CN208412118U - A kind of DCB Specimen unmanned plane of absolute construction - Google Patents

Abstract

The utility model discloses a kind of DCB Specimen unmanned plane of absolute construction, including rack, be symmetrical set in rack rotor assemblies and respectively drive the Power Components of two rotor assemblies；Rotor assemblies are pressed from both sides comprising paddle, paddle presss from both sides support, cross plate, paddle folder and paddle folder support are connected to line shaft and are arranged with cross plate, the cross plate is symmetrically provided with control-rod, control-rod is provided with control steering engine, it controls on the cross plate, under, tilt angle movement, paddle presss from both sides both ends and is equipped with connecting block, cross plate is additionally provided with interlocking lever, to be pivotally attached to the connecting block of the paddle folder, paddle folder support is symmetrically hinged with movable block, cross plate is provided with connecting rod, connecting rod is hinged with movable block, it is big not only to overcome single rotor manipulation difficulty, the big problem of big take-off weight paddle size, it is low to also overcome multi-rotor unmanned aerial vehicle cruising ability simultaneously, the problem that flight efficiency is low and take-off weight is small, single rotor unmanned plane is had both simultaneously and multi-rotor unmanned aerial vehicle manipulation is flexible, flight efficiency is high, the big advantage of load-carrying.

Description

A kind of DCB Specimen unmanned plane of absolute construction

Technical field

The utility model belongs to air vehicle technique field, concretely relate to a kind of absolute construction DCB Specimen nobody Machine.

Background technique

Single rotor unmanned plane and the multi-rotor unmanned aerial vehicle fields such as take photo by plane in agricultural plant protection and power grid line walking, even receive extensively General application；

Single rotor unmanned plane lifting capacity with higher, cruise duration is longer, so that it is in agricultural application and power grid The advantages of line walking obtains relatively broad application, single rotor is very prominent, but short slab is quite a few, for example operation is difficult, needs more complicated The flight control system of higher level, very high to the operation level requirement of winged hand, actual job requires environment temperature, price ratio Expensive 2-3 times out of more rotors, reversed torque can be generated in rotary course additionally, due to single rotor and must not use tail-rotor It balances reaction torque and directional control is carried out to helicopter, the setting of tail-rotor will have to consume a part of power, to increase dynamic Power loss；

In addition, just needing to increase rotor diameter to effectively improve rotor thrust, because rotor thrust is the same as rotor half The biquadratic of diameter is directly proportional, and rotor diameter is big, then the disk loading of rotor is small, can be effectively reduced rotor in this way and lure resistance function Rate；But rotor diameter is excessive, also has its unfavorable aspect, mainly has: helicopter weight increases, cost improves, required storage Place is big.

In addition, its is easy to control for multi-rotor unmanned aerial vehicle, stability also obtains be widely applied well, is there are three a kind of tools And the special pilotless helicopter of the above rotor shaft drives rotor, to generate by the motor rotation on each axis Rise thrust, rotor always away from fixation, it is variable like that rather than general helicopter, pass through change between different rotors opposite and turn Speed, thus it is possible to vary the size of uniaxial propulsive force, to control the running track of aircraft；But the multiselect wing its there are flight efficiencies Low, the problems such as take-off weight is small, cruise duration is short, heavy-duty or prolonged power grid line walking on agricultural plant protection can not be adapted to.

Simultaneously, existing single rotor cross plate is all made of the control of three steering engines, and control cross plate is upper and lower or controls, is preceding The control of rear-inclined angle, so that the screw pitch of blade is controlled, the control of state of flight before and after realizing helicopter up and down, but this The cross plate of kind of structure is for the DCB Specimen unmanned plane high failure rate that can have that its structure is complicated and keeps control system complicated, simultaneously Its cost is also higher.

Summary of the invention

The purpose of the utility model is to provide a kind of DCB Specimen unmanned plane of absolute construction, it is intended to solve in background technique Existing deficiency.

In order to solve the above technical problems, purpose of the utility model is realized as follows:

A kind of DCB Specimen unmanned plane of absolute construction, including rack, be symmetrical set in rack rotor assemblies and Setting corresponding with each rotor assemblies and the independent Power Component for driving the rotor assemblies；

Power Component is to be arranged in a one-to-one correspondence with rotor assemblies, i.e., each Power Component independently drives corresponding rotor group Part without intermediate mechanical transmission, is easily achieved its modularization.

The rotor assemblies include paddle folder, paddle folder support, cross plate, and the paddle folder and paddle folder support are connected to line shaft And be arranged with cross plate, which is provided with two control-rods, two control-rods be it is arranged symmetrically, each control-rod is equal It is provided with a control steering engine, controls that the cross plate is upper and lower, tilt angle movement, paddle folder both ends are equipped with connecting block, described Cross plate is additionally provided with interlocking lever, to be pivotally attached to the connecting block of the paddle folder, the paddle folder support is symmetrically hinged with movable block, institute It states cross plate and is provided with connecting rod, the connecting rod is hinged with the movable block.

Preferred embodiment on the basis of above scheme and as above scheme: the rack length direction is shrinkable or can It folds.

Preferred embodiment on the basis of above scheme and as above scheme: the rack includes fixing bracket body and activity Bar, described motion bar one end is inserted into the fixing bracket body and carries out axial limiting by position-limit mechanism, described after releasing limit Motion bar can axis activity, the rotor assemblies and Power Component are installed on the motion bar other end.

Preferred embodiment on the basis of above scheme and as above scheme: the fixing bracket body includes and fixing bracket body Fixed plate that is vertical and playing internal supporting role has the mounting hole for motion bar insertion, the limit in the fixed plate Position mechanism includes a semicircle holding card for being located at fixed plate side, and the holding card is compressible in motion bar outer peripheral surface.

Preferred embodiment on the basis of above scheme and as above scheme: each motion bar is by being arranged side by side The limit of two position-limit mechanisms, the holding card in two position-limit mechanisms mutually rotates 180 ° of settings.

Preferred embodiment on the basis of above scheme and as above scheme: holding card, mounting hole with holding Block ipsilateral bore inner diameter slightly larger than the motion bar outer diameter, described holding card one end and the fixed plate are hinged, and the other end can It is tensed by bolt.

Preferred embodiment on the basis of above scheme and as above scheme: further including motion bar rotating and limiting mechanism.

Preferred embodiment on the basis of above scheme and as above scheme: motion bar insertion fixed frame one end tool There is a clamping portion, there is the card slot for clamping portion insertion in the fixed plate.

Preferred embodiment on the basis of above scheme and as above scheme: the length of connecting rod is adjustable.

Preferred embodiment on the basis of above scheme and as above scheme: described in the line and two of two control-rods The line of rotor assemblies is perpendicular.

Compared with the prior art, the utility model has prominent and beneficial technical effects that: it not only overcomes single rotor manipulation hardly possible The big problem of big, big take-off weight paddle size is spent, while also overcoming that multi-rotor unmanned aerial vehicle cruising ability is low, flight efficiency is low And the problem that take-off weight is small, while having both single rotor unmanned plane and multi-rotor unmanned aerial vehicle manipulation flexibly, flight efficiency is high, carries Great advantage.

Simplify in addition, it has carried out structure to cross plate, existing three steering gear control system is reduced to double steering engine control System, improved while reducing cost its reliability and be reduce control system complexity.

Detailed description of the invention

Fig. 1 is the overall structure working state schematic representation of the utility model；

Fig. 2 is the overall structure working condition main view of the utility model；

Fig. 3 is the overall structure working condition top view of the utility model；

Fig. 4 is the overall structure collapsed state main view of the utility model；

Fig. 5 is the overall structure collapsed state top view of the utility model；

Fig. 6 is the overall structure collapsed state perspective view of the utility model；

Fig. 7 is rotor assemblies overall structure stereogram；

Fig. 8 is rotor assemblies overall structure main view；

Fig. 9 is rotor assemblies overall structure bottom view；

Figure 10 is rotor assemblies overall structure top view；

Figure 11 is rotor assemblies overall structure left view；

Figure 12 is rack construction schematic diagram；

Figure 13 is another angle schematic diagram of rack construction.

Specific embodiment

To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with the attached drawing 1-6 in embodiment, Technical solution in embodiment is clearly and completely described,

A kind of DCB Specimen unmanned plane of absolute construction, including rack, be left and right symmetrically arranged the rotor assemblies 40 in rack with And respectively drive the Power Component of two rotor assemblies 40；

The Power Component includes brushless motor 20 and reduction gearbox 30, and the input terminal and brushless motor 20 of reduction gearbox 30 export The output end of axis connection, reduction gearbox 30 is connect with line shaft 47, so that the power that brushless motor 20 is exported carries out deceleration torque increase It is transmitted to line shaft 47 later.

The rotor assemblies 40 include paddle folder 41, paddle folder support 48, cross plate 45, and the paddle folder 411 and paddle press from both sides support 41 are connected to line shaft 47 and are arranged with cross plate 45, which includes lower plate 451 and upper plate 452, lower plate 451 It is symmetrically arranged with the first lower plate link block 4511 and the second lower plate link block 4512,4511 He of the first lower plate link block Second lower plate link block 4512 is provided with the first control-rod 441, the second control-rod 442 respectively, first control-rod 441, Second control-rod 442 is provided with the first control steering engine 421 and the second control steering engine 422, controls that the lower plate 451 is upper and lower, inclines Rake angle movement, to drive corresponding upper and lower, the tilt angle movement of upper plate 452, the paddle presss from both sides 41 both ends and is equipped with connecting block 411, the upper plate 452 has the first upper plate link block 4521 of crosswise distribution, the second upper plate link block 4522, the Three upper plate link blocks 4523, the 4th upper plate link block 4524, wherein the first upper plate link block 4521, third upper plate connect Block 4523 is connect to be symmetrical arranged and be additionally provided with the first interlocking lever 431 and the second interlocking lever 432, the first interlocking lever 431 and second simultaneously Interlocking lever 432 is pivotally connected with two link blocks 411 respectively, and it is living that the paddle folder support 48 is symmetrically hinged with the first movable block 461 and second Motion block 462, the second upper plate link block 4522, the 4th upper plate link block 4524 are hingedly set to third connecting rod 433 and the 4th The other end of one end of connecting rod 434, third connecting rod 433 and fourth link 434 respectively with the first movable block 461 and the second movable block 462 are hinged, and distinguish the first movable block 461 and the second movable block 462 in the case where third connecting rod 433 and fourth link 434 drive It is swung centered on paddle folder support 48 and the articulated shaft of the first movable block 461 and the second movable block 462.

It should be noted that the first movable block 461, the second movable block 462, third connecting rod 433, fourth link 434, paddle press from both sides The purpose that support 48 is combined into above-mentioned structure is to keep upper plate 452 stable and the paddle folder synchronous rotation of support 48, can also To say rotated synchronously with line shaft 47, increase drive paddle folder 41 when cross plate is to upper and lower and tilt angle in flight course Change the stability of blade screw pitch, reduces the impact to first connecting rod 431 and second connecting rod 432.

Preferably, the first lower plate link block 4511 has an opening portion, opening portion two sides have symmetrical lug, First control-rod first end 4411 is columnar articulated section, and articulated section can be received in opening by opening portion, then articulated shaft 45111 articulated sections and two lugs are hinged by the two；First control-rod second end 4412 have one opening, opening two sides have pair The lug of title, 4211 one end of steering engine swing arm are received in the opening, and are carried out it with two lugs by another articulated shaft 45112 Hingedly；Second lower plate link block 4512 and 442 structure of the second control-rod and connection type with it is upper identical.

It should be noted that since the rotor assemblies in the application are using double steering engine setting, then traditional three that compare For the rotor assemblies of steering engine, lack a steering engine to the direction of the first control-rod 441,442 two sides of the second control-rod tilt into Row limitation, the first lower plate link block 4511, the second lower plate link block 4512 and the first control-rod 441, the second control-rod 442 Connection is not attached using bulb joint, but uses wider column articulated section and lower plate link block hinged, in this way There can be enough intensity to keep out distortion and bear moment of flexure, prevent pitch to the first control-rod 441, the second control-rod The direction of 442 two sides tilts.

Further, the rack adjustable in length.

Specifically, the rack length direction is shrinkable, the rack includes fixing bracket body 10 and motion bar 11, this implementation Fixing bracket body 10 is by the first fixed link 101 parallel to each other, the second fixed link 102, third fixed link 103 and and three in example Fixed plate 12 that is vertical and playing internal supporting role forms, the first fixed link 101, the second fixed link 102, third fixed link 103 Triangular support body is formed, there is the mounting hole 124 for motion bar insertion in the fixed plate 12, fixing bracket body both ends are symmetrical Setting there are two fixed plate 12；There is 12 side of fixed plate semicircle hold tightly to block 13, and it is coaxial with the mounting hole 124 to hold card tightly Setting, fixed plate 12 are that holding card 13 is ipsilateral and are fixedly connected with a hinged block 1222 and a fixed block 1223, the holding card First end 131 and the hinged block 1222 are hinged, and holding card second end 132 tightly can be strained and fixed on fixed block 1223 by bolt, Described 11 one end of motion bar is inserted into the mounting hole 124, and rotor assemblies 40 and Power Component are installed on the motion bar 11 separately One end, when bolt, which will hold card second end 132 tightly, to be tensed, holdings block it is 13 compressible in 11 outer peripheral surface of motion bar, Motion bar 11 is pressed in mounting hole 124, realizes axis limit and rotary spacing.

After releasing the tension for holding card second end 132 tightly, the motion bar 11 is no longer compressed with 124 phase of mounting hole, It can be along its axis telescopic movable.

Preferably, two fixed plates 12 at the every end of fixing bracket body all have holding card 13, two holding cards 13 Mutually to rotate 180 ° of settings, the holding card 13 of two semicircles is set to enclose out a full circle, to make the holding on motion bar 11 The pressing force of card 13 balances each other, and 11 unbalance stress of motion bar is avoided to glance off.

Preferably, it is described hold tightly card 13 internal diameter be slightly larger than the motion bar 11 outer diameter, mounting hole 124 with embrace The internal diameter of 13 ipsilateral corresponding half inner holes of tight card is slightly larger than 11 outer diameter of motion bar, convenient for blocking 13 non-tensions in holding When motion bar 11 insertion and flexible adjustment.

It further, further include 11 rotary spacing of motion bar.

The motion bar 11, which is inserted into 12 one end of fixed frame, has a clamping portion 111, has in the innermost fixed plate 12 There is the card slot 123 for the clamping portion 111 insertion, when motion bar 11 is pulled out to range, position at this time is living when being flight The position of lever 11, clamping portion 111 is embeddable in card slot 123 at this time, and after insertion, rotor assemblies 40 are towards upward, thus It can prevent motion bar 11 from rotating, change the direction of rotor assemblies 40, influence to fly.

Specific adjusting method are as follows: motion bar 11 is drawn to range axially outward, makes clamping portion by flight position In 111 insertion card slots 123,123 non-through fixed plate of card slot, so clamping portion 111 can be supported after clamping portion 111 is embedded in card slot 123 In 123 bottom of card slot, limits motion bar 11 and continue to pull out, i.e., motion bar 11 reaches range, i.e. operating position；So Turn bolt will be held card 13 tightly and be tensed to which motion bar 11 to be pressed in mounting hole 124 afterwards, and motion bar 11 realizes flight position Positioning.

Retrieving position:

Reversed turn bolt loosens holding card 13, releases its impaction state to motion bar 11, motion bar 11 is at this time It can inwardly be pushed along axis, be recovered in fixing bracket body, blade is turned back, pass through the blade fixed plate being fixed on fixing bracket body 60 are fixed.

First interlocking lever 431 and the second interlocking lever 432, third connecting rod 433,434 adjustable in length of fourth link, it is excellent Choosing, structure is a kind of compensation linkage, is the prior art.

First control-rod 441 of each rotor assemblies 40, the middle line line of the second control-rod 442 and two rotor assemblies 40 middle line line is perpendicular, and the purpose being arranged in this way is that novel cross dish structure is combined to realize DCB Specimen unmanned plane The control flown forward or backward.

Specific state of flight control method are as follows:

DCB Specimen unmanned helicopter provides lift and manipulation using two groups of rotor systems

Vertical rise and fall (rises or falls):

First control steering engine 421, second controls steering engine 422 and above pushes away or pull down simultaneously, drives cross plate to move up and down, simultaneously It increaseds or decreases always away from the lift size for changing rotor, which is realized, to move up and down.

Front and rear, left and right flies through two rotors and changes realization front-rear direction control away from differential adjustment rotor lift；

Forward and backward: the first control steering engine 421 pulls down, and the second control steering engine 422 above pushes away, and so that cross plate is turned forward, to make Rear portion lift is greater than front lift, and front and back lift difference will make rack turn forward flight；It flies backward in contrast；

Left and right: the side-to-side movement of DCB Specimen unmanned helicopter is tilted by two swash plates of control simultaneously and generates left and right control Power processed realizes left and right flight, and specific: pushing belt is moved cross plate and moved up on the control steering engine of right side rotor assemblies, increases right side rotation The pitch of the wing, increases right side rotor lift, and the control steering engine drop-down of left side rotor assemblies drives cross plate to move down, reduces right side Rotor lift keeps left and right generation lift poor, is that unmanned plane is tilted to the left, flies to the left to realize；It flies to the right in contrast；

Turn to yaw: the control steering engine of two rotor assemblies realizes course changing control by reversed dip before and after control cross plate, Specific: when turning to the left, the cross plate of right side rotor assemblies turns forward, and the cross plate of left side rotor assemblies tilts backwards, The turning moment generated to the left realizes steering；It turns to the right in contrast.

Pure helicopter manipulation tilts forward and back control paddle disk generation component in the front-back direction by changing pitch, and then controls Flight before and after helicopter processed.It is similarly tilted by control pitch and controls the component that paddle disk generates left and right directions, and then controlled Helicopter processed or so flight.It is moved up and down by manipulation pitch and changes rotor propeller pitch angle realization main rotor lift variation, in turn Helicopter is controlled to move up and down.The divertical motion of helicopter is realized by manipulation tail-rotor.Therefore conventional unmanned helicopter is realized Aerial normal flight, need to control swash plate can front and rear, left and right and the movement of upper and lower three directions, swash plate at least needs three servos Steering engine goes to drive.

By comparison it can be found that DCB Specimen unmanned helicopter only has upper and lower and side-to-side movement to the manipulation of swash plate, it is not required to Will banking motion in the front-back direction, one degree of freedom has been lacked compared with pure helicopter, therefore set using two steering engine structure swash plates Meter scheme can satisfy the manipulation demand of DCB Specimen unmanned helicopter.Certainly conventional three steering engines or four steering engine swash plate schemes also can Enough realize manipulation function, two steering engine swash plates design each swash plate under the premise of realizing function can be reduced compared with conventional scheme One driving steering engine improves system reliability to reduce weight and cost.

Above-described embodiment is only the preferred embodiment of the utility model, not limits the protection model of the utility model according to this It encloses, therefore: the equivalence changes that all structures, shape, principle according to the utility model are done should all be covered by the protection of the utility model Within the scope of.

Claims (9)

1. a kind of DCB Specimen unmanned plane of absolute construction, it is characterised in that: including rack, be symmetrical set rotor in rack Component and setting corresponding with each rotor assemblies and the independent Power Component for driving the rotor assemblies；

The rotor assemblies include paddle folder, paddle folder support, cross plate, and the paddle folder and paddle folder support are connected to line shaft and cover Equipped with cross plate, which is provided with two control-rods, two control-rods be it is arranged symmetrically, each control-rod is connected with There is a control steering engine, control that the cross plate is upper and lower, tilt angle movement, paddle folder both ends are equipped with connecting block, the cross Disk is additionally provided with interlocking lever, to be pivotally attached to the connecting block of paddle folder, the paddle folder support is symmetrically hinged with movable block, and described ten Letter disk is provided with connecting rod, and the connecting rod is hinged with the movable block.

2. a kind of DCB Specimen unmanned plane of absolute construction according to claim 1, it is characterised in that: the rack length side To shrinkable or foldable.

3. a kind of DCB Specimen unmanned plane of absolute construction according to claim 2, it is characterised in that: the rack includes solid Determine frame body and motion bar, described motion bar one end is inserted into the fixing bracket body and carries out axial limiting, solution by position-limit mechanism After limit, the motion bar can axis activity, the rotor assemblies and Power Component are installed on the motion bar other end.

4. a kind of DCB Specimen unmanned plane of absolute construction according to claim 3, it is characterised in that: the fixing bracket body packet Containing vertical with fixing bracket body and internal supporting role fixed plate, there is the peace for motion bar insertion in the fixed plate Hole is filled, the position-limit mechanism includes a semicircle holding card for being located at fixed plate side, and the holding card is compressible in motion bar Outer peripheral surface.

5. a kind of DCB Specimen unmanned plane of absolute construction according to claim 4, it is characterised in that: each motion bar It is limited by two position-limit mechanisms arranged side by side, the holding card in two position-limit mechanisms mutually rotates 180 ° of settings.

6. a kind of DCB Specimen unmanned plane of absolute construction according to claim 5, it is characterised in that: the holding card, peace It fills Kong Yu and holds tightly and block ipsilateral bore inner diameter slightly larger than the motion bar outer diameter, described holding card one end is cut with scissors with the fixed plate It connects, the other end can be tensed by bolt.

7. a kind of DCB Specimen unmanned plane of absolute construction according to claim 3, it is characterised in that: further include that motion bar turns Dynamic position-limit mechanism.

8. a kind of DCB Specimen unmanned plane of absolute construction according to claim 1, it is characterised in that: the length of connecting rod can It adjusts.

9. a kind of DCB Specimen unmanned plane of absolute construction according to claim 1, it is characterised in that: two control-rods Line and the line of two rotor assemblies are perpendicular.