CN210133281U

CN210133281U - Automatic T type unmanned aerial vehicle that hovers of bispin that verts

Info

Publication number: CN210133281U
Application number: CN201920995560.3U
Authority: CN
Inventors: 雷瑶; 叶艺强
Original assignee: Fuzhou University
Current assignee: Fuzhou University
Priority date: 2019-06-28
Filing date: 2019-06-28
Publication date: 2020-03-10
Anticipated expiration: 2029-06-28

Abstract

The utility model relates to a tilting dual-rotor automatic hovering T-shaped unmanned aerial vehicle, which comprises a vehicle body, a sensor unit, a controller unit, an actuating mechanism and a wireless communication module; the body mainly comprises an undercarriage, an electric control system cabin, two supporting arms, a T-shaped frame and a bearing, wherein the two supporting arms are respectively arranged at two ends of the T-shaped frame through the bearing; the actuating mechanism mainly comprises two driving motors, two steering engines and two rotors, wherein the steering engines are arranged on the T-shaped frame, an output shaft of each steering engine is connected with the corresponding support arm so as to drive the corresponding steering engine to rotate, the driving motors are arranged on the corresponding support arms so as to rotate along with the corresponding support arms, an output shaft of each driving motor is connected with the corresponding rotor so as to drive the corresponding rotor to rotate, and the actuating mechanism adjusts the inclination angles and the rotating speeds of the rotors through the steering engines and the driving motors so as to provide thrust in; this unmanned aerial vehicle not only can regulate and control the inclination and the rotational speed of unmanned aerial vehicle rotor to change the direction of thrust and size, the structure is small and exquisite moreover, and the flexibility is good.

Description

Automatic T type unmanned aerial vehicle that hovers of bispin that verts

Technical Field

The utility model relates to an unmanned vehicles technical field, concretely relates to automatic T type unmanned aerial vehicle that hovers of bispin that verts.

Background

Tilt bispin wing T type unmanned aerial vehicle indicates the rotation that drives the support arm through the steering wheel, makes the rotor configuration of the certain contained angle of rotation plane and organism plane formation of rotor, because this unmanned aerial vehicle has the characteristics of the rotor that verts, makes this unmanned aerial vehicle can utilize the rotor vert and the change of rotational speed produces the thrust that changes, and unmanned aerial vehicle carries out every single move, roll over and yawing motion more easily, realizes the purpose of nimble flight. The unmanned aerial vehicle of fixed rotor can only go up and down and the rotation motion, can not realize the translation. Traditional rotor unmanned aerial vehicle that verts, like bell boeing V-22 osprey, all are mechanical complicated system, and it adopts swash plate and differential rotor slope to control every single move and driftage respectively, consequently, has to maintain and the replacement cost height, and the structure is fragile, shortcomings such as life weak. Based on these reasons, the development of a miniature rotor unmanned aerial vehicle that verts that can realize freely hovering flight can also stably fly is receiving much attention.

Disclosure of Invention

An object of the utility model is to provide a double rotor automatic T type unmanned aerial vehicle that hovers verts, this unmanned aerial vehicle not only can regulate and control the inclination and the rotational speed of rotor to change the direction and the size of thrust, the structure is small and exquisite moreover, and the flexibility is good.

In order to achieve the above purpose, the technical scheme of the utility model is that: a tilting dual-rotor automatic hovering T-shaped unmanned aerial vehicle comprises a vehicle body (1), a sensor unit (2), a controller unit (3), an actuating mechanism (4) and a wireless communication module (5);

the aircraft body (1) mainly comprises an undercarriage (101), and an electric control system cabin (102), two supporting arms (103), a T-shaped frame (104) and a bearing (105) which are arranged on the undercarriage (101), wherein the two supporting arms (103) are respectively arranged at two ends of the T-shaped frame (104) through the bearing (105), and the sensor unit (2), the controller unit (3) and the wireless communication module (5) are arranged in the electric control system cabin (102);

the sensor unit (2) mainly comprises an inertia measurement unit (201) and a position measurement unit (202), the inertia measurement unit (201) receives a control command of the controller unit (3) and transmits inertia data to the execution mechanism (4), and the position measurement unit (202) conducts azimuth sensing and transmits sensing data information to the controller unit (3);

the controller unit (3) controls the sensor unit (2) and the actuating mechanism (4) to work according to an instruction sent by the wireless communication module (5), and uploads induction data information sent by the sensor unit (2) through the wireless communication module (5);

the actuating mechanism (4) mainly comprises two driving motors (401) arranged at two ends of a T-shaped frame (104), two steering engines (402) and two rotors (403), wherein the steering engines (402) are arranged on the T-shaped frame (104) and output shafts of the steering engines are connected with a supporting arm (103) to drive the supporting arm to rotate, the driving motors (401) are arranged on the supporting arm (103) to rotate along with the supporting arm, output shafts of the driving motors (401) are connected with the rotors (403) to drive the rotors to rotate, the actuating mechanism (4) receives control commands of a controller unit (3), and the inclination angles and the rotating speeds of the rotors (403) are adjusted through the steering engines (402) and the driving motors (401) to provide thrust in different directions and different sizes;

the wireless communication module (5) receives and sends an instruction sent by the upper control system to the controller unit (3), and uploads induction data information of the sensor unit (2) to the upper control system.

Furthermore, the support arms (103) are rotatably connected with the T-shaped frame (104) through bearings (105), the central shafts of the two support arms (103) are positioned on the same straight line, the inner side ends of the support arms (103) are connected with the output shaft of a steering engine (402), a driving motor (401) is installed at the outer side end of each support arm, the steering engine (402) drives the support arms (103) to rotate, and then the driving motor (401) tilts to change the thrust direction of the rotor wing (403).

Further, the two rotors (403) of the actuating mechanism (4) rotate in opposite directions so as to counteract the swinging motion of the unmanned aerial vehicle during translation.

Furthermore, the undercarriage (101) comprises a left support frame and a right support frame which are symmetrically arranged on the lower side of the body (1), the electric control system cabin (102) and the T-shaped frame (104) are fixedly connected to the undercarriage (101), and the steering engine (402) and the T-shaped frame (104) and the driving motor (401) and the support arm (103) are fixedly connected in a threaded connection or welding mode.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model provides a two rotor automatic T type unmanned aerial vehicle that hovers vert can utilize the rotation that the steering wheel drove the support arm to make the rotor take place to vert, accomplishes lift, every single move and yawing motion under the effect that verts rotor and rotor rotational speed change then to realize the purpose that free flight is met an emergency. In addition, this unmanned aerial vehicle structure is small and exquisite, and the flexibility is good, has extensive application prospect.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic diagram of a connection structure of the sensor unit, the controller unit, and the actuator according to the embodiment of the present invention.

In the figure, 1-fuselage; 2-a sensor unit; 3-a controller unit; 4-an actuator module; 5-a wireless communication module; 6, an upper control system; 101-a landing gear; 102-an electric control system cabin; 103-a support arm; 104-T type frame; 105-a bearing; 201-an inertial measurement unit; 202-a position measurement unit; 401 — a drive motor; 402-a steering engine; 403-rotor.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The utility model provides a double rotor automatic T type unmanned aerial vehicle that hovers verts, as shown in fig. 1, 2, including fuselage (1), sensor unit (2), controller unit (3), actuating mechanism (4) and wireless communication module (5).

Fuselage (1) mainly comprises undercarriage (101) and electric control system cabin (102), two support arms (103), T type frame (104) and bearing (105) of locating on undercarriage (101), two support arms (103) are installed at T type frame (104) both ends through bearing (105) respectively, sensor unit (2), controller unit (3) and wireless communication module (5) are located in electric control system cabin (102).

The sensor unit (2) mainly comprises an inertia measurement unit (201) and a position measurement unit (202), the inertia measurement unit (201) is used for receiving a control command of the controller unit (3) and transmitting inertia data to the execution mechanism (4), and the position measurement unit (202) is used for carrying out azimuth sensing and transmitting sensing data information to the controller unit (3) to form a stable closed-loop control system.

The controller unit (3) is used for controlling the sensor unit (2) and the actuating mechanism (4) to work according to an instruction sent by the wireless communication module (5), and is also used for uploading induction data information sent by the sensor unit (2) through the wireless communication module (5).

the wireless communication module (5) is used for receiving and sending instructions sent by the upper control system to the controller unit (3), and is also used for uploading sensing data information of the sensor unit (2) to the upper control system.

The utility model discloses a T type unmanned aerial vehicle that verts automatic hovering of bispin wing still sets upper control system (6) for send the instruction to unmanned aerial vehicle and move in order to control unmanned aerial vehicle, still be used for receiving the response data information that unmanned aerial vehicle sent with real-time supervision unmanned aerial vehicle's running state.

In this embodiment, support arm (103) are connected through bearing (105) and T type frame (104) rotation, and the center pin of two support arms (103) is in same straight line, and the output shaft of steering wheel (402) is connected to the medial extremity of support arm (103), and driving motor (401) is installed to the outside end, steering wheel (402) drive support arm (103) and rotate, and then make driving motor (401) take place to vert, change the thrust direction of rotor (403). And the two rotors (403) of the actuating mechanism (4) have opposite rotating directions so as to counteract the swinging motion of the unmanned aerial vehicle during translation.

In this embodiment, the inertial measurement unit (201) is a 3DM-X1 microstrain inertial measurement unit consisting essentially of three angular rate gyroscopes, three orthogonal accelerometers, three orthogonal magnetometers, a multiplexer and a 16-bit a/D converter to provide real-time angular rate and angular position (a/D)ψ，φ，θ) The position measurement unit (202) employs a Polhemus electromagnetic position tracker for obtaining the position (X, Y, Z) of the drone. The sensor is very sensitive to electromagnetic noise, in the range of about 1.52m, so we place it far from the motor.

In this embodiment, the undercarriage (101) comprises a left support frame and a right support frame which are symmetrically arranged on the lower side of the body (1), the electric control system cabin (102) and the T-shaped frame (104) are fixedly connected to the undercarriage (101), and the steering engine (402) and the T-shaped frame (104) and the driving motor (401) and the support arm (103) are fixedly connected in a threaded connection or welding mode.

Above is the utility model discloses a preferred embodiment, all rely on the utility model discloses the change that technical scheme made, produced functional action does not surpass the utility model discloses during technical scheme's scope, all belong to the utility model discloses a protection scope.

Claims

1. A tilting dual-rotor automatic hovering T-shaped unmanned aerial vehicle is characterized by comprising a vehicle body (1), a sensor unit (2), a controller unit (3), an actuating mechanism (4) and a wireless communication module (5);

2. The unmanned aerial vehicle with the tilting dual rotors for automatic hovering is characterized in that the support arms (103) are rotatably connected with a T-shaped frame (104) through bearings (105), central shafts of the two support arms (103) are located on the same straight line, the inner side ends of the support arms (103) are connected with an output shaft of a steering engine (402), a driving motor (401) is installed at the outer side ends of the support arms, the steering engine (402) drives the support arms (103) to rotate, the driving motor (401) is further driven to tilt, and the thrust direction of the rotors (403) is changed.

3. A tilt dual rotor automatic hovering T-type drone according to claim 1, wherein the two rotors (403) of said actuator (4) rotate in opposite directions to counteract the pendular motion of the drone in translation.

4. The unmanned aerial vehicle with the tilting dual rotors for automatic hovering (T) in accordance with claim 1, wherein the landing gear (101) comprises left and right support frames symmetrically disposed on the lower side of the body (1), the electric control system cabin (102) and the T-shaped frame (104) are fixedly connected to the landing gear (101), and the steering engine (402) and the T-shaped frame (104), and the driving motor (401) and the support arm (103) are fixedly connected through a threaded connection or a welding manner.