CN207403934U - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN207403934U CN207403934U CN201721552435.2U CN201721552435U CN207403934U CN 207403934 U CN207403934 U CN 207403934U CN 201721552435 U CN201721552435 U CN 201721552435U CN 207403934 U CN207403934 U CN 207403934U
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Abstract
This disclosure relates to a kind of multi-rotor unmanned aerial vehicle, including fuselage, rotor and laterally through the rotatable support arm (30) of the fuselage, the rotor is mounted on the both ends of the support arm (30), the rotor includes coaxial the first rotor (21) and the second rotor (22), first rotor (21) and second rotor (22) it is oppositely oriented.Pass through above-mentioned technical proposal, since rotor can be with verting before and after support arm, so that unmanned plane is when moving forward and backward, the rotor to vert can either provide the lift that unmanned plane is maintained to certain altitude, also the power that unmanned plane moves forward and backward is capable of providing, while fuselage need not tilt, when being provided with carry equipment on unmanned plane, carry equipment need not tilt, it is ensured that the stability monitoring of task object.In addition, the vortex that the blade of coaxial and reversion two groups of rotors generates when rotating can cancel out each other, energy loss caused by so as to be vortexed is preferably minimized.
Description
Technical field
A kind of this disclosure relates to unmanned air vehicle technique field, and in particular, to multi-rotor unmanned aerial vehicle.
Background technology
With the fast development of science and technology, in recent years, unmanned plane is also increasingly wide for the application development of industry-by-industry
It is general, the fields such as at this stage, the application of unmanned plane has been directed to take photo by plane, agricultural plant protection, geological prospecting, electric inspection process.Above-mentioned
It is to pass through when multi-rotor unmanned aerial vehicle changes posture and position using more, traditional quadrotor flight among these sector applications
The rotating speed that flight control system adjusts four brushless motors realizes, when elevating movement and roll motion, it is necessary to be controlled by flight
System adjustment motor speed makes fuselage that could carry out the movement of four direction (front and rear to left and right to) after being tilted a certain angle, this
In the case of kind, if other task devices of carry such as holder camera, infrared equipment, these equipment are in order to ensure the steady of task object
Fixed monitoring, then also need also to make banking motion therewith with the inclination of fuselage.
Utility model content
The purpose of the disclosure is to provide a kind of multi-rotor unmanned aerial vehicle, and fuselage is inclined during exercise to solve unmanned plane asks
Topic.
To achieve these goals, the disclosure provides a kind of multi-rotor unmanned aerial vehicle, runs through including fuselage, rotor and laterally
In the rotatable support arm of the fuselage, the rotor is mounted on the both ends of the support arm, and the rotor includes coaxial first
Rotor and the second rotor, first rotor and second rotor it is oppositely oriented.
Optionally, first rotor and second rotor are symmetrical with the axis of the support arm.
Optionally, the support arm includes the first support arm and second support arm that time interval is set, and the fuselage interior is set
There is the connecting rod of front and rear extension, the both ends of the connecting rod are rotatably connected to the first support arm and the second support arm respectively
On, so that the first support arm and the second support arm interlock with the rotation, the fuselage interior is additionally provided with to drive described
The first of one support arm or the second support arm is verted steering engine.
Optionally, the fuselage includes top plate, bottom plate and is connected to the top plate and the side plate of the bottom plate both sides, institute
Support arm is stated through the side plate to be fixed on the fuselage, the fuselage further include be fixed on it is fairshaped above the top plate
Rectification shell.
Optionally, multiple lightening holes are offered on the top plate and the bottom plate, the multiple lightening hole is in cellular cloth
It puts.
Optionally, the bottom of the bottom plate is fixed with the undercarriage of inverted V-arrangement.
Optionally, the undercarriage includes elastic component.
Optionally, the top plate is identical with the base plate configuration, and the interposition including flat segments and from the flat segments
The convex section for protruding and being formed to both sides is put, battery compartment is provided between the top plate and the convex section of the bottom plate.
Optionally, first rotor and second rotor can be connected to lateral rotation the end of the support arm respectively
Portion.
Optionally, the end of the support arm is equipped with second and verts steering engine, described second vert steering engine output shaft it is vertical
In the support arm, for the motor of the rotor to be driven to vert steering engine mounted on described second by motor cabinet, the motor
Seat be connected to described second vert steering engine output shaft on.
Through the above technical solutions, since rotor can be with verting before and after support arm so that unmanned plane verts when moving forward and backward
Rotor the lift that unmanned plane is maintained to certain altitude can either be provided, be also capable of providing the power that unmanned plane moves forward and backward,
Fuselage need not tilt simultaneously, and when being provided with carry equipment on unmanned plane, carry equipment need not tilt, it is ensured that task object
Stability monitoring.In addition, the vortex that generates can cancel out each other when the blade of coaxial and reversion two groups of rotors rotates, so as to by whirlpool
Energy loss is preferably minimized caused by stream.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is together for explaining the disclosure, but do not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is the structure diagram of multi-rotor unmanned aerial vehicle in accordance with one embodiment of the present disclosure；
Fig. 2 is schematic diagram of the multi-rotor unmanned aerial vehicle when rectification shell is not shown shown in Fig. 1；
Fig. 3 is the structure diagram to vert in multi-rotor unmanned aerial vehicle shown in Fig. 1 before and after rotor；
Fig. 4 is the structure diagram that rotor laterally verts in multi-rotor unmanned aerial vehicle shown in Fig. 1.
Reference sign
11 top plate, 12 bottom plate, 13 side plate
14 rectification shell, 15 lightening hole, 16 battery compartment
21 first rotor, 22 second rotor
30 support arm, 31 first support arm, 32 second support arm
41 first steering engines 42 second that vert vert steering engine
51 motor, 52 motor cabinet
60 undercarriages
70 carry equipment
81 connecting rod, 82 connector, 83 pipe clamp
84 rocker arm assemblies
Specific embodiment
The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the case where not making explanation on the contrary, the noun of locality that uses such as " on ", " under " refers to that unmanned plane is put down
It is upper and lower during winged state, it is " interior ", " outer " typically for profile of corresponding parts itself.It should be noted that
The front-rear direction of unmanned plane during flying is defined according to its use habit, and the length extending direction of fuselage is before unmanned plane during flying
Rear direction, specifically in the disclosure, support arm are laterally extending, perpendicular to the front-rear direction of unmanned plane during flying.In addition, in the disclosure
The term " first " that uses, " second " etc. are in order to distinguish an element and another element, without succession and importance.
As shown in Figure 1, the multi-rotor unmanned aerial vehicle that the disclosure provides, including fuselage, rotor and laterally through fuselage
Rotatable support arm 30, rotor is mounted on the both ends of support arm 30, so as to front and rear with the rotation of support arm 30 vert.In this way, work as
When unmanned plane moves forward and backward, rotor verts certain angle, can either provide the lift that unmanned plane is maintained to certain altitude,
Also the power that unmanned plane moves forward and backward is capable of providing, while fuselage need not tilt so that unmanned plane resistance in flight subtracts significantly
It is few.As shown in Figure 1, can be provided with carry equipment 70 on fuselage, since unmanned plane is when moving forward and backward, fuselage keeps horizontal
State, in this way, carry equipment 70 need not tilt, it is ensured that the stability monitoring of task object.On the other hand, due to unmanned plane rotor
Front and rear can vert so that unmanned plane can become posture hovering in the air, i.e., can make in the air head be inclined upwardly or to
Under hover when being tilted a certain angle, the field angle of unmanned plane is increased, as shown in Figure 1, when the head of unmanned plane is provided with carry
During equipment 70, the field angle of carry equipment 70 is increased.
The disclosure provide multi-rotor unmanned aerial vehicle in, rotor include coaxial the first rotor 21 and the second rotor 22, first
21 and second rotor 22 of rotor it is oppositely oriented, in this way, the vortex that the generates when blade of coaxial and reversion two groups of rotors rotates
It can cancel out each other, energy loss caused by so as to be vortexed is preferably minimized.Due to eliminating the air-swirl of blade tip, this bispin
The wing can improve the efficiency of about 6%-16% compared to the structure of common single rotor.First rotor 21 and the second rotor 22 respectively by
Different motor drivings, during the work time, even if some rotor or motor go wrong, unmanned plane still can be steady for unmanned plane
Fixed flight.
Further, the first rotor 21 and the second rotor 22 are symmetrical with the axis of support arm 30, it is ensured that two on same axis
A rotor size, rotating speed etc. are all identical, are simply diverted to difference, so as to avoid generating other additional power and torque.
The rotation of support arm 30 can be accomplished in several ways, and Fig. 3 is shown in one embodiment of the disclosure before rotor
The structure diagram to vert afterwards, in the present embodiment, first support arm 31 and second of the support arm 30 including time interval setting
Arm 32, fuselage interior are provided with the connecting rod 81 of front and rear extension, and the both ends of connecting rod 81 are rotatably connected to first support arm 31 respectively
In second support arm 32, so that first support arm 31 and second support arm 32 interlock with the rotation, fuselage interior is additionally provided with to drive the
The first of one support arm 31 or second support arm 32 is verted steering engine 41.I.e., in the present embodiment, in first support arm 31 and second support arm
Increase connecting rod 81 between 32, by machine driving, a power unit can only be set just to make four rotors while inclined in the same direction
Turn.
Specifically, by first vert steering engine 41 drive second support arm 32 exemplified by, as shown in figure 3, first support arm 31 and second
The periphery of support arm 32 is closely arranged with pipe clamp 83 respectively so that pipe clamp 83 and support arm 30 can rotate simultaneously, divide on pipe clamp 83
Journal stirrup is not formed with, and the both ends of connecting rod 81 are respectively fixed with connector 82, and connector 82 rotationally connects for example, by structures such as axis pins
It is connected on journal stirrup, so so that first support arm 31 and second support arm 32 link.Further, the first output for verting steering engine 41
End is connected with rocker arm assembly 84, and rocker arm assembly 84 is rotatably coupled with the pipe clamp in second support arm 32, in this way, first verts rudder
Machine 41 drives rocker arm assembly 84 to rotate, and rocker arm assembly 84 drives pipe clamp 83 to rotate so that second support arm 32 can rotate.With above-mentioned
First vert steering engine 41 drive second support arm 32 based on, the setting of coupler link 81, rocker arm assembly 84, connector 82, pipe clamp
All it is rigid connection between 83, after when assembling adjusts the position relationship between each component, unmanned plane is preceding in flight course
After when verting, pipe clamp 83 on two support arms 30 can sync response, first support arm 31 and second support arm 32 can rotate synchronously,
Improve manipulation precision.And for the stability for ensureing unmanned plane during flying, first steering engine 41 that verts can be arranged on fuselage
On longitudinal centre line, machine gravity is avoided to deviate.
As shown in Fig. 2, fuselage can include top plate 11, bottom plate 12 and the side plate for being connected to 12 both sides of top plate 11 and bottom plate
13, through side plate 13 to be fixed on fuselage, this hollow structure surrounded by top plate 11, bottom plate 12 and side plate 13 has support arm
There is the advantages of compact-sized, stability is high, unmanned plane load can be placed in above-mentioned hollow structure.As shown in Figure 1, fuselage
It further includes and is fixed on the 11 fairshaped rectification shell 14 in top of top plate, unmanned plane can be reduced in flight by rectification shell 14
The resistance being subject to.In addition, the flight control system of unmanned plane can be placed between top plate 11 and rectification shell 14, it is rectified outer
Shell 14 is fully received therein, to be protected.
Further, as depicted in figs. 1 and 2, top plate 11 is identical with 12 shape of bottom plate, and including flat segments and from flat segments
Centre position the convex section to be formed is protruded to both sides, be provided with battery compartment 16 between top plate 11 and the convex section of bottom plate 12, with
Improve the cruising ability of unmanned plane.In this way, battery compartment 16 includes two, the setting of fuselage longitudinal centre line is symmetrical with, and positioned at top
Between plate 11 and bottom plate 12, to control the center of gravity of unmanned plane on fuselage longitudinal centre line.
As shown in Fig. 2, can offer multiple lightening holes 15 on top plate 11 and bottom plate 12, multiple lightening holes 15 can be in bee
Nest shape is arranged, so that top plate 11 and the whole uniform force of bottom plate 12.In other embodiments, lightening hole 15 can also be in matrix
Etc. forms array.
As depicted in figs. 1 and 2, the bottom of bottom plate 12 is fixed with the undercarriage 60 of inverted V-arrangement, and undercarriage 60 can include
Two and the rear and front end of unmanned plane is spaced apart and arranged in, the undercarriage 60 is simple for structure, can meet unmanned plane VTOL
Demand.Further, undercarriage 60 includes elastic component so that and the undercarriage 60 has cushioning effect, when UAV Landing,
Undercarriage 60 can absorb the impact force generated during landing, ensure that unmanned plane safely and smoothly lands.
In addition, the multi-rotor unmanned aerial vehicle that the disclosure provides, the first rotor 21 and the second rotor 22 respectively can also be in support arms
30 end lateral rotation, in this way, when unmanned plane does the i.e. roll motion of lateral movement, rotor verts certain angle towards both sides
Degree, can either provide the lift that unmanned plane is maintained to certain altitude, also be capable of providing the power of unmanned plane side-to-side movement, together
When fuselage need not tilt so that resistance of the unmanned plane in flight greatly reduces.With reference to the form verted before and after foregoing rotor,
The omnidirectional that the multi-rotor unmanned aerial vehicle that the disclosure provides realizes rotor verts so that unmanned plane is moving opportunity towards all directions
Body remains horizontality.
Specifically, the disclosure provides the embodiment that a kind of rotor laterally verts, and exemplified by Fig. 4, is with the first rotor 21
Example, the end of support arm 30 are equipped with second and vert steering engine 42, and second steering engine 42 that verts is fixed on the end of support arm 30, and second verts
The output shaft of steering engine 42 is perpendicular to support arm 30, for the motor 51 of rotor to be driven to vert steering engine mounted on second by motor cabinet 52
On 42, motor cabinet 52 be connected to second vert steering engine 42 output shaft on.In this case, motor cabinet 52 can incline with second
The output shaft of machine 42 of coming about rotates, and realizes the lateral of rotor and verts.Support arm 30, rotor are collided during for rotor being avoided to vert inwardly
The angle laterally verted is smaller.It in order to improve the angle laterally verted, can realize have by heightening the height of motor cabinet 52
For body, as shown in figure 4, after heightening the height of motor cabinet 52,51 and first rotor 21 of motor is respectively further from the axis of support arm 30
Line, it is achieved thereby that the lateral of larger angle is verted.It should be noted that refer to here towards inside towards unmanned plane longitudinal direction
Center line refers to the direction opposite with the center line towards outside.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that the specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought should equally be considered as disclosure disclosure of that.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that including fuselage, rotor and laterally through the rotatable of the fuselage
Support arm (30), the rotor is mounted on the both ends of the support arm (30), the rotor include coaxial the first rotor (21) and
Second rotor (22), first rotor (21) and second rotor (22) it is oppositely oriented.
2. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that first rotor (21) and second rotation
The wing (22) is symmetrical with the axis of the support arm (30).
3. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the support arm (30) is set including time interval
First support arm (31) and second support arm (32), the fuselage interior be provided with the connecting rod (81) of front and rear extension, the connecting rod
(81) both ends are rotatably connected to respectively in the first support arm (31) and the second support arm (32), so that described first
Support arm (31) and the second support arm (32) interlock with the rotation, and the fuselage interior is additionally provided with to drive the first support arm
(31) or the second support arm (32) first is verted steering engine (41).
4. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the fuselage includes top plate (11), bottom plate
(12) and the top plate (11) and the side plate (13) of the bottom plate (12) both sides are connected to, the support arm (30) passes through the side
For plate (13) to be fixed on the fuselage, the fuselage, which further includes, is fixed on fairshaped rectification shell above the top plate (11)
(14)。
5. multi-rotor unmanned aerial vehicle according to claim 4, which is characterized in that on the top plate (11) and the bottom plate (12)
Multiple lightening holes (15) are offered, the multiple lightening hole (15) is in cellular arrangement.
6. multi-rotor unmanned aerial vehicle according to claim 4, which is characterized in that the bottom of the bottom plate (12) is fixed with inversion
V-arrangement undercarriage (60).
7. multi-rotor unmanned aerial vehicle according to claim 6, which is characterized in that the undercarriage (60) includes elastic component.
8. multi-rotor unmanned aerial vehicle according to claim 4, which is characterized in that the top plate (11) and the bottom plate (12) shape
Shape is identical, and protrudes including flat segments and from the centre position of the flat segments to both sides the convex section to be formed, the top plate
(11) battery compartment (16) is provided between the convex section of the bottom plate (12).
9. according to the multi-rotor unmanned aerial vehicle any one of claim 1-8, which is characterized in that first rotor (21) and
Second rotor (22) can be connected to lateral rotation the end of the support arm (30) respectively.
10. multi-rotor unmanned aerial vehicle according to claim 9, which is characterized in that the end of the support arm (30) is equipped with
Two vert steering engine (42), described second vert steering engine (42) output shaft perpendicular to the support arm (30), for driving the rotation
The motor (51) of the wing is verted mounted on described second on steering engine (42) by motor cabinet (52), and the motor cabinet (52) is connected to institute
State second vert steering engine (42) output shaft on.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721552435.2U CN207403934U (en) | 2017-11-17 | 2017-11-17 | Multi-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721552435.2U CN207403934U (en) | 2017-11-17 | 2017-11-17 | Multi-rotor unmanned aerial vehicle |
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| CN109263870A (en) * | 2018-10-11 | 2019-01-25 | 浙江大学 | 6-dof motion platform and its control method based on the more rotor systems of vector |
| CN109436310A (en) * | 2018-11-27 | 2019-03-08 | 沈阳无距科技有限公司 | Rotor inclining rotary mechanism and unmanned plane |
| CN109573013A (en) * | 2019-01-24 | 2019-04-05 | 猎鸢科技(厦门)有限公司 | A kind of unmanned plane and its flying method based on multi-composite type dynamical system |
| CN110329497A (en) * | 2019-06-28 | 2019-10-15 | 西安交通大学 | The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle |
| CN110466761A (en) * | 2019-08-22 | 2019-11-19 | 国网四川省电力公司信息通信公司 | A kind of unmanned plane and unmanned plane increase steady method |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
| CN113173244A (en) * | 2021-04-09 | 2021-07-27 | 江苏大学 | Four-axis tilting wing structure and control method thereof |
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| CN109263870B (en) * | 2018-10-11 | 2020-06-16 | 浙江大学 | Six-degree-of-freedom motion platform based on vector multi-rotor system and control method thereof |
| CN109263870A (en) * | 2018-10-11 | 2019-01-25 | 浙江大学 | 6-dof motion platform and its control method based on the more rotor systems of vector |
| CN109436310A (en) * | 2018-11-27 | 2019-03-08 | 沈阳无距科技有限公司 | Rotor inclining rotary mechanism and unmanned plane |
| CN109573013A (en) * | 2019-01-24 | 2019-04-05 | 猎鸢科技(厦门)有限公司 | A kind of unmanned plane and its flying method based on multi-composite type dynamical system |
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| CN110466761A (en) * | 2019-08-22 | 2019-11-19 | 国网四川省电力公司信息通信公司 | A kind of unmanned plane and unmanned plane increase steady method |
| CN113173244A (en) * | 2021-04-09 | 2021-07-27 | 江苏大学 | Four-axis tilting wing structure and control method thereof |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
| WO2023201639A1 (en) * | 2022-04-21 | 2023-10-26 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN115709623A (en) * | 2022-11-30 | 2023-02-24 | 南京航空航天大学 | Solar-powered amphibious migration and exploration submersible unmanned aerial vehicle and working method |
| CN115709623B (en) * | 2022-11-30 | 2023-10-17 | 南京航空航天大学 | Amphibious migration detection unmanned aerial vehicle powered by solar energy and working method |
| CN116812184A (en) * | 2023-07-04 | 2023-09-29 | 深圳技术大学 | Six-axis unmanned aerial vehicle for radar mapping |
| CN116611584A (en) * | 2023-07-18 | 2023-08-18 | 四川省亚通工程咨询有限公司 | Highway construction management system and method based on digital platform |
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