Coaxial double-wing aircraft |
| CN110294114A (en) * | 2019-05-07 | 2019-10-01 | 前海微蜂创联科技(深圳)合伙企业(有限合伙) | A kind of attitude control system of coaxial double-oar aircraft |
| CN110294114B (en) * | 2019-05-07 | 2023-09-01 | 桐乡市乌镇鹰航科技有限公司 | Gesture control system of coaxial double-oar aircraft |
| CN111572801B (en) * | 2020-05-29 | 2021-08-20 | 中南大学 | Small-size coaxial aircraft jettison device |
| CN111572801A (en) * | 2020-05-29 | 2020-08-25 | 中南大学 | Small-size coaxial aircraft jettison device |
| CN112623209A (en) * | 2020-12-31 | 2021-04-09 | 上海海洋大学 | Novel major-minor dual-rotor aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170201 Termination date: 20180525 |